Merge branch 'development' into mueller/DeviceHandler-LocalPools

2020-12-10 16:57:24 +01:00 · 2020-12-10 16:57:24 +01:00 · f0380e4acc
commit f0380e4acc
parent 46596f9397 9fe2fc4cae
34 changed files with 914 additions and 572 deletions
--- a/7
+++ b/7
@ -15,6 +15,13 @@ a C file without issues
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets

+### Internal Error Reporter
+
+- The new internal error reporter uses the local data pools. The pool IDs for
+the exisiting three error values and the new error set will be hardcoded for
+now, the the constructor for the internal error reporter just takes an object
+ID for now.
+
 ### Device Handler Base

 - There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
--- a/controller/ControllerBase.cpp
+++ b/controller/ControllerBase.cpp
@ -1,16 +1,16 @@
-#include "../subsystem/SubsystemBase.h"
 #include "ControllerBase.h"
+
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 #include "../action/HasActionsIF.h"

-ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
+ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		size_t commandQueueDepth) :
-		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
-				SUBMODE_NONE), commandQueue(NULL), modeHelper(
-				this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
-
+		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
+		submode(SUBMODE_NONE), modeHelper(this),
+		healthHelper(this, setObjectId) {
+	commandQueue = QueueFactory::instance()->createMessageQueue(
+	        commandQueueDepth);
 }

 ControllerBase::~ControllerBase() {
@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() {
 	}

 	MessageQueueId_t parentQueue = 0;
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
+		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}
 		parentQueue = parent->getCommandQueue();
@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() {
 		return result;
 	}

-	result = hkSwitcher.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
 	return RETURN_OK;
 }

@ -56,26 +52,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 }

 void ControllerBase::handleQueue() {
-	CommandMessage message;
-	ReturnValue_t result;
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
+	CommandMessage command;
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	for (result = commandQueue->receiveMessage(&command);
+	        result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {

-		result = modeHelper.handleModeCommand(&message);
+		result = modeHelper.handleModeCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}

-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		result = handleCommandMessage(&message);
+		result = handleCommandMessage(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		message.setToUnknownCommand();
-		commandQueue->reply(&message);
+		command.setToUnknownCommand();
+		commandQueue->reply(&command);
 	}

 }
@ -106,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) {

 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 	handleQueue();
-	hkSwitcher.performOperation();
 	performControlOperation();
 	return RETURN_OK;
 }
@ -135,3 +131,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){

 void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
+
+ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
+    return HasReturnvaluesIF::RETURN_OK;
+}
--- a/controller/ControllerBase.h
+++ b/controller/ControllerBase.h
@ -1,5 +1,5 @@
-#ifndef CONTROLLERBASE_H_
-#define CONTROLLERBASE_H_
+#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
+#define FSFW_CONTROLLER_CONTROLLERBASE_H_

 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@ -7,73 +7,88 @@
 #include "../modes/ModeHelper.h"
 #include "../objectmanager/SystemObject.h"
 #include "../tasks/ExecutableObjectIF.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../datapool/HkSwitchHelper.h"

-
+/**
+ * @brief   Generic base class for controller classes
+ * @details
+ * Implements common interfaces for controllers, which generally have
+ * a mode and a health state. This avoids boilerplate code.
+ */
 class ControllerBase: public HasModesIF,
 		public HasHealthIF,
 		public ExecutableObjectIF,
 		public SystemObject,
 		public HasReturnvaluesIF {
 public:
-
 	static const Mode_t MODE_NORMAL = 2;

-	ControllerBase(uint32_t setObjectId, uint32_t parentId,
+	ControllerBase(object_id_t setObjectId, object_id_t parentId,
 			size_t commandQueueDepth = 3);
 	virtual ~ControllerBase();

-	ReturnValue_t initialize();
+	/** SystemObject override */
+	virtual ReturnValue_t initialize() override;

-	virtual MessageQueueId_t getCommandQueue() const;
+	virtual MessageQueueId_t getCommandQueue() const override;

-	virtual ReturnValue_t performOperation(uint8_t opCode);
-
-	virtual ReturnValue_t setHealth(HealthState health);
-
-	virtual HasHealthIF::HealthState getHealth();
-
-	/**
-	 * Implementation of ExecutableObjectIF function
-	 *
-	 * Used to setup the reference of the task, that executes this component
-	 * @param task_ Pointer to the taskIF of this task
-	 */
-	virtual  void setTaskIF(PeriodicTaskIF* task_);
+	/** HasHealthIF overrides */
+	virtual ReturnValue_t setHealth(HealthState health) override;
+	virtual HasHealthIF::HealthState getHealth() override;

+	/** ExecutableObjectIF overrides */
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;

 protected:
-	const uint32_t parentId;
+
+	/**
+	 * Implemented by child class. Handle command messages which are not
+	 * mode or health messages.
+	 * @param message
+	 * @return
+	 */
+    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+
+    /**
+     * Periodic helper, implemented by child class.
+     */
+    virtual void performControlOperation() = 0;
+
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) = 0;
+
+	const object_id_t parentId;

 	Mode_t mode;

 	Submode_t submode;

-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;

 	ModeHelper modeHelper;

 	HealthHelper healthHelper;

-	HkSwitchHelper hkSwitcher;
-
 	/**
-	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 * Pointer to the task which executes this component,
+	 * is invalid before setTaskIF was called.
 	 */
-	PeriodicTaskIF* executingTask;
+	PeriodicTaskIF* executingTask = nullptr;

-	void handleQueue();
+	/** Handle mode and health messages */
+	virtual void handleQueue();

-	virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
-	virtual void performControlOperation() = 0;
-	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-			uint32_t *msToReachTheMode) = 0;
+	/** Mode helpers */
 	virtual void modeChanged(Mode_t mode, Submode_t submode);
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 	virtual void getMode(Mode_t *mode, Submode_t *submode);
 	virtual void setToExternalControl();
 	virtual void announceMode(bool recursive);
+	/** HK helpers */
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };

-#endif /* CONTROLLERBASE_H_ */
+#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@ -1,10 +1,3 @@
-/**
- * @file	MapPacketExtraction.cpp
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
 #include "MapPacketExtraction.h"
 #include "../ipc/QueueFactory.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
@ -12,14 +5,14 @@
 #include "../tmtcpacket/SpacePacketBase.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/TmTcMessage.h"
-#include <string.h>
+#include <cstring>

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

 ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
--- a/datalinklayer/MapPacketExtraction.h
+++ b/datalinklayer/MapPacketExtraction.h
@ -1,12 +1,5 @@
-/**
- * @file	MapPacketExtraction.h
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
-#ifndef MAPPACKETEXTRACTION_H_
-#define MAPPACKETEXTRACTION_H_
+#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
+#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_

 #include "MapPacketExtractionIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@ -20,17 +13,19 @@ class StorageManagerIF;
 * The class implements the full MAP Packet Extraction functionality as described in the CCSDS
 * TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
 * fully received. All found packets are forwarded to a single distribution entity.
+ * @author B. Baetz
 */
 class MapPacketExtraction: public MapPacketExtractionIF {
 private:
 	static const uint32_t MAX_PACKET_SIZE = 4096;
 	uint8_t lastSegmentationFlag;	//!< The segmentation flag of the last received frame.
 	uint8_t mapId;	//!< MAP ID of this MAP Channel.
-	uint32_t packetLength;	//!< Complete length of the current Space Packet.
+	uint32_t packetLength = 0;	//!< Complete length of the current Space Packet.
 	uint8_t* bufferPosition;	//!< Position to write to in the internal Packet buffer.
 	uint8_t packetBuffer[MAX_PACKET_SIZE];	//!< The internal Space Packet Buffer.
 	object_id_t packetDestination;
-	StorageManagerIF* packetStore;	//!< Pointer to the store where full TC packets are stored.
+	//!< Pointer to the store where full TC packets are stored.
+	StorageManagerIF* packetStore = nullptr;
 	MessageQueueId_t tcQueueId;		//!< QueueId to send found packets to the distributor.
 	/**
 	 * Debug method to print the packet Buffer's content.
@ -75,4 +70,4 @@ public:
 	uint8_t getMapId() const;
 };

-#endif /* MAPPACKETEXTRACTION_H_ */
+#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */
--- a/internalError/InternalErrorDataset.h
+++ b/internalError/InternalErrorDataset.h
@ -0,0 +1,34 @@
+#ifndef FSFW_INTERNALERROR_INTERNALERRORDATASET_H_
+#define FSFW_INTERNALERROR_INTERNALERRORDATASET_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+
+enum errorPoolIds {
+    TM_HITS,
+    QUEUE_HITS,
+    STORE_HITS
+};
+
+
+class InternalErrorDataset: public StaticLocalDataSet<3 * sizeof(uint32_t)> {
+public:
+    static constexpr uint8_t ERROR_SET_ID = 0;
+
+    InternalErrorDataset(HasLocalDataPoolIF* owner):
+            StaticLocalDataSet(owner, ERROR_SET_ID) {}
+
+    InternalErrorDataset(object_id_t objectId):
+           StaticLocalDataSet(sid_t(objectId , ERROR_SET_ID)) {}
+
+    lp_var_t<uint32_t> tmHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		TM_HITS, this);
+    lp_var_t<uint32_t> queueHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		QUEUE_HITS, this);
+    lp_var_t<uint32_t> storeHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		STORE_HITS, this);
+};
+
+
+
+#endif /* FSFW_INTERNALERROR_INTERNALERRORDATASET_H_ */
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@ -1,16 +1,16 @@
-#include "../datapoolglob/GlobalDataSet.h"
 #include "InternalErrorReporter.h"

-#include "../datapoolglob/GlobalPoolVariable.h"
+#include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
-
 #include "../serviceinterface/ServiceInterfaceStream.h"

 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
-		uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) :
-		SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId),
-		tmPoolId(tmPoolId),storePoolId(storePoolId), queueHits(0), tmHits(0),
-		storeHits(0) {
+        uint32_t messageQueueDepth): SystemObject(setObjectId),
+		commandQueue(QueueFactory::instance()->
+		        createMessageQueue(messageQueueDepth)),
+		poolManager(this, commandQueue),
+		internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
+		internalErrorDataset(this) {
 	mutex = MutexFactory::instance()->createMutex();
 }

@ -18,28 +18,42 @@ InternalErrorReporter::~InternalErrorReporter() {
 	MutexFactory::instance()->deleteMutex(mutex);
 }

+void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
+    this->diagnosticPrintout = enable;
+}
+
 ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
-
-	GlobDataSet mySet;
-	gp_uint32_t queueHitsInPool(queuePoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-	gp_uint32_t tmHitsInPool(tmPoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-
-	gp_uint32_t storeHitsInPool(storePoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
+    internalErrorDataset.read(INTERNAL_ERROR_MUTEX_TIMEOUT);

 	uint32_t newQueueHits = getAndResetQueueHits();
 	uint32_t newTmHits = getAndResetTmHits();
 	uint32_t newStoreHits = getAndResetStoreHits();

-	queueHitsInPool.value += newQueueHits;
-	tmHitsInPool.value += newTmHits;
-	storeHitsInPool.value += newStoreHits;
+#ifdef DEBUG
+	if(diagnosticPrintout) {
+	    if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
+	        sif::debug << "InternalErrorReporter::performOperation: Errors "
+	                << "occured!" << std::endl;
+	        sif::debug << "Queue errors: " << newQueueHits << std::endl;
+	        sif::debug << "TM errors: " << newTmHits << std::endl;
+	        sif::debug << "Store errors: " << newStoreHits << std::endl;
+	    }
+	}
+#endif

-	mySet.commit(PoolVariableIF::VALID);
+	internalErrorDataset.queueHits.value += newQueueHits;
+	internalErrorDataset.storeHits.value += newStoreHits;
+	internalErrorDataset.tmHits.value += newTmHits;

+	internalErrorDataset.commit(INTERNAL_ERROR_MUTEX_TIMEOUT);
+
+	poolManager.performHkOperation();
+
+	CommandMessage message;
+	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	if(result != MessageQueueIF::EMPTY) {
+	    poolManager.handleHousekeepingMessage(&message);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

@ -53,7 +67,7 @@ void InternalErrorReporter::lostTm() {

 uint32_t InternalErrorReporter::getAndResetQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = queueHits;
 	queueHits = 0;
 	mutex->unlockMutex();
@ -62,21 +76,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {

 uint32_t InternalErrorReporter::getQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = queueHits;
 	mutex->unlockMutex();
 	return value;
 }

 void InternalErrorReporter::incrementQueueHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	queueHits++;
 	mutex->unlockMutex();
 }

 uint32_t InternalErrorReporter::getAndResetTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = tmHits;
 	tmHits = 0;
 	mutex->unlockMutex();
@ -85,14 +99,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {

 uint32_t InternalErrorReporter::getTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = tmHits;
 	mutex->unlockMutex();
 	return value;
 }

 void InternalErrorReporter::incrementTmHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	tmHits++;
 	mutex->unlockMutex();
 }
@ -103,7 +117,7 @@ void InternalErrorReporter::storeFull() {

 uint32_t InternalErrorReporter::getAndResetStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = storeHits;
 	storeHits = 0;
 	mutex->unlockMutex();
@ -112,14 +126,65 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {

 uint32_t InternalErrorReporter::getStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = storeHits;
 	mutex->unlockMutex();
 	return value;
 }

 void InternalErrorReporter::incrementStoreHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	storeHits++;
 	mutex->unlockMutex();
 }
+
+object_id_t InternalErrorReporter::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+MessageQueueId_t InternalErrorReporter::getCommandQueue() const {
+    return this->commandQueue->getId();
+}
+
+ReturnValue_t InternalErrorReporter::initializeLocalDataPool(
+        LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(errorPoolIds::TM_HITS,
+            new PoolEntry<uint32_t>());
+    localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS,
+            new PoolEntry<uint32_t>());
+    localDataPoolMap.emplace(errorPoolIds::STORE_HITS,
+            new PoolEntry<uint32_t>());
+    poolManager.subscribeForPeriodicPacket(internalErrorSid, false,
+            getPeriodicOperationFrequency(), true);
+    internalErrorDataset.setValidity(true, true);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+LocalDataPoolManager* InternalErrorReporter::getHkManagerHandle() {
+    return &poolManager;
+}
+
+dur_millis_t InternalErrorReporter::getPeriodicOperationFrequency() const {
+    return this->executingTask->getPeriodMs();
+}
+
+LocalPoolDataSetBase* InternalErrorReporter::getDataSetHandle(sid_t sid) {
+    return &internalErrorDataset;
+}
+
+void InternalErrorReporter::setTaskIF(PeriodicTaskIF *task) {
+    this->executingTask = task;
+}
+
+ReturnValue_t InternalErrorReporter::initialize() {
+    ReturnValue_t result = poolManager.initialize(commandQueue);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return SystemObject::initialize();
+}
+
+ReturnValue_t InternalErrorReporter::initializeAfterTaskCreation() {
+    return poolManager.initializeAfterTaskCreation();
+}
+
--- a/internalError/InternalErrorReporter.h
+++ b/internalError/InternalErrorReporter.h
@ -1,37 +1,75 @@
-#ifndef INTERNALERRORREPORTER_H_
-#define INTERNALERRORREPORTER_H_
+#ifndef FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_
+#define FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_

 #include "InternalErrorReporterIF.h"

+#include "../tasks/PeriodicTaskIF.h"
+#include "../internalError/InternalErrorDataset.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../ipc/MutexIF.h"

+/**
+ * @brief   This class is used to track internal errors like lost telemetry,
+ *          failed message sending or a full store.
+ * @details
+ * All functions were kept virtual so this class can be extended easily
+ * to store custom internal errors (e.g. communication interface errors).
+ */
 class InternalErrorReporter: public SystemObject,
 		public ExecutableObjectIF,
-		public InternalErrorReporterIF {
+		public InternalErrorReporterIF,
+		public HasLocalDataPoolIF {
 public:
-	InternalErrorReporter(object_id_t setObjectId, uint32_t queuePoolId,
-			uint32_t tmPoolId, uint32_t storePoolId);
+    static constexpr uint8_t INTERNAL_ERROR_MUTEX_TIMEOUT = 20;
+
+	InternalErrorReporter(object_id_t setObjectId,
+	        uint32_t messageQueueDepth = 5);
+
+	/**
+	 * Enable diagnostic printout. Please note that this feature will
+	 * only work if DEBUG has been supplied to the build defines.
+	 * @param enable
+	 */
+	void setDiagnosticPrintout(bool enable);
+
 	virtual ~InternalErrorReporter();

-	virtual ReturnValue_t performOperation(uint8_t opCode);
+    virtual object_id_t getObjectId() const override;
+    virtual MessageQueueId_t getCommandQueue() const override;
+    virtual ReturnValue_t initializeLocalDataPool(
+            LocalDataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual LocalDataPoolManager* getHkManagerHandle() override;
+    virtual dur_millis_t getPeriodicOperationFrequency() const override;
+    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+
+    virtual ReturnValue_t initialize() override;
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;

 	virtual void queueMessageNotSent();

 	virtual void lostTm();

 	virtual void storeFull();
+
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
 protected:
-	MutexIF* mutex;
+	MessageQueueIF* commandQueue;
+	LocalDataPoolManager poolManager;

-	uint32_t queuePoolId;
-	uint32_t tmPoolId;
-	uint32_t storePoolId;
+	PeriodicTaskIF* executingTask = nullptr;
+	MutexIF* mutex = nullptr;
+	sid_t internalErrorSid;
+	InternalErrorDataset internalErrorDataset;

-	uint32_t queueHits;
-	uint32_t tmHits;
-	uint32_t storeHits;
+	bool diagnosticPrintout = true;
+
+	uint32_t queueHits = 0;
+	uint32_t tmHits = 0;
+	uint32_t storeHits = 0;

 	uint32_t getAndResetQueueHits();
 	uint32_t getQueueHits();
@ -47,4 +85,4 @@ protected:

 };

-#endif /* INTERNALERRORREPORTER_H_ */
+#endif /* FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_ */
--- a/monitoring/AbsLimitMonitor.h
+++ b/monitoring/AbsLimitMonitor.h
@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
-#define FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
+#ifndef FSFW_MONITORING_ABSLIMITMONITOR_H_
+#define FSFW_MONITORING_ABSLIMITMONITOR_H_

 #include "MonitorBase.h"
 #include <cmath>
@ -7,9 +7,14 @@
 template<typename T>
 class AbsLimitMonitor: public MonitorBase<T> {
 public:
-	AbsLimitMonitor(object_id_t reporterId, uint8_t monitorId, uint32_t parameterId,
-			uint16_t confirmationLimit, T limit, Event violationEvent = MonitoringIF::VALUE_OUT_OF_RANGE, bool aboveIsViolation = true) :
-			MonitorBase<T>(reporterId, monitorId, parameterId, confirmationLimit), limit(limit), violationEvent(violationEvent), aboveIsViolation(aboveIsViolation) {
+	AbsLimitMonitor(object_id_t reporterId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit, T limit,
+	        Event violationEvent = MonitoringIF::VALUE_OUT_OF_RANGE,
+	        bool aboveIsViolation = true) :
+			MonitorBase<T>(reporterId, monitorId, globalPoolId,
+					confirmationLimit),
+			limit(limit), violationEvent(violationEvent),
+			aboveIsViolation(aboveIsViolation) {
 	}
 	virtual ~AbsLimitMonitor() {
 	}
@ -32,8 +37,9 @@ public:
 			const ParameterWrapper *newValues, uint16_t startAtIndex) {
 		ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
 				parameterId, parameterWrapper, newValues, startAtIndex);
-		//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
-		if (result != this->INVALID_MATRIX_ID) {
+		// We'll reuse the DOMAIN_ID of MonitorReporter,
+		// as we know the parameterIds used there.
+		if (result != this->INVALID_IDENTIFIER_ID) {
 			return result;
 		}
 		switch (parameterId) {
@ -41,7 +47,7 @@ public:
 			parameterWrapper->set(this->limit);
 			break;
 		default:
-			return this->INVALID_MATRIX_ID;
+			return this->INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@ -59,7 +65,9 @@ protected:
 	void sendTransitionEvent(T currentValue, ReturnValue_t state) {
 		switch (state) {
 		case MonitoringIF::OUT_OF_RANGE:
-			EventManagerIF::triggerEvent(this->reportingId, violationEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId,
+			        violationEvent, this->globalPoolId.objectId,
+					this->globalPoolId.localPoolId);
 			break;
 		default:
 			break;
@ -70,4 +78,4 @@ protected:
 	const bool aboveIsViolation;
 };

-#endif /* FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_ */
+#endif /* FSFW_MONITORING_ABSLIMITMONITOR_H_ */
--- a/monitoring/HasMonitorsIF.h
+++ b/monitoring/HasMonitorsIF.h
@ -1,11 +1,5 @@
-/**
- * @file	HasMonitorsIF.h
- * @brief	This file defines the HasMonitorsIF class.
- * @date	28.07.2014
- * @author	baetz
- */
-#ifndef HASMONITORSIF_H_
-#define HASMONITORSIF_H_
+#ifndef FSFW_MONITORING_HASMONITORSIF_H_
+#define FSFW_MONITORING_HASMONITORSIF_H_

 #include "../events/EventReportingProxyIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@ -27,4 +21,4 @@ public:
 	}
 };

-#endif /* HASMONITORSIF_H_ */
+#endif /* FSFW_MONITORING_HASMONITORSIF_H_ */
--- a/monitoring/LimitMonitor.h
+++ b/monitoring/LimitMonitor.h
@ -12,13 +12,15 @@
 template<typename T>
 class LimitMonitor: public MonitorBase<T> {
 public:
-	LimitMonitor(object_id_t reporterId, uint8_t monitorId, uint32_t parameterId,
-			uint16_t confirmationLimit, T lowerLimit, T upperLimit,
-			Event belowLowEvent = MonitoringIF::VALUE_BELOW_LOW_LIMIT,
+	LimitMonitor(object_id_t reporterId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit, T lowerLimit,
+			T upperLimit, Event belowLowEvent =
+					MonitoringIF::VALUE_BELOW_LOW_LIMIT,
 			Event aboveHighEvent = MonitoringIF::VALUE_ABOVE_HIGH_LIMIT) :
-			MonitorBase<T>(reporterId, monitorId, parameterId, confirmationLimit), lowerLimit(
-					lowerLimit), upperLimit(upperLimit), belowLowEvent(
-					belowLowEvent), aboveHighEvent(aboveHighEvent) {
+			MonitorBase<T>(reporterId, monitorId, globalPoolId,
+			        confirmationLimit),
+			lowerLimit(lowerLimit), upperLimit(upperLimit),
+			belowLowEvent(belowLowEvent), aboveHighEvent(aboveHighEvent) {
 	}
 	virtual ~LimitMonitor() {
 	}
@ -41,7 +43,7 @@ public:
 		ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
 				parameterId, parameterWrapper, newValues, startAtIndex);
 		//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
-		if (result != this->INVALID_MATRIX_ID) {
+		if (result != this->INVALID_IDENTIFIER_ID) {
 			return result;
 		}
 		switch (parameterId) {
@ -52,12 +54,13 @@ public:
 			parameterWrapper->set(this->upperLimit);
 			break;
 		default:
-			return this->INVALID_MATRIX_ID;
+			return this->INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	bool isOutOfLimits() {
-		if (this->oldState == MonitoringIF::ABOVE_HIGH_LIMIT || this->oldState == MonitoringIF::BELOW_LOW_LIMIT) {
+		if (this->oldState == MonitoringIF::ABOVE_HIGH_LIMIT or
+		        this->oldState == MonitoringIF::BELOW_LOW_LIMIT) {
 			return true;
 		} else {
 			return false;
@ -76,10 +79,12 @@ protected:
 	void sendTransitionEvent(T currentValue, ReturnValue_t state) {
 		switch (state) {
 		case MonitoringIF::BELOW_LOW_LIMIT:
-			EventManagerIF::triggerEvent(this->reportingId, belowLowEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId, belowLowEvent,
+			        this->globalPoolId.objectId, this->globalPoolId.localPoolId);
 			break;
 		case MonitoringIF::ABOVE_HIGH_LIMIT:
-			EventManagerIF::triggerEvent(this->reportingId, aboveHighEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId, aboveHighEvent,
+			        this->globalPoolId.objectId, this->globalPoolId.localPoolId);
 			break;
 		default:
 			break;
--- a/monitoring/MonitorBase.h
+++ b/monitoring/MonitorBase.h
@ -1,39 +1,50 @@
-#ifndef MONITORBASE_H_
-#define MONITORBASE_H_
+#ifndef FSFW_MONITORING_MONITORBASE_H_
+#define FSFW_MONITORING_MONITORBASE_H_
+
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "MonitoringMessageContent.h"
+#include "MonitorReporter.h"
+
+#include "../datapoollocal/LocalPoolVariable.h"

-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/PIDReader.h"
-#include "../monitoring/LimitViolationReporter.h"
-#include "../monitoring/MonitoringIF.h"
-#include "../monitoring/MonitoringMessageContent.h"
-#include "../monitoring/MonitorReporter.h"

 /**
- * Base class for monitoring of parameters.
- * Can be used anywhere, specializations need to implement checkSample and should override sendTransitionEvent.
- * Manages state handling, enabling and disabling of events/reports and forwarding of transition
- * reports via MonitorReporter. In addition, it provides default implementations for fetching the parameter sample from
- * the data pool and a simple confirmation counter.
+ * @brief   Base class for monitoring of parameters.
+ * @details
+ * Can be used anywhere, specializations need to implement checkSample and
+ * should override sendTransitionEvent.
+ * Manages state handling, enabling and disabling of events/reports and
+ * forwarding of transition reports via MonitorReporter.
+ *
+ * In addition, it provides default implementations for fetching the
+ * parameter sample from the data pool and a simple confirmation counter.
 */
 template<typename T>
 class MonitorBase: public MonitorReporter<T> {
 public:
+
 	MonitorBase(object_id_t reporterId, uint8_t monitorId,
-			uint32_t parameterId, uint16_t confirmationLimit) :
-			MonitorReporter<T>(reporterId, monitorId, parameterId, confirmationLimit) {
+	        gp_id_t globalPoolId, uint16_t confirmationLimit):
+	        MonitorReporter<T>(reporterId, monitorId, globalPoolId,
+	                confirmationLimit),
+	        poolVariable(globalPoolId) {
 	}
+
 	virtual ~MonitorBase() {
 	}
+
 	virtual ReturnValue_t check() {
-		//1. Fetch sample of type T, return validity.
+		// 1. Fetch sample of type T, return validity.
 		T sample = 0;
 		ReturnValue_t validity = fetchSample(&sample);

-		//2. If returning from fetch != OK, parameter is invalid. Report (if oldState is != invalidity).
+		// 2. If returning from fetch != OK, parameter is invalid.
+		// Report (if oldState is != invalidity).
 		if (validity != HasReturnvaluesIF::RETURN_OK) {
 			this->monitorStateIs(validity, sample, 0);
-			//3. Otherwise, check sample.
 		} else {
+            //3. Otherwise, check sample.
 			this->oldState = doCheck(sample);
 		}
 		return this->oldState;
@ -43,20 +54,25 @@ public:
 		ReturnValue_t currentState = checkSample(sample, &crossedLimit);
 		return this->monitorStateIs(currentState,sample, crossedLimit);
 	}
-	//Abstract or default.
+
+	// Abstract or default.
 	virtual ReturnValue_t checkSample(T sample, T* crossedLimit) = 0;

 protected:
+
 	virtual ReturnValue_t fetchSample(T* sample) {
-		GlobDataSet mySet;
-		PIDReader<T> parameter(this->parameterId, &mySet);
-		mySet.read();
-		if (!parameter.isValid()) {
-			return MonitoringIF::INVALID;
-		}
-		*sample = parameter.value;
-		return HasReturnvaluesIF::RETURN_OK;
+	    ReturnValue_t result = poolVariable.read();
+	    if(result != HasReturnvaluesIF::RETURN_OK) {
+	        return result;
+	    }
+	    if (not poolVariable.isValid()) {
+	        return MonitoringIF::INVALID;
+	    }
+	    *sample = poolVariable.value;
+	    return HasReturnvaluesIF::RETURN_OK;
 	}
+
+	LocalPoolVar<T> poolVariable;
 };

-#endif /* MONITORBASE_H_ */
+#endif /* FSFW_MONITORING_MONITORBASE_H_ */
--- a/monitoring/MonitorReporter.h
+++ b/monitoring/MonitorReporter.h
@ -1,10 +1,12 @@
-#ifndef FRAMEWORK_MONITORING_MONITORREPORTER_H_
-#define FRAMEWORK_MONITORING_MONITORREPORTER_H_
+#ifndef FSFW_MONITORING_MONITORREPORTER_H_
+#define FSFW_MONITORING_MONITORREPORTER_H_

-#include "../events/EventManagerIF.h"
 #include "LimitViolationReporter.h"
 #include "MonitoringIF.h"
 #include "MonitoringMessageContent.h"
+
+#include "../datapoollocal/locPoolDefinitions.h"
+#include "../events/EventManagerIF.h"
 #include "../parameters/HasParametersIF.h"

 template<typename T>
@ -14,11 +16,14 @@ public:
 	static const uint8_t ENABLED = 1;
 	static const uint8_t DISABLED = 0;

-	MonitorReporter(object_id_t reportingId, uint8_t monitorId, uint32_t parameterId, uint16_t confirmationLimit) :
-			monitorId(monitorId), parameterId(parameterId), reportingId(
-					reportingId), oldState(MonitoringIF::UNCHECKED), reportingEnabled(
-			ENABLED), eventEnabled(ENABLED), currentCounter(0), confirmationLimit(
-					confirmationLimit) {
+	// TODO: Adapt to use SID instead of parameter ID.
+
+	MonitorReporter(object_id_t reportingId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit) :
+			monitorId(monitorId), globalPoolId(globalPoolId),
+			reportingId(reportingId), oldState(MonitoringIF::UNCHECKED),
+			reportingEnabled(ENABLED), eventEnabled(ENABLED), currentCounter(0),
+			confirmationLimit(confirmationLimit) {
 	}

 	virtual ~MonitorReporter() {
@ -63,7 +68,7 @@ public:
 			parameterWrapper->set(this->eventEnabled);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@ -91,7 +96,7 @@ public:

 protected:
 	const uint8_t monitorId;
-	const uint32_t parameterId;
+	const gp_id_t globalPoolId;
 	object_id_t reportingId;
 	ReturnValue_t oldState;

@ -148,7 +153,8 @@ protected:
 		case HasReturnvaluesIF::RETURN_OK:
 			break;
 		default:
-			EventManagerIF::triggerEvent(reportingId, MonitoringIF::MONITOR_CHANGED_STATE, state);
+			EventManagerIF::triggerEvent(reportingId,
+			        MonitoringIF::MONITOR_CHANGED_STATE, state);
 			break;
 		}
 	}
@ -159,14 +165,15 @@ protected:
 	 * @param crossedLimit The limit crossed (if applicable).
 	 * @param state Current state the monitor is in.
 	 */
-	virtual void sendTransitionReport(T parameterValue, T crossedLimit, ReturnValue_t state) {
-		MonitoringReportContent<T> report(parameterId,
+	virtual void sendTransitionReport(T parameterValue, T crossedLimit,
+	        ReturnValue_t state) {
+		MonitoringReportContent<T> report(globalPoolId,
 				parameterValue, crossedLimit, oldState, state);
 		LimitViolationReporter::sendLimitViolationReport(&report);
 	}
 	ReturnValue_t setToState(ReturnValue_t state) {
 		if (oldState != state && reportingEnabled) {
-			MonitoringReportContent<T> report(parameterId, 0, 0, oldState,
+			MonitoringReportContent<T> report(globalPoolId, 0, 0, oldState,
 					state);
 			LimitViolationReporter::sendLimitViolationReport(&report);
 			oldState = state;
@ -175,4 +182,4 @@ protected:
 	}
 };

-#endif /* FRAMEWORK_MONITORING_MONITORREPORTER_H_ */
+#endif /* FSFW_MONITORING_MONITORREPORTER_H_ */
--- a/monitoring/MonitoringIF.h
+++ b/monitoring/MonitoringIF.h
@ -1,8 +1,8 @@
-#ifndef MONITORINGIF_H_
-#define MONITORINGIF_H_
+#ifndef FSFW_MONITORING_MONITORINGIF_H_
+#define FSFW_MONITORING_MONITORINGIF_H_

-#include "../memory/HasMemoryIF.h"
 #include "MonitoringMessage.h"
+#include "../memory/HasMemoryIF.h"
 #include "../serialize/SerializeIF.h"

 class MonitoringIF : public SerializeIF {
@ -64,4 +64,4 @@ public:



-#endif /* MONITORINGIF_H_ */
+#endif /* FSFW_MONITORING_MONITORINGIF_H_ */
--- a/monitoring/MonitoringMessageContent.h
+++ b/monitoring/MonitoringMessageContent.h
@ -3,6 +3,7 @@

 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
+#include "../datapoollocal/locPoolDefinitions.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerialBufferAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
@ -16,12 +17,17 @@ void setStaticFrameworkObjectIds();
 }

 //PID(uint32_t), TYPE, LIMIT_ID, value,limitValue, previous, later, timestamp
+/**
+ * @brief	Does magic.
+ * @tparam T
+ */
 template<typename T>
 class MonitoringReportContent: public SerialLinkedListAdapter<SerializeIF> {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	SerializeElement<uint8_t> monitorId;
-	SerializeElement<uint32_t> parameterId;
+	SerializeElement<uint32_t> parameterObjectId;
+	SerializeElement<lp_id_t> localPoolId;
 	SerializeElement<T> parameterValue;
 	SerializeElement<T> limitValue;
 	SerializeElement<ReturnValue_t> oldState;
@ -30,20 +36,23 @@ public:
 	SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
 	TimeStamperIF* timeStamper;
 	MonitoringReportContent() :
-			SerialLinkedListAdapter<SerializeIF>(
-					LinkedElement<SerializeIF>::Iterator(&parameterId)), monitorId(0), parameterId(
-					0), parameterValue(0), limitValue(0), oldState(0), newState(
-					0), rawTimestamp( { 0 }), timestampSerializer(rawTimestamp,
+			SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
+					monitorId(0), parameterObjectId(0),
+					localPoolId(0), parameterValue(0),
+					limitValue(0), oldState(0), newState(0),
+					rawTimestamp( { 0 }), timestampSerializer(rawTimestamp,
 					sizeof(rawTimestamp)), timeStamper(NULL) {
 		setAllNext();
 	}
-	MonitoringReportContent(uint32_t setPID, T value, T limitValue,
+	MonitoringReportContent(gp_id_t globalPoolId, T value, T limitValue,
 			ReturnValue_t oldState, ReturnValue_t newState) :
-			SerialLinkedListAdapter<SerializeIF>(
-					LinkedElement<SerializeIF>::Iterator(&parameterId)), monitorId(0), parameterId(
-					setPID), parameterValue(value), limitValue(limitValue), oldState(
-					oldState), newState(newState), timestampSerializer(rawTimestamp,
-							sizeof(rawTimestamp)), timeStamper(NULL) {
+			SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
+					monitorId(0), parameterObjectId(globalPoolId.objectId),
+					localPoolId(globalPoolId.localPoolId),
+					parameterValue(value), limitValue(limitValue),
+					oldState(oldState), newState(newState),
+					timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
+					timeStamper(NULL) {
 		setAllNext();
 		if (checkAndSetStamper()) {
 			timeStamper->addTimeStamp(rawTimestamp, sizeof(rawTimestamp));
@ -53,16 +62,16 @@ private:

 	static object_id_t timeStamperId;
 	void setAllNext() {
-		parameterId.setNext(&parameterValue);
+		parameterObjectId.setNext(&parameterValue);
 		parameterValue.setNext(&limitValue);
 		limitValue.setNext(&oldState);
 		oldState.setNext(&newState);
 		newState.setNext(&timestampSerializer);
 	}
 	bool checkAndSetStamper() {
-		if (timeStamper == NULL) {
+		if (timeStamper == nullptr) {
 			timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
-			if ( timeStamper == NULL ) {
+			if ( timeStamper == nullptr ) {
 				sif::error << "MonitoringReportContent::checkAndSetStamper: "
 				        "Stamper not found!" << std::endl;
 				return false;
--- a/monitoring/TriplexMonitor.h
+++ b/monitoring/TriplexMonitor.h
@ -82,7 +82,7 @@ public:
 			parameterWrapper->set(limit);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
--- a/thermal/AbstractTemperatureSensor.cpp
+++ b/thermal/AbstractTemperatureSensor.cpp
@ -44,19 +44,19 @@ ReturnValue_t AbstractTemperatureSensor::performHealthOp() {
 }

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

--- a/thermal/AbstractTemperatureSensor.h
+++ b/thermal/AbstractTemperatureSensor.h
@ -10,6 +10,16 @@
 #include "ThermalModuleIF.h"
 #include "tcsDefinitions.h"

+/**
+ * @defgroup thermal Thermal Components
+ * @brief Contains all components related to thermal tasks (sensors, heaters)
+ */
+
+/**
+ * @brief Base class for Temperature Sensor, implements all important interfaces.
+ *        Please use the TemperatureSensor class to implement the actual sensors.
+ * @ingroup thermal
+ */
 class AbstractTemperatureSensor: public HasHealthIF,
 		public SystemObject,
 		public ExecutableObjectIF,
--- a/thermal/AcceptsThermalMessagesIF.h
+++ b/thermal/AcceptsThermalMessagesIF.h
@ -0,0 +1,22 @@
+/**
+ * \file AcceptsThermalMessagesIF.h
+ *
+ * \date 16.02.2020
+ */
+
+#ifndef FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
+#define FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
+#include "../ipc/MessageQueueSenderIF.h"
+
+class AcceptsThermalMessagesIF {
+public:
+
+	/**
+	 * @brief	This is the empty virtual destructor as required for C++ interfaces.
+	 */
+	virtual ~AcceptsThermalMessagesIF() { }
+
+	virtual MessageQueueId_t getReceptionQueue() const = 0;
+};
+
+#endif /* FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_ */
--- a/thermal/CoreComponent.h
+++ b/thermal/CoreComponent.h
@ -1,96 +0,0 @@
-#ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
-#define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
-
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../thermal/ThermalComponentIF.h"
-#include "../thermal/AbstractTemperatureSensor.h"
-#include "../thermal/ThermalModule.h"
-#include "../thermal/ThermalMonitor.h"
-
-// TODO: Documentaiton, how to use this? only use Thermal Component, which inherits core component?
-class CoreComponent: public ThermalComponentIF {
-public:
-	struct Parameters {
-		float lowerOpLimit;
-		float upperOpLimit;
-		float heaterOn;
-		float hysteresis;
-		float heaterSwitchoff;
-	};
-
-	static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
-
-	CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
-			uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-			uint32_t requestPoolId, GlobDataSet *dataSet,
-			AbstractTemperatureSensor *sensor,
-			AbstractTemperatureSensor *firstRedundantSensor,
-			AbstractTemperatureSensor *secondRedundantSensor,
-			ThermalModuleIF *thermalModule, Parameters parameters,
-			Priority priority, StateRequest initialTargetState =
-					ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
-
-	virtual ~CoreComponent();
-
-	virtual HeaterRequest performOperation(uint8_t opCode);
-
-	void markStateIgnored();
-
-	object_id_t getObjectId();
-
-	uint8_t getDomainId() const;
-
-	virtual float getLowerOpLimit();
-
-	ReturnValue_t setTargetState(int8_t newState);
-
-	virtual void setOutputInvalid();
-
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
-
-protected:
-
-	AbstractTemperatureSensor *sensor;
-	AbstractTemperatureSensor *firstRedundantSensor;
-	AbstractTemperatureSensor *secondRedundantSensor;
-	ThermalModuleIF *thermalModule;
-
-	gp_float_t temperature;
-	gp_int8_t targetState;
-	gp_int8_t currentState;
-	gp_uint8_t heaterRequest;
-
-	bool isHeating;
-
-	bool isSafeComponent;
-
-	float minTemp;
-
-	float maxTemp;
-
-	Parameters parameters;
-
-	ThermalMonitor temperatureMonitor;
-
-	const uint8_t domainId;
-
-	virtual float getTemperature();
-	virtual State getState(float temperature, Parameters parameters,
-			int8_t targetState);
-
-	virtual void checkLimits(State state);
-
-	virtual HeaterRequest getHeaterRequest(int8_t targetState,
-			float temperature, Parameters parameters);
-
-	virtual State getIgnoredState(int8_t state);
-
-	void updateMinMaxTemp();
-
-	virtual Parameters getParameters();
-};
-
-#endif /* MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ */
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@ -279,14 +279,14 @@ ReturnValue_t Heater::initialize() {
 }

 void Heater::handleQueue() {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		parameterHelper.handleParameterMessage(&message);
+		parameterHelper.handleParameterMessage(&command);
 	}
 }

@ -301,7 +301,7 @@ ReturnValue_t Heater::getParameter(uint8_t domainId, uint16_t parameterId,
 		parameterWrapper->set(heaterOnCountdown.timeout);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
--- a/thermal/RedundantHeater.h
+++ b/thermal/RedundantHeater.h
@ -1,7 +1,7 @@
 #ifndef REDUNDANTHEATER_H_
 #define REDUNDANTHEATER_H_

-#include "Heater.h"
+#include "../thermal/Heater.h"

 class RedundantHeater {
 public:
@ -10,15 +10,14 @@ public:
 		Parameters(uint32_t objectIdHeater0, uint32_t objectIdHeater1,
 				uint8_t switch0Heater0, uint8_t switch1Heater0,
 				uint8_t switch0Heater1, uint8_t switch1Heater1) :
-				objectIdHeater0(objectIdHeater0), objectIdHeater1(
-						objectIdHeater1), switch0Heater0(switch0Heater0), switch1Heater0(
-						switch1Heater0), switch0Heater1(switch0Heater1), switch1Heater1(
-						switch1Heater1) {
+				objectIdHeater0(objectIdHeater0), objectIdHeater1(objectIdHeater1),
+				switch0Heater0(switch0Heater0),switch1Heater0(switch1Heater0),
+				switch0Heater1(switch0Heater1), switch1Heater1(switch1Heater1) {
 		}

 		Parameters() :
-				objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0), switch1Heater0(
-						0), switch0Heater1(0), switch1Heater1(0) {
+				objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0),
+				switch1Heater0(0), switch0Heater1(0), switch1Heater1(0) {
 		}

 		uint32_t objectIdHeater0;
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@ -1,40 +1,101 @@
 #ifndef TEMPERATURESENSOR_H_
 #define TEMPERATURESENSOR_H_

-#include "../datapool/DataSet.h"
-#include "AbstractTemperatureSensor.h"
+#include "../thermal/AbstractTemperatureSensor.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../monitoring/LimitMonitor.h"

-template<typename T>
+/**
+ * @brief 	This building block handles non-linear value conversion and
+ * 			range checks for analog temperature sensors.
+ * @details This class can be used to perform all necessary tasks for temperature sensors.
+ *          A sensor can be instantiated by calling the constructor.
+ *          The temperature is calculated from an input value with
+ *			the calculateOutputTemperature() function. Range checking and
+ *			limit monitoring is performed automatically.
+ *			The inputType specifies the type of the raw input while the
+ *			limitType specifies the type of the upper and lower limit to check against.
+ * @ingroup thermal
+ */
+
+template<typename inputType, typename limitType = inputType>
 class TemperatureSensor: public AbstractTemperatureSensor {
 public:
+	/**
+	 * This structure contains parameters required for range checking
+	 * and the conversion from the input value to the output temperature.
+	 * a, b and c can be any parameters required to calculate the output
+	 * temperature from the input value, depending on the formula used.
+	 *
+	 * The parameters a,b and c are used in the calculateOutputTemperature() call.
+	 *
+	 * The lower and upper limits can be specified in any type, for example float for C values
+	 * or any other type for raw values.
+	 */
 	struct Parameters {
 		float a;
 		float b;
 		float c;
-		T lowerLimit;
-		T upperLimit;
-		float gradient;
+		limitType lowerLimit;
+		limitType upperLimit;
+		float maxGradient;
 	};
+
+	/**
+	 * Forward declaration for explicit instantiation of used parameters.
+	 */
 	struct UsedParameters {
 		UsedParameters(Parameters parameters) :
-				a(parameters.a), b(parameters.b), c(parameters.c), gradient(
-						parameters.gradient) {
-		}
+			a(parameters.a), b(parameters.b), c(parameters.c),
+			gradient(parameters.maxGradient) {}
 		float a;
 		float b;
 		float c;
 		float gradient;
 	};

-	static const uint16_t ADDRESS_A = 0;
-	static const uint16_t ADDRESS_B = 1;
-	static const uint16_t ADDRESS_C = 2;
-	static const uint16_t ADDRESS_GRADIENT = 3;
+	/**
+	 * Instantiate Temperature Sensor Object.
+	 * @param setObjectid objectId of the sensor object
+	 * @param inputValue Input value which is converted to a temperature
+	 * @param poolVariable Pool Variable to store the temperature value
+	 * @param vectorIndex Vector Index for the sensor monitor
+	 * @param parameters Calculation parameters, temperature limits, gradient limit
+	 * @param datapoolId Datapool ID of the output temperature
+	 * @param outputSet Output dataset for the output temperature to fetch it with read()
+	 * @param thermalModule respective thermal module, if it has one
+	 */
+	TemperatureSensor(object_id_t setObjectid,
+			inputType *inputValue, PoolVariableIF *poolVariable,
+			uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
+			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
+			inputValue(inputValue), poolVariable(poolVariable),
+			outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE),
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR,
+				GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
+				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
+				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
+			oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
+	}
+
+
+protected:
+	/**
+	 * This formula is used to calculate the temperature from an input value
+	 * with an arbitrary type.
+	 * A default implementation is provided but can be replaced depending
+	 * on the required calculation.
+	 * @param inputTemperature
+	 * @return
+	 */
+	virtual float calculateOutputTemperature(inputType inputValue) {
+		return parameters.a * inputValue * inputValue
+				+ parameters.b * inputValue + parameters.c;
+	}

-	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)

-	static const uint8_t DOMAIN_ID_SENSOR = 1;
 private:
 	void setInvalid() {
 		outputTemperature = INVALID_TEMPERATURE;
@ -47,22 +108,17 @@ protected:

 	UsedParameters parameters;

-	T *inputTemperature;
+	inputType * inputValue;

 	PoolVariableIF *poolVariable;

-	PoolVariable<float> outputTemperature;
+	gp_float_t outputTemperature;

-	LimitMonitor<T> sensorMonitor;
+	LimitMonitor<limitType> sensorMonitor;

 	float oldTemperature;
 	timeval uptimeOfOldTemperature;

-	virtual float calculateOutputTemperature(T inputTemperature) {
-		return parameters.a * inputTemperature * inputTemperature
-				+ parameters.b * inputTemperature + parameters.c;
-	}
-
 	void doChildOperation() {
 		if (!poolVariable->isValid()
 				|| !healthHelper.healthTable->isHealthy(getObjectId())) {
@ -70,7 +126,7 @@ protected:
 			return;
 		}

-		outputTemperature = calculateOutputTemperature(*inputTemperature);
+		outputTemperature = calculateOutputTemperature(*inputValue);
 		outputTemperature.setValid(PoolVariableIF::VALID);

 		timeval uptime;
@ -78,7 +134,7 @@ protected:

 		if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
 			//In theory, we could use an AbsValueMonitor to monitor the gradient.
-			//But this would require storing the gradient in DP and quite some overhead.
+			//But this would require storing the maxGradient in DP and quite some overhead.
 			//The concept of delta limits is a bit strange anyway.
 			float deltaTime;
 			float deltaTemp;
@ -96,8 +152,8 @@ protected:
 			}
 		}

-		//Check is done against raw limits. SHOULDDO: Why? Using °C would be more easy to handle.
-		sensorMonitor.doCheck(*inputTemperature);
+		//Check is done against raw limits. SHOULDDO: Why? Using <EFBFBD>C would be more easy to handle.
+		sensorMonitor.doCheck(outputTemperature.value);

 		if (sensorMonitor.isOutOfLimits()) {
 			uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
@ -110,23 +166,6 @@ protected:
 	}

 public:
-	TemperatureSensor(object_id_t setObjectid,
-			T *inputTemperature, PoolVariableIF *poolVariable,
-			uint8_t vectorIndex, Parameters parameters, uint32_t datapoolId,
-			DataSet *outputSet, ThermalModuleIF *thermalModule) :
-			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(
-					parameters), inputTemperature(inputTemperature), poolVariable(
-					poolVariable), outputTemperature(datapoolId, outputSet,
-					PoolVariableIF::VAR_WRITE), sensorMonitor(setObjectid,
-							DOMAIN_ID_SENSOR,
-					DataPool::poolIdAndPositionToPid(
-							poolVariable->getDataPoolId(), vectorIndex),
-					DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit,
-					parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), oldTemperature(
-					20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
-
-	}
-
 	float getTemperature() {
 		return outputTemperature;
 	}
@ -135,6 +174,15 @@ public:
 		return outputTemperature.isValid();
 	}

+	static const uint16_t ADDRESS_A = 0;
+	static const uint16_t ADDRESS_B = 1;
+	static const uint16_t ADDRESS_C = 2;
+	static const uint16_t ADDRESS_GRADIENT = 3;
+
+	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
+
+	static const uint8_t DOMAIN_ID_SENSOR = 1;
+
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex) {
@ -160,7 +208,7 @@ public:
 			parameterWrapper->set(parameters.gradient);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@ -1,20 +1,20 @@
 #include "ThermalComponent.h"

 ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
-		uint8_t domainId, uint32_t temperaturePoolId,
-		uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-		uint32_t requestPoolId, GlobDataSet* dataSet,
+		uint8_t domainId, gp_id_t temperaturePoolId,
+		gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
+		gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
 		AbstractTemperatureSensor* sensor,
 		AbstractTemperatureSensor* firstRedundantSensor,
 		AbstractTemperatureSensor* secondRedundantSensor,
 		ThermalModuleIF* thermalModule, Parameters parameters,
 		Priority priority) :
-		CoreComponent(reportingObjectId, domainId, temperaturePoolId,
+		ThermalComponentCore(reportingObjectId, domainId, temperaturePoolId,
 				targetStatePoolId, currentStatePoolId, requestPoolId, dataSet,
-				sensor, firstRedundantSensor, secondRedundantSensor,
-				thermalModule,{ parameters.lowerOpLimit, parameters.upperOpLimit,
-				parameters.heaterOn, parameters.hysteresis, parameters.heaterSwitchoff },
-				priority, ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
+				{ parameters.lowerOpLimit, parameters.upperOpLimit,
+				parameters.heaterOn, parameters.hysteresis,
+				parameters.heaterSwitchoff },
+				ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
 		nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) {
 }

@ -22,22 +22,22 @@ ThermalComponent::~ThermalComponent() {
 }

 ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
-	GlobDataSet mySet;
-	gp_int8_t writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
-	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
-			&& (newState != STATE_REQUEST_IGNORE)) {
+	targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
+	targetState.read();
+	if ((targetState == STATE_REQUEST_OPERATIONAL)
+			and (newState != STATE_REQUEST_IGNORE)) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	switch (newState) {
 	case STATE_REQUEST_NON_OPERATIONAL:
-		writableTargetState = newState;
-		mySet.commit(PoolVariableIF::VALID);
+		targetState = newState;
+		targetState.setValid(true);
+		targetState.commit(PoolVariableIF::VALID);
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
-		return CoreComponent::setTargetState(newState);
+		return ThermalComponentCore::setTargetState(newState);
 	}
+	return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
@ -57,11 +57,11 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
 }

 ThermalComponentIF::State ThermalComponent::getState(float temperature,
-		CoreComponent::Parameters parameters, int8_t targetState) {
+		ThermalComponentCore::Parameters parameters, int8_t targetState) {
 	if (temperature < nopParameters.lowerNopLimit) {
 		return OUT_OF_RANGE_LOW;
 	} else {
-		State state = CoreComponent::getState(temperature, parameters,
+		State state = ThermalComponentCore::getState(temperature, parameters,
 				targetState);
 		if (state != NON_OPERATIONAL_HIGH
 				&& state != NON_OPERATIONAL_HIGH_IGNORED) {
@ -78,18 +78,19 @@ ThermalComponentIF::State ThermalComponent::getState(float temperature,
 }

 void ThermalComponent::checkLimits(ThermalComponentIF::State state) {
-	if (targetState == STATE_REQUEST_OPERATIONAL || targetState == STATE_REQUEST_IGNORE) {
-		CoreComponent::checkLimits(state);
+	if ((targetState == STATE_REQUEST_OPERATIONAL) or
+			(targetState == STATE_REQUEST_IGNORE)) {
+		ThermalComponentCore::checkLimits(state);
 		return;
 	}
-	//If component is not operational, it checks the NOP limits.
+	// If component is not operational, it checks the NOP limits.
 	temperatureMonitor.translateState(state, temperature.value,
 			nopParameters.lowerNopLimit, nopParameters.upperNopLimit, false);
 }

 ThermalComponentIF::HeaterRequest ThermalComponent::getHeaterRequest(
 		int8_t targetState, float temperature,
-		CoreComponent::Parameters parameters) {
+		ThermalComponentCore::Parameters parameters) {
 	if (targetState == STATE_REQUEST_IGNORE) {
 		isHeating = false;
 		return HEATER_DONT_CARE;
@ -142,16 +143,16 @@ ThermalComponentIF::State ThermalComponent::getIgnoredState(int8_t state) {
 	case OUT_OF_RANGE_HIGH_IGNORED:
 		return OUT_OF_RANGE_HIGH_IGNORED;
 	default:
-		return CoreComponent::getIgnoredState(state);
+		return ThermalComponentCore::getIgnoredState(state);
 	}
 }

 ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
 		uint16_t parameterId, ParameterWrapper* parameterWrapper,
 		const ParameterWrapper* newValues, uint16_t startAtIndex) {
-	ReturnValue_t result = CoreComponent::getParameter(domainId, parameterId,
+	ReturnValue_t result = ThermalComponentCore::getParameter(domainId, parameterId,
 			parameterWrapper, newValues, startAtIndex);
-	if (result != INVALID_MATRIX_ID) {
+	if (result != INVALID_IDENTIFIER_ID) {
 		return result;
 	}
 	switch (parameterId) {
@ -162,7 +163,7 @@ ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set(nopParameters.upperNopLimit);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
--- a/thermal/ThermalComponent.h
+++ b/thermal/ThermalComponent.h
@ -1,12 +1,14 @@
-#ifndef THERMALCOMPONENT_H_
-#define THERMALCOMPONENT_H_
+#ifndef FSFW_THERMAL_THERMALCOMPONENT_H_
+#define FSFW_THERMAL_THERMALCOMPONENT_H_

-#include "CoreComponent.h"
+#include "ThermalComponentCore.h"

 /**
- * What is it. How to use
+ * @brief
+ * @details
+ * Some more documentation.
 */
-class ThermalComponent: public CoreComponent {
+class ThermalComponent: public ThermalComponentCore {
 public:
 	struct Parameters {
 		float lowerNopLimit;
@ -42,9 +44,10 @@ public:
 	 * @param parameters
 	 * @param priority
 	 */
-	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
-			uint32_t targetStatePoolId, uint32_t currentStatePoolId, uint32_t requestPoolId,
-			GlobDataSet *dataSet, AbstractTemperatureSensor *sensor,
+	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId,
+	        gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
+	        gp_id_t currentStatePoolId, gp_id_t requestPoolId,
+			LocalPoolDataSetBase *dataSet, AbstractTemperatureSensor *sensor,
 			AbstractTemperatureSensor *firstRedundantSensor,
 			AbstractTemperatureSensor *secondRedundantSensor,
 			ThermalModuleIF *thermalModule, Parameters parameters,
@ -63,15 +66,15 @@ protected:

 	NopParameters nopParameters;

-	State getState(float temperature, CoreComponent::Parameters parameters,
+	State getState(float temperature, ThermalComponentCore::Parameters parameters,
 			int8_t targetState);

 	virtual void checkLimits(State state);

 	virtual HeaterRequest getHeaterRequest(int8_t targetState, float temperature,
-			CoreComponent::Parameters parameters);
+			ThermalComponentCore::Parameters parameters);

 	State getIgnoredState(int8_t state);
 };

-#endif /* THERMALCOMPONENT_H_ */
+#endif /* FSFW_THERMAL_THERMALCOMPONENT_H_ */
--- a/thermal/ThermalComponentCore.cpp
+++ b/thermal/ThermalComponentCore.cpp
@ -1,50 +1,73 @@
-#include "CoreComponent.h"
+#include "ThermalComponentCore.h"

-CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
-		uint32_t temperaturePoolId, uint32_t targetStatePoolId,
-		uint32_t currentStatePoolId, uint32_t requestPoolId, GlobDataSet* dataSet,
-		AbstractTemperatureSensor* sensor,
-		AbstractTemperatureSensor* firstRedundantSensor,
-		AbstractTemperatureSensor* secondRedundantSensor,
-		ThermalModuleIF* thermalModule, Parameters parameters,
-		Priority priority, StateRequest initialTargetState) :
-		sensor(sensor), firstRedundantSensor(firstRedundantSensor), secondRedundantSensor(
-				secondRedundantSensor), thermalModule(thermalModule), temperature(
-				temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
-				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ), currentState(
-				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), heaterRequest(
-				requestPoolId, dataSet, PoolVariableIF::VAR_WRITE), isHeating(
-		false), isSafeComponent(priority == SAFE), minTemp(999), maxTemp(
-				AbstractTemperatureSensor::ZERO_KELVIN_C), parameters(
-				parameters), temperatureMonitor(reportingObjectId,
-				domainId + 1,
-				GlobalDataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
-				COMPONENT_TEMP_CONFIRMATION), domainId(domainId) {
-	if (thermalModule != NULL) {
-		thermalModule->registerComponent(this, priority);
-	}
+ThermalComponentCore::ThermalComponentCore(object_id_t reportingObjectId,
+        uint8_t domainId, gp_id_t temperaturePoolId,
+        gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
+		gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
+		Parameters parameters, StateRequest initialTargetState) :
+		temperature(temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ),
+		currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		heaterRequest(requestPoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		parameters(parameters), domainId(domainId),
+		temperatureMonitor(reportingObjectId, domainId + 1,temperaturePoolId,
+				COMPONENT_TEMP_CONFIRMATION) {
 	//Set thermal state once, then leave to operator.
-	GlobDataSet mySet;
-	gp_uint8_t writableTargetState(targetStatePoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	writableTargetState = initialTargetState;
-	mySet.commit(PoolVariableIF::VALID);
+	targetState.setReadWriteMode(PoolVariableIF::VAR_WRITE);
+	ReturnValue_t result = targetState.read();
+	if(result == HasReturnvaluesIF::RETURN_OK) {
+		targetState = initialTargetState;
+		targetState.setValid(true);
+		targetState.commit();
+	}
+	targetState.setReadWriteMode(PoolVariableIF::VAR_READ);
 }

-CoreComponent::~CoreComponent() {
+void ThermalComponentCore::addSensor(AbstractTemperatureSensor* sensor) {
+    this->sensor = sensor;
 }

-ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode) {
+void ThermalComponentCore::addFirstRedundantSensor(
+        AbstractTemperatureSensor *firstRedundantSensor) {
+    this->firstRedundantSensor = firstRedundantSensor;
+}
+
+void ThermalComponentCore::addSecondRedundantSensor(
+        AbstractTemperatureSensor *secondRedundantSensor) {
+    this->secondRedundantSensor = secondRedundantSensor;
+}
+
+void ThermalComponentCore::addThermalModule(ThermalModule *thermalModule,
+        Priority priority) {
+    this->thermalModule = thermalModule;
+    if(thermalModule != nullptr) {
+        thermalModule->registerComponent(this, priority);
+    }
+}
+
+void ThermalComponentCore::setPriority(Priority priority) {
+    if(priority == SAFE) {
+        this->isSafeComponent = true;
+    }
+}
+
+ThermalComponentCore::~ThermalComponentCore() {
+}
+
+ThermalComponentIF::HeaterRequest ThermalComponentCore::performOperation(
+        uint8_t opCode) {
 	HeaterRequest request = HEATER_DONT_CARE;
 	//SHOULDDO: Better pass db_float_t* to getTemperature and set it invalid if invalid.
 	temperature = getTemperature();
 	updateMinMaxTemp();
-	if ((temperature != INVALID_TEMPERATURE)) {
+	if (temperature != INVALID_TEMPERATURE) {
 		temperature.setValid(PoolVariableIF::VALID);
-		State state = getState(temperature, getParameters(), targetState);
+		State state = getState(temperature.value, getParameters(),
+				targetState.value);
 		currentState = state;
 		checkLimits(state);
-		request = getHeaterRequest(targetState, temperature, getParameters());
+		request = getHeaterRequest(targetState.value, temperature.value,
+				getParameters());
 	} else {
 		temperatureMonitor.setToInvalid();
 		temperature.setValid(PoolVariableIF::INVALID);
@ -57,42 +80,45 @@ ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode
 	return request;
 }

-void CoreComponent::markStateIgnored() {
-	currentState = getIgnoredState(currentState);
+void ThermalComponentCore::markStateIgnored() {
+	currentState = getIgnoredState(currentState.value);
 }

-object_id_t CoreComponent::getObjectId() {
+object_id_t ThermalComponentCore::getObjectId() {
 	return temperatureMonitor.getReporterId();
+	return 0;
 }

-float CoreComponent::getLowerOpLimit() {
+float ThermalComponentCore::getLowerOpLimit() {
 	return parameters.lowerOpLimit;
 }

-ReturnValue_t CoreComponent::setTargetState(int8_t newState) {
-	GlobDataSet mySet;
-	gp_uint8_t writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
-	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
-			&& (newState != STATE_REQUEST_IGNORE)) {
+
+
+ReturnValue_t ThermalComponentCore::setTargetState(int8_t newState) {
+	targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
+	targetState.read();
+	if((targetState == STATE_REQUEST_OPERATIONAL) and
+			(newState != STATE_REQUEST_IGNORE)) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+
 	switch (newState) {
 	case STATE_REQUEST_HEATING:
 	case STATE_REQUEST_IGNORE:
 	case STATE_REQUEST_OPERATIONAL:
-		writableTargetState = newState;
+		targetState = newState;
 		break;
 	case STATE_REQUEST_NON_OPERATIONAL:
 	default:
 		return INVALID_TARGET_STATE;
 	}
-	mySet.commit(PoolVariableIF::VALID);
+	targetState.setValid(true);
+	targetState.commit();
 	return HasReturnvaluesIF::RETURN_OK;
 }

-void CoreComponent::setOutputInvalid() {
+void ThermalComponentCore::setOutputInvalid() {
 	temperature = INVALID_TEMPERATURE;
 	temperature.setValid(PoolVariableIF::INVALID);
 	currentState.setValid(PoolVariableIF::INVALID);
@ -101,20 +127,22 @@ void CoreComponent::setOutputInvalid() {
 	temperatureMonitor.setToUnchecked();
 }

-float CoreComponent::getTemperature() {
-	if ((sensor != NULL) && (sensor->isValid())) {
+float ThermalComponentCore::getTemperature() {
+	if ((sensor != nullptr) && (sensor->isValid())) {
 		return sensor->getTemperature();
 	}

-	if ((firstRedundantSensor != NULL) && (firstRedundantSensor->isValid())) {
+	if ((firstRedundantSensor != nullptr) &&
+	        (firstRedundantSensor->isValid())) {
 		return firstRedundantSensor->getTemperature();
 	}

-	if ((secondRedundantSensor != NULL) && (secondRedundantSensor->isValid())) {
+	if ((secondRedundantSensor != nullptr) &&
+	        (secondRedundantSensor->isValid())) {
 		return secondRedundantSensor->getTemperature();
 	}

-	if (thermalModule != NULL) {
+	if (thermalModule != nullptr) {
 		float temperature = thermalModule->getTemperature();
 		if (temperature != ThermalModuleIF::INVALID_TEMPERATURE) {
 			return temperature;
@ -126,7 +154,7 @@ float CoreComponent::getTemperature() {
 	}
 }

-ThermalComponentIF::State CoreComponent::getState(float temperature,
+ThermalComponentIF::State ThermalComponentCore::getState(float temperature,
 		Parameters parameters, int8_t targetState) {
 	ThermalComponentIF::State state;

@ -144,14 +172,14 @@ ThermalComponentIF::State CoreComponent::getState(float temperature,
 	return state;
 }

-void CoreComponent::checkLimits(ThermalComponentIF::State state) {
+void ThermalComponentCore::checkLimits(ThermalComponentIF::State state) {
 	//Checks operational limits only.
 	temperatureMonitor.translateState(state, temperature.value,
 			getParameters().lowerOpLimit, getParameters().upperOpLimit);

 }

-ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
+ThermalComponentIF::HeaterRequest ThermalComponentCore::getHeaterRequest(
 		int8_t targetState, float temperature, Parameters parameters) {
 	if (targetState == STATE_REQUEST_IGNORE) {
 		isHeating = false;
@ -177,7 +205,7 @@ ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
 	return HEATER_DONT_CARE;
 }

-ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
+ThermalComponentIF::State ThermalComponentCore::getIgnoredState(int8_t state) {
 	switch (state) {
 	case NON_OPERATIONAL_LOW:
 		return NON_OPERATIONAL_LOW_IGNORED;
@ -197,27 +225,27 @@ ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
 	}
 }

-void CoreComponent::updateMinMaxTemp() {
+void ThermalComponentCore::updateMinMaxTemp() {
 	if (temperature == INVALID_TEMPERATURE) {
 		return;
 	}
 	if (temperature < minTemp) {
-		minTemp = temperature;
+		minTemp = static_cast<float>(temperature);
 	}
 	if (temperature > maxTemp) {
-		maxTemp = temperature;
+		maxTemp = static_cast<float>(temperature);
 	}
 }

-uint8_t CoreComponent::getDomainId() const {
+uint8_t ThermalComponentCore::getDomainId() const {
 	return domainId;
 }

-CoreComponent::Parameters CoreComponent::getParameters() {
+ThermalComponentCore::Parameters ThermalComponentCore::getParameters() {
 	return parameters;
 }

-ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
+ReturnValue_t ThermalComponentCore::getParameter(uint8_t domainId,
 		uint16_t parameterId, ParameterWrapper* parameterWrapper,
 		const ParameterWrapper* newValues, uint16_t startAtIndex) {
 	ReturnValue_t result = temperatureMonitor.getParameter(domainId,
@ -251,7 +279,7 @@ ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set(parameters.upperOpLimit);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
--- a/thermal/ThermalComponentCore.h
+++ b/thermal/ThermalComponentCore.h
@ -0,0 +1,117 @@
+#ifndef FSFW_THERMAL_THERMALCOMPONENTCORE_H_
+#define FSFW_THERMAL_THERMALCOMPONENTCORE_H_
+
+#include "ThermalMonitorReporter.h"
+#include "ThermalComponentIF.h"
+#include "AbstractTemperatureSensor.h"
+#include "ThermalModule.h"
+
+#include "../datapoollocal/LocalPoolVariable.h"
+
+/**
+ * @brief
+ * @details
+ */
+class ThermalComponentCore: public ThermalComponentIF {
+public:
+	struct Parameters {
+		float lowerOpLimit;
+		float upperOpLimit;
+		float heaterOn;
+		float hysteresis;
+		float heaterSwitchoff;
+	};
+
+	static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
+
+	/**
+	 * Some documentation
+	 * @param reportingObjectId
+	 * @param domainId
+	 * @param temperaturePoolId
+	 * @param targetStatePoolId
+	 * @param currentStatePoolId
+	 * @param requestPoolId
+	 * @param dataSet
+	 * @param parameters
+	 * @param initialTargetState
+	 */
+	ThermalComponentCore(object_id_t reportingObjectId, uint8_t domainId,
+	        gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
+	        gp_id_t currentStatePoolId, gp_id_t requestPoolId,
+			LocalPoolDataSetBase* dataSet, Parameters parameters,
+			StateRequest initialTargetState =
+					ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
+
+	void addSensor(AbstractTemperatureSensor* firstRedundantSensor);
+	void addFirstRedundantSensor(
+	        AbstractTemperatureSensor* firstRedundantSensor);
+    void addSecondRedundantSensor(
+            AbstractTemperatureSensor* secondRedundantSensor);
+    void addThermalModule(ThermalModule* thermalModule, Priority priority);
+
+    void setPriority(Priority priority);
+
+	virtual ~ThermalComponentCore();
+
+	virtual HeaterRequest performOperation(uint8_t opCode);
+
+	void markStateIgnored();
+
+	object_id_t getObjectId();
+
+	uint8_t getDomainId() const;
+
+	virtual float getLowerOpLimit();
+
+	ReturnValue_t setTargetState(int8_t newState);
+
+	virtual void setOutputInvalid();
+
+	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
+
+protected:
+
+	AbstractTemperatureSensor *sensor = nullptr;
+	AbstractTemperatureSensor *firstRedundantSensor = nullptr;
+	AbstractTemperatureSensor *secondRedundantSensor = nullptr;
+	ThermalModuleIF *thermalModule = nullptr;
+
+	lp_var_t<float> temperature;
+	lp_var_t<int8_t> targetState;
+	lp_var_t<int8_t> currentState;
+	lp_var_t<uint8_t> heaterRequest;
+
+	bool isHeating = false;
+
+	bool isSafeComponent = false;
+
+	float minTemp = 999;
+
+	float maxTemp = AbstractTemperatureSensor::ZERO_KELVIN_C;
+
+	Parameters parameters;
+
+	const uint8_t domainId;
+
+	ThermalMonitorReporter temperatureMonitor;
+
+	virtual float getTemperature();
+	virtual State getState(float temperature, Parameters parameters,
+			int8_t targetState);
+
+	virtual void checkLimits(State state);
+
+	virtual HeaterRequest getHeaterRequest(int8_t targetState,
+			float temperature, Parameters parameters);
+
+	virtual State getIgnoredState(int8_t state);
+
+	void updateMinMaxTemp();
+
+	virtual Parameters getParameters();
+};
+
+#endif /* FSFW_THERMAL_THERMALCOMPONENT_CORE_H_ */
--- a/thermal/ThermalComponentIF.h
+++ b/thermal/ThermalComponentIF.h
@ -49,18 +49,18 @@ public:
 		SAFE = 0,             //!< SAFE
 		IDLE,                 //!< IDLE
 		PAYLOAD,              //!< PAYLOAD
-		NUMBER_OF_PRIORITIES          //!< MAX_PRIORITY
+		NUMBER_OF_PRIORITIES  //!< MAX_PRIORITY
 	};

 	/**
 	 * The elements are ordered by priority, lowest have highest priority
 	 */
 	enum HeaterRequest {
-		HEATER_REQUEST_EMERGENCY_OFF = 0,          //!< REQUEST_EMERGENCY_OFF
-		HEATER_REQUEST_EMERGENCY_ON, //!< REQUEST_EMERGENCY_ON
-		HEATER_REQUEST_OFF,          //!< REQUEST_OFF
-		HEATER_REQUEST_ON,           //!< REQUEST_ON
-		HEATER_DONT_CARE             //!< DONT_CARE
+		HEATER_REQUEST_EMERGENCY_OFF = 0,   //!< REQUEST_EMERGENCY_OFF
+		HEATER_REQUEST_EMERGENCY_ON,        //!< REQUEST_EMERGENCY_ON
+		HEATER_REQUEST_OFF,                 //!< REQUEST_OFF
+		HEATER_REQUEST_ON,                  //!< REQUEST_ON
+		HEATER_DONT_CARE                    //!< DONT_CARE
 	};

 	virtual ~ThermalComponentIF() {
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@ -1,28 +1,31 @@
-#include "../monitoring/LimitViolationReporter.h"
-#include "../monitoring/MonitoringMessageContent.h"
 #include "ThermalModule.h"
-
 #include "AbstractTemperatureSensor.h"

-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
-		uint32_t currentStatePoolId, uint32_t targetStatePoolId,
-		GlobDataSet *dataSet, Parameters parameters,
+#include "../monitoring/LimitViolationReporter.h"
+#include "../monitoring/MonitoringMessageContent.h"
+
+
+ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
+		gp_id_t currentStatePoolId, gp_id_t targetStatePoolId,
+		LocalPoolDataSetBase *dataSet, Parameters parameters,
 		RedundantHeater::Parameters heaterParameters) :
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
-				false), parameters(parameters), moduleTemperature(
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), currentState(
-				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
-				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
+		oldStrategy(ACTIVE_SINGLE), parameters(parameters),
+		moduleTemperature(moduleTemperaturePoolId, dataSet,
+				PoolVariableIF::VAR_WRITE),
+		currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
 	heater = new RedundantHeater(heaterParameters);
 }

-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet* dataSet) :
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
-				false), parameters( { 0, 0 }), moduleTemperature(
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
-				NULL), currentState(PoolVariableIF::INVALID, dataSet,
-				PoolVariableIF::VAR_WRITE), targetState(PoolVariableIF::INVALID,
-				dataSet, PoolVariableIF::VAR_READ) {
+ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
+		LocalPoolDataSetBase* dataSet) :
+		oldStrategy(ACTIVE_SINGLE), parameters( { 0, 0 }),
+		moduleTemperature(moduleTemperaturePoolId, dataSet,
+				PoolVariableIF::VAR_WRITE),
+		currentState(gp_id_t(), dataSet,
+				PoolVariableIF::VAR_WRITE),
+		targetState(gp_id_t(), dataSet,
+				PoolVariableIF::VAR_READ) {
 }

 ThermalModule::~ThermalModule() {
@ -30,7 +33,7 @@ ThermalModule::~ThermalModule() {
 }

 void ThermalModule::performOperation(uint8_t opCode) {
-	if (heater != NULL) {
+	if (heater != nullptr) {
 		heater->performOperation(0);
 	}
 }
@ -42,7 +45,7 @@ void ThermalModule::performMode(Strategy strategy) {
 	ThermalComponentIF::HeaterRequest componentHeaterRequest =
 			letComponentsPerformAndDeciceIfWeNeedToHeat(safeOnly);

-	if (heater == NULL) {
+	if (heater == nullptr) {
 		informComponentsAboutHeaterState(false, NONE);
 		return;
 	}
@ -53,8 +56,8 @@ void ThermalModule::performMode(Strategy strategy) {
 		//Components overwrite the module request.
 		heating = ((componentHeaterRequest
 				== ThermalComponentIF::HEATER_REQUEST_ON)
-				|| (componentHeaterRequest
-						== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
+				or (componentHeaterRequest
+				== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
 	}

 	bool dual = (strategy == ACTIVE_DUAL);
@ -76,7 +79,7 @@ void ThermalModule::performMode(Strategy strategy) {
 }

 float ThermalModule::getTemperature() {
-	return moduleTemperature;
+	return moduleTemperature.value;
 }

 void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
@ -85,7 +88,8 @@ void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {

 void ThermalModule::registerComponent(ThermalComponentIF* component,
 		ThermalComponentIF::Priority priority) {
-	components.push_back(ComponentData( { component, priority, ThermalComponentIF::HEATER_DONT_CARE }));
+	components.push_back(ComponentData( { component, priority,
+		ThermalComponentIF::HEATER_DONT_CARE }));
 }

 void ThermalModule::calculateTemperature() {
@ -94,12 +98,13 @@ void ThermalModule::calculateTemperature() {
 	std::list<AbstractTemperatureSensor *>::iterator iter = sensors.begin();
 	for (; iter != sensors.end(); iter++) {
 		if ((*iter)->isValid()) {
-			moduleTemperature = moduleTemperature + (*iter)->getTemperature();
+			moduleTemperature = moduleTemperature.value +
+					(*iter)->getTemperature();
 			numberOfValidSensors++;
 		}
 	}
 	if (numberOfValidSensors != 0) {
-		moduleTemperature = moduleTemperature / numberOfValidSensors;
+		moduleTemperature = moduleTemperature.value / numberOfValidSensors;
 		moduleTemperature.setValid(PoolVariableIF::VALID);
 	} else {
 		moduleTemperature = INVALID_TEMPERATURE;
@ -117,9 +122,10 @@ ThermalComponentIF* ThermalModule::findComponent(object_id_t objectId) {
 	return NULL;
 }

-ThermalComponentIF::HeaterRequest ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(
-		bool safeOnly) {
-	ThermalComponentIF::HeaterRequest heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
+ThermalComponentIF::HeaterRequest
+ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(bool safeOnly) {
+	ThermalComponentIF::HeaterRequest
+	heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];

 	survivalTargetTemp = -999;
 	targetTemp = -999;
@ -224,7 +230,7 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 		limit = survivalTargetTemp;
 	}

-	if (moduleTemperature >= limit) {
+	if (moduleTemperature.value >= limit) {
 		currentState = OPERATIONAL;
 	} else {
 		currentState = NON_OPERATIONAL;
@ -250,15 +256,16 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 }

 void ThermalModule::setHeating(bool on) {
-	GlobDataSet mySet;
-	gp_int8_t writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_WRITE);
-	if (on) {
-		writableTargetState = STATE_REQUEST_HEATING;
-	} else {
-		writableTargetState = STATE_REQUEST_PASSIVE;
+	ReturnValue_t result = targetState.read();
+	if(result == HasReturnvaluesIF::RETURN_OK) {
+		if(on) {
+			targetState.value = STATE_REQUEST_HEATING;
+		}
+		else {
+			targetState.value = STATE_REQUEST_PASSIVE;
+		}
 	}
-	mySet.commit(PoolVariableIF::VALID);
+	targetState.setValid(true);
 }

 void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,
--- a/thermal/ThermalModule.h
+++ b/thermal/ThermalModule.h
@ -1,14 +1,18 @@
-#ifndef THERMALMODULE_H_
-#define THERMALMODULE_H_
+#ifndef FSFW_THERMAL_THERMALMODULE_H_
+#define FSFW_THERMAL_THERMALMODULE_H_

-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../devicehandlers/HealthDevice.h"
-#include "../events/EventReportingProxyIF.h"
 #include "ThermalModuleIF.h"
-#include <list>
 #include "tcsDefinitions.h"
 #include "RedundantHeater.h"
+
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../events/EventReportingProxyIF.h"
+
+#include <list>
+
+
 class PowerSwitchIF;

 /**
@ -22,11 +26,12 @@ public:
 		float hysteresis;
 	};

-	ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId,
-			uint32_t targetStatePoolId, GlobDataSet *dataSet, Parameters parameters,
-			RedundantHeater::Parameters heaterParameters);
+	ThermalModule(gp_id_t moduleTemperaturePoolId, gp_id_t currentStatePoolId,
+			gp_id_t targetStatePoolId, LocalPoolDataSetBase *dataSet,
+			Parameters parameters, RedundantHeater::Parameters heaterParameters);

-	ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet *dataSet);
+	ThermalModule(gp_id_t moduleTemperaturePoolId,
+			LocalPoolDataSetBase *dataSet);

 	virtual ~ThermalModule();

@ -62,20 +67,20 @@ protected:

 	Strategy oldStrategy;

-	float survivalTargetTemp;
+	float survivalTargetTemp = 0.0;

-	float targetTemp;
+	float targetTemp = 0.0;

-	bool heating;
+	bool heating = false;

 	Parameters parameters;

-	gp_float_t moduleTemperature;
+	lp_var_t<float> moduleTemperature;

-	RedundantHeater *heater;
+	RedundantHeater *heater = nullptr;

-	gp_int8_t currentState;
-	gp_int8_t targetState;
+	lp_var_t<int8_t> currentState;
+	lp_var_t<int8_t> targetState;

 	std::list<AbstractTemperatureSensor *> sensors;
 	std::list<ComponentData> components;
@ -92,4 +97,4 @@ protected:
 	void updateTargetTemperatures(ThermalComponentIF *component, bool isSafe);
 };

-#endif /* THERMALMODULE_H_ */
+#endif /* FSFW_THERMAL_THERMALMODULE_H_ */
--- a/thermal/ThermalMonitor.h
+++ b/thermal/ThermalMonitor.h
@ -1,23 +0,0 @@
-#ifndef FRAMEWORK_THERMAL_THERMALMONITOR_H_
-#define FRAMEWORK_THERMAL_THERMALMONITOR_H_
-
-#include "../monitoring/MonitorReporter.h"
-#include "ThermalComponentIF.h"
-
-class ThermalMonitor: public MonitorReporter<float> {
-public:
-	template<typename ... Args>
-	ThermalMonitor(Args ... args) :
-			MonitorReporter<float>(std::forward<Args>(args)...) {
-	}
-	~ThermalMonitor();
-	ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
-			float lowerLimit, float upperLimit, bool componentIsOperational = true);
-
-	bool isAboveHighLimit();
-protected:
-	virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
-
-};
-
-#endif /* FRAMEWORK_THERMAL_THERMALMONITOR_H_ */
--- a/thermal/ThermalMonitorReporter.cpp
+++ b/thermal/ThermalMonitorReporter.cpp
@ -1,10 +1,12 @@
-#include "ThermalMonitor.h"
+#include "ThermalMonitorReporter.h"
 #include "ThermalComponentIF.h"
+
 #include "../monitoring/MonitoringIF.h"
-ThermalMonitor::~ThermalMonitor() {
+
+ThermalMonitorReporter::~ThermalMonitorReporter() {
 }

-void ThermalMonitor::sendTransitionEvent(float currentValue,
+void ThermalMonitorReporter::sendTransitionEvent(float currentValue,
 		ReturnValue_t state) {
 	switch (state) {
 	case MonitoringIF::BELOW_LOW_LIMIT:
@ -28,7 +30,7 @@ void ThermalMonitor::sendTransitionEvent(float currentValue,
 	}
 }

-bool ThermalMonitor::isAboveHighLimit() {
+bool ThermalMonitorReporter::isAboveHighLimit() {
 	if (oldState == ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT) {
 		return true;
 	} else {
@ -36,7 +38,8 @@ bool ThermalMonitor::isAboveHighLimit() {
 	}
 }

-ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, float sample, float lowerLimit,
+ReturnValue_t ThermalMonitorReporter::translateState(
+		ThermalComponentIF::State state, float sample, float lowerLimit,
 		float upperLimit, bool componentIsOperational) {
 	if (ThermalComponentIF::isIgnoredState(state)) {
 		setToUnchecked();
@ -44,10 +47,12 @@ ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, fl
 	}
 	switch (state) {
 	case ThermalComponentIF::OUT_OF_RANGE_LOW:
-		return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample, lowerLimit);
+		return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample,
+				lowerLimit);
 	case ThermalComponentIF::NON_OPERATIONAL_LOW:
 		if (componentIsOperational) {
-			return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT, sample, lowerLimit);
+			return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT,
+					sample, lowerLimit);
 		} else {
 			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 		}
@ -55,12 +60,14 @@ ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, fl
 		return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 	case ThermalComponentIF::NON_OPERATIONAL_HIGH:
 		if (componentIsOperational) {
-			return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT, sample, upperLimit);
+			return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT,
+					sample, upperLimit);
 		} else {
 			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 		}
 	case ThermalComponentIF::OUT_OF_RANGE_HIGH:
-		return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample, upperLimit);
+		return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample,
+				upperLimit);
 	default:
 		//Never reached, all states covered.
 		return HasReturnvaluesIF::RETURN_FAILED;
--- a/thermal/ThermalMonitorReporter.h
+++ b/thermal/ThermalMonitorReporter.h
@ -0,0 +1,28 @@
+#ifndef FSFW_THERMAL_THERMALMONITORREPORTER_H_
+#define FSFW_THERMAL_THERMALMONITORREPORTER_H_
+
+#include "ThermalComponentIF.h"
+#include "../monitoring/MonitorReporter.h"
+
+
+/**
+ * @brief   Monitor Reporter implementation for thermal components.
+ */
+class ThermalMonitorReporter: public MonitorReporter<float> {
+public:
+	template<typename ... Args>
+	ThermalMonitorReporter(Args ... args) :
+			MonitorReporter<float>(std::forward<Args>(args)...) {
+	}
+	~ThermalMonitorReporter();
+	ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
+			float lowerLimit, float upperLimit,
+			bool componentIsOperational = true);
+
+	bool isAboveHighLimit();
+protected:
+	virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
+
+};
+
+#endif /* FSFW_THERMAL_THERMALMONITORREPORTERREPORTER_H_ */
--- a/thermal/tcsDefinitions.h
+++ b/thermal/tcsDefinitions.h
@ -2,7 +2,7 @@
 #define TCSDEFINITIONS_H_


-static const uint32_t INVALID_TEMPERATURE = 999;
+static const float INVALID_TEMPERATURE = 999;


 #endif /* TCSDEFINITIONS_H_ */