From 368ef242ff59b6556e155ba4007630991c328cff Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Jan 2020 18:49:55 +0100
Subject: [PATCH 001/154] CCSDSTime bugfix for atmel

Possible good for other cases too?
---
 timemanager/CCSDSTime.cpp | 43 +++++++++++++++++++++++----------------
 1 file changed, 26 insertions(+), 17 deletions(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 32032716..2eb6c4b5 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -154,32 +154,41 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	if (length < 19) {
 		return RETURN_FAILED;
 	}
-	uint16_t year;
-	uint8_t month;
-	uint16_t day;
-	uint8_t hour;
-	uint8_t minute;
-	float second;
-//try Code A (yyyy-mm-dd)
-	int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
-			&month, &day, &hour, &minute, &second);
-	if (count == 6) {
+	// In the size optimized nano library used by ATMEL, floating point conversion
+	// is not allowed. There is a linker flag to allow it apparently, but I
+	// could not manage to make it run (removing -specs=nano.specs in linker flags works though,
+	// but we propably should include this). Using floats with sscanf is also expensive.
+	// Furthermore, the stdio.c library by ATMEL can't resolve the %hhi specifiers
+	// Therefore, I adapted this function.
+	int year;
+	int month;
+	int day;
+	int hour;
+	int minute;
+	int second;
+	int usecond;
+	// try Code A (yyyy-mm-dd)
+	//int count = sscanf((char *) from, "%4hi-%2hi-%2hiT%2hi:%2hi:%fZ", &year,
+	//		&month, &day, &hour, &minute, &second);
+	int count = sscanf((char *) from, "%4d-%2d-%2dT%2d:%2d:%2d.%dZ", &year,
+				&month, &day, &hour, &minute, &second, &usecond);
+	if (count == 7) {
 		to->year = year;
 		to->month = month;
 		to->day = day;
 		to->hour = hour;
 		to->minute = minute;
 		to->second = second;
-		to->usecond = (second - floor(second)) * 1000000;
+		to->usecond = usecond;//(second - floor(second)) * 1000000;
 		return RETURN_OK;
 	}
 
-	//try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
-			&hour, &minute, &second);
-	if (count == 5) {
+	// try Code B (yyyy-ddd)
+	count = sscanf((char *) from, "%4i-%3iT%2i:%2i:%2i.%iZ", &year, &day,
+			&hour, &minute, &second, &usecond);
+	if (count == 6) {
 		uint8_t tempDay;
-		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,
+		ReturnValue_t result = CCSDSTime::convertDaysOfYear((uint16_t)day,(uint16_t) year,(uint8_t *) &month,
 				&tempDay);
 		if (result != RETURN_OK) {
 			return RETURN_FAILED;
@@ -190,7 +199,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		to->hour = hour;
 		to->minute = minute;
 		to->second = second;
-		to->usecond = (second - floor(second)) * 1000000;
+		to->usecond = usecond;
 		return RETURN_OK;
 	}
 

From fe246b9bca27038708bd2d0380d198966b951b9a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Apr 2020 11:43:37 +0200
Subject: [PATCH 002/154] fixed map improvements

---
 container/FixedMap.h | 41 +++++++++++++++++++++++++++++++++--------
 1 file changed, 33 insertions(+), 8 deletions(-)

diff --git a/container/FixedMap.h b/container/FixedMap.h
index 0b84bf4e..7f3d28f7 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -6,7 +6,11 @@
 #include <utility>
 
 /**
- * \ingroup container
+ * @brief 	Map implementation for maps with a pre-defined size.
+ * @details Can be initialized with desired maximum size.
+ * 	        Iterator is used to access <key,value> pair and
+ * 	        iterate through map entries. Complexity O(n).
+ * @ingroup container
  */
 template<typename key_t, typename T>
 class FixedMap: public SerializeIF {
@@ -52,12 +56,24 @@ public:
 			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
 		}
 
+		// -> operator overloaded, can be used to access value
 		T *operator->() {
 			return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
 		}
 
+		// Can be used to access the key of the iterator
+		key_t first() {
+			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->first;
+		}
+
+		// Alternative to access value, similar to std::map implementation
+		T second() {
+			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
+		}
 	};
 
+
+
 	Iterator begin() const {
 		return Iterator(&theMap[0]);
 	}
@@ -72,10 +88,10 @@ public:
 
 	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
 		if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
-			return KEY_ALREADY_EXISTS;
+			return FixedMap::KEY_ALREADY_EXISTS;
 		}
 		if (_size == theMap.maxSize()) {
-			return MAP_FULL;
+			return FixedMap::MAP_FULL;
 		}
 		theMap[_size].first = key;
 		theMap[_size].second = value;
@@ -87,7 +103,7 @@ public:
 	}
 
 	ReturnValue_t insert(std::pair<key_t, T> pair) {
-		return insert(pair.fist, pair.second);
+		return insert(pair.first, pair.second);
 	}
 
 	ReturnValue_t exists(key_t key) const {
@@ -148,8 +164,17 @@ public:
 		return theMap.maxSize();
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	bool full() {
+		if(_size == theMap.maxSize()) {
+			return true;
+		}
+		else {
+			return false;
+		}
+	}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			const size_t max_size, bool bigEndian) const {
 		ReturnValue_t result = SerializeAdapter<uint32_t>::serialize(&this->_size,
 				buffer, size, max_size, bigEndian);
 		uint32_t i = 0;
@@ -163,7 +188,7 @@ public:
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		uint32_t printSize = sizeof(_size);
 		uint32_t i = 0;
 
@@ -176,7 +201,7 @@ public:
 		return printSize;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, ssize_t* size,
 			bool bigEndian) {
 		ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&this->_size,
 				buffer, size, bigEndian);

From 826e2bdb2dfbfad69919ccb856a7835219bc1075 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Apr 2020 15:10:23 +0200
Subject: [PATCH 003/154] Revert "fixed map improvements"

This reverts commit fe246b9bca27038708bd2d0380d198966b951b9a.
---
 container/FixedMap.h | 41 ++++++++---------------------------------
 1 file changed, 8 insertions(+), 33 deletions(-)

diff --git a/container/FixedMap.h b/container/FixedMap.h
index 7f3d28f7..0b84bf4e 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -6,11 +6,7 @@
 #include <utility>
 
 /**
- * @brief 	Map implementation for maps with a pre-defined size.
- * @details Can be initialized with desired maximum size.
- * 	        Iterator is used to access <key,value> pair and
- * 	        iterate through map entries. Complexity O(n).
- * @ingroup container
+ * \ingroup container
  */
 template<typename key_t, typename T>
 class FixedMap: public SerializeIF {
@@ -56,24 +52,12 @@ public:
 			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
 		}
 
-		// -> operator overloaded, can be used to access value
 		T *operator->() {
 			return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
 		}
 
-		// Can be used to access the key of the iterator
-		key_t first() {
-			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->first;
-		}
-
-		// Alternative to access value, similar to std::map implementation
-		T second() {
-			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
 	};
 
-
-
 	Iterator begin() const {
 		return Iterator(&theMap[0]);
 	}
@@ -88,10 +72,10 @@ public:
 
 	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
 		if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
-			return FixedMap::KEY_ALREADY_EXISTS;
+			return KEY_ALREADY_EXISTS;
 		}
 		if (_size == theMap.maxSize()) {
-			return FixedMap::MAP_FULL;
+			return MAP_FULL;
 		}
 		theMap[_size].first = key;
 		theMap[_size].second = value;
@@ -103,7 +87,7 @@ public:
 	}
 
 	ReturnValue_t insert(std::pair<key_t, T> pair) {
-		return insert(pair.first, pair.second);
+		return insert(pair.fist, pair.second);
 	}
 
 	ReturnValue_t exists(key_t key) const {
@@ -164,17 +148,8 @@ public:
 		return theMap.maxSize();
 	}
 
-	bool full() {
-		if(_size == theMap.maxSize()) {
-			return true;
-		}
-		else {
-			return false;
-		}
-	}
-
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			const size_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
+			const uint32_t max_size, bool bigEndian) const {
 		ReturnValue_t result = SerializeAdapter<uint32_t>::serialize(&this->_size,
 				buffer, size, max_size, bigEndian);
 		uint32_t i = 0;
@@ -188,7 +163,7 @@ public:
 		return result;
 	}
 
-	virtual size_t getSerializedSize() const {
+	virtual uint32_t getSerializedSize() const {
 		uint32_t printSize = sizeof(_size);
 		uint32_t i = 0;
 
@@ -201,7 +176,7 @@ public:
 		return printSize;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, ssize_t* size,
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
 		ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&this->_size,
 				buffer, size, bigEndian);

From 2a72e94d6f4fde6653c3ead47d0d9d26b90e6712 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Apr 2020 19:33:01 +0200
Subject: [PATCH 004/154] new stopwatch :-)

---
 osal/FreeRTOS/Clock.cpp      |  4 +-
 osal/FreeRTOS/Timekeeper.cpp | 26 ++++++++-----
 osal/FreeRTOS/Timekeeper.h   |  9 ++++-
 timemanager/Clock.h          |  3 +-
 timemanager/Stopwatch.cpp    | 61 +++++++++++++++++++++++++++++++
 timemanager/Stopwatch.h      | 71 ++++++++++++++++++++++++++++++++++++
 6 files changed, 161 insertions(+), 13 deletions(-)
 create mode 100644 timemanager/Stopwatch.cpp
 create mode 100644 timemanager/Stopwatch.h

diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index cffc2125..5e597f25 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -3,8 +3,11 @@
 #include <stdlib.h>
 #include "Timekeeper.h"
 
+extern "C" {
 #include <FreeRTOS.h>
 #include <task.h>
+}
+
 
 //TODO sanitize input?
 //TODO much of this code can be reused for tick-only systems
@@ -56,7 +59,6 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 
 timeval Clock::getUptime() {
 	TickType_t ticksSinceStart = xTaskGetTickCount();
-
 	return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 
diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp
index 81f7f997..949e1df3 100644
--- a/osal/FreeRTOS/Timekeeper.cpp
+++ b/osal/FreeRTOS/Timekeeper.cpp
@@ -1,20 +1,24 @@
-#include "Timekeeper.h"
-#include <FreeRTOSConfig.h>
+/**
+ * @file Timekeeper.cpp
+ * @date
+ */
 
-Timekeeper::Timekeeper() :
-		offset( { 0, 0 }) {
-	// TODO Auto-generated constructor stub
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
+extern "C" {
+#include <task.h>
 }
 
-Timekeeper * Timekeeper::myinstance = NULL;
+Timekeeper * Timekeeper::myinstance = nullptr;
+
+Timekeeper::Timekeeper() : offset( { 0, 0 }) {}
 
 const timeval& Timekeeper::getOffset() const {
 	return offset;
 }
 
 Timekeeper* Timekeeper::instance() {
-	if (myinstance == NULL) {
+	if (myinstance == nullptr) {
 		myinstance = new Timekeeper();
 	}
 	return myinstance;
@@ -24,9 +28,7 @@ void Timekeeper::setOffset(const timeval& offset) {
 	this->offset = offset;
 }
 
-Timekeeper::~Timekeeper() {
-	// TODO Auto-generated destructor stub
-}
+Timekeeper::~Timekeeper() {}
 
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 	timeval uptime;
@@ -40,3 +42,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 
 	return uptime;
 }
+
+TickType_t Timekeeper::getTicks() {
+    return xTaskGetTickCount();
+}
diff --git a/osal/FreeRTOS/Timekeeper.h b/osal/FreeRTOS/Timekeeper.h
index 2ba3e4a9..05f0f701 100644
--- a/osal/FreeRTOS/Timekeeper.h
+++ b/osal/FreeRTOS/Timekeeper.h
@@ -2,8 +2,10 @@
 #define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 
 #include <framework/timemanager/Clock.h>
-
+extern "C" {
 #include <FreeRTOS.h>
+}
+
 
 /**
  * A Class to basically store the time difference between uptime and UTC
@@ -25,6 +27,11 @@ public:
 	virtual ~Timekeeper();
 
 	static timeval ticksToTimeval(TickType_t ticks);
+    /**
+     * Get elapsed time in system ticks.
+     * @return
+     */
+    static TickType_t getTicks();
 
 	const timeval& getOffset() const;
 	void setOffset(const timeval& offset);
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index af657247..5f18de3e 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -7,7 +7,8 @@
 #include <framework/ipc/MutexFactory.h>
 #include <framework/globalfunctions/timevalOperations.h>
 
-
+typedef uint32_t millis_t;
+typedef float seconds_t;
 
 class Clock {
 public:
diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
new file mode 100644
index 00000000..6c50f0de
--- /dev/null
+++ b/timemanager/Stopwatch.cpp
@@ -0,0 +1,61 @@
+/**
+ * @file Stopwatch.cpp
+ *
+ * @date 08.04.2020
+ */
+
+#include <framework/timemanager/Stopwatch.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <iomanip>
+
+Stopwatch::Stopwatch(bool displayOnDestruction,
+        StopwatchDisplayMode displayMode): displayMode(displayMode),
+        displayOnDestruction(displayOnDestruction) {
+    // Measures start time on initialization.
+    Clock::getUptime(&startTime);
+}
+
+void Stopwatch::start() {
+    startTime = Clock::getUptime();
+}
+
+millis_t Stopwatch::stop() {
+    stopInternal();
+    return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
+}
+
+seconds_t Stopwatch::stopSeconds() {
+    stopInternal();
+    return timevalOperations::toDouble(elapsedTime);
+}
+
+void Stopwatch::display() {
+    if(displayMode == StopwatchDisplayMode::MILLIS) {
+        info << "Stopwatch: Operation took " << elapsedTime.tv_sec * 1000 +
+                elapsedTime.tv_usec * 1000 << " milliseconds" << std::endl;
+    }
+    else if(displayMode == StopwatchDisplayMode::SECONDS) {
+        info <<"Stopwatch: Operation took "  << std::setprecision(3)
+             << std::fixed << timevalOperations::toDouble(elapsedTime)
+             << " seconds" << std::endl;
+    }
+}
+
+Stopwatch::~Stopwatch() {
+    if(displayOnDestruction) {
+        stopInternal();
+        display();
+    }
+}
+
+void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) {
+    this->displayMode = displayMode;
+}
+
+StopwatchDisplayMode Stopwatch::getDisplayMode() const {
+    return displayMode;
+}
+
+void Stopwatch::stopInternal() {
+    elapsedTime = Clock::getUptime() - startTime;
+}
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
new file mode 100644
index 00000000..786a9d57
--- /dev/null
+++ b/timemanager/Stopwatch.h
@@ -0,0 +1,71 @@
+/**
+ * @file Stopwatch.h
+ *
+ * @date 08.04.2020
+ */
+
+#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#include <framework/timemanager/Clock.h>
+
+enum class StopwatchDisplayMode {
+    MILLIS,
+    SECONDS
+};
+
+/**
+ * @brief Simple Stopwatch implementation to measure elapsed time
+ * @details
+ * This class can be used to measure elapsed times. It also displays elapsed
+ * times automatically on destruction if not explicitely deactivated in the
+ * constructor. The default time format is the elapsed time in miliseconds
+ * as a float.
+ */
+class Stopwatch {
+public:
+    /**
+     * Default constructor. Call "Stopwatch stopwatch" without brackets if
+     * no parameters are required!
+     * @param displayOnDestruction If set to true, displays measured time on
+     *        object destruction
+     * @param displayMode Display format is either MS rounded or MS as double
+     *        format
+     * @param outputPrecision If using double format, specify precision here.
+     */
+    Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode
+              = StopwatchDisplayMode::MILLIS);
+    virtual~ Stopwatch();
+
+    /**
+     * Caches the start time
+     */
+    void start();
+
+    /**
+     * Calculates the elapsed time since start and returns it
+     * @return elapsed time in milliseconds (rounded)
+     */
+    millis_t stop();
+    seconds_t stopSeconds();
+
+    /**
+     * Displays the elapsed times on the osstream, depending on internal display
+     * mode.
+     */
+    void display();
+
+    StopwatchDisplayMode getDisplayMode() const;
+    void setDisplayMode(StopwatchDisplayMode displayMode);
+private:
+    timeval startTime {0, 0};
+    timeval elapsedTime {0, 0};
+
+    StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS;
+    bool displayOnDestruction = true;
+    void stopInternal();
+};
+
+
+
+
+#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */

From 2b740a3c0f9f2b28173afb1b3eb1e4efa161551f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Apr 2020 18:02:42 +0200
Subject: [PATCH 005/154] bugfix

---
 timemanager/Stopwatch.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 6c50f0de..3f0755fd 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -12,7 +12,7 @@ Stopwatch::Stopwatch(bool displayOnDestruction,
         StopwatchDisplayMode displayMode): displayMode(displayMode),
         displayOnDestruction(displayOnDestruction) {
     // Measures start time on initialization.
-    Clock::getUptime(&startTime);
+    startTime = Clock::getUptime();
 }
 
 void Stopwatch::start() {
@@ -31,8 +31,8 @@ seconds_t Stopwatch::stopSeconds() {
 
 void Stopwatch::display() {
     if(displayMode == StopwatchDisplayMode::MILLIS) {
-        info << "Stopwatch: Operation took " << elapsedTime.tv_sec * 1000 +
-                elapsedTime.tv_usec * 1000 << " milliseconds" << std::endl;
+        info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
+                elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
     }
     else if(displayMode == StopwatchDisplayMode::SECONDS) {
         info <<"Stopwatch: Operation took "  << std::setprecision(3)

From 2173d43d92b38ca5d2e64017ca3738e353d2d494 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 26 Dec 2019 19:47:46 +0100
Subject: [PATCH 006/154] Generic TMTC Bridge added

---
 tmtcservices/TmTcBridge.cpp | 173 ++++++++++++++++++++++++++++++++++++
 tmtcservices/TmTcBridge.h   | 121 +++++++++++++++++++++++++
 2 files changed, 294 insertions(+)
 create mode 100644 tmtcservices/TmTcBridge.cpp
 create mode 100644 tmtcservices/TmTcBridge.h

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
new file mode 100644
index 00000000..e7928317
--- /dev/null
+++ b/tmtcservices/TmTcBridge.cpp
@@ -0,0 +1,173 @@
+/**
+ * @file TmTcBridge.cpp
+ *
+ * @date 26.12.2019
+ */
+
+#include <framework/tmtcservices/TmTcBridge.h>
+
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_):
+	SystemObject(objectId_),tcStore(NULL), tmStore(NULL),
+	ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false),
+	tmStored(false) {
+	TmTcReceptionQueue = QueueFactory::instance()->
+			createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+
+}
+
+TmTcBridge::~TmTcBridge() {
+}
+
+ReturnValue_t TmTcBridge::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	if (tcStore == NULL) {
+		return RETURN_FAILED;
+	}
+	tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
+	if (tmStore == NULL) {
+		return RETURN_FAILED;
+	}
+	AcceptsTelecommandsIF* tcDistributor =
+			objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
+	if (tcDistributor == NULL) {
+		return RETURN_FAILED;
+	}
+	TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
+	ReturnValue_t result;
+	result = handleTc();
+	if(result != RETURN_OK) {
+		error << "TMTC Bridge: Error handling TCs" << std::endl;
+	}
+	result = handleTm();
+	if (result != RETURN_OK) {
+		error << "TMTC Bridge: Error handling TMs" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t TmTcBridge::handleTc() {
+	ReturnValue_t result = receiveTc();
+	return result;
+}
+
+ReturnValue_t TmTcBridge::handleTm() {
+	ReturnValue_t result = readTmQueue();
+	if(result != RETURN_OK) {
+		error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
+		return RETURN_FAILED;
+	}
+
+	if(tmStored && communicationLinkUp) {
+		result = sendStoredTm();
+	}
+	return result;
+
+}
+
+ReturnValue_t TmTcBridge::readTmQueue() {
+	TmTcMessage message;
+	const uint8_t* data = NULL;
+	uint32_t size = 0;
+	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
+		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
+	{
+		if(not communicationLinkUp) {
+			result = storeDownlinkData(&message);
+			return result;
+		}
+
+		result = tmStore->getData(message.getStorageId(), &data, &size);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			continue;
+		}
+
+		result = sendTm(data, size);
+		if (result != RETURN_OK) {
+			error << "UDP Server: Could not send TM packet"<< std::endl;
+			tmStore->deleteData(message.getStorageId());
+			return result;
+
+		}
+		tmStore->deleteData(message.getStorageId());
+	}
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
+	info << "UDP Server: Client address not bound yet. Packet can not be sent. "
+			"Saving packet to be sent later " << std::endl;
+	store_address_t storeId;
+
+	if(fifo.full()) {
+		info << "UDP Server: TM downlink store is full. Overwriting old data" << std::endl;
+		fifo.retrieve(&storeId);
+	}
+	storeId = message->getStorageId();
+	fifo.insert(storeId);
+	//storageIdBufferCounter ++;
+	tmStored = true;
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::sendStoredTm() {
+	uint8_t counter = 0;
+	ReturnValue_t result = RETURN_OK;
+	while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) {
+		info << "UDP Server: Sending stored TM data. There are "
+				<< (int) fifo.size() << " left to send" << std::endl;
+		store_address_t storeId;
+		const uint8_t* data = NULL;
+		uint32_t size = 0;
+		fifo.retrieve(&storeId);
+		result = tmStore->getData(storeId, &data, &size);
+		sendTm(data,size);
+		if(result != RETURN_OK) {
+			error << "UDP Server: Could not send stored downlink data" << std::endl;
+			result = RETURN_FAILED;
+		}
+		counter ++;
+
+		if(fifo.empty()) {
+			tmStored = false;
+		}
+		tmStore->deleteData(storeId);
+	}
+	return result;
+}
+
+void TmTcBridge::registerCommConnect() {
+	info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
+	if(not communicationLinkUp) {
+		communicationLinkUp = true;
+	}
+}
+
+void TmTcBridge::registerCommDisconnect() {
+	info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
+	if(communicationLinkUp) {
+		communicationLinkUp = false;
+	}
+}
+
+MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
+	return TmTcReceptionQueue->getId();
+}
+
+void TmTcBridge::printData(uint8_t * data, uint32_t dataLen) {
+	info << "TMTC Bridge: Printing data: [";
+	for(uint32_t i=0;i<dataLen;i++) {
+		info << std::hex << (int)data[i];
+		if(i < dataLen-1){
+			info << " , ";
+		}
+	}
+	info << " ] " << std::endl;
+}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
new file mode 100644
index 00000000..ad09bf7c
--- /dev/null
+++ b/tmtcservices/TmTcBridge.h
@@ -0,0 +1,121 @@
+/**
+ * @file TmTcBridge.h
+ *
+ * @date 26.12.2019
+ */
+
+#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/objectmanager/SystemObject.h>
+
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <framework/container/FIFO.h>
+
+class TmTcBridge : public AcceptsTelemetryIF,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF,
+		public SystemObject {
+public:
+	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
+	virtual ~TmTcBridge();
+
+	/**
+	 * Initializes basic FSFW components for TMTC Bridge
+	 * @return
+	 */
+	virtual ReturnValue_t initialize();
+
+	/**
+	 * @brief	The performOperation method is executed in a task.
+	 * @details	There are no restrictions for calls within this method, so any
+	 * 			other member of the class can be used.
+	 * @return	Currently, the return value is ignored.
+	 */
+	virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
+
+	/**
+	 * Return TMTC Reception Queue
+	 * @param virtualChannel
+	 * @return
+	 */
+	virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
+
+protected:
+	MessageQueueIF* TmTcReceptionQueue; //!< Used to send and receive TMTC messages. TmTcMessage is used to transport messages between tasks.
+	StorageManagerIF* tcStore;
+	StorageManagerIF* tmStore;
+	object_id_t ccsdsPacketDistributor;
+	bool communicationLinkUp; //!< Used to specify whether communication link is up
+	bool tmStored;
+
+	/**
+	 * Handle TC reception. Default implementation provided
+	 * @return
+	 */
+	virtual ReturnValue_t handleTc();
+
+	/**
+	 * Implemented by child class. Perform receiving of Telecommand
+	 * @return
+	 */
+	virtual ReturnValue_t receiveTc() = 0;
+
+	/**
+	 * Handle Telemetry. Default implementation provided.
+	 * Calls sendTm()
+	 * @return
+	 */
+	virtual ReturnValue_t handleTm();
+
+	/**
+	 * Read the TM Queue and send TM if necessary. Default implementation provided
+	 * @return
+	 */
+	virtual ReturnValue_t readTmQueue();
+
+	/**
+	 * Implemented by child class. Perform sending of Telemetry
+	 * @param data
+	 * @param dataLen
+	 * @return
+	 */
+	virtual ReturnValue_t sendTm(const uint8_t * data, uint32_t dataLen) = 0;
+
+	/**
+	 * Store data to be sent later if communication link is not up.
+	 * @param message
+	 * @return
+	 */
+	ReturnValue_t storeDownlinkData(TmTcMessage * message);
+
+	/**
+	 * Send stored data if communication link is active
+	 * @return
+	 */
+	ReturnValue_t sendStoredTm();
+
+	/**
+	 * Print data as hexidecimal array
+	 * @param data
+	 * @param dataLen
+	 */
+	void printData(uint8_t * data, uint32_t dataLen);
+
+	void registerCommConnect();
+	void registerCommDisconnect();
+
+private:
+	static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
+	static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
+	static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 20;
+
+	FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
+};
+
+
+#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */

From ceb688daf4ed1c35fc9b6f637cca07cb850d43de Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 17 Apr 2020 23:14:11 +0200
Subject: [PATCH 007/154] tmtc bridge bugfix

---
 tmtcservices/TmTcBridge.cpp | 5 +++--
 tmtcservices/TmTcBridge.h   | 2 +-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index e7928317..9e863ffd 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -2,6 +2,7 @@
  * @file TmTcBridge.cpp
  *
  * @date 26.12.2019
+ * @author R. Mueller
  */
 
 #include <framework/tmtcservices/TmTcBridge.h>
@@ -144,8 +145,8 @@ ReturnValue_t TmTcBridge::sendStoredTm() {
 }
 
 void TmTcBridge::registerCommConnect() {
-	info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
-	if(not communicationLinkUp) {
+	if(!communicationLinkUp) {
+		info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
 		communicationLinkUp = true;
 	}
 }
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index ad09bf7c..0f045e47 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -25,7 +25,7 @@ public:
 	virtual ~TmTcBridge();
 
 	/**
-	 * Initializes basic FSFW components for TMTC Bridge
+	 * Initializes basic FSFW components for the TMTC Bridge
 	 * @return
 	 */
 	virtual ReturnValue_t initialize();

From c867b8354176a05a048db02a843af62bec8d3636 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 17 Apr 2020 23:17:04 +0200
Subject: [PATCH 008/154] doc extended, instructions for sendTm and recvTc

---
 tmtcservices/TmTcBridge.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 0f045e47..216dae8b 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -60,7 +60,8 @@ protected:
 	virtual ReturnValue_t handleTc();
 
 	/**
-	 * Implemented by child class. Perform receiving of Telecommand
+	 * Implemented by child class. Perform receiving of Telecommand, for example by implementing
+	 * specific drivers or wrappers, e.g. UART Communication or lwIP stack
 	 * @return
 	 */
 	virtual ReturnValue_t receiveTc() = 0;
@@ -79,7 +80,8 @@ protected:
 	virtual ReturnValue_t readTmQueue();
 
 	/**
-	 * Implemented by child class. Perform sending of Telemetry
+	 * Implemented by child class. Perform sending of Telemetry by implementing
+	 * communication drivers or wrappers, e.g. UART communication or lwIP stack.
 	 * @param data
 	 * @param dataLen
 	 * @return

From f3af2987e661b5515a5119fd2b0f201720410c8d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 17 Apr 2020 23:17:32 +0200
Subject: [PATCH 009/154] receiveTc function adapted

---
 tmtcservices/TmTcBridge.cpp | 4 ++--
 tmtcservices/TmTcBridge.h   | 6 +++++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 9e863ffd..58f17a86 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -14,7 +14,7 @@
 TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_):
 	SystemObject(objectId_),tcStore(NULL), tmStore(NULL),
 	ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false),
-	tmStored(false) {
+	tmStored(false), size(0) {
 	TmTcReceptionQueue = QueueFactory::instance()->
 			createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 
@@ -55,7 +55,7 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t TmTcBridge::handleTc() {
-	ReturnValue_t result = receiveTc();
+	ReturnValue_t result = receiveTc(&recvBuffer, &size);
 	return result;
 }
 
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 216dae8b..8edf3f37 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -62,9 +62,11 @@ protected:
 	/**
 	 * Implemented by child class. Perform receiving of Telecommand, for example by implementing
 	 * specific drivers or wrappers, e.g. UART Communication or lwIP stack
+	 * @param recvBuffer [out] Received data
+	 * @param size [out] Size of received data
 	 * @return
 	 */
-	virtual ReturnValue_t receiveTc() = 0;
+	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, uint32_t * size) = 0;
 
 	/**
 	 * Handle Telemetry. Default implementation provided.
@@ -117,6 +119,8 @@ private:
 	static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 20;
 
 	FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
+	uint8_t * recvBuffer;
+	uint32_t size;
 };
 
 

From b422ff601a523ee4001d36a151e0ecd8972e82c3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 17 Apr 2020 23:17:59 +0200
Subject: [PATCH 010/154] connect and disconnect functions public

---
 tmtcservices/TmTcBridge.h | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 8edf3f37..7870e79b 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -45,6 +45,8 @@ public:
 	 */
 	virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
 
+	void registerCommConnect();
+	void registerCommDisconnect();
 protected:
 	MessageQueueIF* TmTcReceptionQueue; //!< Used to send and receive TMTC messages. TmTcMessage is used to transport messages between tasks.
 	StorageManagerIF* tcStore;
@@ -110,9 +112,6 @@ protected:
 	 */
 	void printData(uint8_t * data, uint32_t dataLen);
 
-	void registerCommConnect();
-	void registerCommDisconnect();
-
 private:
 	static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
 	static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;

From 4a218470cffda54b9ed2611e615d0070dfb1f990 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 17 Apr 2020 23:18:16 +0200
Subject: [PATCH 011/154] max number of stored packets lowered

---
 tmtcservices/TmTcBridge.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 7870e79b..8e4124e0 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -115,7 +115,7 @@ protected:
 private:
 	static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
 	static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
-	static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 20;
+	static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 15;
 
 	FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
 	uint8_t * recvBuffer;

From 8cb4a9897e963ea1d0ca0238303ae81428dfa60a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 17 Apr 2020 23:20:10 +0200
Subject: [PATCH 012/154] tmtc bridge debug output corrected

---
 tmtcservices/TmTcBridge.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 58f17a86..12771bbf 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -103,12 +103,13 @@ ReturnValue_t TmTcBridge::readTmQueue() {
 }
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
-	info << "UDP Server: Client address not bound yet. Packet can not be sent. "
-			"Saving packet to be sent later " << std::endl;
+	info << "TMTC Bridge: Comm Link down. "
+			"Saving packet ID to be sent later " << std::endl;
 	store_address_t storeId;
 
 	if(fifo.full()) {
-		info << "UDP Server: TM downlink store is full. Overwriting old data" << std::endl;
+		info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached."
+				" Overwriting old data" << std::endl;
 		fifo.retrieve(&storeId);
 	}
 	storeId = message->getStorageId();

From 20c67c4aa3d1de8b3dbf9b11ee1ca8dae8ef10b9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 17 Apr 2020 23:20:47 +0200
Subject: [PATCH 013/154] tmtc bridge bugfix:

tm data deleted when overwriting old data
---
 tmtcservices/TmTcBridge.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 12771bbf..ddeacd16 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -111,6 +111,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 		info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached."
 				" Overwriting old data" << std::endl;
 		fifo.retrieve(&storeId);
+		tmStore->deleteData(storeId);
 	}
 	storeId = message->getStorageId();
 	fifo.insert(storeId);

From 8a6a2bf840c47480a1c7182101d4bb381fde05bf Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 26 Dec 2019 22:15:19 +0100
Subject: [PATCH 014/154] comment deleted

---
 tmtcservices/TmTcBridge.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index ddeacd16..ddd63d47 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -115,7 +115,6 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	}
 	storeId = message->getStorageId();
 	fifo.insert(storeId);
-	//storageIdBufferCounter ++;
 	tmStored = true;
 	return RETURN_OK;
 }

From 2e95906f278948c591fc0d59605013059040a054 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 1 Jan 2020 17:31:17 +0100
Subject: [PATCH 015/154] recvBuffer and recvSize initialized

---
 tmtcservices/TmTcBridge.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index ddd63d47..7cc97d0d 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -14,7 +14,7 @@
 TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_):
 	SystemObject(objectId_),tcStore(NULL), tmStore(NULL),
 	ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false),
-	tmStored(false), size(0) {
+	tmStored(false),recvBuffer(NULL), size(0) {
 	TmTcReceptionQueue = QueueFactory::instance()->
 			createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 

From 914dec3691b1bdb1737afc1a4fcfcc9ae117a683 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 2 Jan 2020 21:12:21 +0100
Subject: [PATCH 016/154] debug output change

---
 tmtcservices/TmTcBridge.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 7cc97d0d..e402d79e 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -80,7 +80,7 @@ ReturnValue_t TmTcBridge::readTmQueue() {
 	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
 		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
 	{
-		if(not communicationLinkUp) {
+		if(communicationLinkUp == false) {
 			result = storeDownlinkData(&message);
 			return result;
 		}
@@ -92,7 +92,7 @@ ReturnValue_t TmTcBridge::readTmQueue() {
 
 		result = sendTm(data, size);
 		if (result != RETURN_OK) {
-			error << "UDP Server: Could not send TM packet"<< std::endl;
+			error << "TMTC Bridge: Could not send TM packet"<< std::endl;
 			tmStore->deleteData(message.getStorageId());
 			return result;
 

From ad01a36c0275996a266435cd968fc5b841f0caae Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 17 Apr 2020 23:25:08 +0200
Subject: [PATCH 017/154] std::flush instead of std::endl

---
 tmtcservices/TmTcBridge.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index e402d79e..af4d0d61 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -104,7 +104,7 @@ ReturnValue_t TmTcBridge::readTmQueue() {
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	info << "TMTC Bridge: Comm Link down. "
-			"Saving packet ID to be sent later " << std::endl;
+			"Saving packet ID to be sent later\r\n" << std::flush;
 	store_address_t storeId;
 
 	if(fifo.full()) {
@@ -124,7 +124,7 @@ ReturnValue_t TmTcBridge::sendStoredTm() {
 	ReturnValue_t result = RETURN_OK;
 	while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) {
 		info << "UDP Server: Sending stored TM data. There are "
-				<< (int) fifo.size() << " left to send" << std::endl;
+				<< (int) fifo.size() << " left to send\r\n" << std::flush;
 		store_address_t storeId;
 		const uint8_t* data = NULL;
 		uint32_t size = 0;

From 98c0b2c9ac252e63d5962713de3176703d89b050 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Apr 2020 13:16:00 +0200
Subject: [PATCH 018/154] null replaced by nullptr.

storeID initialization added, all nullptr/0 initializations in header
---
 tmtcservices/TmTcBridge.cpp | 18 ++++++++----------
 tmtcservices/TmTcBridge.h   | 25 ++++++++++++++-----------
 2 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index af4d0d61..6442f245 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -11,17 +11,15 @@
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_):
-	SystemObject(objectId_),tcStore(NULL), tmStore(NULL),
-	ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false),
-	tmStored(false),recvBuffer(NULL), size(0) {
-	TmTcReceptionQueue = QueueFactory::instance()->
+TmTcBridge::TmTcBridge(object_id_t objectId_,
+        object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
+        ccsdsPacketDistributor(ccsdsPacketDistributor_)
+{
+	    TmTcReceptionQueue = QueueFactory::instance()->
 			createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
-
 }
 
-TmTcBridge::~TmTcBridge() {
-}
+TmTcBridge::~TmTcBridge() {}
 
 ReturnValue_t TmTcBridge::initialize() {
 	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
@@ -75,7 +73,7 @@ ReturnValue_t TmTcBridge::handleTm() {
 
 ReturnValue_t TmTcBridge::readTmQueue() {
 	TmTcMessage message;
-	const uint8_t* data = NULL;
+	const uint8_t* data = nullptr;
 	uint32_t size = 0;
 	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
 		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
@@ -105,7 +103,7 @@ ReturnValue_t TmTcBridge::readTmQueue() {
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	info << "TMTC Bridge: Comm Link down. "
 			"Saving packet ID to be sent later\r\n" << std::flush;
-	store_address_t storeId;
+	store_address_t storeId = 0;
 
 	if(fifo.full()) {
 		info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached."
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 8e4124e0..e0634098 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -48,12 +48,15 @@ public:
 	void registerCommConnect();
 	void registerCommDisconnect();
 protected:
-	MessageQueueIF* TmTcReceptionQueue; //!< Used to send and receive TMTC messages. TmTcMessage is used to transport messages between tasks.
-	StorageManagerIF* tcStore;
-	StorageManagerIF* tmStore;
-	object_id_t ccsdsPacketDistributor;
-	bool communicationLinkUp; //!< Used to specify whether communication link is up
-	bool tmStored;
+	//! Used to send and receive TMTC messages.
+	//! TmTcMessage is used to transport messages between tasks.
+	MessageQueueIF* TmTcReceptionQueue = nullptr;
+	StorageManagerIF* tcStore = nullptr;
+	StorageManagerIF* tmStore = nullptr;
+	object_id_t ccsdsPacketDistributor = 0;
+	//! Used to specify whether communication link is up
+	bool communicationLinkUp = false;
+	bool tmStored = false;
 
 	/**
 	 * Handle TC reception. Default implementation provided
@@ -113,13 +116,13 @@ protected:
 	void printData(uint8_t * data, uint32_t dataLen);
 
 private:
-	static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
-	static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
-	static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 15;
+	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
+	static constexpr uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
+	static constexpr uint8_t MAX_DOWNLINK_PACKETS_STORED = 15;
 
 	FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
-	uint8_t * recvBuffer;
-	uint32_t size;
+	uint8_t * recvBuffer = nullptr;
+	uint32_t size = 0;
 };
 
 

From 502651702845452441fd107d75820593bb51ecf2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Apr 2020 13:35:41 +0200
Subject: [PATCH 019/154] info output correction

---
 tmtcservices/TmTcBridge.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 6442f245..3ba00ba2 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -121,8 +121,8 @@ ReturnValue_t TmTcBridge::sendStoredTm() {
 	uint8_t counter = 0;
 	ReturnValue_t result = RETURN_OK;
 	while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) {
-		info << "UDP Server: Sending stored TM data. There are "
-				<< (int) fifo.size() << " left to send\r\n" << std::flush;
+		info << "TMTC Bridge: Sending stored TM data. There are "
+		     << (int) fifo.size() << " left to send\r\n" << std::flush;
 		store_address_t storeId;
 		const uint8_t* data = NULL;
 		uint32_t size = 0;
@@ -130,7 +130,8 @@ ReturnValue_t TmTcBridge::sendStoredTm() {
 		result = tmStore->getData(storeId, &data, &size);
 		sendTm(data,size);
 		if(result != RETURN_OK) {
-			error << "UDP Server: Could not send stored downlink data" << std::endl;
+			error << "TMTC Bridge: Could not send stored downlink data"
+			      << std::endl;
 			result = RETURN_FAILED;
 		}
 		counter ++;

From b252299bdb9627b4319b94b186be31f6165278f2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 21 Apr 2020 14:51:26 +0200
Subject: [PATCH 020/154] U. Mohr suggestions worked in

Furthermore, some enhancements added:
delay between sent tm and max number of sent tm per cycle
can be specified
---
 tmtcservices/TmTcBridge.cpp | 58 ++++++++++++++++++++++++---------
 tmtcservices/TmTcBridge.h   | 65 +++++++++++++++++++------------------
 2 files changed, 77 insertions(+), 46 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 3ba00ba2..d63d4405 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -1,19 +1,16 @@
-/**
- * @file TmTcBridge.cpp
- *
- * @date 26.12.2019
- * @author R. Mueller
- */
-
 #include <framework/tmtcservices/TmTcBridge.h>
 
 #include <framework/ipc/QueueFactory.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/osal/FreeRTOS/PeriodicTask.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/PeriodicTaskIF.h>
 
 TmTcBridge::TmTcBridge(object_id_t objectId_,
         object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
-        ccsdsPacketDistributor(ccsdsPacketDistributor_)
+        ccsdsPacketDistributor(ccsdsPacketDistributor_),
+		sentPacketsPerCycle(5), delayBetweenSentPacketsMs(0)
 {
 	    TmTcReceptionQueue = QueueFactory::instance()->
 			createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
@@ -21,6 +18,21 @@ TmTcBridge::TmTcBridge(object_id_t objectId_,
 
 TmTcBridge::~TmTcBridge() {}
 
+void TmTcBridge::setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets) {
+	this->delayBetweenSentPacketsMs = delayBetweenSentPackets;
+}
+
+ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
+		uint8_t sentPacketsPerCycle) {
+	if(sentPacketsPerCycle <= MAX_STORED_DATA_SENT_PER_CYCLE) {
+		this->sentPacketsPerCycle = sentPacketsPerCycle;
+		return RETURN_OK;
+	}
+	else {
+		return RETURN_FAILED;
+	}
+}
+
 ReturnValue_t TmTcBridge::initialize() {
 	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 	if (tcStore == NULL) {
@@ -53,7 +65,21 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t TmTcBridge::handleTc() {
-	ReturnValue_t result = receiveTc(&recvBuffer, &size);
+	uint8_t * recvBuffer = nullptr;
+	size_t recvLen = 0;
+	ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
+	if(result == RETURN_OK and recvLen > 0 and recvBuffer != nullptr) {
+		store_address_t storeId = 0;
+		ReturnValue_t result = tcStore->addData(&storeId,
+				recvBuffer, (uint32_t)recvLen);
+		if(result != RETURN_OK) {
+			return result;
+		}
+		TmTcMessage message(storeId);
+		if (TmTcReceptionQueue->sendToDefault(&message) != RETURN_OK) {
+			tcStore->deleteData(storeId);
+		}
+	}
 	return result;
 }
 
@@ -106,8 +132,8 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	store_address_t storeId = 0;
 
 	if(fifo.full()) {
-		info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached."
-				" Overwriting old data" << std::endl;
+		error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
+				 "reached! Overwriting old data" << std::endl;
 		fifo.retrieve(&storeId);
 		tmStore->deleteData(storeId);
 	}
@@ -120,14 +146,16 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 ReturnValue_t TmTcBridge::sendStoredTm() {
 	uint8_t counter = 0;
 	ReturnValue_t result = RETURN_OK;
-	while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) {
-		info << "TMTC Bridge: Sending stored TM data. There are "
-		     << (int) fifo.size() << " left to send\r\n" << std::flush;
+	while(!fifo.empty() && counter < sentPacketsPerCycle) {
+		//info << "TMTC Bridge: Sending stored TM data. There are "
+		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
 		store_address_t storeId;
 		const uint8_t* data = NULL;
 		uint32_t size = 0;
 		fifo.retrieve(&storeId);
 		result = tmStore->getData(storeId, &data, &size);
+		// This does not work yet: is not static function
+		//PeriodicTaskIF::sleepFor(delayBetweenSentPacketsMs);
 		sendTm(data,size);
 		if(result != RETURN_OK) {
 			error << "TMTC Bridge: Could not send stored downlink data"
@@ -162,7 +190,7 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
 	return TmTcReceptionQueue->getId();
 }
 
-void TmTcBridge::printData(uint8_t * data, uint32_t dataLen) {
+void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
 	info << "TMTC Bridge: Printing data: [";
 	for(uint32_t i=0;i<dataLen;i++) {
 		info << std::hex << (int)data[i];
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index e0634098..865cd001 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,9 +1,3 @@
-/**
- * @file TmTcBridge.h
- *
- * @date 26.12.2019
- */
-
 #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 
@@ -21,32 +15,44 @@ class TmTcBridge : public AcceptsTelemetryIF,
 		public HasReturnvaluesIF,
 		public SystemObject {
 public:
+	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
+	static constexpr uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
+	static constexpr uint8_t MAX_DOWNLINK_PACKETS_STORED = 15;
+
 	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
 	virtual ~TmTcBridge();
 
-	/**
-	 * Initializes basic FSFW components for the TMTC Bridge
-	 * @return
-	 */
-	virtual ReturnValue_t initialize();
+	void setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets);
 
 	/**
-	 * @brief	The performOperation method is executed in a task.
-	 * @details	There are no restrictions for calls within this method, so any
-	 * 			other member of the class can be used.
-	 * @return	Currently, the return value is ignored.
+	 * Set number of packets sent per performOperation().Please note that this
+	 * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
+	 * @param sentPacketsPerCycle
+	 * @return -@c RETURN_OK if value was set successfully
+	 * 		   -@c RETURN_FAILED otherwise, stored value stays the same
 	 */
-	virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
+	ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
+
+	void registerCommConnect();
+	void registerCommDisconnect();
+
+	/**
+	 * Initializes necessary FSFW components for the TMTC Bridge
+	 * @return
+	 */
+	ReturnValue_t initialize() override;
+
+	/**
+	 * @brief	Handles TMTC reception
+	 */
+	ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
 	/**
 	 * Return TMTC Reception Queue
 	 * @param virtualChannel
 	 * @return
 	 */
-	virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
-
-	void registerCommConnect();
-	void registerCommDisconnect();
+	MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
 protected:
 	//! Used to send and receive TMTC messages.
 	//! TmTcMessage is used to transport messages between tasks.
@@ -65,13 +71,14 @@ protected:
 	virtual ReturnValue_t handleTc();
 
 	/**
-	 * Implemented by child class. Perform receiving of Telecommand, for example by implementing
-	 * specific drivers or wrappers, e.g. UART Communication or lwIP stack
+	 * Implemented by child class. Perform receiving of Telecommand,
+	 * for example by implementing specific drivers or wrappers,
+	 * e.g. UART Communication or an ethernet stack
 	 * @param recvBuffer [out] Received data
 	 * @param size [out] Size of received data
 	 * @return
 	 */
-	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, uint32_t * size) = 0;
+	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
 
 	/**
 	 * Handle Telemetry. Default implementation provided.
@@ -93,7 +100,7 @@ protected:
 	 * @param dataLen
 	 * @return
 	 */
-	virtual ReturnValue_t sendTm(const uint8_t * data, uint32_t dataLen) = 0;
+	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0;
 
 	/**
 	 * Store data to be sent later if communication link is not up.
@@ -113,16 +120,12 @@ protected:
 	 * @param data
 	 * @param dataLen
 	 */
-	void printData(uint8_t * data, uint32_t dataLen);
+	void printData(uint8_t * data, size_t dataLen);
 
 private:
-	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
-	static constexpr uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
-	static constexpr uint8_t MAX_DOWNLINK_PACKETS_STORED = 15;
-
 	FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
-	uint8_t * recvBuffer = nullptr;
-	uint32_t size = 0;
+	uint8_t sentPacketsPerCycle = 10;
+	uint32_t delayBetweenSentPacketsMs = 0;
 };
 
 

From fdbc5d5c570ee4017dd482c18b2309515db12067 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 21 Apr 2020 14:54:04 +0200
Subject: [PATCH 021/154] com downlink message now debug and commented out

---
 tmtcservices/TmTcBridge.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index d63d4405..0040b163 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -127,8 +127,8 @@ ReturnValue_t TmTcBridge::readTmQueue() {
 }
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
-	info << "TMTC Bridge: Comm Link down. "
-			"Saving packet ID to be sent later\r\n" << std::flush;
+	//debug << "TMTC Bridge: Comm Link down. "
+	//		 "Saving packet ID to be sent later\r\n" << std::flush;
 	store_address_t storeId = 0;
 
 	if(fifo.full()) {

From ea904642d1c8b4085b03fdd2837912ebe242c20c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 21 Apr 2020 16:16:02 +0200
Subject: [PATCH 022/154] CCSDS time possible bugfix for sscanf()

---
 timemanager/CCSDSTime.cpp | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 32032716..8a0e65b7 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -1,5 +1,6 @@
 #include <framework/timemanager/CCSDSTime.h>
 #include <stdio.h>
+#include <inttypes.h>
 #include <math.h>
 
 CCSDSTime::CCSDSTime() {
@@ -160,9 +161,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	uint8_t hour;
 	uint8_t minute;
 	float second;
-//try Code A (yyyy-mm-dd)
-	int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
-			&month, &day, &hour, &minute, &second);
+	//try Code A (yyyy-mm-dd)
+	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16
+			"T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day,
+			&hour, &minute, &second);
 	if (count == 6) {
 		to->year = year;
 		to->month = month;
@@ -175,8 +177,8 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 
 	//try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
-			&hour, &minute, &second);
+	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8
+			":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,
@@ -193,7 +195,6 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		to->usecond = (second - floor(second)) * 1000000;
 		return RETURN_OK;
 	}
-
 	return UNSUPPORTED_TIME_FORMAT;
 }
 

From c30cae3431d586304bf0d3fd1c5d1ff05d7f9691 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 21 Apr 2020 16:32:39 +0200
Subject: [PATCH 023/154] added back NoC99 io section

---
 timemanager/CCSDSTime.cpp | 46 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 8a0e65b7..e00beb27 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -155,6 +155,51 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	if (length < 19) {
 		return RETURN_FAILED;
 	}
+	// Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
+	// Suggestion: use uint16 all the time. This should work on all systems.
+#ifdef NEWLIB_NANO_NO_C99_IO
+	uint16_t year;
+	uint16_t month;
+	uint16_t day;
+	uint16_t hour;
+	uint16_t minute;
+	float second;
+	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2"
+			SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour,
+			&minute, &second);
+	if (count == 6) {
+		to->year = year;
+		to->month = month;
+		to->day = day;
+		to->hour = hour;
+		to->minute = minute;
+		to->second = second;
+		to->usecond = (second - floor(second)) * 1000000;
+		return RETURN_OK;
+	}
+
+	// try Code B (yyyy-ddd)
+	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2"
+			SCNu16 ":%fZ", &year, &day, &hour, &minute, &second);
+	if (count == 5) {
+		uint8_t tempDay;
+		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
+				reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
+		if (result != RETURN_OK) {
+			return RETURN_FAILED;
+		}
+		to->year = year;
+		to->month = month;
+		to->day = tempDay;
+		to->hour = hour;
+		to->minute = minute;
+		to->second = second;
+		to->usecond = (second - floor(second)) * 1000000;
+		return RETURN_OK;
+	}
+	// Warning: Compiler/Linker fails ambiguously if library does not implement
+	// C99 I/O
+#else
 	uint16_t year;
 	uint8_t month;
 	uint16_t day;
@@ -195,6 +240,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		to->usecond = (second - floor(second)) * 1000000;
 		return RETURN_OK;
 	}
+#endif
 	return UNSUPPORTED_TIME_FORMAT;
 }
 

From 209332948168edcb994c44bd24c242c6c05c4af9 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Tue, 21 Apr 2020 21:34:03 +0200
Subject: [PATCH 024/154] working on updating SerializeIF, to quote Basti: This
 is going to be horrible

---
 container/FixedMap.h                         |  16 +-
 container/IndexedRingMemoryArray.h           |  32 +--
 datapool/DataPoolParameterWrapper.cpp        |   6 +-
 datapool/PIDReader.h                         |  34 ++--
 datapool/PoolRawAccess.cpp                   |  22 ++-
 datapool/PoolRawAccess.h                     |  16 +-
 datapool/PoolVariable.h                      |  30 +--
 datapool/PoolVector.h                        |   6 +-
 devicehandlers/DeviceTmReportingWrapper.cpp  |   8 +-
 globalfunctions/Type.cpp                     |  10 +-
 globalfunctions/Type.h                       |  16 +-
 globalfunctions/matching/MatchTree.h         |   2 +-
 globalfunctions/matching/RangeMatcher.h      |  29 +--
 health/HealthTable.cpp                       |   6 +-
 memory/MemoryHelper.cpp                      |   6 +-
 osal/rtems/CpuUsage.cpp                      |  16 +-
 parameters/ParameterWrapper.cpp              |  16 +-
 parameters/ParameterWrapper.h                |   2 +-
 power/PowerComponent.cpp                     |   8 +-
 serialize/EndianSwapper.h                    |  46 ++++-
 serialize/SerialArrayListAdapter.h           |  10 +-
 serialize/SerialBufferAdapter.cpp            |   8 +-
 serialize/SerialLinkedListAdapter.h          |  36 ++--
 serialize/SerializeAdapter.h                 | 198 +++++++++----------
 serialize/SerializeElement.h                 |  34 ++--
 serialize/SerializeIF.h                      |  15 +-
 subsystem/Subsystem.cpp                      |   2 +-
 subsystem/modes/ModeDefinitions.h            |  16 +-
 thermal/ThermalComponent.cpp                 |   8 +-
 tmstorage/TmStorePackets.h                   |  38 ++--
 tmtcpacket/packetmatcher/ApidMatcher.h       |   6 +-
 tmtcpacket/packetmatcher/ServiceMatcher.h    |   6 +-
 tmtcpacket/packetmatcher/SubserviceMatcher.h |   6 +-
 tmtcservices/CommandingServiceBase.cpp       |   2 +-
 tmtcservices/PusVerificationReport.cpp       |  18 +-
 35 files changed, 389 insertions(+), 341 deletions(-)

diff --git a/container/FixedMap.h b/container/FixedMap.h
index 0b84bf4e..eaf8a24c 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -150,13 +150,13 @@ public:
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<uint32_t>::serialize(&this->_size,
+		ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
 				buffer, size, max_size, bigEndian);
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
-			result = SerializeAdapter<key_t>::serialize(&theMap[i].first, buffer,
+			result = SerializeAdapter::serialize(&theMap[i].first, buffer,
 					size, max_size, bigEndian);
-			result = SerializeAdapter<T>::serialize(&theMap[i].second, buffer, size,
+			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -168,9 +168,9 @@ public:
 		uint32_t i = 0;
 
 		for (i = 0; i < _size; ++i) {
-			printSize += SerializeAdapter<key_t>::getSerializedSize(
+			printSize += SerializeAdapter::getSerializedSize(
 					&theMap[i].first);
-			printSize += SerializeAdapter<T>::getSerializedSize(&theMap[i].second);
+			printSize += SerializeAdapter::getSerializedSize(&theMap[i].second);
 		}
 
 		return printSize;
@@ -178,16 +178,16 @@ public:
 
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&this->_size,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
 				buffer, size, bigEndian);
 		if (this->_size > theMap.maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
-			result = SerializeAdapter<key_t>::deSerialize(&theMap[i].first, buffer,
+			result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
 					size, bigEndian);
-			result = SerializeAdapter<T>::deSerialize(&theMap[i].second, buffer, size,
+			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
 					bigEndian);
 			++i;
 		}
diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h
index 992b7489..32b61c2d 100644
--- a/container/IndexedRingMemoryArray.h
+++ b/container/IndexedRingMemoryArray.h
@@ -70,7 +70,7 @@ public:
 
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 				const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = AutoSerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -78,17 +78,17 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
 		return result;
 	}
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 				bool bigEndian){
-		ReturnValue_t result = AutoSerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -96,11 +96,11 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -108,10 +108,10 @@ public:
 	}
 
 	uint32_t getSerializedSize() const {
-		uint32_t size = AutoSerializeAdapter::getSerializedSize(&blockStartAddress);
+		uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress);
 		size += indexType.getSerializedSize();
-		size += AutoSerializeAdapter::getSerializedSize(&this->size);
-		size += AutoSerializeAdapter::getSerializedSize(&this->storedPackets);
+		size += SerializeAdapter::getSerializedSize(&this->size);
+		size += SerializeAdapter::getSerializedSize(&this->storedPackets);
 		return size;
 	}
 
@@ -500,14 +500,14 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
-			result = SerializeAdapter<Index<T> >::serialize(&this->entries[i], buffer, size,
+			result = SerializeAdapter::serialize(&this->entries[i], buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -515,7 +515,7 @@ public:
 			return result;
 		}
 		uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize));
-		result = AutoSerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
 		return result;
 	}
 
@@ -531,10 +531,10 @@ public:
 			size += additionalInfo->getSerializedSize();
 		}
 		size += currentWriteBlock->getSerializedSize();
-		size += AutoSerializeAdapter::getSerializedSize(&this->size);
+		size += SerializeAdapter::getSerializedSize(&this->size);
 		size += (this->entries[0].getSerializedSize()) * this->size;
 		uint16_t crc = 0;
-		size += AutoSerializeAdapter::getSerializedSize(&crc);
+		size += SerializeAdapter::getSerializedSize(&crc);
 		return size;
 	}
 	/**
@@ -563,7 +563,7 @@ public:
 					return result;
 		}
 		uint32_t tempSize = 0;
-		result = AutoSerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -572,7 +572,7 @@ public:
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
-			result = SerializeAdapter<Index<T> >::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					&this->entries[i], buffer, size,
 					bigEndian);
 			++i;
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp
index 0ff2121d..10fb5392 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapool/DataPoolParameterWrapper.cpp
@@ -39,18 +39,18 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter<Type>::serialize(&type, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&columns, buffer, size,
+	result = SerializeAdapter::serialize(&columns, buffer, size,
 			max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::serialize(&rows, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/datapool/PIDReader.h b/datapool/PIDReader.h
index 299cc2fe..ac1d169e 100644
--- a/datapool/PIDReader.h
+++ b/datapool/PIDReader.h
@@ -17,7 +17,7 @@ protected:
 	uint8_t valid;
 	ReturnValue_t read() {
 		uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
-		PoolEntry<T>* read_out = ::dataPool.getData<T>(
+		PoolEntry<T> *read_out = ::dataPool.getData<T>(
 				DataPool::PIDToDataPoolId(parameterId), arrayIndex);
 		if (read_out != NULL) {
 			valid = read_out->valid;
@@ -43,7 +43,8 @@ protected:
 	 * Empty ctor for List initialization
 	 */
 	PIDReader() :
-		parameterId(PoolVariableIF::NO_PARAMETER), valid(PoolVariableIF::INVALID), value(0) {
+			parameterId(PoolVariableIF::NO_PARAMETER), valid(
+					PoolVariableIF::INVALID), value(0) {
 
 	}
 public:
@@ -63,9 +64,9 @@ public:
 	 * \param setWritable If this flag is set to true, changes in the value attribute can be
 	 * 					written back to the data pool, otherwise not.
 	 */
-	PIDReader(uint32_t setParameterId, DataSetIF* dataSet) :
-			parameterId(setParameterId), valid(
-					PoolVariableIF::INVALID), value(0) {
+	PIDReader(uint32_t setParameterId, DataSetIF *dataSet) :
+			parameterId(setParameterId), valid(PoolVariableIF::INVALID), value(
+					0) {
 		if (dataSet != NULL) {
 			dataSet->registerVariable(this);
 		}
@@ -74,7 +75,7 @@ public:
 	/**
 	 * Copy ctor to copy classes containing Pool Variables.
 	 */
-	PIDReader(const PIDReader& rhs) :
+	PIDReader(const PIDReader &rhs) :
 			parameterId(rhs.parameterId), valid(rhs.valid), value(rhs.value) {
 	}
 
@@ -121,24 +122,25 @@ public:
 		return value;
 	}
 
-	PIDReader<T> &operator=(T newValue) {
+	PIDReader<T>& operator=(T newValue) {
 		value = newValue;
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&value, buffer, size, max_size,
-				bigEndian);
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t maxSize, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize(&value, buffer, size, maxSize,
+				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&value);
+	virtual size_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&value, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&value, buffer, size,
+				streamEndianness);
 	}
 };
 
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index 555896bb..2053498b 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -145,10 +145,12 @@ uint16_t PoolRawAccess::getSizeTillEnd() const {
 	return sizeTillEnd;
 }
 
-ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
-	if (typeSize + *size <= max_size) {
-		if (bigEndian) {
+ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
+	//TODO integer overflow
+	if (typeSize + *size <= maxSize) {
+#error use endian swapper
+		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
@@ -169,16 +171,16 @@ ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, uint32_t* size,
 	}
 }
 
-uint32_t PoolRawAccess::getSerializedSize() const {
+size_t PoolRawAccess::getSerializedSize() const {
 	return typeSize;
 }
 
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
-	*size -= typeSize;
-	if (*size >= 0) {
+ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 
-		if (bigEndian) {
+	if (*size >= typeSize) {
+		*size -= typeSize;
+		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 3e2bd7ae..190c38a9 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -70,7 +70,7 @@ public:
 	static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
 	uint8_t value[RAW_MAX_SIZE];
 	PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
-			DataSetIF* data_set, ReadWriteMode_t setReadWriteMode =
+			DataSetIF *data_set, ReadWriteMode_t setReadWriteMode =
 					PoolVariableIF::VAR_READ);
 	/**
 	 * \brief	The classes destructor is empty. If commit() was not called, the local value is
@@ -97,7 +97,7 @@ public:
 	 * \return	- \c RETURN_OK if entry could be acquired
 	 * 			- \c RETURN_FAILED else.
 	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t* buffer, uint32_t* size,
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, uint32_t *size,
 			uint32_t max_size);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
@@ -106,7 +106,7 @@ public:
 	 * @return	- \c RETURN_OK on success
 	 * 			- \c RETURN_FAILED on failure
 	 */
-	ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
+	ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
 			uint32_t setSize);
 	/**
 	 *  \brief This operation returns the type of the entry currently stored.
@@ -140,13 +140,13 @@ public:
 	 */
 	uint16_t getSizeTillEnd() const;
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			 Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			 Endianness streamEndianness) override;
 };
 
 #endif /* POOLRAWACCESS_H_ */
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
index 25345c0a..ce073426 100644
--- a/datapool/PoolVariable.h
+++ b/datapool/PoolVariable.h
@@ -58,7 +58,7 @@ protected:
 	 * 			The operation does NOT provide any mutual exclusive protection by itself.
 	 */
 	ReturnValue_t read() {
-		PoolEntry<T>* read_out = ::dataPool.getData<T>(dataPoolId, 1);
+		PoolEntry<T> *read_out = ::dataPool.getData < T > (dataPoolId, 1);
 		if (read_out != NULL) {
 			valid = read_out->valid;
 			value = *(read_out->address);
@@ -79,7 +79,7 @@ protected:
 	 *
 	 */
 	ReturnValue_t commit() {
-		PoolEntry<T>* write_back = ::dataPool.getData<T>(dataPoolId, 1);
+		PoolEntry<T> *write_back = ::dataPool.getData < T > (dataPoolId, 1);
 		if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
 			write_back->valid = valid;
 			*(write_back->address) = value;
@@ -115,7 +115,7 @@ public:
 	 * \param setWritable If this flag is set to true, changes in the value attribute can be
 	 * 					written back to the data pool, otherwise not.
 	 */
-	PoolVariable(uint32_t set_id, DataSetIF* dataSet,
+	PoolVariable(uint32_t set_id, DataSetIF *dataSet,
 			ReadWriteMode_t setReadWriteMode) :
 			dataPoolId(set_id), valid(PoolVariableIF::INVALID), readWriteMode(
 					setReadWriteMode), value(0) {
@@ -126,7 +126,7 @@ public:
 	/**
 	 * Copy ctor to copy classes containing Pool Variables.
 	 */
-	PoolVariable(const PoolVariable& rhs) :
+	PoolVariable(const PoolVariable &rhs) :
 			dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
 					rhs.readWriteMode), value(rhs.value) {
 	}
@@ -184,29 +184,29 @@ public:
 		return value;
 	}
 
-	PoolVariable<T> &operator=(T newValue) {
+	PoolVariable<T>& operator=(T newValue) {
 		value = newValue;
 		return *this;
 	}
 
-	PoolVariable<T> &operator=(PoolVariable<T> newPoolVariable) {
+	PoolVariable<T>& operator=(PoolVariable<T> newPoolVariable) {
 		value = newPoolVariable.value;
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&value, buffer, size, max_size,
-				bigEndian);
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t max_size, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize<T>(&value, buffer, size, max_size,
+				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&value);
+	virtual uint32_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&value, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
index d3617d17..3809f93b 100644
--- a/datapool/PoolVector.h
+++ b/datapool/PoolVector.h
@@ -202,7 +202,7 @@ public:
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter<T>::serialize(&(value[i]), buffer, size,
+			result = SerializeAdapter::serialize(&(value[i]), buffer, size,
 					max_size, bigEndian);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
@@ -212,7 +212,7 @@ public:
 	}
 
 	virtual uint32_t getSerializedSize() const {
-		return vector_size * SerializeAdapter<T>::getSerializedSize(value);
+		return vector_size * SerializeAdapter::getSerializedSize(value);
 	}
 
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
@@ -220,7 +220,7 @@ public:
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter<T>::deSerialize(&(value[i]), buffer, size,
+			result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
 					bigEndian);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index 2c9e820f..55861c3c 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -13,12 +13,12 @@ DeviceTmReportingWrapper::~DeviceTmReportingWrapper() {
 
 ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer,
 		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<object_id_t>::serialize(&objectId,
+	ReturnValue_t result = SerializeAdapter::serialize(&objectId,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<ActionId_t>::serialize(&actionId, buffer,
+	result = SerializeAdapter::serialize(&actionId, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -32,12 +32,12 @@ uint32_t DeviceTmReportingWrapper::getSerializedSize() const {
 
 ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer,
 		int32_t* size, bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<object_id_t>::deSerialize(&objectId,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&objectId,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<ActionId_t>::deSerialize(&actionId, buffer,
+	result = SerializeAdapter::deSerialize(&actionId, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index 814d26f4..b7b7fd82 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -68,13 +68,13 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&ptc, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&ptc, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&pfc, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&pfc, buffer, size, max_size,
 			bigEndian);
 
 	return result;
@@ -83,20 +83,20 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 
 uint32_t Type::getSerializedSize() const {
 	uint8_t dontcare = 0;
-	return 2 * SerializeAdapter<uint8_t>::getSerializedSize(&dontcare);
+	return 2 * SerializeAdapter::getSerializedSize(&dontcare);
 }
 
 ReturnValue_t Type::deSerialize(const uint8_t** buffer, int32_t* size,
 		bool bigEndian) {
 	uint8_t ptc;
 	uint8_t pfc;
-	ReturnValue_t result = SerializeAdapter<uint8_t>::deSerialize(&ptc, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&ptc, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::deSerialize(&pfc, buffer, size,
+	result = SerializeAdapter::deSerialize(&pfc, buffer, size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h
index 88df07b6..3ec250b0 100644
--- a/globalfunctions/Type.h
+++ b/globalfunctions/Type.h
@@ -22,7 +22,7 @@ public:
 
 	Type(ActualType_t actualType);
 
-	Type(const Type& type);
+	Type(const Type &type);
 
 	Type& operator=(Type rhs);
 
@@ -30,8 +30,8 @@ public:
 
 	operator ActualType_t() const;
 
-	bool operator==(const Type& rhs);
-	bool operator!=(const Type& rhs);
+	bool operator==(const Type &rhs);
+	bool operator!=(const Type &rhs);
 
 	uint8_t getSize() const;
 
@@ -39,13 +39,13 @@ public:
 
 	static ActualType_t getActualType(uint8_t ptc, uint8_t pfc);
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override;
 
 private:
 	ActualType_t actualType;
diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h
index 398cf3f0..0ee3890b 100644
--- a/globalfunctions/matching/MatchTree.h
+++ b/globalfunctions/matching/MatchTree.h
@@ -49,7 +49,7 @@ public:
 			const uint32_t max_size, bool bigEndian) const {
 		iterator iter = this->begin();
 		uint8_t count = this->countRight(iter);
-		ReturnValue_t result = SerializeAdapter<uint8_t>::serialize(&count,
+		ReturnValue_t result = SerializeAdapter::serialize(&count,
 				buffer, size, max_size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h
index 10e07173..c30406f6 100644
--- a/globalfunctions/matching/RangeMatcher.h
+++ b/globalfunctions/matching/RangeMatcher.h
@@ -4,7 +4,6 @@
 #include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
 #include <framework/serialize/SerializeAdapter.h>
 
-
 template<typename T>
 class RangeMatcher: public SerializeableMatcherIF<T> {
 public:
@@ -27,34 +26,40 @@ public:
 		}
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<T>::serialize(&lowerBound, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t max_size,
+			SerializeIF::Endianness streamEndianness) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&lowerBound, buffer,
+				size, max_size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<T>::serialize(&upperBound, buffer, size, max_size, bigEndian);
+		result = SerializeAdapter::serialize(&upperBound, buffer, size,
+				max_size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<bool>::serialize(&inverted, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&inverted, buffer, size, max_size,
+				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
+	uint32_t getSerializedSize() const override {
 		return sizeof(lowerBound) + sizeof(upperBound) + sizeof(bool);
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<T>::deSerialize(&lowerBound, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			SerializeIF::Endianness streamEndianness) override {
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lowerBound,
+				buffer, size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<T>::deSerialize(&upperBound, buffer, size, bigEndian);
+		result = SerializeAdapter::deSerialize(&upperBound, buffer, size,
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<bool>::deSerialize(&inverted, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&inverted, buffer, size,
+				streamEndianness);
 	}
 protected:
 	bool doMatch(T input) {
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index a575b282..48ee6679 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -67,16 +67,16 @@ void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
 	mutex->lockMutex(MutexIF::NO_TIMEOUT);
 	uint32_t size = 0;
 	uint16_t count = healthMap.size();
-	ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&count,
+	ReturnValue_t result = SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, true);
 	HealthMap::iterator iter;
 	for (iter = healthMap.begin();
 			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
 			++iter) {
-		result = SerializeAdapter<object_id_t>::serialize(&iter->first,
+		result = SerializeAdapter::serialize(&iter->first,
 				&pointer, &size, maxSize, true);
 		uint8_t health = iter->second;
-		result = SerializeAdapter<uint8_t>::serialize(&health, &pointer, &size,
+		result = SerializeAdapter::serialize(&health, &pointer, &size,
 				maxSize, true);
 	}
 	mutex->unlockMutex();
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 69830084..c89fd5a4 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -53,7 +53,7 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 		memcpy(copyHere, dataToCopy, size);
 		break;
 	case HasMemoryIF::POINTS_TO_VARIABLE:
-		EndianSwapper::swap(copyHere, dataToCopy, size);
+		EndianConverter::convertBigEndian(copyHere, dataToCopy, size);
 		break;
 	case HasMemoryIF::ACTIVITY_COMPLETED:
 	case RETURN_OK:
@@ -86,7 +86,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
 	case HasMemoryIF::POINTS_TO_VARIABLE:
 		//"data" must be valid pointer!
 		if (errorCode == HasMemoryIF::POINTS_TO_VARIABLE) {
-			EndianSwapper::swap(reservedSpaceInIPC, dataToCopy, size);
+			EndianConverter::convertBigEndian(reservedSpaceInIPC, dataToCopy, size);
 		} else {
 			memcpy(reservedSpaceInIPC, dataToCopy, size);
 		}
@@ -136,7 +136,7 @@ void MemoryHelper::swapMatrixCopy(uint8_t* out, const uint8_t *in,
 	}
 
 	while (totalSize > 0){
-		EndianSwapper::swap(out,in,datatypeSize);
+		EndianConverter::convertBigEndian(out,in,datatypeSize);
 		out += datatypeSize;
 		in += datatypeSize;
 		totalSize -= datatypeSize;
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index 9fc34ff1..903a4d0e 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -91,7 +91,7 @@ void CpuUsage::clear() {
 
 ReturnValue_t CpuUsage::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<float>::serialize(
+	ReturnValue_t result = SerializeAdapter::serialize(
 			&timeSinceLastReset, buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -111,7 +111,7 @@ uint32_t CpuUsage::getSerializedSize() const {
 
 ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
 		bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<float>::deSerialize(
+	ReturnValue_t result = SerializeAdapter::deSerialize(
 			&timeSinceLastReset, buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -122,7 +122,7 @@ ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
 
 ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<uint32_t>::serialize(&id, buffer,
+	ReturnValue_t result = SerializeAdapter::serialize(&id, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -133,12 +133,12 @@ ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
 	memcpy(*buffer, name, MAX_LENGTH_OF_THREAD_NAME);
 	*size += MAX_LENGTH_OF_THREAD_NAME;
 	*buffer += MAX_LENGTH_OF_THREAD_NAME;
-	result = SerializeAdapter<float>::serialize(&timeRunning,
+	result = SerializeAdapter::serialize(&timeRunning,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<float>::serialize(&percentUsage,
+	result = SerializeAdapter::serialize(&percentUsage,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -159,7 +159,7 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 		int32_t* size, bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&id, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -169,12 +169,12 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 	}
 	memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);
 	*buffer -= MAX_LENGTH_OF_THREAD_NAME;
-	result = SerializeAdapter<float>::deSerialize(&timeRunning,
+	result = SerializeAdapter::deSerialize(&timeRunning,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<float>::deSerialize(&percentUsage,
+	result = SerializeAdapter::deSerialize(&percentUsage,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 8f661bb3..9dcbc6d5 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -24,18 +24,18 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter<Type>::serialize(&type, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&columns, buffer, size,
+	result = SerializeAdapter::serialize(&columns, buffer, size,
 			max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::serialize(&rows, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -94,7 +94,7 @@ ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
 	ReturnValue_t result;
 	uint16_t dataSize = columns * rows;
 	while (dataSize != 0) {
-		result = SerializeAdapter<T>::serialize(element, buffer, size, max_size,
+		result = SerializeAdapter::serialize(element, buffer, size, max_size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
@@ -123,7 +123,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 				+ (((startingRow + fromRow) * columns) + startingColumn);
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
-			result = SerializeAdapter<T>::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					dataWithDataType + fromColumn, &fromAsStream, &streamSize,
 					true);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -155,18 +155,18 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
 
 ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
 		const uint8_t **remainingStream, int32_t *remainingSize) {
-	ReturnValue_t result = SerializeAdapter<Type>::deSerialize(&type, &stream,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
 			&streamSize, true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::deSerialize(&columns, &stream,
+	result = SerializeAdapter::deSerialize(&columns, &stream,
 			&streamSize, true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::deSerialize(&rows, &stream, &streamSize,
+	result = SerializeAdapter::deSerialize(&rows, &stream, &streamSize,
 			true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index f61786b8..e6d29c59 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -54,7 +54,7 @@ public:
 			const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
 			streamWithtype += (row * columns + column) * type.getSize();
 			int32_t size = type.getSize();
-			return SerializeAdapter<T>::deSerialize(value, &streamWithtype,
+			return SerializeAdapter::deSerialize(value, &streamWithtype,
 					&size, true);
 		} else {
 			const T *dataWithType = (const T *) readonlyData;
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index 6a87d88b..53bb06c8 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -19,12 +19,12 @@ PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, f
 
 ReturnValue_t PowerComponent::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<float>::serialize(&min, buffer,
+	ReturnValue_t result = SerializeAdapter::serialize(&min, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter<float>::serialize(&max, buffer, size, max_size,
+	return SerializeAdapter::serialize(&max, buffer, size, max_size,
 			bigEndian);
 }
 
@@ -58,12 +58,12 @@ float PowerComponent::getMax() {
 
 ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, int32_t* size,
 bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<float>::deSerialize(&min, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter<float>::deSerialize(&max, buffer, size, bigEndian);
+	return SerializeAdapter::deSerialize(&max, buffer, size, bigEndian);
 }
 
 ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
diff --git a/serialize/EndianSwapper.h b/serialize/EndianSwapper.h
index 6ff54444..e142c2a1 100644
--- a/serialize/EndianSwapper.h
+++ b/serialize/EndianSwapper.h
@@ -5,20 +5,20 @@
 #include <cstring>
 #include <iostream>
 
-class EndianSwapper {
+class EndianConverter {
 private:
-	EndianSwapper() {
+	EndianConverter() {
 	}
 	;
 public:
 	template<typename T>
-	static T swap(T in) {
+	static T convertBigEndian(T in) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 		T tmp;
-		uint8_t *pointerOut = (uint8_t *) &tmp;
-		uint8_t *pointerIn = (uint8_t *) &in;
+		uint8_t *pointerOut = (uint8_t*) &tmp;
+		uint8_t *pointerIn = (uint8_t*) &in;
 		for (uint8_t count = 0; count < sizeof(T); count++) {
 			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 		}
@@ -29,7 +29,8 @@ public:
 #error Unknown Byte Order
 #endif
 	}
-	static void swap(uint8_t* out, const uint8_t* in, uint32_t size) {
+	static void convertBigEndian(uint8_t *out, const uint8_t *in,
+			uint32_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
@@ -40,6 +41,39 @@ public:
 #elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 		memcpy(out, in, size);
 		return;
+#endif
+	}
+
+	template<typename T>
+	static T convertLittleEndian(T in) {
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+			T tmp;
+			uint8_t *pointerOut = (uint8_t *) &tmp;
+			uint8_t *pointerIn = (uint8_t *) &in;
+			for (uint8_t count = 0; count < sizeof(T); count++) {
+				pointerOut[sizeof(T) - count - 1] = pointerIn[count];
+			}
+			return tmp;
+	#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
+		return in;
+#else
+	#error Unknown Byte Order
+	#endif
+	}
+	static void convertLittleEndian(uint8_t *out, const uint8_t *in,
+			uint32_t size) {
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+			for (uint8_t count = 0; count < size; count++) {
+				out[size - count - 1] = in[count];
+			}
+			return;
+	#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
+		memcpy(out, in, size);
+		return;
 #endif
 	}
 };
diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index 5ffbc375..ab0c6c6f 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -27,11 +27,11 @@ public:
 
 	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<count_t>::serialize(&list->size,
+		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
 				buffer, size, max_size, bigEndian);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter<T>::serialize(&list->entries[i], buffer, size,
+			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -47,7 +47,7 @@ public:
 		count_t i = 0;
 
 		for (i = 0; i < list->size; ++i) {
-			printSize += SerializeAdapter<T>::getSerializedSize(&list->entries[i]);
+			printSize += SerializeAdapter::getSerializedSize(&list->entries[i]);
 		}
 
 		return printSize;
@@ -61,7 +61,7 @@ public:
 	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
 		count_t tempSize = 0;
-		ReturnValue_t result = SerializeAdapter<count_t>::deSerialize(&tempSize,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
 				buffer, size, bigEndian);
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
@@ -69,7 +69,7 @@ public:
 		list->size = tempSize;
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter<T>::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					&list->front()[i], buffer, size,
 					bigEndian);
 			++i;
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 3ed083bf..f78ec8ac 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -26,14 +26,14 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 		const uint32_t max_size, bool bigEndian) const {
 	uint32_t serializedLength = bufferLength;
 	if (serializeLength) {
-		serializedLength += AutoSerializeAdapter::getSerializedSize(
+		serializedLength += SerializeAdapter::getSerializedSize(
 				&bufferLength);
 	}
 	if (*size + serializedLength > max_size) {
 		return BUFFER_TOO_SHORT;
 	} else {
 		if (serializeLength) {
-			AutoSerializeAdapter::serialize(&bufferLength, buffer, size,
+			SerializeAdapter::serialize(&bufferLength, buffer, size,
 					max_size, bigEndian);
 		}
 		if (this->constBuffer != NULL) {
@@ -52,7 +52,7 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 template<typename T>
 uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
 	if (serializeLength) {
-		return bufferLength + AutoSerializeAdapter::getSerializedSize(&bufferLength);
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
 	} else {
 		return bufferLength;
 	}
@@ -63,7 +63,7 @@ ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
 	//TODO Ignores Endian flag!
 	if (buffer != NULL) {
 		if(serializeLength){
-			T serializedSize = AutoSerializeAdapter::getSerializedSize(
+			T serializedSize = SerializeAdapter::getSerializedSize(
 					&bufferLength);
 			if((*size - bufferLength - serializedSize) >= 0){
 				*buffer +=  serializedSize;
diff --git a/serialize/SerialLinkedListAdapter.h b/serialize/SerialLinkedListAdapter.h
index 29952c4a..7b10e331 100644
--- a/serialize/SerialLinkedListAdapter.h
+++ b/serialize/SerialLinkedListAdapter.h
@@ -31,32 +31,32 @@ public:
 			SinglyLinkedList<T>(), printCount(printCount) {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override {
 		if (printCount) {
 			count_t mySize = SinglyLinkedList<T>::getSize();
-			ReturnValue_t result = SerializeAdapter<count_t>::serialize(&mySize,
-					buffer, size, max_size, bigEndian);
+			ReturnValue_t result = SerializeAdapter::serialize(&mySize,
+					buffer, size, maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
 		}
-		return serialize(SinglyLinkedList<T>::start, buffer, size, max_size,
-				bigEndian);
+		return serialize(SinglyLinkedList<T>::start, buffer, size, maxSize,
+				streamEndianness);
 	}
 
 	static ReturnValue_t serialize(const LinkedElement<T>* element,
-			uint8_t** buffer, uint32_t* size, const uint32_t max_size,
-			bool bigEndian) {
+			uint8_t** buffer, size_t* size, size_t maxSize,
+			Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
-			result = element->value->serialize(buffer, size, max_size,
-					bigEndian);
+			result = element->value->serialize(buffer, size, maxSize,
+					streamEndianness);
 			element = element->getNext();
 		}
 		return result;
 	}
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const override {
 		if (printCount) {
 			return SerialLinkedListAdapter<T>::getSerializedSize()
 					+ sizeof(count_t);
@@ -64,8 +64,8 @@ public:
 			return getSerializedSize(SinglyLinkedList<T>::start);
 		}
 	}
-	static uint32_t getSerializedSize(const LinkedElement<T> *element) {
-		uint32_t size = 0;
+	static size_t getSerializedSize(const LinkedElement<T> *element) {
+		size_t size = 0;
 		while (element != NULL) {
 			size += element->value->getSerializedSize();
 			element = element->getNext();
@@ -73,16 +73,16 @@ public:
 		return size;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return deSerialize(SinglyLinkedList<T>::start, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override {
+		return deSerialize(SinglyLinkedList<T>::start, buffer, size, streamEndianness);
 	}
 
 	static ReturnValue_t deSerialize(LinkedElement<T>* element,
-			const uint8_t** buffer, int32_t* size, bool bigEndian) {
+			const uint8_t** buffer, size_t* size, Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
-			result = element->value->deSerialize(buffer, size, bigEndian);
+			result = element->value->deSerialize(buffer, size, streamEndianness);
 			element = element->getNext();
 		}
 		return result;
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index fd9e1b6a..73323c2a 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -10,116 +10,114 @@
 /**
  * \ingroup serialize
  */
-template<typename T, int>
-class SerializeAdapter_ {
-public:
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		uint32_t ignoredSize = 0;
-		if (size == NULL) {
-			size = &ignoredSize;
-		}
-		if (sizeof(T) + *size <= max_size) {
-			T tmp;
-			if (bigEndian) {
-				tmp = EndianSwapper::swap<T>(*object);
-			} else {
-				tmp = *object;
-			}
-			memcpy(*buffer, &tmp, sizeof(T));
-			*size += sizeof(T);
-			(*buffer) += sizeof(T);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return SerializeIF::BUFFER_TOO_SHORT;
-		}
-	}
 
-	ReturnValue_t deSerialize(T* object, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		T tmp;
-		*size -= sizeof(T);
-		if (*size >= 0) {
-			memcpy(&tmp, *buffer, sizeof(T));
-			if (bigEndian) {
-				*object = EndianSwapper::swap<T>(tmp);
-			} else {
-				*object = tmp;
-			}
-			*buffer += sizeof(T);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return SerializeIF::STREAM_TOO_SHORT;
-		}
-	}
-
-	uint32_t getSerializedSize(const T * object) {
-		return sizeof(T);
-	}
-
-};
-
-template<typename T>
-class SerializeAdapter_<T, 1> {
-public:
-	ReturnValue_t serialize(const T* object, uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		uint32_t ignoredSize = 0;
-		if (size == NULL) {
-			size = &ignoredSize;
-		}
-		return object->serialize(buffer, size, max_size, bigEndian);
-	}
-	uint32_t getSerializedSize(const T* object) const {
-		return object->getSerializedSize();
-	}
-
-	ReturnValue_t deSerialize(T* object, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return object->deSerialize(buffer, size, bigEndian);
-	}
-};
-
-template<typename T>
 class SerializeAdapter {
-public:
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.serialize(object, buffer, size, max_size, bigEndian);
-	}
-	static uint32_t getSerializedSize(const T* object) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.getSerializedSize(object);
-	}
-
-	static ReturnValue_t deSerialize(T* object, const uint8_t** buffer,
-			int32_t* size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.deSerialize(object, buffer, size, bigEndian);
-	}
-};
-
-
-class AutoSerializeAdapter {
 public:
 	template<typename T>
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.serialize(object, buffer, size, max_size, bigEndian);
+	static ReturnValue_t serialize(const T *object, uint8_t **buffer,
+			size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+		return adapter.serialize(object, buffer, size, maxSize,
+				streamEndianness);
 	}
 	template<typename T>
-	static uint32_t getSerializedSize(const T* object) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+	static uint32_t getSerializedSize(const T *object) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
 		return adapter.getSerializedSize(object);
 	}
 	template<typename T>
-	static ReturnValue_t deSerialize(T* object, const uint8_t** buffer,
-			int32_t* size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.deSerialize(object, buffer, size, bigEndian);
+	static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+			size_t *size, SerializeIF::Endianness streamEndianness) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+		return adapter.deSerialize(object, buffer, size, streamEndianness);
 	}
+private:
+	template<typename T, int>
+	class InternalSerializeAdapter {
+	public:
+		static ReturnValue_t serialize(const T *object, uint8_t **buffer,
+				size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) {
+			size_t ignoredSize = 0;
+			if (size == NULL) {
+				size = &ignoredSize;
+			}
+			//TODO check integer overflow of *size
+			if (sizeof(T) + *size <= max_size) {
+				T tmp;
+				switch (streamEndianness) {
+				case SerializeIF::Endianness::BIG:
+					tmp = EndianConverter::convertBigEndian<T>(*object);
+					break;
+				case SerializeIF::Endianness::LITTLE:
+					tmp = EndianConverter::convertLittleEndian<T>(*object);
+					break;
+				default:
+				case SerializeIF::Endianness::MACHINE:
+					tmp = *object;
+					break;
+				}
+				memcpy(*buffer, &tmp, sizeof(T));
+				*size += sizeof(T);
+				(*buffer) += sizeof(T);
+				return HasReturnvaluesIF::RETURN_OK;
+			} else {
+				return SerializeIF::BUFFER_TOO_SHORT;
+			}
+		}
+
+		ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+				size_t *size, SerializeIF::Endianness streamEndianness) {
+			T tmp;
+			if (*size >= sizeof(T)) {
+				*size -= sizeof(T);
+				memcpy(&tmp, *buffer, sizeof(T));
+				switch (streamEndianness) {
+				case SerializeIF::Endianness::BIG:
+					*object = EndianConverter::convertBigEndian<T>(tmp);
+					break;
+				case SerializeIF::Endianness::LITTLE:
+					*object = EndianConverter::convertLittleEndian<T>(tmp);
+					break;
+				default:
+				case SerializeIF::Endianness::MACHINE:
+					*object = tmp;
+					break;
+				}
+
+				*buffer += sizeof(T);
+				return HasReturnvaluesIF::RETURN_OK;
+			} else {
+				return SerializeIF::STREAM_TOO_SHORT;
+			}
+		}
+
+		uint32_t getSerializedSize(const T *object) {
+			return sizeof(T);
+		}
+
+	};
+
+	template<typename T>
+	class InternalSerializeAdapter<T, 1> {
+	public:
+		ReturnValue_t serialize(const T *object, uint8_t **buffer,
+				size_t *size, size_t max_size,
+				SerializeIF::Endianness streamEndianness) const {
+			size_t ignoredSize = 0;
+			if (size == NULL) {
+				size = &ignoredSize;
+			}
+			return object->serialize(buffer, size, max_size, streamEndianness);
+		}
+		uint32_t getSerializedSize(const T *object) const {
+			return object->getSerializedSize();
+		}
+
+		ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+				size_t *size, SerializeIF::Endianness streamEndianness) {
+			return object->deSerialize(buffer, size, streamEndianness);
+		}
+	};
 };
 
 #endif /* SERIALIZEADAPTER_H_ */
diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index db7db20a..22e9838c 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -9,41 +9,43 @@
  * \ingroup serialize
  */
 template<typename T>
-class SerializeElement : public SerializeIF, public LinkedElement<SerializeIF> {
+class SerializeElement: public SerializeIF, public LinkedElement<SerializeIF> {
 public:
-	template<typename... Args>
-	SerializeElement(Args... args) : LinkedElement<SerializeIF>(this), entry(std::forward<Args>(args)...) {
+	template<typename ... Args>
+	SerializeElement(Args ... args) :
+			LinkedElement<SerializeIF>(this), entry(std::forward<Args>(args)...) {
 
 	}
-	SerializeElement() : LinkedElement<SerializeIF>(this) {
+	SerializeElement() :
+			LinkedElement<SerializeIF>(this) {
 	}
 	T entry;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&entry, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize(&entry, buffer, size, maxSize,
+				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&entry);
+	uint32_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&entry);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&entry, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&entry, buffer, size,
+				streamEndianness);
 	}
 	operator T() {
 		return entry;
 	}
 
-	SerializeElement<T> &operator=(T newValue) {
+	SerializeElement<T>& operator=(T newValue) {
 		entry = newValue;
 		return *this;
 	}
-	T *operator->() {
+	T* operator->() {
 		return &entry;
 	}
 };
 
-
-
 #endif /* SERIALIZEELEMENT_H_ */
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 701fbf56..6c875a5c 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -2,6 +2,7 @@
 #define SERIALIZEIF_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <stddef.h>
 
 /**
  * \defgroup serialize Serialization
@@ -14,6 +15,10 @@
  */
 class SerializeIF {
 public:
+	enum class Endianness : uint8_t {
+		BIG, LITTLE, MACHINE
+	};
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF;
 	static const ReturnValue_t BUFFER_TOO_SHORT = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2);
@@ -22,13 +27,13 @@ public:
 	virtual ~SerializeIF() {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const = 0;
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t max_size, Endianness streamEndianness) const = 0;
 
-	virtual uint32_t getSerializedSize() const = 0;
+	virtual size_t getSerializedSize() const = 0;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) = 0;
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) = 0;
 
 };
 
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index e1ec544b..ef706dd7 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -169,7 +169,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 		if (result == RETURN_OK) {
 			Mode_t fallbackId;
 			int32_t size = sizeRead;
-			result = SerializeAdapter<Mode_t>::deSerialize(&fallbackId,
+			result = SerializeAdapter::deSerialize(&fallbackId,
 					&pointer, &size, true);
 			if (result == RETURN_OK) {
 				result = SerialArrayListAdapter<ModeListEntry>::deSerialize(
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index 8e7531f3..3e749dd8 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -23,26 +23,26 @@ public:
 
 		ReturnValue_t result;
 
-		result = SerializeAdapter<uint32_t>::serialize(&value1, buffer, size,
+		result = SerializeAdapter::serialize(&value1, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint32_t>::serialize(&value2, buffer, size,
+		result = SerializeAdapter::serialize(&value2, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::serialize(&value3, buffer, size,
+		result = SerializeAdapter::serialize(&value3, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 
-		result = SerializeAdapter<uint8_t>::serialize(&value4, buffer, size,
+		result = SerializeAdapter::serialize(&value4, buffer, size,
 				max_size, bigEndian);
 
 		return result;
@@ -57,25 +57,25 @@ public:
 	bool bigEndian) {
 		ReturnValue_t result;
 
-		result = SerializeAdapter<uint32_t>::deSerialize(&value1, buffer, size,
+		result = SerializeAdapter::deSerialize(&value1, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint32_t>::deSerialize(&value2, buffer, size,
+		result = SerializeAdapter::deSerialize(&value2, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::deSerialize(&value3, buffer, size,
+		result = SerializeAdapter::deSerialize(&value3, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::deSerialize(&value4, buffer, size,
+		result = SerializeAdapter::deSerialize(&value4, buffer, size,
 				bigEndian);
 
 		return result;
diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp
index bf6f7398..93513e16 100644
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@@ -47,13 +47,13 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
 		return MonitoringIF::INVALID_SIZE;
 	}
 	int32_t readSize = size;
-	SerializeAdapter<float>::deSerialize(&nopParameters.lowerNopLimit, &data,
+	SerializeAdapter::deSerialize(&nopParameters.lowerNopLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&parameters.lowerOpLimit, &data,
+	SerializeAdapter::deSerialize(&parameters.lowerOpLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&parameters.upperOpLimit, &data,
+	SerializeAdapter::deSerialize(&parameters.upperOpLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&nopParameters.upperNopLimit, &data,
+	SerializeAdapter::deSerialize(&nopParameters.upperNopLimit, &data,
 			&readSize, true);
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index 6eea6f58..4e7160fb 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -34,12 +34,12 @@ public:
 	uint16_t ssc;
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&apid,
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,
 				buffer, size, max_size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<uint16_t>::serialize(&ssc, buffer, size,
+		return SerializeAdapter::serialize(&ssc, buffer, size,
 				max_size, bigEndian);
 
 	}
@@ -50,12 +50,12 @@ public:
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 	bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<uint16_t>::deSerialize(&apid,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&apid,
 				buffer, size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<uint16_t>::deSerialize(&ssc, buffer, size,
+		return SerializeAdapter::deSerialize(&ssc, buffer, size,
 				bigEndian);
 	}
 };
@@ -220,23 +220,23 @@ public:
 
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = AutoSerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -246,11 +246,11 @@ public:
 
 	uint32_t getSerializedSize() const {
 		uint32_t size = 0;
-		size += AutoSerializeAdapter::getSerializedSize(&apid);
-		size += AutoSerializeAdapter::getSerializedSize(&sourceSequenceCount);
-		size += AutoSerializeAdapter::getSerializedSize(&serviceType);
-		size += AutoSerializeAdapter::getSerializedSize(&serviceSubtype);
-		size += AutoSerializeAdapter::getSerializedSize(&subCounter);
+		size += SerializeAdapter::getSerializedSize(&apid);
+		size += SerializeAdapter::getSerializedSize(&sourceSequenceCount);
+		size += SerializeAdapter::getSerializedSize(&serviceType);
+		size += SerializeAdapter::getSerializedSize(&serviceSubtype);
+		size += SerializeAdapter::getSerializedSize(&subCounter);
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
 		size += adapter.getSerializedSize();
 		return size;
@@ -259,27 +259,27 @@ public:
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 	bool bigEndian) {
-		ReturnValue_t result = AutoSerializeAdapter::deSerialize(&apid, buffer,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&apid, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
+		result = SerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&serviceType, buffer, size,
+		result = SerializeAdapter::deSerialize(&serviceType, buffer, size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&serviceSubtype, buffer,
+		result = SerializeAdapter::deSerialize(&serviceSubtype, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&subCounter, buffer, size,
+		result = SerializeAdapter::deSerialize(&subCounter, buffer, size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h
index 1f194968..d5d96f2d 100644
--- a/tmtcpacket/packetmatcher/ApidMatcher.h
+++ b/tmtcpacket/packetmatcher/ApidMatcher.h
@@ -24,14 +24,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint16_t>::serialize(&apid, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&apid, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint16_t>::getSerializedSize(&apid);
+		return SerializeAdapter::getSerializedSize(&apid);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint16_t>::deSerialize(&apid, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&apid, buffer, size, bigEndian);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h
index 1a6781b4..b0623780 100644
--- a/tmtcpacket/packetmatcher/ServiceMatcher.h
+++ b/tmtcpacket/packetmatcher/ServiceMatcher.h
@@ -24,14 +24,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint8_t>::serialize(&service, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&service, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint8_t>::getSerializedSize(&service);
+		return SerializeAdapter::getSerializedSize(&service);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint8_t>::deSerialize(&service, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&service, buffer, size, bigEndian);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h
index 1b589b20..90370af1 100644
--- a/tmtcpacket/packetmatcher/SubserviceMatcher.h
+++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h
@@ -22,14 +22,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint8_t>::serialize(&subService, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&subService, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint8_t>::getSerializedSize(&subService);
+		return SerializeAdapter::getSerializedSize(&subService);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint8_t>::deSerialize(&subService, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&subService, buffer, size, bigEndian);
 	}
 private:
 	uint8_t subService;
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index d70b9042..5b9e7b68 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -236,7 +236,7 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	uint8_t buffer[sizeof(object_id_t)];
 	uint8_t* pBuffer = buffer;
 	uint32_t size = 0;
-	SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
+	SerializeAdapter::serialize(&objectId, &pBuffer, &size,
 			sizeof(object_id_t), true);
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, buffer, size);
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index 1bc53c2a..e1dad2be 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -108,12 +108,12 @@ PusSuccessReport::PusSuccessReport(uint16_t setPacketId,
 		uint16_t setSequenceControl, uint8_t setStep) :
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
-	SerializeAdapter<uint16_t>::serialize(&setPacketId, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint16_t>::serialize(&setSequenceControl, &pBuffer,
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
 	if (setStep != 0) {
-		SerializeAdapter<uint8_t>::serialize(&setStep, &pBuffer, &reportSize,
+		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
 				sizeof(reportBuffer), true);
 	}
 }
@@ -135,19 +135,19 @@ PusFailureReport::PusFailureReport(uint16_t setPacketId,
 		uint8_t setStep, uint32_t parameter1, uint32_t parameter2) :
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
-	SerializeAdapter<uint16_t>::serialize(&setPacketId, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint16_t>::serialize(&setSequenceControl, &pBuffer,
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
 	if (setStep != 0) {
-		SerializeAdapter<uint8_t>::serialize(&setStep, &pBuffer, &reportSize,
+		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
 				sizeof(reportBuffer), true);
 	}
-	SerializeAdapter<ReturnValue_t>::serialize(&setErrorCode, &pBuffer,
+	SerializeAdapter::serialize(&setErrorCode, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
-	SerializeAdapter<uint32_t>::serialize(&parameter1, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&parameter1, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint32_t>::serialize(&parameter2, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&parameter2, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
 }
 

From 7a79fab52aef5e0fad3c54c991977a96d436bec6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 21 Apr 2020 21:48:47 +0200
Subject: [PATCH 025/154] receiveTc (almost) empty now

---
 tmtcservices/TmTcBridge.cpp | 12 ------------
 tmtcservices/TmTcBridge.h   |  7 ++++++-
 2 files changed, 6 insertions(+), 13 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 0040b163..471fe828 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -68,18 +68,6 @@ ReturnValue_t TmTcBridge::handleTc() {
 	uint8_t * recvBuffer = nullptr;
 	size_t recvLen = 0;
 	ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
-	if(result == RETURN_OK and recvLen > 0 and recvBuffer != nullptr) {
-		store_address_t storeId = 0;
-		ReturnValue_t result = tcStore->addData(&storeId,
-				recvBuffer, (uint32_t)recvLen);
-		if(result != RETURN_OK) {
-			return result;
-		}
-		TmTcMessage message(storeId);
-		if (TmTcReceptionQueue->sendToDefault(&message) != RETURN_OK) {
-			tcStore->deleteData(storeId);
-		}
-	}
 	return result;
 }
 
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 865cd001..ef160257 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -65,7 +65,12 @@ protected:
 	bool tmStored = false;
 
 	/**
-	 * Handle TC reception. Default implementation provided
+	 * @brief 	Handle TC reception
+	 * @details
+	 * Default implementation provided, but is empty.
+	 * Child handler should override this in most cases orsend TC to the
+	 * TC distributor directly with the address of the reception queue by
+	 * calling getReportRecptionQueue()
 	 * @return
 	 */
 	virtual ReturnValue_t handleTc();

From cf3190a90445d6b0f93986b40e22036e3fde4d92 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Tue, 21 Apr 2020 22:28:43 +0200
Subject: [PATCH 026/154] Actually, not that horrible, thanks to sed

---
 action/ActionHelper.cpp                      |   6 +-
 action/CommandActionHelper.cpp               |  39 ++++---
 container/FixedMap.h                         |  22 ++--
 container/IndexedRingMemoryArray.h           |  60 +++++------
 datapool/DataPool.cpp                        |   4 +-
 datapool/DataPoolAdmin.cpp                   |   6 +-
 datapool/DataPoolParameterWrapper.cpp        |  20 ++--
 datapool/DataPoolParameterWrapper.h          |  10 +-
 datapool/DataSet.cpp                         |  18 ++--
 datapool/DataSet.h                           |  10 +-
 datapool/PoolRawAccess.cpp                   |   6 +-
 datapool/PoolRawAccess.h                     |   6 +-
 datapool/PoolVariable.h                      |   6 +-
 datapool/PoolVector.h                        |  14 +--
 devicehandlers/DeviceTmReportingWrapper.cpp  |  18 ++--
 devicehandlers/DeviceTmReportingWrapper.h    |  10 +-
 events/eventmatching/EventRangeMatcherBase.h |  14 +--
 globalfunctions/Type.cpp                     |  22 ++--
 globalfunctions/conversion.cpp               | 104 -------------------
 globalfunctions/conversion.h                 |  24 -----
 globalfunctions/matching/MatchTree.h         |  20 ++--
 globalfunctions/matching/RangeMatcher.h      |  10 +-
 health/HealthTable.cpp                       |  10 +-
 health/HealthTable.h                         |   2 +-
 monitoring/LimitViolationReporter.cpp        |   6 +-
 osal/rtems/CpuUsage.cpp                      |  36 +++----
 osal/rtems/CpuUsage.h                        |  20 ++--
 parameters/ParameterHelper.cpp               |   6 +-
 parameters/ParameterWrapper.cpp              |  92 ++++++++--------
 parameters/ParameterWrapper.h                |  22 ++--
 power/Fuse.cpp                               |  14 +--
 power/Fuse.h                                 |  27 ++---
 power/PowerComponent.cpp                     |  20 ++--
 power/PowerComponent.h                       |  10 +-
 serialize/SerialArrayListAdapter.h           |  30 +++---
 serialize/SerialBufferAdapter.cpp            |  12 +--
 serialize/SerialBufferAdapter.h              |  10 +-
 serialize/SerialFixedArrayListAdapter.h      |  14 +--
 serialize/SerializeElement.h                 |   2 +-
 serialize/SerializeIF.h                      |   2 +-
 subsystem/Subsystem.cpp                      |  39 ++++---
 subsystem/modes/ModeDefinitions.h            |  26 ++---
 thermal/ThermalComponent.cpp                 |  10 +-
 tmstorage/TmStorePackets.h                   |  52 +++++-----
 tmtcpacket/packetmatcher/ApidMatcher.h       |  14 +--
 tmtcpacket/packetmatcher/ServiceMatcher.h    |  14 +--
 tmtcpacket/packetmatcher/SubserviceMatcher.h |  14 +--
 tmtcpacket/pus/TmPacketStored.cpp            |  33 +++---
 tmtcservices/CommandingServiceBase.cpp       |   4 +-
 tmtcservices/PusVerificationReport.cpp       |  28 ++---
 tmtcservices/PusVerificationReport.h         |   6 +-
 51 files changed, 458 insertions(+), 566 deletions(-)
 delete mode 100644 globalfunctions/conversion.cpp
 delete mode 100644 globalfunctions/conversion.h

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 9c1475f1..f93afaa8 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -71,18 +71,18 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
 	CommandMessage reply;
 	store_address_t storeAddress;
 	uint8_t *dataPtr;
-	uint32_t maxSize = data->getSerializedSize();
+	size_t maxSize = data->getSerializedSize();
 	if (maxSize == 0) {
 		//No error, there's simply nothing to report.
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
 			&dataPtr);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = data->serialize(&dataPtr, &size, maxSize, true);
+	result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		ipcStore->deleteData(storeAddress);
 		return result;
diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp
index 05eb9346..6a26453c 100644
--- a/action/CommandActionHelper.cpp
+++ b/action/CommandActionHelper.cpp
@@ -4,30 +4,31 @@
 #include <framework/action/HasActionsIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 
-CommandActionHelper::CommandActionHelper(CommandsActionsIF* setOwner) :
+CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
 		owner(setOwner), queueToUse(NULL), ipcStore(
-				NULL), commandCount(0), lastTarget(0) {
+		NULL), commandCount(0), lastTarget(0) {
 }
 
 CommandActionHelper::~CommandActionHelper() {
 }
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
-		ActionId_t actionId, SerializeIF* data) {
-	HasActionsIF* receiver = objectManager->get<HasActionsIF>(commandTo);
+		ActionId_t actionId, SerializeIF *data) {
+	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
 	if (receiver == NULL) {
 		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
 	}
 	store_address_t storeId;
-	uint8_t* storePointer;
-	uint32_t maxSize = data->getSerializedSize();
+	uint8_t *storePointer;
+	size_t maxSize = data->getSerializedSize();
 	ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
 			&storePointer);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	uint32_t size = 0;
-	result = data->serialize(&storePointer, &size, maxSize, true);
+	size_t size = 0;
+	result = data->serialize(&storePointer, &size, maxSize,
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -35,11 +36,11 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
 }
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
-		ActionId_t actionId, const uint8_t* data, uint32_t size) {
+		ActionId_t actionId, const uint8_t *data, uint32_t size) {
 //	if (commandCount != 0) {
 //		return CommandsFunctionsIF::ALREADY_COMMANDING;
 //	}
-	HasActionsIF* receiver = objectManager->get<HasActionsIF>(commandTo);
+	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
 	if (receiver == NULL) {
 		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
 	}
@@ -71,13 +72,13 @@ ReturnValue_t CommandActionHelper::initialize() {
 	}
 
 	queueToUse = owner->getCommandQueuePtr();
-	if(queueToUse == NULL){
+	if (queueToUse == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
+ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
 	if (reply->getSender() != lastTarget) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -88,7 +89,8 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::COMPLETION_FAILED:
 		commandCount--;
-		owner->completionFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getReturnCode(reply));
+		owner->completionFailedReceived(ActionMessage::getActionId(reply),
+				ActionMessage::getReturnCode(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::STEP_SUCCESS:
 		owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
@@ -96,11 +98,13 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::STEP_FAILED:
 		commandCount--;
-		owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
+		owner->stepFailedReceived(ActionMessage::getActionId(reply),
+				ActionMessage::getStep(reply),
 				ActionMessage::getReturnCode(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::DATA_REPLY:
-		extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
+		extractDataForOwner(ActionMessage::getActionId(reply),
+				ActionMessage::getStoreId(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
@@ -111,8 +115,9 @@ uint8_t CommandActionHelper::getCommandCount() const {
 	return commandCount;
 }
 
-void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-	const uint8_t * data = NULL;
+void CommandActionHelper::extractDataForOwner(ActionId_t actionId,
+		store_address_t storeId) {
+	const uint8_t *data = NULL;
 	uint32_t size = 0;
 	ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/container/FixedMap.h b/container/FixedMap.h
index eaf8a24c..ac170bd2 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -148,22 +148,22 @@ public:
 		return theMap.maxSize();
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 		ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
 			result = SerializeAdapter::serialize(&theMap[i].first, buffer,
-					size, max_size, bigEndian);
+					size, maxSize, streamEndianness);
 			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		uint32_t printSize = sizeof(_size);
 		uint32_t i = 0;
 
@@ -176,19 +176,19 @@ public:
 		return printSize;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (this->_size > theMap.maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
 			result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
-					size, bigEndian);
+					size, streamEndianness);
 			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		return result;
diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h
index 32b61c2d..6e7f330c 100644
--- a/container/IndexedRingMemoryArray.h
+++ b/container/IndexedRingMemoryArray.h
@@ -68,46 +68,46 @@ public:
 		return this->storedPackets;
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const {
+		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = indexType.serialize(buffer,size,max_size,bigEndian);
+		result = indexType.serialize(buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,maxSize,streamEndianness);
 		return result;
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian){
-		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness){
+		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = indexType.deSerialize(buffer,size,bigEndian);
+		result = indexType.deSerialize(buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		return result;
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress);
 		size += indexType.getSerializedSize();
 		size += SerializeAdapter::getSerializedSize(&this->size);
@@ -485,22 +485,22 @@ public:
 	 * Parameters according to HasSerializeIF
 	 * @param buffer
 	 * @param size
-	 * @param max_size
-	 * @param bigEndian
+	 * @param maxSize
+	 * @param streamEndianness
 	 * @return
 	 */
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const{
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const{
 		uint8_t* crcBuffer = *buffer;
 		uint32_t oldSize = *size;
 		if(additionalInfo!=NULL){
-			additionalInfo->serialize(buffer,size,max_size,bigEndian);
+			additionalInfo->serialize(buffer,size,maxSize,streamEndianness);
 		}
-		ReturnValue_t result = currentWriteBlock->serialize(buffer,size,max_size,bigEndian);
+		ReturnValue_t result = currentWriteBlock->serialize(buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
-		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -508,14 +508,14 @@ public:
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
 			result = SerializeAdapter::serialize(&this->entries[i], buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize));
-		result = SerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&crc,buffer,size,maxSize,streamEndianness);
 		return result;
 	}
 
@@ -524,7 +524,7 @@ public:
 	 * Get the serialized Size of the index
 	 * @return The serialized size of the index
 	 */
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 
 		uint32_t size = 0;
 		if(additionalInfo!=NULL){
@@ -542,28 +542,28 @@ public:
 	 * CRC Has to be checked before!
 	 * @param buffer
 	 * @param size
-	 * @param bigEndian
+	 * @param streamEndianness
 	 * @return
 	 */
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian){
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness){
 
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		if(additionalInfo!=NULL){
-			result = additionalInfo->deSerialize(buffer,size,bigEndian);
+			result = additionalInfo->deSerialize(buffer,size,streamEndianness);
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 
 		Index<T> tempIndex;
-		result = tempIndex.deSerialize(buffer,size,bigEndian);
+		result = tempIndex.deSerialize(buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 		uint32_t tempSize = 0;
-		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -574,7 +574,7 @@ public:
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
 			result = SerializeAdapter::deSerialize(
 					&this->entries[i], buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
index 89543d77..6604dc23 100644
--- a/datapool/DataPool.cpp
+++ b/datapool/DataPool.cpp
@@ -39,10 +39,10 @@ PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
 	}
 }
 
-//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t max_size ) {
+//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t maxSize ) {
 //	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
 //	if ( it != this->data_pool.end() ) {
-//		if ( it->second->getByteSize() <= max_size ) {
+//		if ( it->second->getByteSize() <= maxSize ) {
 //			*size = it->second->getByteSize();
 //			memcpy( address, it->second->getRawData(), *size );
 //			return DP_SUCCESSFUL;
diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp
index fe6b9215..8bf7f6b3 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapool/DataPoolAdmin.cpp
@@ -261,7 +261,7 @@ ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
 //identical to ParameterHelper::sendParameter()
 ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 		const DataPoolParameterWrapper* wrapper) {
-	uint32_t serializedSize = wrapper->getSerializedSize();
+	size_t serializedSize = wrapper->getSerializedSize();
 
 	uint8_t *storeElement;
 	store_address_t address;
@@ -272,10 +272,10 @@ ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	uint32_t storeElementSize = 0;
+	size_t storeElementSize = 0;
 
 	result = wrapper->serialize(&storeElement, &storeElementSize,
-			serializedSize, true);
+			serializedSize, SerializeIF::Endianness::BIG);
 
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		storage->deleteData(address);
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp
index 10fb5392..e08eba5b 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapool/DataPoolParameterWrapper.cpp
@@ -36,22 +36,22 @@ ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
 }
 
 ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
-		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
 	result = SerializeAdapter::serialize(&columns, buffer, size,
-			max_size, bigEndian);
+			maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -60,7 +60,7 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 		DataSet mySet;
 		PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
 		mySet.read();
-		result = raw.serialize(buffer,size,max_size,bigEndian);
+		result = raw.serialize(buffer,size,maxSize,streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -69,8 +69,8 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 }
 
 //same as ParameterWrapper
-uint32_t DataPoolParameterWrapper::getSerializedSize() const {
-	uint32_t serializedSize = 0;
+size_t DataPoolParameterWrapper::getSerializedSize() const {
+	size_t serializedSize = 0;
 	serializedSize += type.getSerializedSize();
 	serializedSize += sizeof(rows);
 	serializedSize += sizeof(columns);
@@ -80,7 +80,7 @@ uint32_t DataPoolParameterWrapper::getSerializedSize() const {
 }
 
 ReturnValue_t DataPoolParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
diff --git a/datapool/DataPoolParameterWrapper.h b/datapool/DataPoolParameterWrapper.h
index faadf659..a3dbdc04 100644
--- a/datapool/DataPoolParameterWrapper.h
+++ b/datapool/DataPoolParameterWrapper.h
@@ -11,13 +11,13 @@ public:
 
 	ReturnValue_t set(uint8_t domainId, uint16_t parameterId);
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
 			uint16_t startWritingAtIndex);
diff --git a/datapool/DataSet.cpp b/datapool/DataSet.cpp
index b4725c73..94cdcf0c 100644
--- a/datapool/DataSet.cpp
+++ b/datapool/DataSet.cpp
@@ -106,12 +106,12 @@ uint8_t DataSet::lockDataPool() {
 	return ::dataPool.lockDataPool();
 }
 
-ReturnValue_t DataSet::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t DataSet::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = RETURN_FAILED;
 	for (uint16_t count = 0; count < fill_count; count++) {
-		result = registeredVariables[count]->serialize(buffer, size, max_size,
-				bigEndian);
+		result = registeredVariables[count]->serialize(buffer, size, maxSize,
+				streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
@@ -119,8 +119,8 @@ ReturnValue_t DataSet::serialize(uint8_t** buffer, uint32_t* size,
 	return result;
 }
 
-uint32_t DataSet::getSerializedSize() const {
-	uint32_t size = 0;
+size_t DataSet::getSerializedSize() const {
+	size_t size = 0;
 	for (uint16_t count = 0; count < fill_count; count++) {
 		size += registeredVariables[count]->getSerializedSize();
 	}
@@ -136,12 +136,12 @@ void DataSet::setValid(uint8_t valid) {
 	}
 }
 
-ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 	ReturnValue_t result = RETURN_FAILED;
 	for (uint16_t count = 0; count < fill_count; count++) {
 		result = registeredVariables[count]->deSerialize(buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
diff --git a/datapool/DataSet.h b/datapool/DataSet.h
index 982be692..3d211537 100644
--- a/datapool/DataSet.h
+++ b/datapool/DataSet.h
@@ -146,13 +146,13 @@ public:
 	 */
 	void setValid(uint8_t valid);
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 };
 
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index 2053498b..94766d87 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -69,12 +69,12 @@ uint8_t* PoolRawAccess::getEntry() {
 }
 
 ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
-		uint32_t* writtenBytes, uint32_t max_size) {
+		uint32_t* writtenBytes, uint32_t maxSize) {
 	uint8_t* data_ptr = getEntry();
 //	debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
 	if (typeSize == 0)
 		return DATA_POOL_ACCESS_FAILED;
-	if (typeSize > max_size)
+	if (typeSize > maxSize)
 		return INCORRECT_SIZE;
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
@@ -149,7 +149,7 @@ ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
 		size_t maxSize, Endianness streamEndianness) const {
 	//TODO integer overflow
 	if (typeSize + *size <= maxSize) {
-#error use endian swapper
+#warning use endian swapper
 		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 190c38a9..8cc8f3f0 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -90,15 +90,15 @@ public:
 	 * \details	It makes use of the getEntry call of this function, but additionally flips the
 	 * 			bytes to big endian, which is the default for external communication (as House-
 	 * 			keeping telemetry). To achieve this, the data is copied directly to the passed
-	 * 			buffer, if it fits in the given max_size.
+	 * 			buffer, if it fits in the given maxSize.
 	 * \param buffer	A pointer to a buffer to write to
 	 * \param writtenBytes	The number of bytes written is returned with this value.
-	 * \param max_size	The maximum size that the function may write to buffer.
+	 * \param maxSize	The maximum size that the function may write to buffer.
 	 * \return	- \c RETURN_OK if entry could be acquired
 	 * 			- \c RETURN_FAILED else.
 	 */
 	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, uint32_t *size,
-			uint32_t max_size);
+			uint32_t maxSize);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
 	 * @param buffer	Pointer to the data to set
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
index ce073426..c1a57539 100644
--- a/datapool/PoolVariable.h
+++ b/datapool/PoolVariable.h
@@ -195,12 +195,12 @@ public:
 	}
 
 	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t max_size, Endianness streamEndianness) const override {
-		return SerializeAdapter::serialize<T>(&value, buffer, size, max_size,
+			size_t maxSize, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize<T>(&value, buffer, size, maxSize,
 				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const override {
+	virtual size_t getSerializedSize() const override {
 		return SerializeAdapter::getSerializedSize(&value);
 	}
 
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
index 3809f93b..50724054 100644
--- a/datapool/PoolVector.h
+++ b/datapool/PoolVector.h
@@ -197,13 +197,13 @@ public:
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
 			result = SerializeAdapter::serialize(&(value[i]), buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
@@ -211,17 +211,17 @@ public:
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return vector_size * SerializeAdapter::getSerializedSize(value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
 			result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-					bigEndian);
+					streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index 55861c3c..ce5eb109 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -12,35 +12,35 @@ DeviceTmReportingWrapper::~DeviceTmReportingWrapper() {
 }
 
 ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer,
-		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&objectId,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::serialize(&actionId, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return data->serialize(buffer, size, max_size, bigEndian);
+	return data->serialize(buffer, size, maxSize, streamEndianness);
 }
 
-uint32_t DeviceTmReportingWrapper::getSerializedSize() const {
+size_t DeviceTmReportingWrapper::getSerializedSize() const {
 	return sizeof(objectId) + sizeof(ActionId_t) + data->getSerializedSize();
 }
 
 ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&objectId,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&actionId, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return data->deSerialize(buffer, size, bigEndian);
+	return data->deSerialize(buffer, size, streamEndianness);
 }
diff --git a/devicehandlers/DeviceTmReportingWrapper.h b/devicehandlers/DeviceTmReportingWrapper.h
index 1cd9470d..4432b7f1 100644
--- a/devicehandlers/DeviceTmReportingWrapper.h
+++ b/devicehandlers/DeviceTmReportingWrapper.h
@@ -11,13 +11,13 @@ public:
 			SerializeIF *data);
 	virtual ~DeviceTmReportingWrapper();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 private:
 	object_id_t objectId;
 	ActionId_t actionId;
diff --git a/events/eventmatching/EventRangeMatcherBase.h b/events/eventmatching/EventRangeMatcherBase.h
index 921a5d6a..587669ba 100644
--- a/events/eventmatching/EventRangeMatcherBase.h
+++ b/events/eventmatching/EventRangeMatcherBase.h
@@ -11,16 +11,16 @@ class EventRangeMatcherBase: public SerializeableMatcherIF<EventMessage*> {
 public:
 	EventRangeMatcherBase(T from, T till, bool inverted) : rangeMatcher(from, till, inverted) {	}
 	virtual ~EventRangeMatcherBase() { }
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return rangeMatcher.serialize(buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return rangeMatcher.serialize(buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return rangeMatcher.getSerializedSize();
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return rangeMatcher.deSerialize(buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return rangeMatcher.deSerialize(buffer, size, streamEndianness);
 	}
 protected:
 	RangeMatcher<T> rangeMatcher;
diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index b7b7fd82..a481f768 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -59,8 +59,8 @@ uint8_t Type::getSize() const {
 	}
 }
 
-ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t Type::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	uint8_t ptc;
 	uint8_t pfc;
 	ReturnValue_t result = getPtcPfc(&ptc, &pfc);
@@ -68,36 +68,36 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&ptc, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&ptc, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&pfc, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&pfc, buffer, size, maxSize,
+			streamEndianness);
 
 	return result;
 
 }
 
-uint32_t Type::getSerializedSize() const {
+size_t Type::getSerializedSize() const {
 	uint8_t dontcare = 0;
 	return 2 * SerializeAdapter::getSerializedSize(&dontcare);
 }
 
-ReturnValue_t Type::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+ReturnValue_t Type::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 	uint8_t ptc;
 	uint8_t pfc;
 	ReturnValue_t result = SerializeAdapter::deSerialize(&ptc, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
 	result = SerializeAdapter::deSerialize(&pfc, buffer, size,
-			bigEndian);
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/globalfunctions/conversion.cpp b/globalfunctions/conversion.cpp
deleted file mode 100644
index d4f542bd..00000000
--- a/globalfunctions/conversion.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-#include <framework/globalfunctions/conversion.h>
-#include <framework/osal/Endiness.h>
-#include <cstring>
-
-
-
-//SHOULDDO: This shall be optimized (later)!
-void convertToByteStream( uint16_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF00) >> 8;
-	buffer[1] = (value & 0x00FF);
-	*size += 2;
-}
-
-void convertToByteStream( uint32_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF000000) >> 24;
-	buffer[1] = (value & 0x00FF0000) >> 16;
-	buffer[2] = (value & 0x0000FF00) >> 8;
-	buffer[3] = (value & 0x000000FF);
-	*size +=4;
-}
-
-void convertToByteStream( int16_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF00) >> 8;
-	buffer[1] = (value & 0x00FF);
-	*size += 2;
-}
-
-void convertToByteStream( int32_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF000000) >> 24;
-	buffer[1] = (value & 0x00FF0000) >> 16;
-	buffer[2] = (value & 0x0000FF00) >> 8;
-	buffer[3] = (value & 0x000000FF);
-	*size += 4;
-}
-
-//void convertToByteStream( uint64_t value, uint8_t* buffer, uint32_t* size ) {
-//	buffer[0] = (value & 0xFF00000000000000) >> 56;
-//	buffer[1] = (value & 0x00FF000000000000) >> 48;
-//	buffer[2] = (value & 0x0000FF0000000000) >> 40;
-//	buffer[3] = (value & 0x000000FF00000000) >> 32;
-//	buffer[4] = (value & 0x00000000FF000000) >> 24;
-//	buffer[5] = (value & 0x0000000000FF0000) >> 16;
-//	buffer[6] = (value & 0x000000000000FF00) >> 8;
-//	buffer[7] = (value & 0x00000000000000FF);
-//	*size+=8;
-//}
-//
-//void convertToByteStream( int64_t value, uint8_t* buffer, uint32_t* size ) {
-//	buffer[0] = (value & 0xFF00000000000000) >> 56;
-//	buffer[1] = (value & 0x00FF000000000000) >> 48;
-//	buffer[2] = (value & 0x0000FF0000000000) >> 40;
-//	buffer[3] = (value & 0x000000FF00000000) >> 32;
-//	buffer[4] = (value & 0x00000000FF000000) >> 24;
-//	buffer[5] = (value & 0x0000000000FF0000) >> 16;
-//	buffer[6] = (value & 0x000000000000FF00) >> 8;
-//	buffer[7] = (value & 0x00000000000000FF);
-//	*size+=8;
-//}
-
-void convertToByteStream( float in_value, uint8_t* buffer, uint32_t* size ) {
-#ifndef BYTE_ORDER_SYSTEM
-	#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	union float_union {
-		float value;
-		uint8_t chars[4];
-	};
-	float_union temp;
-	temp.value = in_value;
-	buffer[0] = temp.chars[3];
-	buffer[1] = temp.chars[2];
-	buffer[2] = temp.chars[1];
-	buffer[3] = temp.chars[0];
-	*size += 4;
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, &in_value, sizeof(in_value));
-	*size += sizeof(in_value);
-#endif
-}
-
-void convertToByteStream( double in_value, uint8_t* buffer, uint32_t* size ) {
-#ifndef BYTE_ORDER_SYSTEM
-	#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	union double_union {
-		double value;
-		uint8_t chars[8];
-	};
-	double_union temp;
-	temp.value = in_value;
-	buffer[0] = temp.chars[7];
-	buffer[1] = temp.chars[6];
-	buffer[2] = temp.chars[5];
-	buffer[3] = temp.chars[4];
-	buffer[4] = temp.chars[3];
-	buffer[5] = temp.chars[2];
-	buffer[6] = temp.chars[1];
-	buffer[7] = temp.chars[0];
-	*size += 8;
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, &in_value, sizeof(in_value));
-	*size += sizeof(in_value);
-#endif
-}
diff --git a/globalfunctions/conversion.h b/globalfunctions/conversion.h
deleted file mode 100644
index 0d1ca1a6..00000000
--- a/globalfunctions/conversion.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef CONVERSION_H_
-#define CONVERSION_H_
-
-
-#include <stdint.h>
-
-
-void convertToByteStream( uint16_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( uint32_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( int16_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( int32_t value, uint8_t* buffer, uint32_t* size );
-
-//void convertToByteStream( uint64_t value, uint8_t* buffer, uint32_t* size );
-//
-//void convertToByteStream( int64_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( float value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( double value, uint8_t* buffer, uint32_t* size );
-
-#endif /* CONVERSION_H_ */
diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h
index 0ee3890b..b54f5492 100644
--- a/globalfunctions/matching/MatchTree.h
+++ b/globalfunctions/matching/MatchTree.h
@@ -45,38 +45,38 @@ public:
 		return matchSubtree(iter, number);
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, SerializeIF::Endianness streamEndianness) const override {
 		iterator iter = this->begin();
 		uint8_t count = this->countRight(iter);
 		ReturnValue_t result = SerializeAdapter::serialize(&count,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		if (iter == this->end()) {
 			return HasReturnvaluesIF::RETURN_OK;
 		}
-		result = iter->serialize(buffer, size, max_size, bigEndian);
+		result = iter->serialize(buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		if (maxDepth > 0) {
 			MatchTree<T> temp(iter.left(), maxDepth - 1);
-			result = temp.serialize(buffer, size, max_size, bigEndian);
+			result = temp.serialize(buffer, size, maxSize, streamEndianness);
 		}
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		iter = iter.right();
 		while (iter != this->end()) {
-			result = iter->serialize(buffer, size, max_size, bigEndian);
+			result = iter->serialize(buffer, size, maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
 			if (maxDepth > 0) {
 				MatchTree<T> temp(iter.left(), maxDepth - 1);
-				result = temp.serialize(buffer, size, max_size, bigEndian);
+				result = temp.serialize(buffer, size, maxSize, streamEndianness);
 			}
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
@@ -86,7 +86,7 @@ public:
 		return result;
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const override {
 		//Analogous to serialize!
 		uint32_t size = 1; //One for count
 		iterator iter = this->begin();
@@ -115,8 +115,8 @@ public:
 		return size;
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			SerializeIF::Endianness streamEndianness) override {
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h
index c30406f6..6fee1f52 100644
--- a/globalfunctions/matching/RangeMatcher.h
+++ b/globalfunctions/matching/RangeMatcher.h
@@ -26,23 +26,23 @@ public:
 		}
 	}
 
-	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t max_size,
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
 			SerializeIF::Endianness streamEndianness) const override {
 		ReturnValue_t result = SerializeAdapter::serialize(&lowerBound, buffer,
-				size, max_size, streamEndianness);
+				size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&upperBound, buffer, size,
-				max_size, streamEndianness);
+				maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter::serialize(&inverted, buffer, size, max_size,
+		return SerializeAdapter::serialize(&inverted, buffer, size, maxSize,
 				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const override {
+	size_t getSerializedSize() const override {
 		return sizeof(lowerBound) + sizeof(upperBound) + sizeof(bool);
 	}
 
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index 48ee6679..bd6606db 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -63,21 +63,21 @@ bool HealthTable::hasHealth(object_id_t object) {
 	return exits;
 }
 
-void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
+void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
 	mutex->lockMutex(MutexIF::NO_TIMEOUT);
-	uint32_t size = 0;
+	size_t size = 0;
 	uint16_t count = healthMap.size();
 	ReturnValue_t result = SerializeAdapter::serialize(&count,
-			&pointer, &size, maxSize, true);
+			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
 	HealthMap::iterator iter;
 	for (iter = healthMap.begin();
 			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
 			++iter) {
 		result = SerializeAdapter::serialize(&iter->first,
-				&pointer, &size, maxSize, true);
+				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
 		uint8_t health = iter->second;
 		result = SerializeAdapter::serialize(&health, &pointer, &size,
-				maxSize, true);
+				maxSize, SerializeIF::Endianness::BIG);
 	}
 	mutex->unlockMutex();
 }
diff --git a/health/HealthTable.h b/health/HealthTable.h
index 32a7eee2..2c74bda4 100644
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@@ -21,7 +21,7 @@ public:
 	virtual HasHealthIF::HealthState getHealth(object_id_t);
 
 	virtual uint32_t getPrintSize();
-	virtual void printAll(uint8_t *pointer, uint32_t maxSize);
+	virtual void printAll(uint8_t *pointer, size_t maxSize);
 
 protected:
 	MutexIF* mutex;
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index 760e8b93..489a8f9e 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -17,7 +17,7 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	}
 	store_address_t storeId;
 	uint8_t* dataTarget = NULL;
-	uint32_t maxSize = data->getSerializedSize();
+	size_t maxSize = data->getSerializedSize();
 	if (maxSize > MonitoringIF::VIOLATION_REPORT_MAX_SIZE) {
 		return MonitoringIF::INVALID_SIZE;
 	}
@@ -26,8 +26,8 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	uint32_t size = 0;
-	result = data->serialize(&dataTarget, &size, maxSize, true);
+	size_t size = 0;
+	result = data->serialize(&dataTarget, &size, maxSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index 903a4d0e..61b66c3d 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -89,15 +89,15 @@ void CpuUsage::clear() {
 	threadData.clear();
 }
 
-ReturnValue_t CpuUsage::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t CpuUsage::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(
-			&timeSinceLastReset, buffer, size, max_size, bigEndian);
+			&timeSinceLastReset, buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	return SerialArrayListAdapter<ThreadData>::serialize(&threadData, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 }
 
 uint32_t CpuUsage::getSerializedSize() const {
@@ -109,37 +109,37 @@ uint32_t CpuUsage::getSerializedSize() const {
 	return size;
 }
 
-ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(
-			&timeSinceLastReset, buffer, size, bigEndian);
+			&timeSinceLastReset, buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	return SerialArrayListAdapter<ThreadData>::deSerialize(&threadData, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 }
 
-ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&id, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	if (*size + MAX_LENGTH_OF_THREAD_NAME > max_size) {
+	if (*size + MAX_LENGTH_OF_THREAD_NAME > maxSize) {
 		return BUFFER_TOO_SHORT;
 	}
 	memcpy(*buffer, name, MAX_LENGTH_OF_THREAD_NAME);
 	*size += MAX_LENGTH_OF_THREAD_NAME;
 	*buffer += MAX_LENGTH_OF_THREAD_NAME;
 	result = SerializeAdapter::serialize(&timeRunning,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::serialize(&percentUsage,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -158,9 +158,9 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 }
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		int32_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -170,12 +170,12 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 	memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);
 	*buffer -= MAX_LENGTH_OF_THREAD_NAME;
 	result = SerializeAdapter::deSerialize(&timeRunning,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&percentUsage,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/rtems/CpuUsage.h b/osal/rtems/CpuUsage.h
index 3d317e4e..eb03c5e3 100644
--- a/osal/rtems/CpuUsage.h
+++ b/osal/rtems/CpuUsage.h
@@ -18,13 +18,13 @@ public:
 		float timeRunning;
 		float percentUsage;
 
-		virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const;
+		virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const override;
 
-		virtual uint32_t getSerializedSize() const;
+		virtual size_t getSerializedSize() const override;
 
-		virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian);
+		virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness) override;
 	};
 
 	CpuUsage();
@@ -41,13 +41,13 @@ public:
 
 	void clear();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 };
 
 #endif /* CPUUSAGE_H_ */
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 75b71a7e..725fa1d7 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -83,7 +83,7 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 
 ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 		const ParameterWrapper* description) {
-	uint32_t serializedSize = description->getSerializedSize();
+	size_t serializedSize = description->getSerializedSize();
 
 	uint8_t *storeElement;
 	store_address_t address;
@@ -94,10 +94,10 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	uint32_t storeElementSize = 0;
+	size_t storeElementSize = 0;
 
 	result = description->serialize(&storeElement, &storeElementSize,
-			serializedSize, true);
+			serializedSize, SerializeIF::Endianness::BIG);
 
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		storage->deleteData(address);
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 9dcbc6d5..602ec361 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -2,41 +2,41 @@
 
 ParameterWrapper::ParameterWrapper() :
 		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
-				NULL), readonlyData(NULL) {
+		NULL), readonlyData(NULL) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
-		void* data) :
+		void *data) :
 		pointsToStream(false), type(type), rows(rows), columns(columns), data(
 				data), readonlyData(data) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
-		const void* data) :
+		const void *data) :
 		pointsToStream(false), type(type), rows(rows), columns(columns), data(
-				NULL), readonlyData(data) {
+		NULL), readonlyData(data) {
 }
 
 ParameterWrapper::~ParameterWrapper() {
 }
 
-ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t ParameterWrapper::serialize(uint8_t **buffer, size_t *size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&columns, buffer, size,
-			max_size, bigEndian);
+	result = SerializeAdapter::serialize(&columns, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -47,28 +47,33 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 	}
 	switch (type) {
 	case Type::UINT8_T:
-		result = serializeData<uint8_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint8_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT8_T:
-		result = serializeData<int8_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int8_t>(buffer, size, maxSize, streamEndianness);
 		break;
 	case Type::UINT16_T:
-		result = serializeData<uint16_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint16_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT16_T:
-		result = serializeData<int16_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int16_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::UINT32_T:
-		result = serializeData<uint32_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint32_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT32_T:
-		result = serializeData<int32_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int32_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::FLOAT:
-		result = serializeData<float>(buffer, size, max_size, bigEndian);
+		result = serializeData<float>(buffer, size, maxSize, streamEndianness);
 		break;
 	case Type::DOUBLE:
-		result = serializeData<double>(buffer, size, max_size, bigEndian);
+		result = serializeData<double>(buffer, size, maxSize, streamEndianness);
 		break;
 	default:
 		result = UNKNOW_DATATYPE;
@@ -77,7 +82,7 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 	return result;
 }
 
-uint32_t ParameterWrapper::getSerializedSize() const {
+size_t ParameterWrapper::getSerializedSize() const {
 	uint32_t serializedSize = 0;
 	serializedSize += type.getSerializedSize();
 	serializedSize += sizeof(rows);
@@ -88,14 +93,14 @@ uint32_t ParameterWrapper::getSerializedSize() const {
 }
 
 template<typename T>
-ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t ParameterWrapper::serializeData(uint8_t **buffer, size_t *size,
+		size_t maxSize, Endianness streamEndianness) const {
 	const T *element = (const T*) readonlyData;
 	ReturnValue_t result;
 	uint16_t dataSize = columns * rows;
 	while (dataSize != 0) {
-		result = SerializeAdapter::serialize(element, buffer, size, max_size,
-				bigEndian);
+		result = SerializeAdapter::serialize(element, buffer, size, maxSize,
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
@@ -111,21 +116,21 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 		uint8_t fromColumns) {
 
 	//treat from as a continuous Stream as we copy all of it
-	const uint8_t *fromAsStream = (const uint8_t *) from;
-	int32_t streamSize = fromRows * fromColumns * sizeof(T);
+	const uint8_t *fromAsStream = (const uint8_t*) from;
+	size_t streamSize = fromRows * fromColumns * sizeof(T);
 
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
 	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
 
 		//get the start element of this row in data
-		T *dataWithDataType = ((T *) data)
+		T *dataWithDataType = ((T*) data)
 				+ (((startingRow + fromRow) * columns) + startingColumn);
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
 			result = SerializeAdapter::deSerialize(
 					dataWithDataType + fromColumn, &fromAsStream, &streamSize,
-					true);
+					SerializeIF::Endianness::BIG);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
@@ -136,13 +141,14 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 
 }
 
-ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
-	return deSerialize(buffer, size, bigEndian, 0);
+ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
+		size_t *size, Endianness streamEndianness) {
+	return deSerialize(buffer, size, streamEndianness, 0);
 }
 
-ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian, uint16_t startWritingAtIndex) {
+ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
+		size_t *size, Endianness streamEndianness,
+		uint16_t startWritingAtIndex) {
 	ParameterWrapper streamDescription;
 
 	ReturnValue_t result = streamDescription.set(*buffer, *size, buffer, size);
@@ -153,26 +159,26 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
 	return copyFrom(&streamDescription, startWritingAtIndex);
 }
 
-ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
-		const uint8_t **remainingStream, int32_t *remainingSize) {
+ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
+		const uint8_t **remainingStream, size_t *remainingSize) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
-			&streamSize, true);
+			&streamSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::deSerialize(&columns, &stream,
-			&streamSize, true);
+	result = SerializeAdapter::deSerialize(&columns, &stream, &streamSize,
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&rows, &stream, &streamSize,
-			true);
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	int32_t dataSize = type.getSize() * rows * columns;
+	size_t dataSize = type.getSize() * rows * columns;
 
 	if (streamSize < dataSize) {
 		return SerializeIF::STREAM_TOO_SHORT;
@@ -194,7 +200,7 @@ ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper* from,
+ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		uint16_t startWritingAtIndex) {
 	if (data == NULL) {
 		return READONLY;
@@ -261,7 +267,7 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper* from,
 		}
 	} else {
 		//need a type to do arithmetic
-		uint8_t *toDataWithType = (uint8_t *) data;
+		uint8_t *toDataWithType = (uint8_t*) data;
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
 			memcpy(
 					toDataWithType
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index e6d29c59..a00c997c 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -25,16 +25,16 @@ public:
 			const void *data);
 	virtual ~ParameterWrapper();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian, uint16_t startWritingAtIndex = 0);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
 
 	template<typename T>
 	ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
@@ -111,8 +111,8 @@ public:
 	void setMatrix(const T& member) {
 		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
 	}
-	ReturnValue_t set(const uint8_t *stream, int32_t streamSize,
-			const uint8_t **remainingStream = NULL, int32_t *remainingSize =
+	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
+			const uint8_t **remainingStream = NULL, size_t *remainingSize =
 					NULL);
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
@@ -128,8 +128,8 @@ private:
 	const void *readonlyData;
 
 	template<typename T>
-	ReturnValue_t serializeData(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const;
 
 	template<typename T>
 	ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn,
diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index dd5d3e3f..db24100b 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -86,12 +86,12 @@ ReturnValue_t Fuse::check() {
 	return result;
 }
 
-ReturnValue_t Fuse::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t Fuse::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = RETURN_FAILED;
 	for (DeviceList::const_iterator iter = devices.begin();
 			iter != devices.end(); iter++) {
-		result = (*iter)->serialize(buffer, size, max_size, bigEndian);
+		result = (*iter)->serialize(buffer, size, maxSize, streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
@@ -99,7 +99,7 @@ ReturnValue_t Fuse::serialize(uint8_t** buffer, uint32_t* size,
 	return RETURN_OK;
 }
 
-uint32_t Fuse::getSerializedSize() const {
+size_t Fuse::getSerializedSize() const {
 	uint32_t size = 0;
 	for (DeviceList::const_iterator iter = devices.begin();
 			iter != devices.end(); iter++) {
@@ -108,12 +108,12 @@ uint32_t Fuse::getSerializedSize() const {
 	return size;
 }
 
-ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, int32_t* size,
-bool bigEndian) {
+ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, size_t* size,
+Endianness streamEndianness) {
 	ReturnValue_t result = RETURN_FAILED;
 	for (DeviceList::iterator iter = devices.begin(); iter != devices.end();
 			iter++) {
-		result = (*iter)->deSerialize(buffer, size, bigEndian);
+		result = (*iter)->deSerialize(buffer, size, streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
diff --git a/power/Fuse.h b/power/Fuse.h
index 6da24178..4e22e3ed 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -11,14 +11,15 @@
 #include <framework/parameters/ParameterHelper.h>
 #include <list>
 
-namespace Factory{
+namespace Factory {
 void setStaticFrameworkObjectIds();
 }
 
 class Fuse: public SystemObject,
 		public HasHealthIF,
 		public HasReturnvaluesIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public SerializeIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 private:
 	static constexpr float RESIDUAL_POWER = 0.005 * 28.5; //!< This is the upper limit of residual power lost by fuses and switches. Worst case is Fuse and one of two switches on. See PCDU ICD 1.9 p29 bottom
@@ -40,7 +41,7 @@ public:
 	Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
 			float maxCurrent, uint16_t confirmationCount = 2);
 	virtual ~Fuse();
-	void addDevice(PowerComponentIF* set);
+	void addDevice(PowerComponentIF *set);
 	float getPower();
 
 	bool isPowerValid();
@@ -49,11 +50,11 @@ public:
 	uint8_t getFuseId() const;
 	ReturnValue_t initialize();
 	DeviceList devices;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
-	uint32_t getSerializedSize() const;
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			SerializeIF::Endianness streamEndianness) const override;
+	size_t getSerializedSize() const override;
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			SerializeIF::Endianness streamEndianness) override;
 	void setAllMonitorsToUnchecked();
 	ReturnValue_t performOperation(uint8_t opCode);
 	MessageQueueId_t getCommandQueue() const;
@@ -62,13 +63,13 @@ public:
 	HasHealthIF::HealthState getHealth();
 
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-				ParameterWrapper *parameterWrapper,
-				const ParameterWrapper *newValues, uint16_t startAtIndex);
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
 
 private:
 	uint8_t oldFuseState;
 	uint8_t fuseId;
-	PowerSwitchIF* powerIF; //could be static in our case.
+	PowerSwitchIF *powerIF; //could be static in our case.
 	AbsLimitMonitor<float> currentLimit;
 	class PowerMonitor: public MonitorReporter<float> {
 	public:
@@ -88,11 +89,11 @@ private:
 	PIDReader<float> current;
 	PIDReader<uint8_t> state;
 	db_float_t power;
-	MessageQueueIF* commandQueue;
+	MessageQueueIF *commandQueue;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
 	static object_id_t powerSwitchId;
-	void calculatePowerLimits(float* low, float* high);
+	void calculatePowerLimits(float *low, float *high);
 	void calculateFusePower();
 	void checkFuseState();
 	void reportEvents(Event event);
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index 53bb06c8..cd116a86 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -17,18 +17,18 @@ PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, f
 				twoSwitches), min(min), max(max), moduleId(moduleId) {
 }
 
-ReturnValue_t PowerComponent::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&min, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter::serialize(&max, buffer, size, max_size,
-			bigEndian);
+	return SerializeAdapter::serialize(&max, buffer, size, maxSize,
+			streamEndianness);
 }
 
-uint32_t PowerComponent::getSerializedSize() const {
+size_t PowerComponent::getSerializedSize() const {
 	return sizeof(min) + sizeof(max);
 }
 
@@ -56,14 +56,14 @@ float PowerComponent::getMax() {
 	return max;
 }
 
-ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, int32_t* size,
-bool bigEndian) {
+ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
+Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter::deSerialize(&max, buffer, size, bigEndian);
+	return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness);
 }
 
 ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
diff --git a/power/PowerComponent.h b/power/PowerComponent.h
index a82fe1d7..61ab3674 100644
--- a/power/PowerComponent.h
+++ b/power/PowerComponent.h
@@ -19,13 +19,13 @@ public:
 	float getMin();
 	float getMax();
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 				ParameterWrapper *parameterWrapper,
diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index ab0c6c6f..bcd99818 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -20,25 +20,25 @@ public:
 	SerialArrayListAdapter(ArrayList<T, count_t> *adaptee) : adaptee(adaptee) {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return serialize(adaptee, buffer, size, max_size, bigEndian);
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return serialize(adaptee, buffer, size, maxSize, streamEndianness);
 	}
 
-	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) {
+	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
 			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return getSerializedSize(adaptee);
 	}
 
@@ -53,16 +53,16 @@ public:
 		return printSize;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return deSerialize(adaptee, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return deSerialize(adaptee, buffer, size, streamEndianness);
 	}
 
-	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
@@ -71,7 +71,7 @@ public:
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
 			result = SerializeAdapter::deSerialize(
 					&list->front()[i], buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		return result;
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index f78ec8ac..d4d8d1c7 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -22,19 +22,19 @@ SerialBufferAdapter<T>::~SerialBufferAdapter() {
 }
 
 template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	uint32_t serializedLength = bufferLength;
 	if (serializeLength) {
 		serializedLength += SerializeAdapter::getSerializedSize(
 				&bufferLength);
 	}
-	if (*size + serializedLength > max_size) {
+	if (*size + serializedLength > maxSize) {
 		return BUFFER_TOO_SHORT;
 	} else {
 		if (serializeLength) {
 			SerializeAdapter::serialize(&bufferLength, buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 		}
 		if (this->constBuffer != NULL) {
 			memcpy(*buffer, this->constBuffer, bufferLength);
@@ -50,7 +50,7 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 }
 
 template<typename T>
-uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
+size_t SerialBufferAdapter<T>::getSerializedSize() const {
 	if (serializeLength) {
 		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
 	} else {
@@ -59,7 +59,7 @@ uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
 }
 template<typename T>
 ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	//TODO Ignores Endian flag!
 	if (buffer != NULL) {
 		if(serializeLength){
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index 7cd75d55..78d42b80 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -16,13 +16,13 @@ public:
 
 	virtual ~SerialBufferAdapter();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 private:
 	bool serializeLength;
 	const uint8_t *constBuffer;
diff --git a/serialize/SerialFixedArrayListAdapter.h b/serialize/SerialFixedArrayListAdapter.h
index 16919b62..a2e683bf 100644
--- a/serialize/SerialFixedArrayListAdapter.h
+++ b/serialize/SerialFixedArrayListAdapter.h
@@ -13,16 +13,16 @@ public:
 	template<typename... Args>
 	SerialFixedArrayListAdapter(Args... args) : FixedArrayList<T, MAX_SIZE, count_t>(std::forward<Args>(args)...) {
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerialArrayListAdapter<T, count_t>::getSerializedSize(this);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index 22e9838c..3941e9fb 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -26,7 +26,7 @@ public:
 				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const override {
+	size_t getSerializedSize() const override {
 		return SerializeAdapter::getSerializedSize(&entry);
 	}
 
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 6c875a5c..14244a7a 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -28,7 +28,7 @@ public:
 	}
 
 	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t max_size, Endianness streamEndianness) const = 0;
+			size_t maxSize, Endianness streamEndianness) const = 0;
 
 	virtual size_t getSerializedSize() const = 0;
 
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index ef706dd7..2e8a325a 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -13,7 +13,7 @@ Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
 				false), uptimeStartTable(0), currentTargetTable(), targetMode(
 				0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables(
 				maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore(
-				NULL)
+		NULL)
 #ifdef USE_MODESTORE
 ,modeStore(NULL)
 #endif
@@ -75,7 +75,8 @@ void Subsystem::performChildOperation() {
 	if (isInTransition) {
 		if (commandsOutstanding <= 0) { //all children of the current table were commanded and replied
 			if (currentSequenceIterator.value == NULL) { //we're through with this sequence
-				if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
+				if (checkStateAgainstTable(currentTargetTable, targetSubmode)
+						== RETURN_OK) {
 					setMode(targetMode, targetSubmode);
 					isInTransition = false;
 					return;
@@ -86,7 +87,8 @@ void Subsystem::performChildOperation() {
 				}
 			}
 			if (currentSequenceIterator->checkSuccess()) {
-				if (checkStateAgainstTable(getCurrentTable(), targetSubmode) != RETURN_OK) {
+				if (checkStateAgainstTable(getCurrentTable(), targetSubmode)
+						!= RETURN_OK) {
 					transitionFailed(TABLE_CHECK_FAILED,
 							currentSequenceIterator->getTableId());
 					return;
@@ -117,7 +119,8 @@ void Subsystem::performChildOperation() {
 			childrenChangedHealth = false;
 			startTransition(mode, submode);
 		} else if (childrenChangedMode) {
-			if (checkStateAgainstTable(currentTargetTable, submode) != RETURN_OK) {
+			if (checkStateAgainstTable(currentTargetTable, submode)
+					!= RETURN_OK) {
 				triggerEvent(CANT_KEEP_MODE, mode, submode);
 				cantKeepMode();
 			}
@@ -147,7 +150,7 @@ HybridIterator<ModeListEntry> Subsystem::getTable(Mode_t id) {
 	}
 }
 
-ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
+ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
 	ReturnValue_t result;
 	switch (message->getCommand()) {
 	case HealthMessage::HEALTH_INFO: {
@@ -168,12 +171,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 				&sizeRead);
 		if (result == RETURN_OK) {
 			Mode_t fallbackId;
-			int32_t size = sizeRead;
-			result = SerializeAdapter::deSerialize(&fallbackId,
-					&pointer, &size, true);
+			size_t size = sizeRead;
+			result = SerializeAdapter::deSerialize(&fallbackId, &pointer, &size,
+					SerializeIF::Endianness::BIG);
 			if (result == RETURN_OK) {
 				result = SerialArrayListAdapter<ModeListEntry>::deSerialize(
-						&sequence, &pointer, &size, true);
+						&sequence, &pointer, &size,
+						SerializeIF::Endianness::BIG);
 				if (result == RETURN_OK) {
 					result = addSequence(&sequence,
 							ModeSequenceMessage::getSequenceId(message),
@@ -193,9 +197,9 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);
 		if (result == RETURN_OK) {
-			int32_t size = sizeRead;
+			size_t size = sizeRead;
 			result = SerialArrayListAdapter<ModeListEntry>::deSerialize(&table,
-					&pointer, &size, true);
+					&pointer, &size, SerializeIF::Endianness::BIG);
 			if (result == RETURN_OK) {
 				result = addTable(&table,
 						ModeSequenceMessage::getSequenceId(message));
@@ -339,7 +343,7 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
 	}
 }
 
-ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry>* sequence,
+ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 		Mode_t id, Mode_t fallbackSequence, bool inStore, bool preInit) {
 
 	ReturnValue_t result;
@@ -507,7 +511,7 @@ MessageQueueId_t Subsystem::getSequenceCommandQueue() const {
 }
 
 ReturnValue_t Subsystem::checkModeCommand(Mode_t mode, Submode_t submode,
-		uint32_t* msToReachTheMode) {
+		uint32_t *msToReachTheMode) {
 	//Need to accept all submodes to be able to inherit submodes
 //	if (submode != SUBMODE_NONE) {
 //		return INVALID_SUBMODE;
@@ -599,15 +603,15 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode,
 }
 
 void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
-		SerializeIF** elements, uint8_t count) {
+		SerializeIF **elements, uint8_t count) {
 	ReturnValue_t result;
-	uint32_t maxSize = 0;
+	size_t maxSize = 0;
 	for (uint8_t i = 0; i < count; i++) {
 		maxSize += elements[i]->getSerializedSize();
 	}
 	uint8_t *storeBuffer;
 	store_address_t address;
-	uint32_t size = 0;
+	size_t size = 0;
 
 	result = IPCStore->getFreeElement(&address, maxSize, &storeBuffer);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -615,7 +619,8 @@ void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
 		return;
 	}
 	for (uint8_t i = 0; i < count; i++) {
-		elements[i]->serialize(&storeBuffer, &size, maxSize, true);
+		elements[i]->serialize(&storeBuffer, &size, maxSize,
+				SerializeIF::Endianness::BIG);
 	}
 	CommandMessage reply;
 	ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index 3e749dd8..153710af 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -18,65 +18,65 @@ public:
 	uint8_t value3;
 	uint8_t value4;
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 
 		ReturnValue_t result;
 
 		result = SerializeAdapter::serialize(&value1, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&value2, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&value3, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 
 		result = SerializeAdapter::serialize(&value4, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		return result;
 
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return sizeof(value1) + sizeof(value2) + sizeof(value3) + sizeof(value4);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result;
 
 		result = SerializeAdapter::deSerialize(&value1, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value2, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value3, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value4, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		return result;
 	}
diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp
index 93513e16..5dcd0bc6 100644
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@@ -46,15 +46,15 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
 	if (size != 4 * sizeof(parameters.lowerOpLimit)) {
 		return MonitoringIF::INVALID_SIZE;
 	}
-	int32_t readSize = size;
+	size_t readSize = size;
 	SerializeAdapter::deSerialize(&nopParameters.lowerNopLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&parameters.lowerOpLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&parameters.upperOpLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&nopParameters.upperNopLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index 4e7160fb..16768e68 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -32,31 +32,31 @@ public:
 	}
 	uint16_t apid;
 	uint16_t ssc;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 		ReturnValue_t result = SerializeAdapter::serialize(&apid,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		return SerializeAdapter::serialize(&ssc, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return sizeof(apid) + sizeof(ssc);
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&apid,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		return SerializeAdapter::deSerialize(&ssc, buffer, size,
-				bigEndian);
+				streamEndianness);
 	}
 };
 
@@ -218,33 +218,33 @@ public:
 	}
 
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceType,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&subCounter,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
-		return adapter.serialize(buffer,size,max_size,bigEndian);
+		return adapter.serialize(buffer,size,maxSize,streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		uint32_t size = 0;
 		size += SerializeAdapter::getSerializedSize(&apid);
 		size += SerializeAdapter::getSerializedSize(&sourceSequenceCount);
@@ -257,35 +257,35 @@ public:
 
 	};
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&apid, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&serviceType, buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&serviceSubtype, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&subCounter, buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
-		return adapter.deSerialize(buffer,size,bigEndian);
+		return adapter.deSerialize(buffer,size,streamEndianness);
 	}
 
 private:
diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h
index d5d96f2d..3080ffef 100644
--- a/tmtcpacket/packetmatcher/ApidMatcher.h
+++ b/tmtcpacket/packetmatcher/ApidMatcher.h
@@ -22,16 +22,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&apid, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&apid, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&apid);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&apid, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&apid, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h
index b0623780..f6e9e360 100644
--- a/tmtcpacket/packetmatcher/ServiceMatcher.h
+++ b/tmtcpacket/packetmatcher/ServiceMatcher.h
@@ -22,16 +22,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&service, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&service, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&service);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&service, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&service, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h
index 90370af1..2e8b82b2 100644
--- a/tmtcpacket/packetmatcher/SubserviceMatcher.h
+++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h
@@ -20,16 +20,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&subService, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&subService, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&subService);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&subService, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&subService, buffer, size, streamEndianness);
 	}
 private:
 	uint8_t subService;
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index f2c1eb28..32f9c431 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -10,14 +10,14 @@ TmPacketStored::TmPacketStored(store_address_t setAddress) :
 }
 
 TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, const uint8_t* data,
-		uint32_t size, const uint8_t* headerData, uint32_t headerSize) :
+		uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
+		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	if (!checkAndSetStore()) {
 		return;
 	}
-	uint8_t* pData = NULL;
+	uint8_t *pData = NULL;
 	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
 			(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
 
@@ -34,21 +34,21 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 }
 
 TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, SerializeIF* content,
-		SerializeIF* header) :
+		uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
+		SerializeIF *header) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	if (!checkAndSetStore()) {
 		return;
 	}
-	uint32_t sourceDataSize = 0;
+	size_t sourceDataSize = 0;
 	if (content != NULL) {
 		sourceDataSize += content->getSerializedSize();
 	}
 	if (header != NULL) {
 		sourceDataSize += header->getSerializedSize();
 	}
-	uint8_t* p_data = NULL;
+	uint8_t *p_data = NULL;
 	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
 			(TmPacketBase::TM_PACKET_MIN_SIZE + sourceDataSize), &p_data);
 	if (returnValue != store->RETURN_OK) {
@@ -56,13 +56,15 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 	}
 	setData(p_data);
 	initializeTmPacket(apid, service, subservice, packetSubcounter);
-	uint8_t* putDataHere = getSourceData();
-	uint32_t size = 0;
+	uint8_t *putDataHere = getSourceData();
+	size_t size = 0;
 	if (header != NULL) {
-		header->serialize(&putDataHere, &size, sourceDataSize, true);
+		header->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
 	}
 	if (content != NULL) {
-		content->serialize(&putDataHere, &size, sourceDataSize, true);
+		content->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
 	}
 	setPacketDataLength(
 			sourceDataSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
@@ -80,7 +82,7 @@ void TmPacketStored::deletePacket() {
 
 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
-	const uint8_t* temp_data = NULL;
+	const uint8_t *temp_data = NULL;
 	uint32_t temp_size;
 	if (!checkAndSetStore()) {
 		return;
@@ -106,8 +108,8 @@ bool TmPacketStored::checkAndSetStore() {
 	return true;
 }
 
-StorageManagerIF* TmPacketStored::store = NULL;
-InternalErrorReporterIF* TmPacketStored::internalErrorReporter = NULL;
+StorageManagerIF *TmPacketStored::store = NULL;
+InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
 
 ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		MessageQueueId_t sentFrom, bool doErrorReporting) {
@@ -116,7 +118,8 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	TmTcMessage tmMessage(getStoreAddress());
-	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination, &tmMessage, sentFrom);
+	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination,
+			&tmMessage, sentFrom);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		deletePacket();
 		if (doErrorReporting) {
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 5b9e7b68..aa41f334 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -235,9 +235,9 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 		object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
 	uint8_t buffer[sizeof(object_id_t)];
 	uint8_t* pBuffer = buffer;
-	uint32_t size = 0;
+	size_t size = 0;
 	SerializeAdapter::serialize(&objectId, &pBuffer, &size,
-			sizeof(object_id_t), true);
+			sizeof(object_id_t), SerializeIF::Endianness::BIG);
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, buffer, size);
 	ReturnValue_t result = tmPacketStored.sendPacket(
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index e1dad2be..07631801 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -33,7 +33,7 @@ PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t set_error_code, uint8_t set_step, uint32_t parameter1,
 		uint32_t parameter2) {
-	uint8_t* data = this->getBuffer();
+	uint8_t *data = this->getBuffer();
 	data[messageSize] = set_report_id;
 	messageSize += sizeof(set_report_id);
 	data[messageSize] = ackFlags;
@@ -109,12 +109,12 @@ PusSuccessReport::PusSuccessReport(uint16_t setPacketId,
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
 	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
-	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	if (setStep != 0) {
 		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
-				sizeof(reportBuffer), true);
+				sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	}
 }
 
@@ -136,25 +136,25 @@ PusFailureReport::PusFailureReport(uint16_t setPacketId,
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
 	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
-	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	if (setStep != 0) {
 		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
-				sizeof(reportBuffer), true);
+				sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	}
-	SerializeAdapter::serialize(&setErrorCode, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+	SerializeAdapter::serialize(&setErrorCode, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	SerializeAdapter::serialize(&parameter1, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	SerializeAdapter::serialize(&parameter2, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 }
 
 PusFailureReport::~PusFailureReport() {
 }
 
-uint32_t PusFailureReport::getSize() {
+size_t PusFailureReport::getSize() {
 	return reportSize;
 }
 
diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h
index 7a173be9..ee84f0c1 100644
--- a/tmtcservices/PusVerificationReport.h
+++ b/tmtcservices/PusVerificationReport.h
@@ -49,7 +49,7 @@ class PusSuccessReport {
 private:
 	static const uint16_t MAX_SIZE = 7;
 	uint8_t reportBuffer[MAX_SIZE];
-	uint32_t reportSize;
+	size_t reportSize;
 	uint8_t * pBuffer;
 public:
 	PusSuccessReport(uint16_t setPacketId, uint16_t setSequenceControl,
@@ -63,14 +63,14 @@ class PusFailureReport {
 private:
 	static const uint16_t MAX_SIZE = 16;
 	uint8_t reportBuffer[MAX_SIZE];
-	uint32_t reportSize;
+	size_t reportSize;
 	uint8_t * pBuffer;
 public:
 	PusFailureReport(uint16_t setPacketId, uint16_t setSequenceControl,
 			ReturnValue_t setErrorCode, uint8_t setStep = 0,
 			uint32_t parameter1 = 0, uint32_t parameter2 = 0);
 	~PusFailureReport();
-	uint32_t getSize();
+	size_t getSize();
 	uint8_t* getReport();
 };
 

From 57c225d4fcf9978796b58cf76c5e42f434ca8640 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 22 Apr 2020 18:15:45 +0200
Subject: [PATCH 027/154] faulty includes removed

---
 tmtcservices/TmTcBridge.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 471fe828..827e855e 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -2,10 +2,8 @@
 
 #include <framework/ipc/QueueFactory.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/osal/FreeRTOS/PeriodicTask.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tasks/PeriodicTaskIF.h>
 
 TmTcBridge::TmTcBridge(object_id_t objectId_,
         object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),

From 04835587a7d31487d0707ebfdfdbbd076ebf7175 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 22 Apr 2020 18:20:04 +0200
Subject: [PATCH 028/154] delay variable removed

---
 tmtcservices/TmTcBridge.cpp | 7 +------
 tmtcservices/TmTcBridge.h   | 3 +--
 2 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 827e855e..f24b2561 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -8,18 +8,13 @@
 TmTcBridge::TmTcBridge(object_id_t objectId_,
         object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
         ccsdsPacketDistributor(ccsdsPacketDistributor_),
-		sentPacketsPerCycle(5), delayBetweenSentPacketsMs(0)
-{
+		sentPacketsPerCycle(5) {
 	    TmTcReceptionQueue = QueueFactory::instance()->
 			createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
 TmTcBridge::~TmTcBridge() {}
 
-void TmTcBridge::setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets) {
-	this->delayBetweenSentPacketsMs = delayBetweenSentPackets;
-}
-
 ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		uint8_t sentPacketsPerCycle) {
 	if(sentPacketsPerCycle <= MAX_STORED_DATA_SENT_PER_CYCLE) {
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index ef160257..b3a58329 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -112,7 +112,7 @@ protected:
 	 * @param message
 	 * @return
 	 */
-	ReturnValue_t storeDownlinkData(TmTcMessage * message);
+	virtual ReturnValue_t storeDownlinkData(TmTcMessage * message);
 
 	/**
 	 * Send stored data if communication link is active
@@ -130,7 +130,6 @@ protected:
 private:
 	FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
 	uint8_t sentPacketsPerCycle = 10;
-	uint32_t delayBetweenSentPacketsMs = 0;
 };
 
 

From d0ce075e0d70332a1cee51d777338b3808a689cc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 22 Apr 2020 18:21:50 +0200
Subject: [PATCH 029/154] added old comment

---
 tmtcservices/TmTcBridge.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index f24b2561..9408df2f 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -135,9 +135,9 @@ ReturnValue_t TmTcBridge::sendStoredTm() {
 		uint32_t size = 0;
 		fifo.retrieve(&storeId);
 		result = tmStore->getData(storeId, &data, &size);
-		// This does not work yet: is not static function
-		//PeriodicTaskIF::sleepFor(delayBetweenSentPacketsMs);
+
 		sendTm(data,size);
+
 		if(result != RETURN_OK) {
 			error << "TMTC Bridge: Could not send stored downlink data"
 			      << std::endl;

From d7278c449327c435f3cbf84da22a1a847cbfff4f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 23 Apr 2020 10:20:19 +0200
Subject: [PATCH 030/154] adapting tmtc bridge

---
 tmtcservices/TmTcBridge.cpp | 31 ++++++++++++++++++++++++-------
 tmtcservices/TmTcBridge.h   | 32 +++++++++++++++++++++++---------
 2 files changed, 47 insertions(+), 16 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 9408df2f..06c5bf66 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -7,25 +7,40 @@
 
 TmTcBridge::TmTcBridge(object_id_t objectId_,
         object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
-        ccsdsPacketDistributor(ccsdsPacketDistributor_),
-		sentPacketsPerCycle(5) {
-	    TmTcReceptionQueue = QueueFactory::instance()->
-			createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+        ccsdsPacketDistributor(ccsdsPacketDistributor_)
+{
+    TmTcReceptionQueue = QueueFactory::instance()->
+            createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
 TmTcBridge::~TmTcBridge() {}
 
 ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		uint8_t sentPacketsPerCycle) {
-	if(sentPacketsPerCycle <= MAX_STORED_DATA_SENT_PER_CYCLE) {
+	if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) {
 		this->sentPacketsPerCycle = sentPacketsPerCycle;
 		return RETURN_OK;
 	}
 	else {
+	    warning << "TmTcBridge: Number of packets sent per cycle "
+	               "exceeds limits" << std::endl;
 		return RETURN_FAILED;
 	}
 }
 
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
+        uint8_t maxNumberOfPacketsStored) {
+    if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
+        this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
+        return RETURN_OK;
+    }
+    else {
+        warning << "TmTcBridge: Number of packets stored "
+                   "exceeds limits" << std::endl;
+        return RETURN_FAILED;
+    }
+}
+
 ReturnValue_t TmTcBridge::initialize() {
 	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 	if (tcStore == NULL) {
@@ -72,7 +87,7 @@ ReturnValue_t TmTcBridge::handleTm() {
 	}
 
 	if(tmStored && communicationLinkUp) {
-		result = sendStoredTm();
+		result = handleStoredTm();
 	}
 	return result;
 
@@ -124,7 +139,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	return RETURN_OK;
 }
 
-ReturnValue_t TmTcBridge::sendStoredTm() {
+ReturnValue_t TmTcBridge::handleStoredTm() {
 	uint8_t counter = 0;
 	ReturnValue_t result = RETURN_OK;
 	while(!fifo.empty() && counter < sentPacketsPerCycle) {
@@ -171,6 +186,8 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
 	return TmTcReceptionQueue->getId();
 }
 
+
+
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
 	info << "TMTC Bridge: Printing data: [";
 	for(uint32_t i=0;i<dataLen;i++) {
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index b3a58329..815d6a87 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -16,8 +16,11 @@ class TmTcBridge : public AcceptsTelemetryIF,
 		public SystemObject {
 public:
 	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
-	static constexpr uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
-	static constexpr uint8_t MAX_DOWNLINK_PACKETS_STORED = 15;
+	static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
+	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
+
+	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
+	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
 
 	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
 	virtual ~TmTcBridge();
@@ -33,6 +36,15 @@ public:
 	 */
 	ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
 
+	/**
+	 * Set number of packets sent per performOperation().Please note that this
+	 * value must be smaller than MAX_DOWNLINK_PACKETS_STORED
+	 * @param sentPacketsPerCycle
+	 * @return -@c RETURN_OK if value was set successfully
+	 *         -@c RETURN_FAILED otherwise, stored value stays the same
+	 */
+	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
+
 	void registerCommConnect();
 	void registerCommDisconnect();
 
@@ -98,6 +110,12 @@ protected:
 	 */
 	virtual ReturnValue_t readTmQueue();
 
+	/**
+	 * Send stored data if communication link is active
+	 * @return
+	 */
+	virtual ReturnValue_t handleStoredTm();
+
 	/**
 	 * Implemented by child class. Perform sending of Telemetry by implementing
 	 * communication drivers or wrappers, e.g. UART communication or lwIP stack.
@@ -114,11 +132,6 @@ protected:
 	 */
 	virtual ReturnValue_t storeDownlinkData(TmTcMessage * message);
 
-	/**
-	 * Send stored data if communication link is active
-	 * @return
-	 */
-	ReturnValue_t sendStoredTm();
 
 	/**
 	 * Print data as hexidecimal array
@@ -128,8 +141,9 @@ protected:
 	void printData(uint8_t * data, size_t dataLen);
 
 private:
-	FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
-	uint8_t sentPacketsPerCycle = 10;
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> fifo;
+	uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
+	uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 
 

From e3a4eca3f90fc573c917aca0b0be3a6ea7809ca2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 23 Apr 2020 10:22:25 +0200
Subject: [PATCH 031/154] info output commented out

---
 tmtcservices/TmTcBridge.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 06c5bf66..aa0a0539 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -170,13 +170,13 @@ ReturnValue_t TmTcBridge::handleStoredTm() {
 
 void TmTcBridge::registerCommConnect() {
 	if(!communicationLinkUp) {
-		info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
+		//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
 		communicationLinkUp = true;
 	}
 }
 
 void TmTcBridge::registerCommDisconnect() {
-	info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
+	//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
 	if(communicationLinkUp) {
 		communicationLinkUp = false;
 	}

From ab2794e2d8b12634b32463e7a4a2d05eb0967cbf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 23 Apr 2020 10:24:34 +0200
Subject: [PATCH 032/154] minor form changes

---
 tmtcservices/TmTcBridge.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index aa0a0539..6a7bbcad 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -23,7 +23,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 	}
 	else {
 	    warning << "TmTcBridge: Number of packets sent per cycle "
-	               "exceeds limits" << std::endl;
+	               "exceeds limits. Keeping default value." << std::endl;
 		return RETURN_FAILED;
 	}
 }
@@ -36,7 +36,7 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
     }
     else {
         warning << "TmTcBridge: Number of packets stored "
-                   "exceeds limits" << std::endl;
+                   "exceeds limits. Keeping default value." << std::endl;
         return RETURN_FAILED;
     }
 }
@@ -142,7 +142,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 ReturnValue_t TmTcBridge::handleStoredTm() {
 	uint8_t counter = 0;
 	ReturnValue_t result = RETURN_OK;
-	while(!fifo.empty() && counter < sentPacketsPerCycle) {
+	while(not fifo.empty() && counter < sentPacketsPerCycle) {
 		//info << "TMTC Bridge: Sending stored TM data. There are "
 		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
 		store_address_t storeId;
@@ -169,7 +169,7 @@ ReturnValue_t TmTcBridge::handleStoredTm() {
 }
 
 void TmTcBridge::registerCommConnect() {
-	if(!communicationLinkUp) {
+	if(not communicationLinkUp) {
 		//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
 		communicationLinkUp = true;
 	}
@@ -190,7 +190,7 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
 
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
 	info << "TMTC Bridge: Printing data: [";
-	for(uint32_t i=0;i<dataLen;i++) {
+	for(uint32_t i = 0; i < dataLen; i++) {
 		info << std::hex << (int)data[i];
 		if(i < dataLen-1){
 			info << " , ";

From 3a3960ed1cbff27046f1e912c09b41462c0bee18 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 23 Apr 2020 10:32:05 +0200
Subject: [PATCH 033/154] better names

---
 tmtcservices/TmTcBridge.cpp | 4 ++--
 tmtcservices/TmTcBridge.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 6a7bbcad..b4732a85 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -80,7 +80,7 @@ ReturnValue_t TmTcBridge::handleTc() {
 }
 
 ReturnValue_t TmTcBridge::handleTm() {
-	ReturnValue_t result = readTmQueue();
+	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
 		error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
 		return RETURN_FAILED;
@@ -93,7 +93,7 @@ ReturnValue_t TmTcBridge::handleTm() {
 
 }
 
-ReturnValue_t TmTcBridge::readTmQueue() {
+ReturnValue_t TmTcBridge::handleTmQueue() {
 	TmTcMessage message;
 	const uint8_t* data = nullptr;
 	uint32_t size = 0;
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 815d6a87..c6c79d6c 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -108,7 +108,7 @@ protected:
 	 * Read the TM Queue and send TM if necessary. Default implementation provided
 	 * @return
 	 */
-	virtual ReturnValue_t readTmQueue();
+	virtual ReturnValue_t handleTmQueue();
 
 	/**
 	 * Send stored data if communication link is active

From 07247dbf403b625dcc1b5c54241243ad19219288 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 23 Apr 2020 11:50:13 +0200
Subject: [PATCH 034/154] added virtual keyword for init and performOp()

---
 tmtcservices/TmTcBridge.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index c6c79d6c..9fb00ef1 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -52,12 +52,12 @@ public:
 	 * Initializes necessary FSFW components for the TMTC Bridge
 	 * @return
 	 */
-	ReturnValue_t initialize() override;
+	virtual ReturnValue_t initialize() override;
 
 	/**
 	 * @brief	Handles TMTC reception
 	 */
-	ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
 	/**
 	 * Return TMTC Reception Queue

From 6be607e4220141111c67a2a611fc1e62517e269c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 4 May 2020 17:33:56 +0200
Subject: [PATCH 035/154] FIFO protected

---
 tmtcservices/TmTcBridge.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 9fb00ef1..15fd42c1 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -75,6 +75,7 @@ protected:
 	//! Used to specify whether communication link is up
 	bool communicationLinkUp = false;
 	bool tmStored = false;
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> fifo;
 
 	/**
 	 * @brief 	Handle TC reception
@@ -141,7 +142,6 @@ protected:
 	void printData(uint8_t * data, size_t dataLen);
 
 private:
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> fifo;
 	uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
 	uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };

From 684dd67f638040143c425df537d16ab13230b38d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 5 May 2020 19:14:51 +0200
Subject: [PATCH 036/154] seconds_t double now

---
 timemanager/Clock.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 5f18de3e..2883878f 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -8,7 +8,7 @@
 #include <framework/globalfunctions/timevalOperations.h>
 
 typedef uint32_t millis_t;
-typedef float seconds_t;
+typedef double seconds_t;
 
 class Clock {
 public:

From 25ff8784cf0554e85ed50ff0d073dbff56bf2d51 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 7 May 2020 20:00:42 +0200
Subject: [PATCH 037/154] corrected documentation

---
 timemanager/Stopwatch.cpp |  6 ------
 timemanager/Stopwatch.h   | 13 +++----------
 2 files changed, 3 insertions(+), 16 deletions(-)

diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 3f0755fd..771b63dc 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -1,9 +1,3 @@
-/**
- * @file Stopwatch.cpp
- *
- * @date 08.04.2020
- */
-
 #include <framework/timemanager/Stopwatch.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <iomanip>
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 786a9d57..19e1f92b 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -1,9 +1,3 @@
-/**
- * @file Stopwatch.h
- *
- * @date 08.04.2020
- */
-
 #ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
 #define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
 #include <framework/timemanager/Clock.h>
@@ -18,8 +12,7 @@ enum class StopwatchDisplayMode {
  * @details
  * This class can be used to measure elapsed times. It also displays elapsed
  * times automatically on destruction if not explicitely deactivated in the
- * constructor. The default time format is the elapsed time in miliseconds
- * as a float.
+ * constructor. The default time format is the elapsed time in miliseconds.
  */
 class Stopwatch {
 public:
@@ -28,8 +21,8 @@ public:
      * no parameters are required!
      * @param displayOnDestruction If set to true, displays measured time on
      *        object destruction
-     * @param displayMode Display format is either MS rounded or MS as double
-     *        format
+     * @param displayMode Display format is either MS rounded or seconds as
+     * 		  double format
      * @param outputPrecision If using double format, specify precision here.
      */
     Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode

From fadebe2eb4255aa6ff870ed3fa07e70905487138 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 8 May 2020 14:38:10 +0200
Subject: [PATCH 038/154] new initializer list ctor

---
 datapool/PoolEntry.cpp | 18 ++++++++--
 datapool/PoolEntry.h   | 79 ++++++++++++++++++++++++------------------
 2 files changed, 62 insertions(+), 35 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index de024c81..97c60131 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -2,9 +2,22 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 template <typename T>
-PoolEntry<T>::PoolEntry( T* initValue, uint8_t set_length, uint8_t set_valid ) : length(set_length), valid(set_valid) {
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t set_length,
+		uint8_t set_valid ) : length(set_length), valid(set_valid) {
 	this->address = new T[this->length];
-	if (initValue != NULL) {
+	if(initValue.size() == 0) {
+		memset(this->address, 0, this->getByteSize());
+	}
+	else {
+		memcpy(this->address, initValue.begin(), this->getByteSize());
+	}
+}
+
+template <typename T>
+PoolEntry<T>::PoolEntry( T* initValue, uint8_t set_length, uint8_t set_valid ) :
+		length(set_length), valid(set_valid) {
+	this->address = new T[this->length];
+	if (initValue != nullptr) {
 		memcpy(this->address, initValue, this->getByteSize() );
 	} else {
 		memset(this->address, 0, this->getByteSize() );
@@ -57,6 +70,7 @@ Type PoolEntry<T>::getType() {
 	return PodTypeConversion<T>::type;
 }
 
+template class PoolEntry<bool>;
 template class PoolEntry<uint8_t>;
 template class PoolEntry<uint16_t>;
 template class PoolEntry<uint32_t>;
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index ce41a991..5edc0198 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -1,81 +1,94 @@
 #ifndef POOLENTRY_H_
 #define POOLENTRY_H_
 
-
 #include <framework/datapool/PoolEntryIF.h>
 #include <stddef.h>
 #include <cstring>
+#include <initializer_list>
+
 /**
- * \brief		This is a small helper class that defines a single data pool entry.
+ * @brief	This is a small helper class that defines a single data pool entry.
+ * @details
+ * The helper is used to store all information together with the data as a
+ * single data pool entry.The content's type is defined by the template argument.
+ * It is prepared for use with plain old data types, but may be extended to
+ * complex types if necessary. It can be initialized with a certain value,
+ * size and validity flag. It holds a pointer to the real data and offers
+ * methods to access this data and to acquire additional information
+ * (such as validity and array/byte size). It is NOT intended to be used
+ * outside the DataPool class.
  *
- * \details		The helper is used to store all information together with the data as a single data pool entry.
- * 				The content's type is defined by the template argument.
- * 				It is prepared for use with plain old data types,
- * 				but may be extended to complex types if necessary.
- * 				It can be initialized with a certain value, size and validity flag.
- * 				It holds a pointer to the real data and offers methods to access this data and to acquire
- * 				additional information (such as validity and array/byte size).
- * 				It is NOT intended to be used outside the DataPool class.
- *
- *	\ingroup data_pool
+ * @ingroup data_pool
  *
  */
 template <typename T>
 class PoolEntry : public PoolEntryIF {
 public:
 	/**
-	 * \brief	In the classe's constructor, space is allocated on the heap and
+	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
-	 * \param initValue		A pointer to the single value or array that holds the init value.
-	 * 						With the default value (NULL), the entry is initalized with all 0.
-	 * \param set_length	Defines the array length of this entry.
-	 * \param set_valid		Sets the initialization flag. It is invalid (0) by default.
+	 * @param initValue	Initializer list with values to initialize with
+	 * @param set_length	Defines the array length of this entry.
+	 * @param set_valid		Sets the initialization flag.
+	 * 						It is invalid (0) by default.
 	 */
-	PoolEntry( T* initValue = NULL, uint8_t set_length = 1, uint8_t set_valid = 0 );
+	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t set_length = 1,
+			uint8_t set_valid = 0);
 	/**
-	 * \brief	The allocated memory for the variable is freed in the destructor.
-	 * \details	As the data pool is global, this dtor is only called on program exit.
-	 * 			PoolEntries shall never be copied, as a copy might delete the variable on the heap.
+	 * @brief	In the classe's constructor, space is allocated on the heap and
+	 * 			potential init values are copied to that space.
+	 * @param initValue	A pointer to the single value or array that holds
+	 *  the init value. With the default value (nullptr), the entry is
+	 *  initalized with all 0.
+	 * @param set_length	Defines the array length of this entry.
+	 * @param set_valid		Sets the initialization flag. It is invalid (0) by default.
+	 */
+	PoolEntry(T* initValue = nullptr, uint8_t set_length = 1, uint8_t set_valid = 0);
+
+	/**
+	 * @brief	The allocated memory for the variable is freed in the destructor.
+	 * @details	As the data pool is global, this dtor is only called on program exit.
+	 * PoolEntries shall never be copied, as a copy might delete the variable on the heap.
 	 */
 	~PoolEntry();
 	/**
-	 * \brief	This is the address pointing to the allocated memory.
+	 * @brief	This is the address pointing to the allocated memory.
 	 */
 	T* address;
 	/**
-	 * \brief	This attribute stores the length information.
+	 * @brief	This attribute stores the length information.
 	 */
 	uint8_t length;
 	/**
-	 * \brief	Here, the validity information for a variable is stored.
+	 * @brief	Here, the validity information for a variable is stored.
 	 * 			Every entry (single variable or vector) has one valid flag.
 	 */
 	uint8_t valid;
 	/**
-	 * \brief	getSize returns the array size of the entry.
-	 * \details	A single parameter has size 1.
+	 * @brief	getSize returns the array size of the entry.
+	 * @details	A single parameter has size 1.
 	 */
 	uint8_t getSize();
 	/**
-	 * \brief	This operation returns the size in bytes.
-	 * \details	The size is calculated by sizeof(type) * array_size.
+	 * @brief	This operation returns the size in bytes.
+	 * @details	The size is calculated by sizeof(type) * array_size.
 	 */
 	uint16_t getByteSize();
 	/**
-	 * \brief	This operation returns a the address pointer casted to void*.
+	 * @brief	This operation returns a the address pointer casted to void*.
 	 */
 	void* getRawData();
 	/**
-	 * \brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information of the pool entry.
 	 */
 	void setValid( uint8_t isValid );
 	/**
-	 * \brief	This method allows to get the valid information of the pool entry.
+	 * @brief	This method allows to get the valid information of the pool entry.
 	 */
 	uint8_t getValid();
 	/**
-	 * \brief	This is a debug method that prints all values and the valid information to the screen.
-	 * 			It prints all array entries in a row.
+	 * @brief	This is a debug method that prints all values and the valid
+	 * 			information to the screen. It prints all array entries in a row.
 	 */
 	void print();
 

From a159e60a9055e51b6c38a739b1f489e378a30857 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 11 May 2020 16:53:16 +0200
Subject: [PATCH 039/154] removed bool specialization

---
 datapool/PoolEntry.cpp | 1 -
 datapool/PoolEntry.h   | 7 +++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index 97c60131..1d8d2486 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -70,7 +70,6 @@ Type PoolEntry<T>::getType() {
 	return PodTypeConversion<T>::type;
 }
 
-template class PoolEntry<bool>;
 template class PoolEntry<uint8_t>;
 template class PoolEntry<uint16_t>;
 template class PoolEntry<uint32_t>;
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index 5edc0198..4487db72 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -2,10 +2,10 @@
 #define POOLENTRY_H_
 
 #include <framework/datapool/PoolEntryIF.h>
-#include <stddef.h>
+#include <cstddef>
 #include <cstring>
 #include <initializer_list>
-
+#include <type_traits>
 /**
  * @brief	This is a small helper class that defines a single data pool entry.
  * @details
@@ -24,6 +24,9 @@
 template <typename T>
 class PoolEntry : public PoolEntryIF {
 public:
+	static_assert(not std::is_same<T, bool>::value,
+				"Do not use boolean for the PoolEntry type, use uint8_t instead!"
+				"Warum? Darum :-)");
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.

From 7eb250a90ab432b8a5e5d10f78ec7598f13cdd45 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 15:06:54 +0200
Subject: [PATCH 040/154] include testing

---
 osal/FreeRTOS/Clock.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index 5e597f25..a672076a 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -4,8 +4,7 @@
 #include "Timekeeper.h"
 
 extern "C" {
-#include <FreeRTOS.h>
-#include <task.h>
+#include <freertos/FreeRTOS.h>
 }
 
 

From 35b9346c2bface422ad7943d66689a8c7da21ed0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 15:25:17 +0200
Subject: [PATCH 041/154] include improvements for clock, sif fixes

---
 osal/FreeRTOS/Clock.cpp   | 1 +
 timemanager/Stopwatch.cpp | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index a672076a..82c9e170 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -5,6 +5,7 @@
 
 extern "C" {
 #include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 }
 
 
diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 771b63dc..2c85376d 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -25,11 +25,11 @@ seconds_t Stopwatch::stopSeconds() {
 
 void Stopwatch::display() {
     if(displayMode == StopwatchDisplayMode::MILLIS) {
-        info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
+        sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
                 elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
     }
     else if(displayMode == StopwatchDisplayMode::SECONDS) {
-        info <<"Stopwatch: Operation took "  << std::setprecision(3)
+        sif::info <<"Stopwatch: Operation took "  << std::setprecision(3)
              << std::fixed << timevalOperations::toDouble(elapsedTime)
              << " seconds" << std::endl;
     }

From 8f563b7b21af065208e34b1705533bfc700cd9e5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 14:02:14 +0200
Subject: [PATCH 042/154] added retvals for mutex

---
 osal/FreeRTOS/Mutex.cpp | 18 ++++++++----------
 osal/FreeRTOS/Mutex.h   | 25 +++++++++++++++----------
 2 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 7c511091..e304d60e 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -1,4 +1,4 @@
-#include "Mutex.h"
+#include <framework/osal/FreeRTOS/Mutex.h>
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
@@ -6,7 +6,9 @@ const uint32_t MutexIF::NO_TIMEOUT = 0;
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
-	//TODO print error
+	if(handle == NULL) {
+		sif::error << "Mutex creation failure" << std::endl;
+	}
 }
 
 Mutex::~Mutex() {
@@ -18,8 +20,7 @@ Mutex::~Mutex() {
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (handle == 0) {
-		//TODO Does not exist
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	TickType_t timeout = portMAX_DELAY;
 	if (timeoutMs != NO_TIMEOUT) {
@@ -30,21 +31,18 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO could not be acquired/timeout
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_TIMEOUT;
 	}
 }
 
 ReturnValue_t Mutex::unlockMutex() {
 	if (handle == 0) {
-		//TODO Does not exist
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	BaseType_t returncode = xSemaphoreGive(handle);
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO is not owner
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
 	}
 }
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index 91f29585..e04cd20d 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -1,22 +1,27 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
+#define FRAMEWORK_FREERTOS_MUTEX_H_
 
 #include <framework/ipc/MutexIF.h>
 
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 
-#include <FreeRTOS.h>
-#include "semphr.h"
-
-
-
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
 class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
-	ReturnValue_t unlockMutex();
+	ReturnValue_t lockMutex(uint32_t timeoutMs) override;
+	ReturnValue_t unlockMutex() override;
 private:
 	SemaphoreHandle_t handle;
 };
 
-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */

From 2eba8655641e0ef51d085f4da52b3a5ecee4b478 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 14:03:39 +0200
Subject: [PATCH 043/154] some minor form corrections

---
 ipc/MutexHelper.h | 4 ++--
 ipc/MutexIF.h     | 7 +++++++
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index f76ccec4..671cd5a6 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -10,11 +10,11 @@ public:
 			internalMutex(mutex) {
 		ReturnValue_t status = mutex->lockMutex(timeoutMs);
 		if(status != HasReturnvaluesIF::RETURN_OK){
-			sif::error << "MutexHelper: Lock of Mutex failed " << status << std::endl;
+			sif::error << "MutexHelper: Lock of Mutex failed " <<
+					status << std::endl;
 		}
 	}
 
-
 	~MutexHelper() {
 		internalMutex->unlockMutex();
 	}
diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index 35786d6a..a4aff1cd 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -3,6 +3,13 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
+/**
+ * @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
+ *
+ * @details https://en.wikipedia.org/wiki/Lock_(computer_science)
+ * @ingroup osal
+ * @ingroup interface
+ */
 class MutexIF {
 public:
 	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.

From 896e7f15dc9e4e4ababcf1283e5c6be460780d8a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 14:16:44 +0200
Subject: [PATCH 044/154] addd new timeout value

---
 ipc/MutexIF.h           |  2 +-
 osal/FreeRTOS/Mutex.cpp | 18 +++++++++++-------
 osal/FreeRTOS/Mutex.h   |  2 +-
 3 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index a4aff1cd..dcb1cf33 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -13,7 +13,7 @@
 class MutexIF {
 public:
 	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.
-
+	static const uint32_t MAX_TIMEOUT;
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
 	 * The system lacked the necessary resources (other than memory) to initialize another mutex.
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index e304d60e..cc2f865f 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -3,27 +3,31 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 const uint32_t MutexIF::NO_TIMEOUT = 0;
+const uint32_t MutexIF::MAX_TIMEOUT = portMAX_DELAY;
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
-	if(handle == NULL) {
-		sif::error << "Mutex creation failure" << std::endl;
+	if(handle == nullptr) {
+		sif::error << "Mutex: Creation failure" << std::endl;
 	}
 }
 
 Mutex::~Mutex() {
-	if (handle != 0) {
+	if (handle != nullptr) {
 		vSemaphoreDelete(handle);
 	}
 
 }
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	if (handle == 0) {
+	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = portMAX_DELAY;
-	if (timeoutMs != NO_TIMEOUT) {
+	TickType_t timeout = MutexIF::NO_TIMEOUT;
+	if(timeoutMs == MutexIF::MAX_TIMEOUT) {
+		timeout = MutexIF::MAX_TIMEOUT;
+	}
+	else if(timeoutMs > MutexIF::NO_TIMEOUT){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
@@ -36,7 +40,7 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 }
 
 ReturnValue_t Mutex::unlockMutex() {
-	if (handle == 0) {
+	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	BaseType_t returncode = xSemaphoreGive(handle);
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index e04cd20d..90e82467 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -18,7 +18,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs) override;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override;
 	ReturnValue_t unlockMutex() override;
 private:
 	SemaphoreHandle_t handle;

From 1cf5991101f9dc0e677911e1d7cfeffaa250285b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:43:06 +0200
Subject: [PATCH 045/154] getClock_timval used now

---
 timemanager/Stopwatch.cpp | 12 +++++++-----
 timemanager/Stopwatch.h   | 17 ++++++++++++-----
 2 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 2c85376d..bc8b4149 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -3,14 +3,14 @@
 #include <iomanip>
 
 Stopwatch::Stopwatch(bool displayOnDestruction,
-        StopwatchDisplayMode displayMode): displayMode(displayMode),
-        displayOnDestruction(displayOnDestruction) {
+        StopwatchDisplayMode displayMode): displayOnDestruction(
+        displayOnDestruction), displayMode(displayMode) {
     // Measures start time on initialization.
-    startTime = Clock::getUptime();
+    Clock::getClock_timeval(&startTime);
 }
 
 void Stopwatch::start() {
-    startTime = Clock::getUptime();
+    Clock::getClock_timeval(&startTime);
 }
 
 millis_t Stopwatch::stop() {
@@ -51,5 +51,7 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const {
 }
 
 void Stopwatch::stopInternal() {
-    elapsedTime = Clock::getUptime() - startTime;
+	timeval endTime;
+	Clock::getClock_timeval(&endTime);
+    elapsedTime = endTime - startTime;
 }
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 19e1f92b..71580778 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -8,11 +8,13 @@ enum class StopwatchDisplayMode {
 };
 
 /**
- * @brief Simple Stopwatch implementation to measure elapsed time
+ * @brief 	Simple Stopwatch implementation to measure elapsed time
  * @details
  * This class can be used to measure elapsed times. It also displays elapsed
  * times automatically on destruction if not explicitely deactivated in the
- * constructor. The default time format is the elapsed time in miliseconds.
+ * constructor. The default time format is the elapsed time in miliseconds
+ * in seconds as a double.
+ * @author 	R. Mueller
  */
 class Stopwatch {
 public:
@@ -21,8 +23,8 @@ public:
      * no parameters are required!
      * @param displayOnDestruction If set to true, displays measured time on
      *        object destruction
-     * @param displayMode Display format is either MS rounded or seconds as
-     * 		  double format
+     * @param displayMode Display format is either MS rounded or MS as double
+     *        format
      * @param outputPrecision If using double format, specify precision here.
      */
     Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode
@@ -39,6 +41,10 @@ public:
      * @return elapsed time in milliseconds (rounded)
      */
     millis_t stop();
+    /**
+     * Calculates the elapsed time since start and returns it
+     * @return elapsed time in seconds (double precision)
+     */
     seconds_t stopSeconds();
 
     /**
@@ -49,12 +55,13 @@ public:
 
     StopwatchDisplayMode getDisplayMode() const;
     void setDisplayMode(StopwatchDisplayMode displayMode);
+    bool displayOnDestruction = true;
 private:
     timeval startTime {0, 0};
     timeval elapsedTime {0, 0};
 
     StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS;
-    bool displayOnDestruction = true;
+
     void stopInternal();
 };
 

From 0be418a553a95971a56fc61a0f9e57276a345165 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:45:08 +0200
Subject: [PATCH 046/154] clock.h form improvements

---
 timemanager/Clock.h | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 2883878f..19991b81 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -2,11 +2,12 @@
 #define FRAMEWORK_TIMEMANAGER_CLOCK_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <stdint.h>
-#include <sys/time.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/globalfunctions/timevalOperations.h>
 
+#include <cstdint>
+#include <sys/time.h>
+
 typedef uint32_t millis_t;
 typedef double seconds_t;
 
@@ -22,7 +23,7 @@ public:
 	  uint32_t usecond; //!< Microseconds, 0 .. 999999
 	}   TimeOfDay_t;
 
-	/**static Clock* TimeOfDay_t();
+	/**
 	 * This method returns the number of clock ticks per second.
 	 * In RTEMS, this is typically 1000.
 	 * @return	The number of ticks.
@@ -34,22 +35,23 @@ public:
 	 * This system call sets the system time.
 	 * To set the time, it uses a TimeOfDay_t struct.
 	 * @param time The struct with the time settings to set.
-	 * @return	\c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 * @return	-@c RETURN_OK on success. Otherwise, the OS failure code
+	 * 				is returned.
 	 */
 	static ReturnValue_t setClock(const TimeOfDay_t* time);
 	/**
 	 * This system call sets the system time.
 	 * To set the time, it uses a timeval struct.
 	 * @param time The struct with the time settings to set.
-	 * @return	\c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 * @return	-@c RETURN_OK on success. Otherwise, the OS failure code is returned.
 	 */
 	static ReturnValue_t setClock(const timeval* time);
 	/**
 	 * This system call returns the current system clock in timeval format.
-	 * The timval format has the fields \c tv_sec with seconds and \c tv_usec with
+	 * The timval format has the fields @c tv_sec with seconds and @c tv_usec with
 	 * microseconds since an OS-defined epoch.
 	 * @param time	A pointer to a timeval struct where the current time is stored.
-	 * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
 	 */
 	static ReturnValue_t getClock_timeval(timeval* time);
 
@@ -57,7 +59,7 @@ public:
 	 * Get the time since boot in a timeval struct
 	 *
 	 * @param[out] time A pointer to a timeval struct where the uptime is stored.
-	 * @return\c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
 	 *
 	 * @deprecated, I do not think this should be able to fail, use timeval getUptime()
 	 */

From f15424be4fef0a280385fc4d3a5eae85beba9ec5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:47:55 +0200
Subject: [PATCH 047/154] implemented missing static function

---
 osal/linux/Clock.cpp | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index e24a4fe4..630b2cf4 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -1,10 +1,10 @@
-#include <sys/time.h>
-#include <time.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-
+#include <sys/time.h>
 #include <sys/sysinfo.h>
 #include <linux/sysinfo.h>
+#include <time.h>
 #include <unistd.h>
 
 //#include <fstream>
@@ -65,6 +65,15 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+timeval Clock::getUptime() {
+	timeval uptime;
+	auto result = getUptime(&uptime);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
+	}
+	return uptime;
+}
+
 ReturnValue_t Clock::getUptime(timeval* uptime) {
 	//TODO This is not posix compatible and delivers only seconds precision
 	struct sysinfo sysInfo;

From c5bb18a7884a1b1f383581a854772ca0771cf04b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:49:39 +0200
Subject: [PATCH 048/154] include improvements, nullptr used

---
 osal/FreeRTOS/Clock.cpp | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index 82c9e170..dce20265 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -1,19 +1,18 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/globalfunctions/timevalOperations.h>
-#include <stdlib.h>
-#include "Timekeeper.h"
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
 
+#include <stdlib.h>
+#include <time.h>
 
 //TODO sanitize input?
 //TODO much of this code can be reused for tick-only systems
 
 uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
+MutexIF* Clock::timeMutex = nullptr;
 
 uint32_t Clock::getTicksPerSecond(void) {
 	return 1000;
@@ -130,7 +129,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 
 ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
 	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
+	if (timeMutex == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 

From a9a23d76231564d2d5bc15836455686b618a546a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:51:15 +0200
Subject: [PATCH 049/154] include improvements

---
 osal/FreeRTOS/Timekeeper.cpp | 15 ++++-----------
 osal/FreeRTOS/Timekeeper.h   |  6 +++---
 2 files changed, 7 insertions(+), 14 deletions(-)

diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp
index 949e1df3..643b2747 100644
--- a/osal/FreeRTOS/Timekeeper.cpp
+++ b/osal/FreeRTOS/Timekeeper.cpp
@@ -1,17 +1,12 @@
-/**
- * @file Timekeeper.cpp
- * @date
- */
-
 #include <framework/osal/FreeRTOS/Timekeeper.h>
 
-extern "C" {
-#include <task.h>
-}
+#include "FreeRTOSConfig.h"
 
 Timekeeper * Timekeeper::myinstance = nullptr;
 
-Timekeeper::Timekeeper() : offset( { 0, 0 }) {}
+Timekeeper::Timekeeper() : offset( { 0, 0 } ) {}
+
+Timekeeper::~Timekeeper() {}
 
 const timeval& Timekeeper::getOffset() const {
 	return offset;
@@ -28,8 +23,6 @@ void Timekeeper::setOffset(const timeval& offset) {
 	this->offset = offset;
 }
 
-Timekeeper::~Timekeeper() {}
-
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 	timeval uptime;
 	uptime.tv_sec = ticks / configTICK_RATE_HZ;
diff --git a/osal/FreeRTOS/Timekeeper.h b/osal/FreeRTOS/Timekeeper.h
index 05f0f701..7d3ca22b 100644
--- a/osal/FreeRTOS/Timekeeper.h
+++ b/osal/FreeRTOS/Timekeeper.h
@@ -2,9 +2,9 @@
 #define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 
 #include <framework/timemanager/Clock.h>
-extern "C" {
-#include <FreeRTOS.h>
-}
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 
 /**

From e5cea3ead078302df24d17ce43895ceae5c5046c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 20:31:08 +0200
Subject: [PATCH 050/154] service interface stream enhancements

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 28 +++++++++++++--------
 serviceinterface/ServiceInterfaceBuffer.h   | 28 ++++++++++++++++-----
 serviceinterface/ServiceInterfaceStream.cpp |  6 ++---
 serviceinterface/ServiceInterfaceStream.h   |  7 +++---
 4 files changed, 47 insertions(+), 22 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 58065994..2a97ab90 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -23,14 +23,16 @@ int ServiceInterfaceBuffer::sync(void) {
 	if (this->isActive) {
 		Clock::TimeOfDay_t loggerTime;
 		Clock::getDateAndTime(&loggerTime);
-		char preamble[96] = { 0 };
-		sprintf(preamble, "%s: | %lu:%02lu:%02lu.%03lu | ",
-				this->log_message.c_str(), (unsigned long) loggerTime.hour,
-				(unsigned long) loggerTime.minute,
-				(unsigned long) loggerTime.second,
-				(unsigned long) loggerTime.usecond /1000);
+		std::string preamble;
+		if(addCrToPreamble) {
+			preamble += "\r";
+		}
+		preamble += log_message + ": | " + zero_padded(loggerTime.hour, 2)
+				+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+				+ zero_padded(loggerTime.second, 2) + "."
+				+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
 		// Write log_message and time
-		this->putChars(preamble, preamble + sizeof(preamble));
+		this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
 		// Handle output
 		this->putChars(pbase(), pptr());
 	}
@@ -39,9 +41,13 @@ int ServiceInterfaceBuffer::sync(void) {
 	return 0;
 }
 
+
+
 #ifndef UT699
 
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
+        uint16_t port, bool addCrToPreamble) {
+	this->addCrToPreamble = addCrToPreamble;
 	this->log_message = set_message;
 	this->isActive = true;
 	setp( buf, buf + BUF_SIZE );
@@ -55,17 +61,19 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 	}
 	memcpy(array, begin, length);
 
-	for( ; begin != end; begin++){
+	for(; begin != end; begin++){
 		printChar(begin);
 	}
 
 }
 #endif
 
+
 #ifdef UT699
 #include <framework/osal/rtems/Interrupt.h>
 
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
+		uint16_t port) {
 	this->log_message = set_message;
 	this->isActive = true;
 	setp( buf, buf + BUF_SIZE );
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index b42c8a19..a2bc4f4b 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -2,32 +2,36 @@
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
 #include <iostream>
-#include <iosfwd>
 #include <sstream>
 #include <cstdio>
+#include <iomanip>
 
 #ifndef UT699
-class ServiceInterfaceBuffer: public std::basic_streambuf<char,
-		std::char_traits<char> > {
+class ServiceInterfaceBuffer:
+        public std::basic_streambuf<char,std::char_traits<char>> {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string set_message, uint16_t port);
+	ServiceInterfaceBuffer(std::string set_message, uint16_t port,
+			bool addCrToPreamble);
 protected:
 	bool isActive;
 	// This is called when buffer becomes full. If
 	// buffer is not used, then this is called every
 	// time when characters are put to stream.
-	virtual int overflow(int c = Traits::eof());
+	int overflow(int c = Traits::eof()) override;
 
 	// This function is called when stream is flushed,
 	// for example when std::endl is put to stream.
-	virtual int sync(void);
+	int sync(void) override;
 
 private:
 	// For additional message information
 	std::string log_message;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
+	// This is useful for some terminal programs which do not have
+	// implicit carriage return with newline characters.
+	bool addCrToPreamble;
 
 	// Work in buffer mode. It is also possible to work without buffer.
 	static size_t const BUF_SIZE = 128;
@@ -35,6 +39,18 @@ private:
 
 	// In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
+
+	template<typename T>
+	std::string zero_padded(const T& num, uint8_t width) {
+	    std::ostringstream string_to_pad;
+	    string_to_pad << std::setw(width) << std::setfill('0') << num;
+	    std::string result = string_to_pad.str();
+	    if (result.length() > width)
+	    {
+	        result.erase(0, result.length() - width);
+	    }
+	    return result;
+	}
 };
 #endif
 
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index c2979f36..40f52f1f 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -5,7 +5,7 @@ void ServiceInterfaceStream::setActive( bool myActive) {
 }
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
-		uint16_t port) :
-		std::basic_ostream<char, std::char_traits<char> >(&buf), buf(
-				set_message, port) {
+		bool addCrToPreamble, uint16_t port) :
+		std::basic_ostream<char, std::char_traits<char>>(&buf),
+		buf(set_message, port, addCrToPreamble) {
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index df736a1b..a445dced 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -17,14 +17,15 @@ extern std::ostream error;
 }
 
 
-class ServiceInterfaceStream : public std::basic_ostream< char, std::char_traits< char > > {
+class ServiceInterfaceStream :
+        public std::basic_ostream<char, std::char_traits<char>> {
 protected:
     ServiceInterfaceBuffer buf;
 public:
-    ServiceInterfaceStream( std::string set_message, uint16_t port = 1234 );
+    ServiceInterfaceStream( std::string set_message,
+    		bool addCrToPreamble = false, uint16_t port = 1234);
 	void setActive( bool );
 };
 
 
-
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

From 7259a1356959ab9fb18472bfdeb45a2c88f864dd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:14:17 +0200
Subject: [PATCH 051/154] more improvements:

1. New optional flag to redirect print to stderr. THis can be useful on
host environemtns (e.g linux)
2. non-buffered mode if this flag is true: the preamble msut be printed
manually
2. Getter function for preamble for that case.
3. printChar function: specify whether to print to stderr or stdout
---
 serviceinterface/ServiceInterfaceBuffer.cpp | 94 ++++++++++++---------
 serviceinterface/ServiceInterfaceBuffer.h   | 50 ++++++++---
 serviceinterface/ServiceInterfaceStream.cpp | 12 ++-
 serviceinterface/ServiceInterfaceStream.h   | 37 ++++++--
 4 files changed, 131 insertions(+), 62 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 2a97ab90..93de88b3 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -3,9 +3,42 @@
 #include <cstring>
 
 // to be implemented by bsp
-extern "C" void printChar(const char*);
+extern "C" void printChar(const char*, bool errStream);
+
+#ifndef UT699
+
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
+        bool errStream, bool addCrToPreamble, uint16_t port):
+		isActive(true), logMessage(setMessage),
+		addCrToPreamble(addCrToPreamble), errStream(errStream) {
+	if(not errStream) {
+		// Set pointers if the stream is buffered.
+		setp( buf, buf + BUF_SIZE );
+	}
+}
+
+void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+	char array[BUF_SIZE];
+	uint32_t length = end - begin;
+	if (length > sizeof(array)) {
+		length = sizeof(array);
+	}
+	memcpy(array, begin, length);
+
+	for(; begin != end; begin++){
+		printChar(begin, false);
+	}
+}
+
+#endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
+	if(errStream and this->isActive) {
+		if (c != Traits::eof()) {
+			printChar(reinterpret_cast<const char*>(&c), true);
+		}
+		return 0;
+	}
 	// Handle output
 	putChars(pbase(), pptr());
 	if (c != Traits::eof()) {
@@ -20,53 +53,38 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if (this->isActive) {
-		Clock::TimeOfDay_t loggerTime;
-		Clock::getDateAndTime(&loggerTime);
-		std::string preamble;
-		if(addCrToPreamble) {
-			preamble += "\r";
+	if(not this->isActive or errStream) {
+		if(not errStream) {
+			setp(buf, buf + BUF_SIZE - 1);
 		}
-		preamble += log_message + ": | " + zero_padded(loggerTime.hour, 2)
-				+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-				+ zero_padded(loggerTime.second, 2) + "."
-				+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
-		// Write log_message and time
-		this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
-		// Handle output
-		this->putChars(pbase(), pptr());
+		return 0;
 	}
+
+	auto preamble = getPreamble();
+	// Write logMessage and time
+	this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
+	// Handle output
+	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
 	setp(buf, buf + BUF_SIZE - 1);
 	return 0;
 }
 
 
-
-#ifndef UT699
-
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
-        uint16_t port, bool addCrToPreamble) {
-	this->addCrToPreamble = addCrToPreamble;
-	this->log_message = set_message;
-	this->isActive = true;
-	setp( buf, buf + BUF_SIZE );
+std::string ServiceInterfaceBuffer::getPreamble() {
+	Clock::TimeOfDay_t loggerTime;
+	Clock::getDateAndTime(&loggerTime);
+	std::string preamble;
+	if(addCrToPreamble) {
+		preamble += "\r";
+	}
+	preamble += logMessage + ": | " + zero_padded(loggerTime.hour, 2)
+							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+							+ zero_padded(loggerTime.second, 2) + "."
+							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+	return preamble;
 }
 
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-	char array[BUF_SIZE];
-	uint32_t length = end - begin;
-	if (length > sizeof(array)) {
-		length = sizeof(array);
-	}
-	memcpy(array, begin, length);
-
-	for(; begin != end; begin++){
-		printChar(begin);
-	}
-
-}
-#endif
 
 
 #ifdef UT699
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index a2bc4f4b..74facafe 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -3,43 +3,64 @@
 
 #include <iostream>
 #include <sstream>
-#include <cstdio>
 #include <iomanip>
 
 #ifndef UT699
+
+/**
+ * @brief 	This is the underlying stream buffer which implements the
+ * 			streambuf class and overloads the overflow() and sync() methods
+ * @details
+ * This class is used to modify the output of the stream, for example by adding.
+ * It also calls the char printing function which is implemented in the
+ * board supply package (BSP).
+ */
 class ServiceInterfaceBuffer:
-        public std::basic_streambuf<char,std::char_traits<char>> {
+        public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string set_message, uint16_t port,
-			bool addCrToPreamble);
+	ServiceInterfaceBuffer(std::string setMessage, bool errStream,
+			bool addCrToPreamble, uint16_t port);
+
 protected:
 	bool isActive;
-	// This is called when buffer becomes full. If
-	// buffer is not used, then this is called every
-	// time when characters are put to stream.
+	//! This is called when buffer becomes full. If
+	//! buffer is not used, then this is called every
+	//! time when characters are put to stream.
 	int overflow(int c = Traits::eof()) override;
 
-	// This function is called when stream is flushed,
-	// for example when std::endl is put to stream.
+	//! This function is called when stream is flushed,
+	//! for example when std::endl is put to stream.
 	int sync(void) override;
 
 private:
-	// For additional message information
-	std::string log_message;
+	//! For additional message information
+	std::string logMessage;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
-	// This is useful for some terminal programs which do not have
-	// implicit carriage return with newline characters.
+	//! This is useful for some terminal programs which do not have
+	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
+	//! This specifies to print to stderr and work in unbuffered mode.
+	bool errStream;
 
 	// Work in buffer mode. It is also possible to work without buffer.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 
-	// In this function, the characters are parsed.
+	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
+	std::string getPreamble();
+
+	/**
+	 * This helper function returns the zero padded string version of a number.
+	 * The type is deduced automatically.
+	 * @tparam T
+	 * @param num
+	 * @param width
+	 * @return
+	 */
 	template<typename T>
 	std::string zero_padded(const T& num, uint8_t width) {
 	    std::ostringstream string_to_pad;
@@ -52,6 +73,7 @@ private:
 	    return result;
 	}
 };
+
 #endif
 
 
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 40f52f1f..78371548 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -1,11 +1,15 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
+		bool errStream, bool addCrToPreamble, uint16_t port) :
+		std::ostream(&buf),
+		buf(setMessage, errStream, addCrToPreamble, port) {
+}
+
 void ServiceInterfaceStream::setActive( bool myActive) {
 	this->buf.isActive = myActive;
 }
 
-ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
-		bool addCrToPreamble, uint16_t port) :
-		std::basic_ostream<char, std::char_traits<char>>(&buf),
-		buf(set_message, port, addCrToPreamble) {
+std::string ServiceInterfaceStream::getPreamble() {
+	return buf.getPreamble();
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index a445dced..aecd45c3 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -3,11 +3,9 @@
 
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <iostream>
-#include <iosfwd>
-#include <sstream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of log_fe
+// Unfortunately, there must be a forward declaration of the log front end
 // (MUST be defined in main), to let the system know where to write to.
 namespace sif {
 extern std::ostream debug;
@@ -18,14 +16,41 @@ extern std::ostream error;
 
 
 class ServiceInterfaceStream :
-        public std::basic_ostream<char, std::char_traits<char>> {
+        public std::ostream {
 protected:
     ServiceInterfaceBuffer buf;
 public:
-    ServiceInterfaceStream( std::string set_message,
-    		bool addCrToPreamble = false, uint16_t port = 1234);
+    /**
+     * This constructor is used by specifying the preamble message.
+     * Optionally, the output can be directed to stderr and a CR character
+     * can be prepended to the preamble.
+     * @param set_message
+     * @param errStream
+     * @param addCrToPreamble
+     * @param port
+     */
+    ServiceInterfaceStream(std::string setMessage,
+    		bool errStream = false, bool addCrToPreamble = false,
+			uint16_t port = 1234);
+
+    //! An inactive stream will not print anything.
 	void setActive( bool );
+
+	/**
+	 * This can be used to retrieve the preamble in case it should be printed in
+	 * the unbuffered mode.
+	 * @return Preamle consisting of log message and timestamp.
+	 */
+	std::string getPreamble();
 };
 
+// Forward declaration of interface streams. These are needed so the public
+// functions can be used by including this header
+namespace sif {
+extern ServiceInterfaceStream debugStream;
+extern ServiceInterfaceStream infoStream;
+extern ServiceInterfaceStream warningStream;
+extern ServiceInterfaceStream errorStream;
+}
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

From 9361568b4513645fb42a571659e8e060b3d374c7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:28:31 +0200
Subject: [PATCH 052/154] clarifying commnet

---
 serviceinterface/ServiceInterfaceStream.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index aecd45c3..375a1875 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -5,8 +5,11 @@
 #include <iostream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of the log front end
-// (MUST be defined in main), to let the system know where to write to.
+/* Unfortunately, there must be a forward declaration of the log front end
+ * (MUST be defined in main), to let the system know where to write to.
+ * The ServiceInterfaceStream instances, which are declared below and
+ * can instantaited somewhere else can be passed to these front ends by passing
+ * their underlying buffers with .rdbuf() */
 namespace sif {
 extern std::ostream debug;
 extern std::ostream info;

From ef1324940579d307b8ba62c1270c7db3fbaa9472 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 13:01:59 +0200
Subject: [PATCH 053/154] typedef renamed

---
 timemanager/Clock.h       | 5 +++--
 timemanager/Stopwatch.cpp | 4 ++--
 timemanager/Stopwatch.h   | 4 ++--
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 19991b81..121c63df 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -8,8 +8,9 @@
 #include <cstdint>
 #include <sys/time.h>
 
-typedef uint32_t millis_t;
-typedef double seconds_t;
+//! Don't use these for time points, type is not large enough for UNIX epoch.
+typedef uint32_t dur_millis_t;
+typedef double dur_seconds_t;
 
 class Clock {
 public:
diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index bc8b4149..52118d58 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -13,12 +13,12 @@ void Stopwatch::start() {
     Clock::getClock_timeval(&startTime);
 }
 
-millis_t Stopwatch::stop() {
+dur_millis_t Stopwatch::stop() {
     stopInternal();
     return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
 }
 
-seconds_t Stopwatch::stopSeconds() {
+dur_seconds_t Stopwatch::stopSeconds() {
     stopInternal();
     return timevalOperations::toDouble(elapsedTime);
 }
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 71580778..630202cc 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -40,12 +40,12 @@ public:
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in milliseconds (rounded)
      */
-    millis_t stop();
+    dur_millis_t stop();
     /**
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in seconds (double precision)
      */
-    seconds_t stopSeconds();
+    dur_seconds_t stopSeconds();
 
     /**
      * Displays the elapsed times on the osstream, depending on internal display

From 764608005b0934c02faedf9913ae7b3153e11ba3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 13:26:35 +0200
Subject: [PATCH 054/154] buf renamed to streambuf

---
 osal/FreeRTOS/MessageQueue.cpp              | 3 ++-
 serviceinterface/ServiceInterfaceStream.cpp | 8 ++++----
 serviceinterface/ServiceInterfaceStream.h   | 2 +-
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index e5da0442..18e7aa3d 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -97,7 +97,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 
-	BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
+	BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
+			reinterpret_cast<const void*>(message->getBuffer()), 0);
 	if (result != pdPASS) {
 		if (!ignoreFault) {
 			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 78371548..d9bc980a 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -2,14 +2,14 @@
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
 		bool errStream, bool addCrToPreamble, uint16_t port) :
-		std::ostream(&buf),
-		buf(setMessage, errStream, addCrToPreamble, port) {
+		std::ostream(&streambuf),
+		streambuf(setMessage, errStream, addCrToPreamble, port) {
 }
 
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->buf.isActive = myActive;
+	this->streambuf.isActive = myActive;
 }
 
 std::string ServiceInterfaceStream::getPreamble() {
-	return buf.getPreamble();
+	return streambuf.getPreamble();
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 375a1875..c44fe03a 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -21,7 +21,7 @@ extern std::ostream error;
 class ServiceInterfaceStream :
         public std::ostream {
 protected:
-    ServiceInterfaceBuffer buf;
+    ServiceInterfaceBuffer streambuf;
 public:
     /**
      * This constructor is used by specifying the preamble message.

From f8fb370ae7698c8b27c86428ab01129042cedfa3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 14:08:26 +0200
Subject: [PATCH 055/154] preamble changes started

---
 osal/FreeRTOS/FixedTimeslotTask.cpp         |  2 +-
 serviceinterface/ServiceInterfaceBuffer.cpp | 65 +++++++++++++++------
 serviceinterface/ServiceInterfaceBuffer.h   |  8 ++-
 serviceinterface/ServiceInterfaceStream.cpp | 28 +++++++--
 serviceinterface/ServiceInterfaceStream.h   | 53 ++++++++---------
 5 files changed, 104 insertions(+), 52 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index fb3c3b03..549ffbf1 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -68,7 +68,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 	}
 
 	sif::error << "Component " << std::hex << componentId <<
-			" not found, not adding it to pst" << std::endl;
+			" not found, not adding it to pst\r" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 93de88b3..321b1d3c 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -8,13 +8,15 @@ extern "C" void printChar(const char*, bool errStream);
 #ifndef UT699
 
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
-        bool errStream, bool addCrToPreamble, uint16_t port):
+		bool addCrToPreamble, bool buffered , bool errStream, uint16_t port):
 		isActive(true), logMessage(setMessage),
-		addCrToPreamble(addCrToPreamble), errStream(errStream) {
-	if(not errStream) {
+		addCrToPreamble(addCrToPreamble), buffered(buffered),
+		errStream(errStream) {
+	if(buffered) {
 		// Set pointers if the stream is buffered.
 		setp( buf, buf + BUF_SIZE );
 	}
+	preamble.reserve(96);
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
@@ -26,16 +28,27 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 	memcpy(array, begin, length);
 
 	for(; begin != end; begin++){
-		printChar(begin, false);
+		if(errStream) {
+			printChar(begin, true);
+		}
+		else {
+			printChar(begin, false);
+		}
+
 	}
 }
 
 #endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
-	if(errStream and this->isActive) {
+	if(not buffered and this->isActive) {
 		if (c != Traits::eof()) {
-			printChar(reinterpret_cast<const char*>(&c), true);
+			if(errStream) {
+				printChar(reinterpret_cast<const char*>(&c), true);
+			}
+			else {
+				printChar(reinterpret_cast<const char*>(&c), false);
+			}
 		}
 		return 0;
 	}
@@ -53,16 +66,17 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if(not this->isActive or errStream) {
-		if(not errStream) {
+	if(not this->isActive) {
+		if(not buffered) {
 			setp(buf, buf + BUF_SIZE - 1);
 		}
 		return 0;
 	}
 
-	auto preamble = getPreamble();
+	size_t preambleSize  = 0;
+	auto preamble = getPreamble(&preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
+	this->putChars(preamble.c_str(), preamble.c_str() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -71,17 +85,34 @@ int ServiceInterfaceBuffer::sync(void) {
 }
 
 
-std::string ServiceInterfaceBuffer::getPreamble() {
+std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
-	std::string preamble;
+	//preamble.clear();
+	//std::string preamble;
+	size_t currentSize = 0;
 	if(addCrToPreamble) {
-		preamble += "\r";
+		preamble[0] = '\r';
+		currentSize += 1;
 	}
-	preamble += logMessage + ": | " + zero_padded(loggerTime.hour, 2)
-							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-							+ zero_padded(loggerTime.second, 2) + "."
-							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+	logMessage.copy(preamble.data() + 1, logMessage.size());
+	currentSize += logMessage.size();
+	preamble[++currentSize] = ':';
+	preamble[++currentSize] = ' ';
+	preamble[++currentSize] = '|';
+	zero_padded(loggerTime.hour, 2).copy(preamble.data() + )
+	//preamble.c_str() + 1 = logMessage;
+//
+//			+ ": | " + zero_padded(loggerTime.hour, 2)
+//							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+//							+ zero_padded(loggerTime.second, 2) + "."
+//							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
+	preamble[currentSize] = '\0';
+	printf("%s", preamble.c_str());
+	uint8_t debugArray[96];
+	memcpy(debugArray, preamble.data(), currentSize);
+	*preambleSize = currentSize;
 	return preamble;
 }
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 74facafe..ab5d8c90 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -19,8 +19,8 @@ class ServiceInterfaceBuffer:
         public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string setMessage, bool errStream,
-			bool addCrToPreamble, uint16_t port);
+	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
+			bool buffered, bool errStream, uint16_t port);
 
 protected:
 	bool isActive;
@@ -36,11 +36,13 @@ protected:
 private:
 	//! For additional message information
 	std::string logMessage;
+	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
+	bool buffered;
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
 
@@ -51,7 +53,7 @@ private:
 	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
-	std::string getPreamble();
+	std::string getPreamble(size_t * preambleSize = nullptr);
 
 	/**
 	 * This helper function returns the zero padded string version of a number.
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index d9bc980a..bef8136e 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -1,15 +1,33 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
-		bool errStream, bool addCrToPreamble, uint16_t port) :
-		std::ostream(&streambuf),
-		streambuf(setMessage, errStream, addCrToPreamble, port) {
+		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
+		std::ostream(&buf),
+		buf(setMessage, addCrToPreamble, buffered, errStream,  port) {
 }
 
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->streambuf.isActive = myActive;
+	this->buf.isActive = myActive;
 }
 
 std::string ServiceInterfaceStream::getPreamble() {
-	return streambuf.getPreamble();
+	return buf.getPreamble();
+}
+
+void ServiceInterfaceStream::print(std::string error,
+		bool withPreamble, bool withNewline, bool flush) {
+	if(not buffered and withPreamble) {
+		*this << getPreamble() << error;
+	}
+	else {
+		*this << error;
+	}
+
+	if(withNewline) {
+		*this << "\n";
+	}
+	// if mode is non-buffered, no need to flush.
+	if(flush and buffered) {
+		this->flush();
+	}
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index c44fe03a..9b8b5b6e 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -5,36 +5,28 @@
 #include <iostream>
 #include <cstdio>
 
-/* Unfortunately, there must be a forward declaration of the log front end
- * (MUST be defined in main), to let the system know where to write to.
- * The ServiceInterfaceStream instances, which are declared below and
- * can instantaited somewhere else can be passed to these front ends by passing
- * their underlying buffers with .rdbuf() */
-namespace sif {
-extern std::ostream debug;
-extern std::ostream info;
-extern std::ostream warning;
-extern std::ostream error;
-}
-
-
+/**
+ * Generic service interface stream which can be used like std::cout or
+ * std::cerr but has additional capability. Add preamble and timestamp
+ * to output. Can be run in buffered or unbuffered mode.
+ */
 class ServiceInterfaceStream :
         public std::ostream {
 protected:
-    ServiceInterfaceBuffer streambuf;
+    ServiceInterfaceBuffer buf;
 public:
     /**
      * This constructor is used by specifying the preamble message.
      * Optionally, the output can be directed to stderr and a CR character
      * can be prepended to the preamble.
-     * @param set_message
-     * @param errStream
-     * @param addCrToPreamble
-     * @param port
+     * @param setMessage message of preamble.
+     * @param addCrToPreamble Useful for applications like Puttty.
+     * @param buffered specify whether to use buffered mode.
+     * @param errStream specify which output stream to use (stderr or stdout).
      */
     ServiceInterfaceStream(std::string setMessage,
-    		bool errStream = false, bool addCrToPreamble = false,
-			uint16_t port = 1234);
+    		bool addCrToPreamble = false, bool buffered = true,
+			bool errStream = false, uint16_t port = 1234);
 
     //! An inactive stream will not print anything.
 	void setActive( bool );
@@ -45,15 +37,24 @@ public:
 	 * @return Preamle consisting of log message and timestamp.
 	 */
 	std::string getPreamble();
+
+	/**
+	 * This prints an error with a preamble. Useful if using the unbuffered
+	 * mode. Flushes in default mode (prints immediately).
+	 */
+	void print(std::string error, bool withPreamble = true,
+			bool withNewline = true, bool flush = true);
+
+	bool buffered = false;
 };
 
-// Forward declaration of interface streams. These are needed so the public
-// functions can be used by including this header
+// Forward declaration of interface streams. These should be instantiated in
+// main. They can then be used like std::cout or std::cerr.
 namespace sif {
-extern ServiceInterfaceStream debugStream;
-extern ServiceInterfaceStream infoStream;
-extern ServiceInterfaceStream warningStream;
-extern ServiceInterfaceStream errorStream;
+extern ServiceInterfaceStream debug;
+extern ServiceInterfaceStream info;
+extern ServiceInterfaceStream warning;
+extern ServiceInterfaceStream error;
 }
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

From 966c9c3993df460de712823a43c5fef04213dd53 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 14:22:04 +0200
Subject: [PATCH 056/154] buffer changes

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 52 ++++++++++++++-------
 1 file changed, 34 insertions(+), 18 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 321b1d3c..3c365f17 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -95,24 +95,40 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 		preamble[0] = '\r';
 		currentSize += 1;
 	}
-	logMessage.copy(preamble.data() + 1, logMessage.size());
-	currentSize += logMessage.size();
-	preamble[++currentSize] = ':';
-	preamble[++currentSize] = ' ';
-	preamble[++currentSize] = '|';
-	zero_padded(loggerTime.hour, 2).copy(preamble.data() + )
-	//preamble.c_str() + 1 = logMessage;
-//
-//			+ ": | " + zero_padded(loggerTime.hour, 2)
-//							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-//							+ zero_padded(loggerTime.second, 2) + "."
-//							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
-	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
-	preamble[currentSize] = '\0';
-	printf("%s", preamble.c_str());
-	uint8_t debugArray[96];
-	memcpy(debugArray, preamble.data(), currentSize);
-	*preambleSize = currentSize;
+	int32_t charCount = sprintf(preamble.data() + currentSize,
+			"%s: | %lu:%02lu:%02lu.%03lu | ",
+					this->logMessage.c_str(), (unsigned long) loggerTime.hour,
+					(unsigned long) loggerTime.minute,
+					(unsigned long) loggerTime.second,
+					(unsigned long) loggerTime.usecond /1000);
+	if(charCount < 0) {
+		printf("ServiceInterfaceBuffer: Failure parsing preamble");
+		return "";
+	}
+	currentSize += charCount;
+//	size_t currentSize = 0;
+//	if(addCrToPreamble) {
+//		preamble[0] = '\r';
+//		currentSize += 1;
+//	}
+//	logMessage.copy(preamble.data() + 1, logMessage.size());
+//	currentSize += logMessage.size();
+//	preamble[++currentSize] = ':';
+//	preamble[++currentSize] = ' ';
+//	preamble[++currentSize] = '|';
+//	zero_padded(loggerTime.hour, 2).copy(preamble.data() + )
+//	//preamble.c_str() + 1 = logMessage;
+////
+////			+ ": | " + zero_padded(loggerTime.hour, 2)
+////							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+////							+ zero_padded(loggerTime.second, 2) + "."
+////							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+//	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
+//	preamble[currentSize] = '\0';
+//	printf("%s", preamble.c_str());
+//	uint8_t debugArray[96];
+//	memcpy(debugArray, preamble.data(), currentSize);
+//	*preambleSize = currentSize;
 	return preamble;
 }
 

From 1cb241ca0cb3ab729b4bf67167a3e36f5dc2bcb3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 17:30:09 +0200
Subject: [PATCH 057/154] zero padded not using dyn mem alloc now

---
 serviceinterface/ServiceInterfaceBuffer.h | 31 ++++++++++++++++-------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index ab5d8c90..a032691c 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <iostream>
 #include <sstream>
 #include <iomanip>
@@ -58,21 +59,33 @@ private:
 	/**
 	 * This helper function returns the zero padded string version of a number.
 	 * The type is deduced automatically.
+	 * TODO: This uses dynamic memory allocation, so we should provide
+	 * a custom streambuf class to use it (which takes maxSize as argument)
+	 * Then we would propably
 	 * @tparam T
 	 * @param num
 	 * @param width
 	 * @return
 	 */
 	template<typename T>
-	std::string zero_padded(const T& num, uint8_t width) {
-	    std::ostringstream string_to_pad;
-	    string_to_pad << std::setw(width) << std::setfill('0') << num;
-	    std::string result = string_to_pad.str();
-	    if (result.length() > width)
-	    {
-	        result.erase(0, result.length() - width);
-	    }
-	    return result;
+	ReturnValue_t zeroPadded(std::string stringToFill, const T& num,
+			uint8_t width) {
+		auto numString = std::to_string(num);
+		uint8_t i = 0;
+		for(i = 0; i < width; i++) {
+			stringToFill[i] = '0';
+		}
+		numString.copy(stringToFill.data() + i, numString.size());
+//		std::streambuf streambuf;
+//	    std::ostringstream string_to_pad;
+//	    string_to_pad << std::setw(width) << std::setfill('0') << num;
+//	    std::string result = string_to_pad.str();
+//	    if (result.length() > width)
+//	    {
+//	        result.erase(0, result.length() - width);
+//	    }
+//	    return result;
+	    //std::string dest = std::string( number_of_zeros, '0').append( original_string);
 	}
 };
 

From d466921aa0f5ac1adc8fe8b95f83d8b518eb7653 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 17:58:22 +0200
Subject: [PATCH 058/154] some more experiments

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 3c365f17..7cf75a36 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -75,6 +75,8 @@ int ServiceInterfaceBuffer::sync(void) {
 
 	size_t preambleSize  = 0;
 	auto preamble = getPreamble(&preambleSize);
+	uint8_t debugArray[96];
+	memcpy(debugArray, preamble.data(), preambleSize);
 	// Write logMessage and time
 	this->putChars(preamble.c_str(), preamble.c_str() + preambleSize);
 	// Handle output
@@ -124,12 +126,11 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 ////							+ zero_padded(loggerTime.second, 2) + "."
 ////							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
 //	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
-//	preamble[currentSize] = '\0';
-//	printf("%s", preamble.c_str());
-//	uint8_t debugArray[96];
-//	memcpy(debugArray, preamble.data(), currentSize);
-//	*preambleSize = currentSize;
-	return preamble;
+	preamble[++currentSize] = '\0';
+	uint8_t debugArray[96];
+	memcpy(debugArray, preamble.data(), currentSize);
+	*preambleSize = currentSize;
+	return std::move(preamble);
 }
 
 

From c0808e71d99324fd40082bbbbb16d4cbbff9a7ab Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:07:04 +0200
Subject: [PATCH 059/154] no dyn memory allocation, print seems to work

---
 objectmanager/ObjectManagerIF.h             |  1 -
 serviceinterface/ServiceInterfaceBuffer.cpp | 48 +++++++--------------
 serviceinterface/ServiceInterfaceBuffer.h   | 18 +-------
 3 files changed, 17 insertions(+), 50 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index aca24a24..830aa400 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -9,7 +9,6 @@
 #define OBJECTMANAGERIF_H_
 
 #include <framework/objectmanager/frameworkObjects.h>
-#include <config/objects/systemObjectList.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 7cf75a36..30149ce0 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -1,6 +1,7 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <cstring>
+#include <inttypes.h>
 
 // to be implemented by bsp
 extern "C" void printChar(const char*, bool errStream);
@@ -17,6 +18,7 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
 		setp( buf, buf + BUF_SIZE );
 	}
 	preamble.reserve(96);
+	preamble.resize(96);
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
@@ -78,7 +80,7 @@ int ServiceInterfaceBuffer::sync(void) {
 	uint8_t debugArray[96];
 	memcpy(debugArray, preamble.data(), preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.c_str(), preamble.c_str() + preambleSize);
+	this->putChars(preamble.data(), preamble.data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -90,47 +92,29 @@ int ServiceInterfaceBuffer::sync(void) {
 std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
-	//preamble.clear();
-	//std::string preamble;
+	std::string preamble (96, 0);
 	size_t currentSize = 0;
+	char* parsePosition = &preamble[0];
 	if(addCrToPreamble) {
 		preamble[0] = '\r';
 		currentSize += 1;
+		parsePosition += 1;
 	}
-	int32_t charCount = sprintf(preamble.data() + currentSize,
-			"%s: | %lu:%02lu:%02lu.%03lu | ",
-					this->logMessage.c_str(), (unsigned long) loggerTime.hour,
-					(unsigned long) loggerTime.minute,
-					(unsigned long) loggerTime.second,
-					(unsigned long) loggerTime.usecond /1000);
+	int32_t charCount = sprintf(parsePosition,
+			"%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ",
+					this->logMessage.c_str(), loggerTime.hour,
+					loggerTime.minute,
+					loggerTime.second,
+					loggerTime.usecond /1000);
 	if(charCount < 0) {
 		printf("ServiceInterfaceBuffer: Failure parsing preamble");
 		return "";
 	}
 	currentSize += charCount;
-//	size_t currentSize = 0;
-//	if(addCrToPreamble) {
-//		preamble[0] = '\r';
-//		currentSize += 1;
-//	}
-//	logMessage.copy(preamble.data() + 1, logMessage.size());
-//	currentSize += logMessage.size();
-//	preamble[++currentSize] = ':';
-//	preamble[++currentSize] = ' ';
-//	preamble[++currentSize] = '|';
-//	zero_padded(loggerTime.hour, 2).copy(preamble.data() + )
-//	//preamble.c_str() + 1 = logMessage;
-////
-////			+ ": | " + zero_padded(loggerTime.hour, 2)
-////							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-////							+ zero_padded(loggerTime.second, 2) + "."
-////							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
-//	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
-	preamble[++currentSize] = '\0';
-	uint8_t debugArray[96];
-	memcpy(debugArray, preamble.data(), currentSize);
-	*preambleSize = currentSize;
-	return std::move(preamble);
+	if(preambleSize != nullptr) {
+		*preambleSize = currentSize;
+	}
+	return preamble;
 }
 
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index a032691c..9a4ae479 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -76,29 +76,13 @@ private:
 			stringToFill[i] = '0';
 		}
 		numString.copy(stringToFill.data() + i, numString.size());
-//		std::streambuf streambuf;
-//	    std::ostringstream string_to_pad;
-//	    string_to_pad << std::setw(width) << std::setfill('0') << num;
-//	    std::string result = string_to_pad.str();
-//	    if (result.length() > width)
-//	    {
-//	        result.erase(0, result.length() - width);
-//	    }
-//	    return result;
-	    //std::string dest = std::string( number_of_zeros, '0').append( original_string);
+		return HasReturnvaluesIF::RETURN_OK;
 	}
 };
 
 #endif
 
 
-
-
-
-
-
-
-
 #ifdef UT699
 class ServiceInterfaceBuffer: public std::basic_streambuf<char,
 		std::char_traits<char> > {

From 3a573c1b4c460cb19163d8bb9f319b501657f1e8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:37:33 +0200
Subject: [PATCH 060/154] no run-time dyn memory allocation now

---
 serviceinterface/ServiceInterfaceBuffer.cpp |  8 +++++-
 serviceinterface/ServiceInterfaceBuffer.h   | 28 ++----------------
 serviceinterface/ServiceInterfaceStream.cpp | 13 ++++-----
 serviceinterface/ServiceInterfaceStream.h   | 32 ++++++++++-----------
 4 files changed, 31 insertions(+), 50 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 30149ce0..f1332637 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -68,12 +68,15 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if(not this->isActive) {
+	if(not this->isActive and not buffered) {
 		if(not buffered) {
 			setp(buf, buf + BUF_SIZE - 1);
 		}
 		return 0;
 	}
+	if(not buffered) {
+		return 0;
+	}
 
 	size_t preambleSize  = 0;
 	auto preamble = getPreamble(&preambleSize);
@@ -88,6 +91,9 @@ int ServiceInterfaceBuffer::sync(void) {
 	return 0;
 }
 
+bool ServiceInterfaceBuffer::isBuffered() const {
+	return buffered;
+}
 
 std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 9a4ae479..00a8e74a 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -34,6 +34,7 @@ protected:
 	//! for example when std::endl is put to stream.
 	int sync(void) override;
 
+	bool isBuffered() const;
 private:
 	//! For additional message information
 	std::string logMessage;
@@ -43,10 +44,10 @@ private:
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
-	bool buffered;
+
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
-
+	bool buffered;
 	// Work in buffer mode. It is also possible to work without buffer.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
@@ -55,29 +56,6 @@ private:
 	void putChars(char const* begin, char const* end);
 
 	std::string getPreamble(size_t * preambleSize = nullptr);
-
-	/**
-	 * This helper function returns the zero padded string version of a number.
-	 * The type is deduced automatically.
-	 * TODO: This uses dynamic memory allocation, so we should provide
-	 * a custom streambuf class to use it (which takes maxSize as argument)
-	 * Then we would propably
-	 * @tparam T
-	 * @param num
-	 * @param width
-	 * @return
-	 */
-	template<typename T>
-	ReturnValue_t zeroPadded(std::string stringToFill, const T& num,
-			uint8_t width) {
-		auto numString = std::to_string(num);
-		uint8_t i = 0;
-		for(i = 0; i < width; i++) {
-			stringToFill[i] = '0';
-		}
-		numString.copy(stringToFill.data() + i, numString.size());
-		return HasReturnvaluesIF::RETURN_OK;
-	}
 };
 
 #endif
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index bef8136e..76481ed1 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -2,21 +2,20 @@
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
 		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
-		std::ostream(&buf),
-		buf(setMessage, addCrToPreamble, buffered, errStream,  port) {
-}
+		std::ostream(&streambuf),
+		streambuf(setMessage, addCrToPreamble, buffered, errStream, port) {}
 
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->buf.isActive = myActive;
+	this->streambuf.isActive = myActive;
 }
 
 std::string ServiceInterfaceStream::getPreamble() {
-	return buf.getPreamble();
+	return streambuf.getPreamble();
 }
 
 void ServiceInterfaceStream::print(std::string error,
 		bool withPreamble, bool withNewline, bool flush) {
-	if(not buffered and withPreamble) {
+	if(not streambuf.isBuffered() and withPreamble) {
 		*this << getPreamble() << error;
 	}
 	else {
@@ -27,7 +26,7 @@ void ServiceInterfaceStream::print(std::string error,
 		*this << "\n";
 	}
 	// if mode is non-buffered, no need to flush.
-	if(flush and buffered) {
+	if(flush and streambuf.isBuffered()) {
 		this->flush();
 	}
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 9b8b5b6e..9e19c228 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -10,25 +10,22 @@
  * std::cerr but has additional capability. Add preamble and timestamp
  * to output. Can be run in buffered or unbuffered mode.
  */
-class ServiceInterfaceStream :
-        public std::ostream {
-protected:
-    ServiceInterfaceBuffer buf;
+class ServiceInterfaceStream : public std::ostream {
 public:
-    /**
-     * This constructor is used by specifying the preamble message.
-     * Optionally, the output can be directed to stderr and a CR character
-     * can be prepended to the preamble.
-     * @param setMessage message of preamble.
-     * @param addCrToPreamble Useful for applications like Puttty.
-     * @param buffered specify whether to use buffered mode.
-     * @param errStream specify which output stream to use (stderr or stdout).
-     */
-    ServiceInterfaceStream(std::string setMessage,
-    		bool addCrToPreamble = false, bool buffered = true,
+	/**
+	 * This constructor is used by specifying the preamble message.
+	 * Optionally, the output can be directed to stderr and a CR character
+	 * can be prepended to the preamble.
+	 * @param setMessage message of preamble.
+	 * @param addCrToPreamble Useful for applications like Puttty.
+	 * @param buffered specify whether to use buffered mode.
+	 * @param errStream specify which output stream to use (stderr or stdout).
+	 */
+	ServiceInterfaceStream(std::string setMessage,
+			bool addCrToPreamble = false, bool buffered = true,
 			bool errStream = false, uint16_t port = 1234);
 
-    //! An inactive stream will not print anything.
+	//! An inactive stream will not print anything.
 	void setActive( bool );
 
 	/**
@@ -45,7 +42,8 @@ public:
 	void print(std::string error, bool withPreamble = true,
 			bool withNewline = true, bool flush = true);
 
-	bool buffered = false;
+protected:
+	ServiceInterfaceBuffer streambuf;
 };
 
 // Forward declaration of interface streams. These should be instantiated in

From 7014833c1c89938d0475e88a7a57b628933051e5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:50:56 +0200
Subject: [PATCH 061/154] improvements and fixes

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 15 ++++++++-------
 serviceinterface/ServiceInterfaceBuffer.h   |  9 +++++++--
 2 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index f1332637..5c80862c 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -17,8 +17,8 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
 		// Set pointers if the stream is buffered.
 		setp( buf, buf + BUF_SIZE );
 	}
-	preamble.reserve(96);
-	preamble.resize(96);
+	preamble.reserve(MAX_PREAMBLE_SIZE);
+	preamble.resize(MAX_PREAMBLE_SIZE);
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
@@ -36,7 +36,6 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 		else {
 			printChar(begin, false);
 		}
-
 	}
 }
 
@@ -80,8 +79,6 @@ int ServiceInterfaceBuffer::sync(void) {
 
 	size_t preambleSize  = 0;
 	auto preamble = getPreamble(&preambleSize);
-	uint8_t debugArray[96];
-	memcpy(debugArray, preamble.data(), preambleSize);
 	// Write logMessage and time
 	this->putChars(preamble.data(), preamble.data() + preambleSize);
 	// Handle output
@@ -98,7 +95,6 @@ bool ServiceInterfaceBuffer::isBuffered() const {
 std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
-	std::string preamble (96, 0);
 	size_t currentSize = 0;
 	char* parsePosition = &preamble[0];
 	if(addCrToPreamble) {
@@ -113,7 +109,12 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 					loggerTime.second,
 					loggerTime.usecond /1000);
 	if(charCount < 0) {
-		printf("ServiceInterfaceBuffer: Failure parsing preamble");
+		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
+		return "";
+	}
+	if(charCount > MAX_PREAMBLE_SIZE) {
+		printf("ServiceInterfaceBuffer: Char count too large for maximum "
+				"preamble size");
 		return "";
 	}
 	currentSize += charCount;
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 00a8e74a..39ea25c2 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -20,6 +20,8 @@ class ServiceInterfaceBuffer:
         public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
+	static constexpr uint8_t MAX_PREAMBLE_SIZE = 40;
+
 	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
 			bool buffered, bool errStream, uint16_t port);
 
@@ -41,14 +43,17 @@ private:
 	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
+
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
 
+	//! Specifies whether the stream operates in buffered or unbuffered mode.
+	bool buffered;
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
-	bool buffered;
-	// Work in buffer mode. It is also possible to work without buffer.
+
+	//! Needed for buffered mode.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 

From 639b517edaffc63094870cd1bcdcdb9bed9229ca Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:57:25 +0200
Subject: [PATCH 062/154] removed unnecessary change

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 549ffbf1..fb3c3b03 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -68,7 +68,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 	}
 
 	sif::error << "Component " << std::hex << componentId <<
-			" not found, not adding it to pst\r" << std::endl;
+			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 

From 56340bb8b69b6a02e733960693f497b29aa75a17 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 20:12:37 +0200
Subject: [PATCH 063/154] free rtos mutex improvements

---
 ipc/MutexIF.h           | 17 +++++++++++++++--
 osal/FreeRTOS/Mutex.cpp | 12 ++++++------
 osal/FreeRTOS/Mutex.h   |  2 +-
 3 files changed, 22 insertions(+), 9 deletions(-)

diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index dcb1cf33..29e59e58 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -12,8 +12,21 @@
  */
 class MutexIF {
 public:
-	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.
-	static const uint32_t MAX_TIMEOUT;
+	/**
+	 * @brief 	Timeout value used for polling lock attempt.
+	 * @details
+	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
+	 * immediately. Value needs to be defined in implementation.
+	 */
+	static const uint32_t POLLING;
+	/**
+	 * @brief 	Timeout value used for permanent blocking lock attempt.
+	 * @details
+	 * The task will be blocked (indefinitely) until the mutex is unlocked.
+	 * Value needs to be defined in implementation.
+	 */
+	static const uint32_t BLOCKING;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
 	 * The system lacked the necessary resources (other than memory) to initialize another mutex.
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index cc2f865f..6d90c3f6 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -2,8 +2,8 @@
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
-const uint32_t MutexIF::MAX_TIMEOUT = portMAX_DELAY;
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
@@ -23,11 +23,11 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = MutexIF::NO_TIMEOUT;
-	if(timeoutMs == MutexIF::MAX_TIMEOUT) {
-		timeout = MutexIF::MAX_TIMEOUT;
+	TickType_t timeout = MutexIF::POLLING;
+	if(timeoutMs == MutexIF::BLOCKING) {
+		timeout = MutexIF::BLOCKING;
 	}
-	else if(timeoutMs > MutexIF::NO_TIMEOUT){
+	else if(timeoutMs > MutexIF::POLLING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index 90e82467..d6e0aab9 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -18,7 +18,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
 	ReturnValue_t unlockMutex() override;
 private:
 	SemaphoreHandle_t handle;

From 869700e6f52eca5efe8b1c5a20e5923730b51d8e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 20:20:38 +0200
Subject: [PATCH 064/154] added mutex IF timeout name

---
 datapool/DataPool.cpp                   |  2 +-
 events/EventManager.cpp                 |  2 +-
 health/HealthTable.cpp                  | 12 ++++++------
 internalError/InternalErrorReporter.cpp | 18 +++++++++---------
 osal/FreeRTOS/Clock.cpp                 |  4 ++--
 osal/linux/Mutex.cpp                    |  8 ++++++--
 storagemanager/PoolManager.h            |  6 +++---
 7 files changed, 28 insertions(+), 24 deletions(-)

diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
index 70a2a3fb..2c226c54 100644
--- a/datapool/DataPool.cpp
+++ b/datapool/DataPool.cpp
@@ -61,7 +61,7 @@ ReturnValue_t DataPool::freeDataPoolLock() {
 }
 
 ReturnValue_t DataPool::lockDataPool() {
-	ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
 	if ( status != RETURN_OK ) {
 		sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
 	}
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 0f1511e4..c7d9cf8f 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -147,7 +147,7 @@ void EventManager::printEvent(EventMessage* message) {
 #endif
 
 void EventManager::lockMutex() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 }
 
 void EventManager::unlockMutex() {
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index a575b282..d0e5485a 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -26,7 +26,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 
 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
@@ -36,7 +36,7 @@ void HealthTable::setHealth(object_id_t object,
 
 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
@@ -46,7 +46,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 }
 
 uint32_t HealthTable::getPrintSize() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	uint32_t size = healthMap.size() * 5 + 2;
 	mutex->unlockMutex();
 	return size;
@@ -54,7 +54,7 @@ uint32_t HealthTable::getPrintSize() {
 
 bool HealthTable::hasHealth(object_id_t object) {
 	bool exits = false;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		exits = true;
@@ -64,7 +64,7 @@ bool HealthTable::hasHealth(object_id_t object) {
 }
 
 void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	uint32_t size = 0;
 	uint16_t count = healthMap.size();
 	ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&count,
@@ -85,7 +85,7 @@ void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
 ReturnValue_t HealthTable::iterate(
 		std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}
diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 9a8ede00..dbcd2622 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -54,7 +54,7 @@ void InternalErrorReporter::lostTm() {
 
 uint32_t InternalErrorReporter::getAndResetQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = queueHits;
 	queueHits = 0;
 	mutex->unlockMutex();
@@ -63,21 +63,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
 
 uint32_t InternalErrorReporter::getQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = queueHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementQueueHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	queueHits++;
 	mutex->unlockMutex();
 }
 
 uint32_t InternalErrorReporter::getAndResetTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = tmHits;
 	tmHits = 0;
 	mutex->unlockMutex();
@@ -86,14 +86,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
 
 uint32_t InternalErrorReporter::getTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = tmHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementTmHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	tmHits++;
 	mutex->unlockMutex();
 }
@@ -104,7 +104,7 @@ void InternalErrorReporter::storeFull() {
 
 uint32_t InternalErrorReporter::getAndResetStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = storeHits;
 	storeHits = 0;
 	mutex->unlockMutex();
@@ -113,14 +113,14 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
 
 uint32_t InternalErrorReporter::getStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = storeHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementStoreHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	storeHits++;
 	mutex->unlockMutex();
 }
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index cffc2125..589f44d5 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -154,7 +154,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -169,7 +169,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if (timeMutex == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 36bb3ce4..62fbccd7 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -2,7 +2,8 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::NO_TIMEOUT = 0xffffffff;
 uint8_t Mutex::count = 0;
 
 
@@ -39,7 +40,10 @@ Mutex::~Mutex() {
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	int status = 0;
-	if (timeoutMs != MutexIF::NO_TIMEOUT) {
+	if(timeoutMs == MutexIF::POLLING) {
+		status = pthread_mutex_trylock(&mutex);
+	}
+	else if (timeoutMs != MutexIF::BLOCKING) {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 68a7addc..5fd9b5f7 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -49,7 +49,7 @@ public:
 
 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::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,address,ignoreFault);
 	return status;
 }
@@ -70,7 +70,7 @@ template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 		store_address_t packet_id) {
 	//	debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store " << packet_id.pool_index << ". id is " << packet_id.packet_index << std::endl;
-		MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+		MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 		ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 		return status;
 }
@@ -78,7 +78,7 @@ 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, uint32_t size,
 		store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, size, storeId);
 	return status;
 }

From fbf804cdca0c13e0d272af81f09493550f1ee13d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 20:25:15 +0200
Subject: [PATCH 065/154] linux changes for mutex

---
 osal/linux/Clock.cpp |  4 ++--
 osal/linux/Mutex.cpp | 10 ++++++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index e24a4fe4..53a597d6 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -170,7 +170,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -185,7 +185,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if(timeMutex==NULL){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 62fbccd7..169ac354 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -3,7 +3,7 @@
 #include <framework/timemanager/Clock.h>
 
 const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::NO_TIMEOUT = 0xffffffff;
+const uint32_t MutexIF::BLOCKING = 0xffffffff;
 uint8_t Mutex::count = 0;
 
 
@@ -43,7 +43,10 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if(timeoutMs == MutexIF::POLLING) {
 		status = pthread_mutex_trylock(&mutex);
 	}
-	else if (timeoutMs != MutexIF::BLOCKING) {
+	else if (timeoutMs == MutexIF::BLOCKING) {
+		status = pthread_mutex_lock(&mutex);
+	}
+	else {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
@@ -51,9 +54,8 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 		timeOut.tv_sec = nseconds / 1000000000;
 		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
 		status = pthread_mutex_timedlock(&mutex, &timeOut);
-	} else {
-		status = pthread_mutex_lock(&mutex);
 	}
+
 	switch (status) {
 	case EINVAL:
 		//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling.

From cef5fda3796754ae28b3982a8de2bdca6c92a86e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 13:43:06 +0200
Subject: [PATCH 066/154] refactored initializer list

---
 datapool/PoolEntry.cpp     | 35 ++++++++------
 datapool/PoolEntry.h       | 95 +++++++++++++++++++++++++-------------
 datapool/PoolEntryIF.h     | 57 +++++++++++------------
 datapool/PoolRawAccess.cpp |  2 +
 4 files changed, 111 insertions(+), 78 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index 1d8d2486..a87a6c4e 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,26 +1,34 @@
 #include <framework/datapool/PoolEntry.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/printer.h>
+#include <cstring>
 
 template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t set_length,
-		uint8_t set_valid ) : length(set_length), valid(set_valid) {
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t setLength,
+		bool setValid ) : length(setLength), valid(setValid) {
 	this->address = new T[this->length];
 	if(initValue.size() == 0) {
-		memset(this->address, 0, this->getByteSize());
+		std::memset(this->address, 0, this->getByteSize());
+	}
+	else if (initValue.size() != setLength){
+		sif::warning << "PoolEntry: setLength is not equal to initializer list"
+				"length! Performing zero initialization with given setLength"
+				<< std::endl;
+		std::memset(this->address, 0, this->getByteSize());
 	}
 	else {
-		memcpy(this->address, initValue.begin(), this->getByteSize());
+		std::copy(initValue.begin(), initValue.end(), this->address);
 	}
 }
 
 template <typename T>
-PoolEntry<T>::PoolEntry( T* initValue, uint8_t set_length, uint8_t set_valid ) :
-		length(set_length), valid(set_valid) {
+PoolEntry<T>::PoolEntry( T* initValue, uint8_t setLength, bool setValid ) :
+		length(setLength), valid(setValid) {
 	this->address = new T[this->length];
 	if (initValue != nullptr) {
-		memcpy(this->address, initValue, this->getByteSize() );
+		std::memcpy(this->address, initValue, this->getByteSize() );
 	} else {
-		memset(this->address, 0, this->getByteSize() );
+		std::memset(this->address, 0, this->getByteSize() );
 	}
 }
 
@@ -47,21 +55,20 @@ void* PoolEntry<T>::getRawData() {
 }
 
 template <typename T>
-void PoolEntry<T>::setValid( uint8_t isValid ) {
+void PoolEntry<T>::setValid(bool isValid) {
 	this->valid = isValid;
 }
 
 template <typename T>
-uint8_t PoolEntry<T>::getValid() {
+bool PoolEntry<T>::getValid() {
 	return valid;
 }
 
 template <typename T>
 void PoolEntry<T>::print() {
-	for (uint8_t size = 0; size < this->length; size++ ) {
-		sif::debug << "| " << std::hex << (double)this->address[size]
-		           << (this->valid? " (valid) " : " (invalid) ");
-	}
+	 sif::debug << "Pool Entry Validity: " <<
+			 (this->valid? " (valid) " : " (invalid) ") << std::endl;
+	printer::print(reinterpret_cast<uint8_t*>(address), length);
 	sif::debug << std::dec << std::endl;
 }
 
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index 4487db72..1a22bb63 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -1,59 +1,86 @@
-#ifndef POOLENTRY_H_
-#define POOLENTRY_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
 
 #include <framework/datapool/PoolEntryIF.h>
-#include <cstddef>
-#include <cstring>
+
 #include <initializer_list>
 #include <type_traits>
+#include <cstddef>
+
 /**
  * @brief	This is a small helper class that defines a single data pool entry.
  * @details
  * The helper is used to store all information together with the data as a
- * single data pool entry.The content's type is defined by the template argument.
- * It is prepared for use with plain old data types, but may be extended to
- * complex types if necessary. It can be initialized with a certain value,
- * size and validity flag. It holds a pointer to the real data and offers
- * methods to access this data and to acquire additional information
- * (such as validity and array/byte size). It is NOT intended to be used
- * outside the DataPool class.
+ * single data pool entry. The content's type is defined by the template
+ * argument.
+ *
+ * It is prepared for use with plain old data types, but may be
+ * extended to complex types if necessary. It can be initialized with a
+ * certain value, size and validity flag.
+ *
+ * It holds a pointer to the real data and offers methods to access this data
+ * and to acquire additional information (such as validity and array/byte size).
+ * It is NOT intended to be used outside DataPool implementations as it performs
+ * dynamic memory allocation.
  *
  * @ingroup data_pool
- *
  */
 template <typename T>
 class PoolEntry : public PoolEntryIF {
 public:
 	static_assert(not std::is_same<T, bool>::value,
-				"Do not use boolean for the PoolEntry type, use uint8_t instead!"
-				"Warum? Darum :-)");
+				"Do not use boolean for the PoolEntry type, use uint8_t "
+				"instead! The ECSS standard defines a boolean as a one bit "
+				"field. Therefore it is preferred to store a boolean as an "
+				"uint8_t");
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
-	 * @param initValue	Initializer list with values to initialize with
-	 * @param set_length	Defines the array length of this entry.
-	 * @param set_valid		Sets the initialization flag.
-	 * 						It is invalid (0) by default.
+	 * @details
+	 * Not passing any arguments will initialize an non-array pool entry
+	 * (setLength = 1) with an initial invalid state.
+	 * Please note that if an initializer list is passed, the correct
+	 * corresponding length should be passed too, otherwise a zero
+	 * initialization will be performed with the given setLength.
+	 * @param initValue
+	 * Initializer list with values to initialize with, for example {0,0} to
+	 * initialize the two entries to zero.
+	 * @param setLength
+	 * Defines the array length of this entry. Should be equal to the
+	 * intializer list length.
+	 * @param setValid
+	 * Sets the initialization flag. It is invalid by default.
 	 */
-	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t set_length = 1,
-			uint8_t set_valid = 0);
+	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t setLength = 1,
+			bool setValid = false);
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
-	 * @param initValue	A pointer to the single value or array that holds
-	 *  the init value. With the default value (nullptr), the entry is
-	 *  initalized with all 0.
-	 * @param set_length	Defines the array length of this entry.
-	 * @param set_valid		Sets the initialization flag. It is invalid (0) by default.
+	 * @param initValue
+	 * A pointer to the single value or array that holds the init value.
+	 * With the default value (nullptr), the entry is initalized with all 0.
+	 * @param setLength
+	 * Defines the array length of this entry.
+	 * @param setValid
+	 * Sets the initialization flag. It is invalid by default.
 	 */
-	PoolEntry(T* initValue = nullptr, uint8_t set_length = 1, uint8_t set_valid = 0);
+	PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
+
+	//! Explicitely deleted copy ctor, copying is not allowed!
+	PoolEntry(const PoolEntry&) = delete;
+	//! Explicitely deleted copy assignment, copying is not allowed!
+	PoolEntry& operator=(const PoolEntry&) = delete;
 
 	/**
-	 * @brief	The allocated memory for the variable is freed in the destructor.
-	 * @details	As the data pool is global, this dtor is only called on program exit.
-	 * PoolEntries shall never be copied, as a copy might delete the variable on the heap.
+	 * @brief	The allocated memory for the variable is freed
+	 * 			in the destructor.
+	 * @details
+	 * As the data pool is global, this dtor is only called on program exit.
+	 * PoolEntries shall never be copied, as a copy might delete the variable
+	 * on the heap.
 	 */
 	~PoolEntry();
+
 	/**
 	 * @brief	This is the address pointing to the allocated memory.
 	 */
@@ -82,13 +109,15 @@ public:
 	 */
 	void* getRawData();
 	/**
-	 * @brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information
+	 * 			of the pool entry.
 	 */
-	void setValid( uint8_t isValid );
+	void setValid( bool isValid );
 	/**
-	 * @brief	This method allows to get the valid information of the pool entry.
+	 * @brief	This method allows to get the valid information
+	 * 			of the pool entry.
 	 */
-	uint8_t getValid();
+	bool getValid();
 	/**
 	 * @brief	This is a debug method that prints all values and the valid
 	 * 			information to the screen. It prints all array entries in a row.
diff --git a/datapool/PoolEntryIF.h b/datapool/PoolEntryIF.h
index 514e67ef..a075436e 100644
--- a/datapool/PoolEntryIF.h
+++ b/datapool/PoolEntryIF.h
@@ -1,62 +1,57 @@
-/**
- * \file	PoolEntryIF.h
- *
- * \brief	This file holds the class that defines the Interface for Pool Entry elements.
- *
- * \date	10/18/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLENTRYIF_H_
-#define POOLENTRYIF_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 
 #include <framework/globalfunctions/Type.h>
-#include <stdint.h>
-
-
+#include <cstdint>
 
 /**
- * \brief	This interface defines the access possibilities to a single data pool entry.
+ * @brief	This interface defines the access possibilities to a
+ * 			single data pool entry.
+ * @details
+ * The interface provides methods to determine the size and the validity
+ * information of a value. It also defines a method to receive a pointer to the
+ * raw data content. It is mainly used by DataPool itself, but also as a
+ * return pointer.
  *
- * \details	The interface provides methods to determine the size and the validity information of a value.
- * 			It also defines a method to receive a pointer to the raw data content.
- * 			It is mainly used by DataPool itself, but also as a return pointer.
- *
- *	\ingroup data_pool
+ * @author	Bastian Baetz
+ * @ingroup data_pool
  *
  */
 class PoolEntryIF {
 public:
 	/**
-	 * \brief	This is an empty virtual destructor, as it is proposed for C++ interfaces.
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is required for C++ interfaces.
 	 */
 	virtual ~PoolEntryIF() {
 	}
 	/**
-	 * \brief	getSize returns the array size of the entry. A single variable parameter has size 1.
+	 * @brief	getSize returns the array size of the entry.
+	 * 			A single variable parameter has size 1.
 	 */
 	virtual uint8_t getSize() = 0;
 	/**
-	 * \brief	This operation returns the size in bytes, which is calculated by
+	 * @brief	This operation returns the size in bytes, which is calculated by
 	 * 			sizeof(type) * array_size.
 	 */
 	virtual uint16_t getByteSize() = 0;
 	/**
-	 * \brief	This operation returns a the address pointer casted to void*.
+	 * @brief	This operation returns a the address pointer casted to void*.
 	 */
 	virtual void* getRawData() = 0;
 	/**
-	 * \brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information of the pool entry.
 	 */
-	virtual void setValid(uint8_t isValid) = 0;
+	virtual void setValid(bool isValid) = 0;
 	/**
-	 * \brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information of the pool entry.
 	 */
-	virtual uint8_t getValid() = 0;
+	virtual bool getValid() = 0;
 	/**
-	 * \brief	This is a debug method that prints all values and the valid information to the screen.
-	 * 			It prints all array entries in a row.
+	 * @brief	This is a debug method that prints all values and the valid
+	 * 			information to the screen. It prints all array entries in a row.
+	 * @details
+	 * Also displays whether the pool entry is valid or invalid.
 	 */
 	virtual void print() = 0;
 	/**
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index ba68bcd2..fd81b894 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -4,6 +4,8 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/osal/Endiness.h>
 
+#include <cstring>
+
 PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
 		DataSetIF* data_set, ReadWriteMode_t setReadWriteMode) :
 		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(Type::UNKNOWN_TYPE), typeSize(

From 03e9362825e474b26fe79fc9405104496bdac221 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:42:39 +0200
Subject: [PATCH 067/154] mutex helper special output for timeout fail

---
 ipc/MutexHelper.h | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index 671cd5a6..20760b32 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -9,8 +9,12 @@ public:
 	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
 			internalMutex(mutex) {
 		ReturnValue_t status = mutex->lockMutex(timeoutMs);
-		if(status != HasReturnvaluesIF::RETURN_OK){
-			sif::error << "MutexHelper: Lock of Mutex failed " <<
+		if(status == MutexIF::MUTEX_TIMEOUT) {
+			sif::error << "MutexHelper: Lock of mutex failed with timeout of"
+					<< timeoutMs << " milliseconds!" << std::endl;
+		}
+		else if(status != HasReturnvaluesIF::RETURN_OK){
+			sif::error << "MutexHelper: Lock of Mutex failed with code " <<
 					status << std::endl;
 		}
 	}

From 20abb810f2ba16ab9781e07bd0c06c7fde4e9efb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 8 Jun 2020 14:11:38 +0200
Subject: [PATCH 068/154] i hope this is correct

---
 osal/rtems/Mutex.cpp | 3 ++-
 osal/rtems/Mutex.h   | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index d094e1dc..0c1675b1 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,7 +1,8 @@
 #include "Mutex.h"
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
+const uint32_t MutexIF::BLOCKING = RTEMS_NO_TIMEOUT;
+const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT;
 uint8_t Mutex::count = 0;
 
 Mutex::Mutex() :
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 19b34e7f..486055ba 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
 
 #include <framework/ipc/MutexIF.h>
 #include "RtemsBasic.h"

From b5567e8aae90e5f87e6d94b45b9c51889387bb41 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 9 Jun 2020 13:26:27 +0200
Subject: [PATCH 069/154] rtems mutex update

---
 osal/rtems/Mutex.cpp | 17 +++++++++++++++--
 osal/rtems/Mutex.h   |  2 +-
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index 0c1675b1..5487a503 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,7 +1,7 @@
 #include "Mutex.h"
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::BLOCKING = RTEMS_NO_TIMEOUT;
+const uint32_t MutexIF::BLOCKING = RTEMS_WAIT;
 const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT;
 uint8_t Mutex::count = 0;
 
@@ -26,7 +26,20 @@ Mutex::~Mutex() {
 }
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs);
+	if(timeoutMs == MutexIF::BLOCKING) {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_WAIT, timeoutMs);
+	}
+	else if(timeoutMs == MutexIF::POLLING) {
+		timeoutMs = RTEMS_NO_TIMEOUT;
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_NO_WAIT, timeoutMs);
+	}
+	else {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_NO_WAIT, timeoutMs);
+	}
+
 	switch(status){
 	case RTEMS_SUCCESSFUL:
 		//semaphore obtained successfully
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 486055ba..4aa25e40 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -8,7 +8,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING);
 	ReturnValue_t unlockMutex();
 private:
 	rtems_id mutexId;

From 860cdba94d4cb6d1de1ba59f4a0f1dd68f761549 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 20:28:44 +0200
Subject: [PATCH 070/154] subservicve passed to handleRequest()

---
 tmtcservices/PusServiceBase.cpp | 3 ++-
 tmtcservices/PusServiceBase.h   | 7 +++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index b1d97293..c27defe6 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -29,7 +29,8 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
 			//	info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
 
-			ReturnValue_t return_code = this->handleRequest();
+			ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService());
+
 			// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
 			if (return_code == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index d318ff1e..dbb1754c 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -30,7 +30,10 @@ void setStaticFrameworkObjectIds();
  * All PUS Services are System Objects, so an Object ID needs to be specified on construction.
  * \ingroup pus_services
  */
-class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject, public HasReturnvaluesIF {
+class PusServiceBase : public ExecutableObjectIF,
+        public AcceptsTelecommandsIF,
+        public SystemObject,
+        public HasReturnvaluesIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
@@ -63,7 +66,7 @@ public:
 	 * @return	The returned status_code is directly taken as main error code in the Verification Report.
 	 * 			On success, RETURN_OK shall be returned.
 	 */
-	virtual ReturnValue_t handleRequest() = 0;
+	virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
 	/**
 	 * In performService, implementations can handle periodic, non-TC-triggered activities.
 	 * The performService method is always called.

From ed7b4e2a3a88142ff6ff1aed74e3f0cb009c85ea Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 20:49:30 +0200
Subject: [PATCH 071/154] PSB improvements

---
 objectmanager/ObjectManager.cpp |  1 +
 tmtcservices/PusServiceBase.cpp | 74 +++++++++++++++++++--------------
 tmtcservices/PusServiceBase.h   |  8 ++--
 3 files changed, 49 insertions(+), 34 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index cfdf6562..1c54355a 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -1,5 +1,6 @@
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <iomanip>
 #include <cstdlib>
 
 ObjectManager::ObjectManager( void (*setProducer)() ):
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index c27defe6..f5d1e30b 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -9,10 +9,11 @@
 object_id_t PusServiceBase::packetSource = 0;
 object_id_t PusServiceBase::packetDestination = 0;
 
-PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) :
-		SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1(
-				0), errorParameter2(0), requestQueue(NULL) {
-	requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
+PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
+		uint8_t setServiceId) :
+		SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
+	requestQueue = QueueFactory::instance()->
+			createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
 }
 
 PusServiceBase::~PusServiceBase() {
@@ -20,51 +21,60 @@ PusServiceBase::~PusServiceBase() {
 }
 
 ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
+	handleRequestQueue();
+	ReturnValue_t result = this->performService();
+	if (result != RETURN_OK) {
+		sif::error << "PusService " << (uint16_t) this->serviceId
+				<< ": performService returned with " << (int16_t) result
+				<< std::endl;
+		return RETURN_FAILED;
+	}
+	return RETURN_OK;
+}
+
+void PusServiceBase::handleRequestQueue() {
 	TmTcMessage message;
+	ReturnValue_t result = RETURN_FAILED;
 	for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
 		ReturnValue_t status = this->requestQueue->receiveMessage(&message);
-		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
-		// << std::dec << " returned: " << status << std::endl;
+		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
+		//      << std::hex << this->requestQueue.getId()
+		//      << std::dec << " returned: " << status << std::endl;
 		if (status == RETURN_OK) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
-			//	info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
+			//info << "Service " << (uint16_t) this->serviceId <<
+			//     ": new packet!" << std::endl;
 
-			ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService());
+			result = this->handleRequest(currentPacket.getSubService());
 
-			// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
-			if (return_code == RETURN_OK) {
+			// debug << "Service " << (uint16_t)this->serviceId <<
+			//    ": handleRequest returned: " << (int)return_code << std::endl;
+			if (result == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
 						TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
-			} else {
+			}
+			else {
 				this->verifyReporter.sendFailureReport(
 						TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
-						return_code, 0, errorParameter1, errorParameter2);
+						result, 0, errorParameter1, errorParameter2);
 			}
 			this->currentPacket.deletePacket();
 			errorParameter1 = 0;
 			errorParameter2 = 0;
-		} else if (status == MessageQueueIF::EMPTY) {
+		}
+		else if (status == MessageQueueIF::EMPTY) {
 			status = RETURN_OK;
-			// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
+			// debug << "PusService " << (uint16_t)this->serviceId <<
+			//      ": no new packet." << std::endl;
 			break;
-		} else {
-
+		}
+		else {
 			sif::error << "PusServiceBase::performOperation: Service "
 					<< (uint16_t) this->serviceId
 					<< ": Error receiving packet. Code: " << std::hex << status
 					<< std::dec << std::endl;
 		}
 	}
-	ReturnValue_t return_code = this->performService();
-	if (return_code == RETURN_OK) {
-		return RETURN_OK;
-	} else {
-
-		sif::error << "PusService " << (uint16_t) this->serviceId
-				<< ": performService returned with " << (int16_t) return_code
-				<< std::endl;
-		return RETURN_FAILED;
-	}
 }
 
 uint16_t PusServiceBase::getIdentifier() {
@@ -80,19 +90,21 @@ ReturnValue_t PusServiceBase::initialize() {
 	if (result != RETURN_OK) {
 		return result;
 	}
-	AcceptsTelemetryIF* dest_service = objectManager->get<AcceptsTelemetryIF>(
+	AcceptsTelemetryIF* destService = objectManager->get<AcceptsTelemetryIF>(
 			packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((dest_service != NULL) && (distributor != NULL)) {
+	if ((destService != nullptr) && (distributor != nullptr)) {
 		this->requestQueue->setDefaultDestination(
-				dest_service->getReportReceptionQueue());
+				destService->getReportReceptionQueue());
 		distributor->registerService(this);
 		return RETURN_OK;
-	} else {
+	}
+	else {
 		sif::error << "PusServiceBase::PusServiceBase: Service "
 				<< (uint32_t) this->serviceId << ": Configuration error."
-				<< " Make sure packetSource and packetDestination are defined correctly" << std::endl;
+				<< " Make sure packetSource and packetDestination are defined "
+			       "correctly" << std::endl;
 		return RETURN_FAILED;
 	}
 }
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index dbb1754c..5f741410 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -97,16 +97,16 @@ protected:
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint32_t errorParameter1;
+	uint32_t errorParameter1 = 0;
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint32_t errorParameter2;
+	uint32_t errorParameter2 = 0;
 	/**
 	 * This is a complete instance of the Telecommand reception queue of the class.
 	 * It is initialized on construction of the class.
 	 */
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 	/**
 	 * An instance of the VerificationReporter class, that simplifies sending any kind of
 	 * Verification Message to the TC Verification Service.
@@ -127,6 +127,8 @@ private:
 	 * Remember that one packet must be completely handled in one #handleRequest call.
 	 */
 	static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
+
+	void handleRequestQueue();
 };
 
 #endif /* PUSSERVICEBASE_H_ */

From 39d5fe34bb3ee1ddda0d8724ec4beb3459eed783 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 21:36:21 +0200
Subject: [PATCH 072/154] better include guard, doc form improvement

---
 tmtcservices/PusServiceBase.h | 80 +++++++++++++++++++++--------------
 1 file changed, 48 insertions(+), 32 deletions(-)

diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 5f741410..39600c41 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -1,5 +1,5 @@
-#ifndef PUSSERVICEBASE_H_
-#define PUSSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
@@ -9,7 +9,6 @@
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/tmtcservices/VerificationCodes.h>
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 
 namespace Factory{
@@ -17,18 +16,22 @@ void setStaticFrameworkObjectIds();
 }
 
 /**
- * \defgroup pus_services PUS Service Framework
+ * @defgroup pus_services PUS Service Framework
  * These group contains all implementations of PUS Services in the OBSW.
  * Most of the Services are directly taken from the ECSS PUS Standard.
  */
 
 /**
- * \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
- * It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
- * from this abstract class has to implement handleRequest and performService. Services that are created with this
+ * @brief 	This class is the basis for all PUS Services,
+ * 			which can immediately process Telecommand Packets.
+ * @details
+ * It manages Telecommand reception and the generation of Verification Reports.
+ * Every class that inherits from this abstract class has to implement
+ * handleRequest and performService. Services that are created with this
  * Base class have to handle any kind of request immediately on reception.
- * All PUS Services are System Objects, so an Object ID needs to be specified on construction.
- * \ingroup pus_services
+ * All PUS Services are System Objects, so an Object ID needs to be specified
+ * on construction.
+ * @ingroup pus_services
  */
 class PusServiceBase : public ExecutableObjectIF,
         public AcceptsTelecommandsIF,
@@ -37,49 +40,61 @@ class PusServiceBase : public ExecutableObjectIF,
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
-	 * The constructor for the class.
-	 * The passed values are set, but inter-object initialization is done in the initialize method.
-	 * @param setObjectId		The system object identifier of this Service instance.
-	 * @param set_apid			The APID the Service is instantiated for.
-	 * @param set_service_id	The Service Identifier as specified in ECSS PUS.
+	 * @brief	The passed values are set, but inter-object initialization is
+	 * 			done in the initialize method.
+	 * @param setObjectId
+	 * The system object identifier of this Service instance.
+	 * @param setApid
+	 * The APID the Service is instantiated for.
+	 * @param setServiceId
+	 * The Service Identifier as specified in ECSS PUS.
 	 */
-	PusServiceBase(	object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
+	PusServiceBase(	object_id_t setObjectId, uint16_t setApid,
+			uint8_t setServiceId);
 	/**
 	 * The destructor is empty.
 	 */
 	virtual ~PusServiceBase();
 	/**
-	 * @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
+	 * @brief 	The handleRequest method shall handle any kind of Telecommand
+	 * 			Request immediately.
 	 * @details
-	 * Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
-	 * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
-	 * Success or Failure Reports are generated automatically after execution of this method.
+	 * Implemetations can take the Telecommand in currentPacket and perform
+	 * any kind of operation.
+	 * They may send additional "Start Success (1,3)" messages with the
+	 * verifyReporter, but Completion Success or Failure Reports are generated
+	 * automatically after execution of this method.
 	 *
 	 * If a Telecommand can not be executed within one call cycle,
 	 * this Base class is not the right parent.
 	 *
-	 * The child class may add additional error information by setting #errorParameters which are
-	 * attached to the generated verification message.
+	 * The child class may add additional error information by setting
+	 * #errorParameters which aren attached to the generated verification
+	 * message.
 	 *
 	 * Subservice checking should be implemented in this method.
 	 *
-	 * @return	The returned status_code is directly taken as main error code in the Verification Report.
+	 * @return	The returned status_code is directly taken as main error code
+	 * 			in the Verification Report.
 	 * 			On success, RETURN_OK shall be returned.
 	 */
 	virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
 	/**
-	 * In performService, implementations can handle periodic, non-TC-triggered activities.
+	 * In performService, implementations can handle periodic,
+	 * non-TC-triggered activities.
 	 * The performService method is always called.
-	 * @return	A success or failure code that does not trigger any kind of verification message.
+	 * @return	Currently, everything other that RETURN_OK only triggers
+	 * 			diagnostic output.
 	 */
 	virtual ReturnValue_t performService() = 0;
 	/**
 	 * This method implements the typical activity of a simple PUS Service.
-	 * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
+	 * It checks for new requests, and, if found, calls handleRequest, sends
+	 * completion verification messages and deletes
 	 * the TC requests afterwards.
 	 * performService is always executed afterwards.
-	 * @return	\c RETURN_OK if the periodic performService was successful.
-	 * 			\c RETURN_FAILED else.
+	 * @return	@c RETURN_OK if the periodic performService was successful.
+	 * 			@c RETURN_FAILED else.
 	 */
 	ReturnValue_t performOperation(uint8_t opCode);
 	virtual uint16_t getIdentifier();
@@ -103,13 +118,13 @@ protected:
 	 */
 	uint32_t errorParameter2 = 0;
 	/**
-	 * This is a complete instance of the Telecommand reception queue of the class.
-	 * It is initialized on construction of the class.
+	 * This is a complete instance of the telecommand reception queue
+	 * of the class. It is initialized on construction of the class.
 	 */
 	MessageQueueIF* requestQueue = nullptr;
 	/**
-	 * An instance of the VerificationReporter class, that simplifies sending any kind of
-	 * Verification Message to the TC Verification Service.
+	 * An instance of the VerificationReporter class, that simplifies
+	 * sending any kind of verification message to the TC Verification Service.
 	 */
 	VerificationReporter verifyReporter;
 	/**
@@ -124,7 +139,8 @@ protected:
 private:
 	/**
 	 * This constant sets the maximum number of packets accepted per call.
-	 * Remember that one packet must be completely handled in one #handleRequest call.
+	 * Remember that one packet must be completely handled in one
+	 * #handleRequest call.
 	 */
 	static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
 

From 5dc2133c3a4218f5027955fc77c3a505f0e948f4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 21:41:48 +0200
Subject: [PATCH 073/154] CSB improvements

---
 tmtcservices/CommandingServiceBase.cpp | 56 +++++++++++++-------------
 tmtcservices/CommandingServiceBase.h   | 48 +++++++++++-----------
 2 files changed, 54 insertions(+), 50 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index d70b9042..adc9400f 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -218,9 +218,9 @@ void CommandingServiceBase::handleRequestQueue() {
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
-		uint32_t headerSize) {
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+		const uint8_t* data, size_t dataLen, const uint8_t* headerData,
+		size_t headerSize) {
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, headerData, headerSize);
 	ReturnValue_t result = tmPacketStored.sendPacket(
@@ -228,36 +228,38 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		this->tmPacketCounter++;
 	}
+	return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
-	uint8_t buffer[sizeof(object_id_t)];
-	uint8_t* pBuffer = buffer;
-	uint32_t size = 0;
-	SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
-			sizeof(object_id_t), true);
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, data, dataLen, buffer, size);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
-
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        object_id_t objectId, const uint8_t *data, size_t dataLen) {
+    uint8_t buffer[sizeof(object_id_t)];
+    uint8_t* pBuffer = buffer;
+    size_t size = 0;
+    SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
+            sizeof(object_id_t), true);
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, data, dataLen, buffer, size);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		SerializeIF* content, SerializeIF* header) {
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, content, header);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        SerializeIF* content, SerializeIF* header) {
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, content, header);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index bf2e8242..e79e806d 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -125,7 +125,7 @@ protected:
 	 *         - @c CSB or implementation specific return codes
 	 */
 	virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
 			object_id_t *objectId) = 0;
 
 	/**
@@ -133,18 +133,16 @@ protected:
 	 * the command is prepared by using an implementation specific CommandMessage type
 	 * which is sent to the target object.
 	 * It contains all necessary information for the device to execute telecommands.
-	 * @param message[out] message to be sent to the object
-	 * @param subservice[in] Subservice of the current communication
-	 * @param tcData Additional data of the command
-	 * @param tcDataLen Length of the additional data
-	 * @param state[out] Setable state of the communication
+	 * @param message
+	 * @param subservice
+	 * @param tcData
+	 * @param tcDataLen
+	 * @param state
 	 * @param objectId Target object ID
-	 * @return - @c RETURN_OK on success
-     *         - @c EXECUTION_COMPLETE if exectuin is finished 
-     *         - any other return code will be part of (1,4) start failure
+	 * @return
 	 */
 	virtual ReturnValue_t prepareCommand(CommandMessage *message,
-			uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
@@ -152,10 +150,10 @@ protected:
 	 * and the respective PUS Commanding Service once the execution has started.
 	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
 	 * There are different translations of these replies to specify how the Command Service proceeds.
-	 * @param reply Command Message which contains information about the command
-	 * @param previousCommand Command_t of last command
-	 * @param state state of the communication
-	 * @param optionalNextCommand[out] An optional next command which can be set in this function
+	 * @param reply[out] Command Message which contains information about the command
+	 * @param previousCommand [out]
+	 * @param state
+	 * @param optionalNextCommand
 	 * @param objectId Source object ID
 	 * @param isStep Flag value to mark steps of command execution
 	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
@@ -215,34 +213,38 @@ protected:
 	PeriodicTaskIF* executingTask;
 
 	/**
-	 * Send TM data from pointer to data. If a header is supplied it is added before data
+	 * @brief   Send TM data from pointer to data.
+	 *          If a header is supplied it is added before data
 	 * @param subservice Number of subservice
 	 * @param data Pointer to the data in the Packet
 	 * @param dataLen Lenght of data in the Packet
 	 * @param headerData HeaderData will be placed before data
 	 * @param headerSize Size of HeaderData
 	 */
-	void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
-			const uint8_t* headerData = NULL, uint32_t headerSize = 0);
+	ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
+	        size_t dataLen, const uint8_t* headerData = nullptr,
+	        size_t headerSize = 0);
 
 	/**
-	 * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
+	 * @brief   To send TM packets of objects that still need to be serialized
+	 *          and consist of an object ID with appended data.
 	 * @param subservice Number of subservice
 	 * @param objectId ObjectId is placed before data
 	 * @param data Data to append to the packet
 	 * @param dataLen Length of Data
 	 */
-	void sendTmPacket(uint8_t subservice, object_id_t objectId,
-			const uint8_t *data, uint32_t dataLen);
+	ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
+			const uint8_t *data, size_t dataLen);
 
 	/**
-	 * To send packets has data which is in form of a SerializeIF or Adapters implementing it
+	 * @brief   To send packets which are contained inside a class implementing
+	 *          SerializeIF.
 	 * @param subservice Number of subservice
 	 * @param content This is a pointer to the serialized packet
 	 * @param header Serialize IF header which will be placed before content
 	 */
-	void sendTmPacket(uint8_t subservice, SerializeIF* content,
-			SerializeIF* header = NULL);
+	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
+			SerializeIF* header = nullptr);
 
 	virtual void handleUnrequestedReply(CommandMessage *reply);
 

From 482aedfaf23cca466dcd9bb060b6238ac63f185c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:13:49 +0200
Subject: [PATCH 074/154] cleaned up includes, improved doc

---
 tmtcservices/CommandingServiceBase.cpp |  27 +++---
 tmtcservices/CommandingServiceBase.h   | 114 ++++++++++++++-----------
 2 files changed, 76 insertions(+), 65 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index adc9400f..361baf3b 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,22 +1,21 @@
-/*
- * CommandingServiceBase.cpp
- *
- *  Created on: 28.08.2019
- *      Author: gaisser
- */
+#include <framework/tcdistribution/PUSDistributorIF.h>
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
 
 #include <framework/tmtcservices/CommandingServiceBase.h>
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TcPacketStored.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
 
 CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
-		uint16_t commandTimeout_seconds, object_id_t setPacketSource,
+		uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
 		object_id_t setPacketDestination, size_t queueDepth) :
-		SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
-				commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
-		NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
-				numberOfParallelCommands), failureParameter1(0), failureParameter2(
-				0), packetSource(setPacketSource), packetDestination(
-				setPacketDestination),executingTask(NULL) {
+		SystemObject(setObjectId), apid(apid), service(service),
+		timeoutSeconds(commandTimeoutSeconds),
+		commandMap(numberOfParallelCommands), packetSource(setPacketSource),
+		packetDestination(setPacketDestination) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
@@ -369,7 +368,7 @@ void CommandingServiceBase::checkTimeout() {
 	typename FixedMap<MessageQueueId_t,
 			CommandingServiceBase::CommandInfo>::Iterator iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
-		if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
+		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index e79e806d..37f6891c 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,35 +1,33 @@
-#ifndef COMMANDINGSERVICEBASE_H_
-#define COMMANDINGSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
-#include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
-#include <framework/serialize/SerializeAdapter.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include <framework/ipc/MessageQueueIF.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/timemanager/Clock.h>
+#include <framework/ipc/CommandMessage.h>
+#include <framework/container/FixedMap.h>
+#include <framework/container/FIFO.h>
+#include <framework/serialize/SerializeIF.h>
+
+class TcPacketStored;
 
 /**
- * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
+ * @brief 	This class is the basis for all PUS Services, which have to
+ * 			relay Telecommands to software bus.
  *
- * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
- * Every class that inherits from this abstract class has to implement four adaption points:
+ * It manages Telecommand reception and the generation of Verification Reports
+ * similar to PusServiceBase. This class is used if a telecommand can't be
+ * handled immediately and must be relayed to the internal software bus.
  *   - isValidSubservice
  *   - getMessageQueueAndObject
  *   - prepareCommand
  *   - handleReply
- * \ingroup pus_services
+ * @author gaisser
+ * @ingroup pus_services
  */
 class CommandingServiceBase: public SystemObject,
 		public AcceptsTelecommandsIF,
@@ -59,7 +57,7 @@ public:
 	 */
 	CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
 			uint8_t service, uint8_t numberOfParallelCommands,
-			uint16_t commandTimeout_seconds, object_id_t setPacketSource,
+			uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
 			object_id_t setPacketDestination, size_t queueDepth = 20);
 	virtual ~CommandingServiceBase();
 
@@ -113,8 +111,9 @@ protected:
 	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
 
 	/**
-	 * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
-	 * The target message queue ID can then be acquired by using the target interface.
+	 * Once a TC Request is valid, the existence of the destination and its
+	 * target interface is checked and retrieved. The target message queue ID
+	 * can then be acquired by using the target interface.
 	 * @param subservice
 	 * @param tcData Application Data of TC Packet
 	 * @param tcDataLen
@@ -129,10 +128,10 @@ protected:
 			object_id_t *objectId) = 0;
 
 	/**
-	 * After the Message Queue and Object ID are determined,
-	 * the command is prepared by using an implementation specific CommandMessage type
-	 * which is sent to the target object.
-	 * It contains all necessary information for the device to execute telecommands.
+	 * After the Message Queue and Object ID are determined, the command is
+	 * prepared by using an implementation specific CommandMessage type
+	 * which is sent to the target object. It contains all necessary information
+	 * for the device to execute telecommands.
 	 * @param message
 	 * @param subservice
 	 * @param tcData
@@ -146,25 +145,40 @@ protected:
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
-	 * This function is responsible for the communication between the Command Service Base
-	 * and the respective PUS Commanding Service once the execution has started.
-	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
-	 * There are different translations of these replies to specify how the Command Service proceeds.
-	 * @param reply[out] Command Message which contains information about the command
-	 * @param previousCommand [out]
-	 * @param state
-	 * @param optionalNextCommand
+	 * This function is implemented by child services to specify how replies
+	 * to a command from another software component are handled
+	 * @param reply
+	 * This is the reply in form of a command message.
+	 * @param previousCommand
+	 * Command_t of related command
+	 * @param state [out/in]
+	 * Additional parameter which can be used to pass state information.
+	 * State of the communication
+	 * @param optionalNextCommand [out]
+	 * An optional next command which can be set in this function
 	 * @param objectId Source object ID
 	 * @param isStep Flag value to mark steps of command execution
-	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
-	 *         - @c INVALID_REPLY can handle unrequested replies
-	 *         - Anything else triggers a TC verification failure
+	 * @return
+	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
+	 *   generate TC verification success
+	 * - @c INVALID_REPLY calls handleUnrequestedReply
+	 * - Anything else triggers a TC verification failure
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage *reply,
 			Command_t previousCommand, uint32_t *state,
 			CommandMessage *optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
+	/**
+	 * This function can be overidden to handle unrequested reply,
+	 * when the reply sender ID is unknown or is not found is the command map.
+	 * @param reply
+	 */
+	virtual void handleUnrequestedReply(CommandMessage *reply);
+
+	virtual void doPeriodicOperation();
+
+
 	struct CommandInfo {
 		struct tcInfo {
 			uint8_t ackFlags;
@@ -184,33 +198,35 @@ protected:
 
 	const uint8_t service;
 
-	const uint16_t timeout_seconds;
+	const uint16_t timeoutSeconds;
 
-	uint8_t tmPacketCounter;
+	uint8_t tmPacketCounter = 0;
 
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
-	StorageManagerIF *TCStore;
+	StorageManagerIF *TCStore = nullptr;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 
 	VerificationReporter verificationReporter;
 
 	FixedMap<MessageQueueId_t, CommandInfo> commandMap;
 
-	uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
-	uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
+	/* May be set be children to return a more precise failure condition. */
+	uint32_t failureParameter1 = 0;
+	uint32_t failureParameter2 = 0;
 
 	object_id_t packetSource;
 
 	object_id_t packetDestination;
 
 	/**
-	 * 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;
 
 	/**
 	 * @brief   Send TM data from pointer to data.
@@ -246,10 +262,6 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	virtual void handleUnrequestedReply(CommandMessage *reply);
-
-	virtual void doPeriodicOperation();
-
 	void checkAndExecuteFifo(
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 

From 534fddd2c6443f52bfedbe3532cd4263470ee18c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:19:08 +0200
Subject: [PATCH 075/154] added back comment removed for unknown reasons

---
 tmtcservices/CommandingServiceBase.h | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 37f6891c..f97eabb0 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -132,11 +132,12 @@ protected:
 	 * prepared by using an implementation specific CommandMessage type
 	 * which is sent to the target object. It contains all necessary information
 	 * for the device to execute telecommands.
-	 * @param message
-	 * @param subservice
-	 * @param tcData
-	 * @param tcDataLen
-	 * @param state
+	 * @param message [out] message which can be set and is sent to the object
+	 * @param subservice Subservice of the current communication
+	 * @param tcData Application data of command
+	 * @param tcDataLen Application data length
+	 * @param state [out/in] Setable state of the communication.
+	 * communication
 	 * @param objectId Target object ID
 	 * @return
 	 */

From 72f3b16c2474eadbf1569edd60b06b0296ae6bf6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:53:24 +0200
Subject: [PATCH 076/154] split up huge member function for readability

---
 tmtcservices/CommandingServiceBase.cpp | 193 ++++++++++++++-----------
 tmtcservices/CommandingServiceBase.h   |   7 +
 2 files changed, 113 insertions(+), 87 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 361baf3b..4c557f82 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -56,7 +56,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 			objectManager->get<AcceptsTelemetryIF>(packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((packetForwarding == NULL) && (distributor == NULL)) {
+	if (packetForwarding == nullptr or distributor == nullptr) {
 		return RETURN_FAILED;
 	}
 
@@ -67,7 +67,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
-	if ((IPCStore == NULL) || (TCStore == NULL)) {
+	if (IPCStore == nullptr or TCStore == nullptr) {
 		return RETURN_FAILED;
 	}
 
@@ -76,97 +76,116 @@ ReturnValue_t CommandingServiceBase::initialize() {
 }
 
 void CommandingServiceBase::handleCommandQueue() {
-	CommandMessage reply, nextCommand;
-	ReturnValue_t result, sendResult = RETURN_OK;
-	bool isStep = false;
+	CommandMessage reply;
+	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		isStep = false;
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
-		if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		nextCommand.setCommand(CommandMessage::CMD_NONE);
-		result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
-				iter->objectId, &isStep);
-		switch (result) {
-		case EXECUTION_COMPLETE:
-		case RETURN_OK:
-		case NO_STEP_MESSAGE:
-			iter->command = nextCommand.getCommand();
-			if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
-				sendResult = commandQueue->sendMessage(reply.getSender(),
-						&nextCommand);
-			}
-			if (sendResult == RETURN_OK) {
-				if (isStep) {
-					if (result != NO_STEP_MESSAGE) {
-						verificationReporter.sendSuccessReport(
-								TC_VERIFY::PROGRESS_SUCCESS,
-								iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-								iter->tcInfo.tcSequenceControl, ++iter->step);
-					}
-				} else {
-					verificationReporter.sendSuccessReport(
-							TC_VERIFY::COMPLETION_SUCCESS,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, 0);
-					checkAndExecuteFifo(&iter);
-				}
-			} else {
-				if (isStep) {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-							iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult,
-							++iter->step, failureParameter1, failureParameter2);
-				} else {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::COMPLETION_FAILURE,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult, 0,
-							failureParameter1, failureParameter2);
-				}
-				failureParameter1 = 0;
-				failureParameter2 = 0;
-				checkAndExecuteFifo(&iter);
-			}
-			break;
-		case INVALID_REPLY:
-			//might be just an unrequested reply at a bad moment
-			handleUnrequestedReply(&reply);
-			break;
-		default:
-			if (isStep) {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, ++iter->step, failureParameter1,
-						failureParameter2);
-			} else {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, 0, failureParameter1, failureParameter2);
-			}
-			failureParameter1 = 0;
-			failureParameter2 = 0;
-			checkAndExecuteFifo(&iter);
-			break;
-		}
-
+		handleCommandMessage(reply);
 	}
 }
 
 
+void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
+	bool isStep = false;
+	CommandMessage nextCommand;
+	CommandMapIter iter;
+	if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
+		handleUnrequestedReply(&reply);
+		return;
+	}
+	if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
+		handleUnrequestedReply(&reply);
+		return;
+	}
+	nextCommand.setCommand(CommandMessage::CMD_NONE);
+
+	// Implemented by child class, specifies what to do with reply.
+	ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
+			&nextCommand, iter->objectId, &isStep);
+
+	switch (result) {
+	case EXECUTION_COMPLETE:
+	case RETURN_OK:
+	case NO_STEP_MESSAGE:
+		// handle result of reply handler implemented by developer.
+		handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
+		break;
+	case INVALID_REPLY:
+		//might be just an unrequested reply at a bad moment
+		handleUnrequestedReply(&reply);
+		break;
+	default:
+		if (isStep) {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, ++iter->step, failureParameter1,
+					failureParameter2);
+		} else {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, 0, failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(&iter);
+		break;
+	}
+
+}
+
+void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
+		CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
+		bool& isStep) {
+	iter->command = nextCommand.getCommand();
+
+	// In case a new command is to be sent immediately, this is performed here.
+	// If no new command is sent, only analyse reply result by initializing
+	// sendResult as RETURN_OK
+	ReturnValue_t sendResult = RETURN_OK;
+	if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply.getSender(),
+				&nextCommand);
+	}
+
+	if (sendResult == RETURN_OK) {
+		if (isStep and result != NO_STEP_MESSAGE) {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::PROGRESS_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, ++iter->step);
+		}
+		else {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::COMPLETION_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, 0);
+			checkAndExecuteFifo(&iter);
+		}
+	}
+	else {
+		if (isStep) {
+			nextCommand.clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult,
+					++iter->step, failureParameter1, failureParameter2);
+		} else {
+			nextCommand.clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult, 0,
+					failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(&iter);
+	}
+}
+
 void CommandingServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result;
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index f97eabb0..9a68a2d3 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -267,6 +267,9 @@ protected:
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 
 private:
+	using CommandMapIter = FixedMap<MessageQueueId_t,
+			CommandingServiceBase::CommandInfo>::Iterator;
+
 	/**
 	 * This method handles internal execution of a command,
 	 * once it has been started by @sa{startExecution()} in the Request Queue handler.
@@ -298,6 +301,10 @@ private:
 	void startExecution(TcPacketStored *storedPacket,
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 
+	void handleCommandMessage(CommandMessage& reply);
+	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
+			CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
+
 	void checkTimeout();
 };
 

From eb4880f60348969b2b70147c97e545577a32c7df Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:53:10 +0200
Subject: [PATCH 077/154] singly linked list improvements

---
 container/SinglyLinkedList.h | 69 +++++++++++++++++++++---------------
 1 file changed, 40 insertions(+), 29 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 0a2e0531..3c0078fc 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -1,10 +1,13 @@
-#ifndef SINGLYLINKEDLIST_H_
-#define SINGLYLINKEDLIST_H_
+#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+
+#include <cstddef>
+#include <cstdint>
 
-#include <stddef.h>
-#include <stdint.h>
 /**
- * \ingroup container
+ * @brief	Linked list data structure,
+ * 			each entry has a pointer to the next entry (singly)
+ * @ingroup container
  */
 template<typename T>
 class LinkedElement {
@@ -12,11 +15,8 @@ public:
 	T *value;
 	class Iterator {
 	public:
-		LinkedElement<T> *value;
-		Iterator() :
-				value(NULL) {
-
-		}
+		LinkedElement<T> *value = nullptr;
+		Iterator() {}
 
 		Iterator(LinkedElement<T> *element) :
 				value(element) {
@@ -45,12 +45,11 @@ public:
 		}
 	};
 
-	LinkedElement(T* setElement, LinkedElement<T>* setNext = NULL) : value(setElement),
-		next(setNext) {
-	}
-	virtual ~LinkedElement(){
+	LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
+	       value(setElement), next(setNext) {}
+
+	virtual ~LinkedElement(){}
 
-	}
 	virtual LinkedElement* getNext() const {
 		return next;
 	}
@@ -58,11 +57,16 @@ public:
 	virtual void setNext(LinkedElement* next) {
 		this->next = next;
 	}
+
+	virtual void setEnd() {
+	    this->next = nullptr;
+	}
+
 	LinkedElement* begin() {
 		return this;
 	}
 	LinkedElement* end() {
-		return NULL;
+		return nullptr;
 	}
 private:
 	LinkedElement *next;
@@ -71,21 +75,21 @@ private:
 template<typename T>
 class SinglyLinkedList {
 public:
-	SinglyLinkedList() :
-			start(NULL) {
-	}
+    using ElementIterator = typename LinkedElement<T>::Iterator;
+
+	SinglyLinkedList() {}
+
+	SinglyLinkedList(ElementIterator start) :
+			start(start.value) {}
 
-	SinglyLinkedList(typename LinkedElement<T>::Iterator start) :
-			start(start.value) {
-	}
 	SinglyLinkedList(LinkedElement<T>* startElement) :
-				start(startElement) {
-		}
-	typename LinkedElement<T>::Iterator begin() const {
-		return LinkedElement<T>::Iterator::Iterator(start);
+			start(startElement) {}
+
+	ElementIterator begin() const {
+		return ElementIterator::Iterator(start);
 	}
-	typename LinkedElement<T>::Iterator::Iterator end() const {
-		return LinkedElement<T>::Iterator::Iterator();
+	typename ElementIterator::Iterator end() const {
+		return ElementIterator::Iterator();
 	}
 
 	uint32_t getSize() const {
@@ -100,8 +104,15 @@ public:
 	void setStart(LinkedElement<T>* setStart) {
 		start = setStart;
 	}
+
+    void setEnd(LinkedElement<T>* setEnd) {
+        setEnd->setEnd();
+    }
+
+    // SHOULDDO: Insertion operation ?
+
 protected:
-	LinkedElement<T> *start;
+	LinkedElement<T> *start = nullptr;
 };
 
 #endif /* SINGLYLINKEDLIST_H_ */

From 0c4552254089de1b5626a4bca31114acb39a0290 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:57:35 +0200
Subject: [PATCH 078/154] hybrid iterator fix and improvement

---
 container/HybridIterator.h | 20 +++++++++-----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index b34fdfd0..db1ce4bc 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -8,13 +8,11 @@ template<typename T, typename count_t = uint8_t>
 class HybridIterator: public LinkedElement<T>::Iterator,
 		public ArrayList<T, count_t>::Iterator {
 public:
-	HybridIterator() :
-			value(NULL), linked(NULL), end(NULL) {
-	}
+	HybridIterator() {}
 
 	HybridIterator(typename LinkedElement<T>::Iterator *iter) :
-		LinkedElement<T>::Iterator(*iter), value(
-					iter->value), linked(true), end(NULL) {
+		LinkedElement<T>::Iterator(*iter), value(iter->value),
+		linked(true) {
 
 	}
 
@@ -66,11 +64,11 @@ public:
 		return tmp;
 	}
 
-	bool operator==(HybridIterator other) {
-		return value == other->value;
+	bool operator==(const HybridIterator& other) {
+		return value == other.value;
 	}
 
-	bool operator!=(HybridIterator other) {
+	bool operator!=(const HybridIterator& other) {
 		return !(*this == other);
 	}
 
@@ -82,11 +80,11 @@ public:
 		return value;
 	}
 
-	T* value;
+	T* value = nullptr;
 
 private:
-	bool linked;
-	T *end;
+	bool linked = false;
+	T *end = nullptr;
 };
 
 #endif /* HYBRIDITERATOR_H_ */

From d8e9e34ad9fc33b365f98ef3497fdc84fa698c8a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 14:36:49 +0200
Subject: [PATCH 079/154] framework submakefile improvements

---
 framework.mk | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/framework.mk b/framework.mk
index a5a65364..c8822981 100644
--- a/framework.mk
+++ b/framework.mk
@@ -1,5 +1,5 @@
-# This file needs FRAMEWORK_PATH and API set correctly
-# Valid API settings: rtems, linux, freeRTOS
+# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
+# Valid API settings: rtems, linux, freeRTOS, host
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
@@ -8,11 +8,13 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
@@ -26,14 +28,16 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 
 # select the OS
-ifeq ($(OS),rtems)
+ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
-else ifeq ($(OS),linux)
+else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
-else ifeq ($(OS),freeRTOS)
+else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS_FSFW),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
@@ -54,3 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp)
\ No newline at end of file

From 31e557776373eb5334430ae6f1e68616aba4a617 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 14:45:29 +0200
Subject: [PATCH 080/154] added deadline missed check

---
 osal/FreeRTOS/PeriodicTask.cpp | 55 ++++++++++++-------
 osal/FreeRTOS/PeriodicTask.h   | 96 +++++++++++++++++++---------------
 2 files changed, 90 insertions(+), 61 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index deab2dc1..31867639 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -1,17 +1,19 @@
+#include "PeriodicTask.h"
+
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include "PeriodicTask.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-				setDeadlineMissedFunc) {
-
-	BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+		setDeadlineMissedFunc)
+{
+	BaseType_t status = xTaskCreate(taskEntryPoint, name,
+			setStack, this, setPriority, &handle);
 	if(status != pdPASS){
-		sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
-		           << status << std::endl;
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+		        "Status: " << status << std::endl;
 	}
 
 }
@@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-	//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
 	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -59,9 +64,9 @@ void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
@@ -69,8 +74,22 @@ void PeriodicTask::taskFunctionality() {
 				it != objectList.end(); ++it) {
 			(*it)->performOperation();
 		}
-		//TODO deadline missed check
+
+		/* If all operations are finished and the difference of the
+		 * current time minus the last wake time is larger than the
+		 * wait period, a deadline was missed. */
+		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
+#ifdef DEBUG
+			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+					" missed deadline!\n" << std::flush;
+#endif
+			if(deadlineMissedFunc != nullptr) {
+				this->deadlineMissedFunc();
+			}
+		}
+
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
 	}
 }
 
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index e7ba8dd2..b9930a73 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,48 +1,49 @@
-#ifndef MULTIOBJECTTASK_H_
-#define MULTIOBJECTTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 #include <vector>
 
 class ExecutableObjectIF;
 
 /**
- * @brief This class represents a specialized task for periodic activities of multiple objects.
- *
- * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
- * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
- * 			added prior to starting the task.
- *
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
 class PeriodicTask: public PeriodicTaskIF {
 public:
 	/**
-	 * @brief	Standard constructor of the class.
-	 * @details	The class is initialized without allocated objects. These need to be added
-	 * 			with #addObject.
-	 * 			In the underlying TaskBase class, a new operating system task is created.
-	 * 			In addition to the TaskBase parameters, the period, the pointer to the
-	 * 			aforementioned initialization function and an optional "deadline-missed"
-	 * 			function pointer is passed.
-	 * @param priority		Sets the priority of a task. Values range from a low 0 to a high 99.
-	 * @param stack_size	The stack size reserved by the operating system for the task.
-	 * @param setPeriod 	The length of the period with which the task's functionality will be
-	 * 						executed. It is expressed in clock ticks.
-	 * @param setDeadlineMissedFunc	The function pointer to the deadline missed function
-	 * 								that shall be assigned.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * TODO: why does this need to be called before vTaskStartScheduler?
+	 * @details
+	 * The class is initialized without allocated objects.
+	 * These need to be added with #addComponent.
+	 * @param priority
+	 * Sets the priority of a task. Values depend on freeRTOS configuration,
+	 * high number means high priority.
+	 * @param stack_size
+	 * The stack size reserved by the operating system for the task.
+	 * @param setPeriod
+	 * The length of the period with which the task's
+	 * functionality will be executed. It is expressed in clock ticks.
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall
+	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod,
-			void (*setDeadlineMissedFunc)());
+	PeriodicTask(const char *name, TaskPriority setPriority,
+	        TaskStackSize setStack, TaskPeriod setPeriod,
+	        void (*setDeadlineMissedFunc)());
 	/**
-	 * @brief	Currently, the executed object's lifetime is not coupled with the task object's
-	 * 			lifetime, so the destructor is empty.
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
 	 */
 	virtual ~PeriodicTask(void);
 
@@ -58,7 +59,9 @@ public:
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
 	 * @param object Id of the object to add.
-	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
 	 */
 	ReturnValue_t addComponent(object_id_t object);
 
@@ -69,42 +72,49 @@ protected:
 	bool started;
 	TaskHandle_t handle;
 
-	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.
 	 */
 	ObjectList objectList;
 	/**
 	 * @brief	The period of the task.
-	 * @details	The period determines the frequency of the task's execution. It is expressed in clock ticks.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
 	 */
 	TaskPeriod period;
 	/**
 	 * @brief	The pointer to the deadline-missed function.
-	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
-	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
-	 * 			of the periodic task.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed so each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
 	 * @brief	This is the function executed in the new task's context.
-	 * @details	It converts the argument back to the thread object type and copies the class instance
-	 * 			to the task context. The taskFunctionality method is called afterwards.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
 	 * @param	A pointer to the task object itself is passed as argument.
 	 */
 
 	static void taskEntryPoint(void* argument);
 	/**
 	 * @brief	The function containing the actual functionality of the task.
-	 * @details	The method sets and starts
-	 * 			the task's period, then enters a loop that is repeated as long as the isRunning
-	 * 			attribute is true. Within the loop, all performOperation methods of the added
-	 * 			objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
-	 * 			until the next period.
-	 * 			On missing the deadline, the deadlineMissedFunction is executed.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* PERIODICTASK_H_ */

From 56aaa299854f4a7e0cf02499cdb2cb11db0899b9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 14:47:01 +0200
Subject: [PATCH 081/154] added deadline missed check

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 64 ++++++++++++++++----------
 osal/FreeRTOS/FixedTimeslotTask.h   | 69 ++++++++++++++++-------------
 2 files changed, 77 insertions(+), 56 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index fb3c3b03..ea324d35 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -1,6 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "FixedTimeslotTask.h"
 
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
@@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
-	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -81,11 +85,12 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
+	SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = (*it)->pollingTimeMs;
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;
@@ -101,18 +106,30 @@ void FixedTimeslotTask::taskFunctionality() {
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
-		this->pst.executeAndAdvance();
-		if (pst.slotFollowsImmediately()) {
-			//Do nothing
-		} else {
-			// we need to wait before executing the current slot
-			//this gives us the time to wait:
-			intervalMs = this->pst.getIntervalToPreviousSlotMs();
-			interval = pdMS_TO_TICKS(intervalMs);
-			vTaskDelayUntil(&xLastWakeTime, interval);
-			//TODO deadline missed check
-		}
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        /* If all operations are finished and the difference of the
+	         * current time minus the last wake time is larger than the
+	         * expected wait period, a deadline was missed. */
+	        if(xTaskGetTickCount() - xLastWakeTime >=
+	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+#ifdef DEBUG
+	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+	                    " missed deadline!\n" << std::flush;
+#endif
+	            if(deadlineMissedFunc != nullptr) {
+	                this->deadlineMissedFunc();
+	            }
+	            // Continue immediately, no need to wait.
+	            break;
+	        }
 
+	        // we need to wait before executing the current slot
+	        //this gives us the time to wait:
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+	        vTaskDelayUntil(&xLastWakeTime, interval);
+	    }
 	}
 }
 
@@ -120,4 +137,3 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
-
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index bed13051..39db667c 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,24 +1,27 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
 #include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
+
 	/**
-	 * @brief	The standard constructor of the class.
-	 *
-	 * @details	This is the general constructor of the class. In addition to the TaskBase parameters,
-	 * 			the following variables are passed:
-	 *
-	 * @param	(*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
-	 *
-	 * @param	getPst The object id of the completely initialized polling sequence.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
+	 * @param setPriority Number of priorities specified by
+	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
+	 * @param setStack	Stack size in words (not bytes!).
+	 * Lower limit specified by configMINIMAL_STACK_SIZE
+	 * @param overallPeriod		Period in seconds.
+	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
+	 * @return Pointer to the newly created task.
 	 */
 	FixedTimeslotTask(const char *name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
@@ -26,16 +29,18 @@ public:
 
 	/**
 	 * @brief	The destructor of the class.
-	 *
-	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
-	 * 			the device handlers. This is done by calling the PST's destructor.
+	 * @details
+	 * The destructor frees all heap memory that was allocated on thread
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
 	 */
 	virtual ~FixedTimeslotTask(void);
 
 	ReturnValue_t startTask(void);
 	/**
 	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
 	 */
 	static void missedDeadlineCounter();
 	/**
@@ -51,6 +56,7 @@ public:
 	ReturnValue_t checkSequence() const;
 
 	ReturnValue_t sleepFor(uint32_t ms);
+
 protected:
 	bool started;
 	TaskHandle_t handle;
@@ -58,30 +64,29 @@ protected:
 	FixedSlotSequence pst;
 
 	/**
-	 * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
-	 *
-	 * @details	Another function may be announced to determine the actions to perform when a deadline was missed.
-	 * 			Currently, only one function for missing any deadline is allowed.
-	 * 			If not used, it shall be declared NULL.
+	 * @brief	This attribute holds a function pointer that is executed when
+	 *          a deadline was missed.
+	 * @details
+	 * Another function may be announced to determine the actions to perform
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
-	 * @brief	This is the entry point in a new polling thread.
-	 *
-	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
-	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
-	 * 			on success. If operation of the task is ended for some reason,
-	 * 			the destructor is called to free allocated memory.
+	 * @brief	This is the entry point for a new task.
+	 * @details
+	 * This method starts the task by calling taskFunctionality(), as soon as
+	 * all requirements (task scheduler has started and startTask()
+	 * has been called) are met.
 	 */
 	static void taskEntryPoint(void* argument);
 
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
-	 *
-	 * @details	Holding the main functionality of the task, this method is most important.
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
-	 * 			to keep the timing of the periods.
+	 * @details
+	 * Core function holding the main functionality of the task
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
 };

From ffe2a7bffefbb744d1149e4c4d53807649c0570e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 19:00:02 +0200
Subject: [PATCH 082/154] fix for fixed timeslot task improvement

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index ea324d35..a4acc420 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -87,10 +87,10 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-	SlotListIter slotListIter = pst.current;
+    std::list<FixedSequenceSlot*>::iterator slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = slotListIter->pollingTimeMs;
+	uint32_t intervalMs = (*slotListIter)->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;
@@ -121,7 +121,7 @@ void FixedTimeslotTask::taskFunctionality() {
 	                this->deadlineMissedFunc();
 	            }
 	            // Continue immediately, no need to wait.
-	            break;
+	            continue;
 	        }
 
 	        // we need to wait before executing the current slot

From 2cada2df4a611daf5d8c9e6bfa1e8026dc98e09b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 20:21:11 +0200
Subject: [PATCH 083/154] some fixes and improvements

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 28 ++++++++++++----------------
 1 file changed, 12 insertions(+), 16 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index a4acc420..edb7f835 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -62,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
 	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		if(slotTimeMs == 0) {
-			// FreeRTOS throws a sanity error for zero values, so we set
-			// the time to one millisecond.
-			slotTimeMs = 1;
-		}
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -87,7 +82,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-    std::list<FixedSequenceSlot*>::iterator slotListIter = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
 	uint32_t intervalMs = (*slotListIter)->pollingTimeMs;
@@ -101,18 +96,23 @@ void FixedTimeslotTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time
-	vTaskDelayUntil(&xLastWakeTime, interval);
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
 	    this->pst.executeAndAdvance();
 	    if (not pst.slotFollowsImmediately()) {
+	        // Get the interval till execution of the next slot.
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+
 	        /* If all operations are finished and the difference of the
 	         * current time minus the last wake time is larger than the
 	         * expected wait period, a deadline was missed. */
-	        if(xTaskGetTickCount() - xLastWakeTime >=
-	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+	        if(xTaskGetTickCount() - xLastWakeTime >= interval) {
 #ifdef DEBUG
 	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
 	                    " missed deadline!\n" << std::flush;
@@ -120,14 +120,9 @@ void FixedTimeslotTask::taskFunctionality() {
 	            if(deadlineMissedFunc != nullptr) {
 	                this->deadlineMissedFunc();
 	            }
-	            // Continue immediately, no need to wait.
-	            continue;
 	        }
-
-	        // we need to wait before executing the current slot
-	        //this gives us the time to wait:
-	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
-	        interval = pdMS_TO_TICKS(intervalMs);
+	        // Wait for the interval. This exits immediately if a deadline was
+	        // missed while also updating the last wake time.
 	        vTaskDelayUntil(&xLastWakeTime, interval);
 	    }
 	}
@@ -137,3 +132,4 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
+

From 3c7ac60dbe2e2e623f6aea1d746418335a2a6dbe Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 20:39:36 +0200
Subject: [PATCH 084/154] added overflow checking

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index edb7f835..d92474c7 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -111,8 +111,15 @@ void FixedTimeslotTask::taskFunctionality() {
 
 	        /* If all operations are finished and the difference of the
 	         * current time minus the last wake time is larger than the
-	         * expected wait period, a deadline was missed. */
-	        if(xTaskGetTickCount() - xLastWakeTime >= interval) {
+	         * expected wait period, a deadline was missed.
+	         * We also check whether an overflow has occured first.
+	         * In this special case, we will ignore missed deadlines for now. */
+	        const TickType_t constTickCount = xTaskGetTickCount();
+	        if(constTickCount < xLastWakeTime or
+	                constTickCount + interval < xLastWakeTime) {
+	            // don't do anything for now.
+	        }
+	        else if(xTaskGetTickCount() - xLastWakeTime >= interval) {
 #ifdef DEBUG
 	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
 	                    " missed deadline!\n" << std::flush;

From bf63ba15fedfacd7ae19de5298d49a0a05154aae Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 23:30:17 +0200
Subject: [PATCH 085/154] finished overflow checking (hopefully)

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 55 +++++++++++++++++++----------
 osal/FreeRTOS/FixedTimeslotTask.h   |  4 +++
 2 files changed, 40 insertions(+), 19 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index d92474c7..d72354ae 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -109,25 +109,8 @@ void FixedTimeslotTask::taskFunctionality() {
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
 
-	        /* If all operations are finished and the difference of the
-	         * current time minus the last wake time is larger than the
-	         * expected wait period, a deadline was missed.
-	         * We also check whether an overflow has occured first.
-	         * In this special case, we will ignore missed deadlines for now. */
-	        const TickType_t constTickCount = xTaskGetTickCount();
-	        if(constTickCount < xLastWakeTime or
-	                constTickCount + interval < xLastWakeTime) {
-	            // don't do anything for now.
-	        }
-	        else if(xTaskGetTickCount() - xLastWakeTime >= interval) {
-#ifdef DEBUG
-	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-	                    " missed deadline!\n" << std::flush;
-#endif
-	            if(deadlineMissedFunc != nullptr) {
-	                this->deadlineMissedFunc();
-	            }
-	        }
+	        checkMissedDeadline(xLastWakeTime, interval);
+
 	        // Wait for the interval. This exits immediately if a deadline was
 	        // missed while also updating the last wake time.
 	        vTaskDelayUntil(&xLastWakeTime, interval);
@@ -135,6 +118,40 @@ void FixedTimeslotTask::taskFunctionality() {
 	}
 }
 
+void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void FixedTimeslotTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
+
 ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 39db667c..cddd5ecd 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -89,6 +89,10 @@ protected:
 	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
 #endif /* POLLINGTASK_H_ */

From 0c9c9c581ba1aa05acc9de1e6af9528c99b1a4fd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 23:31:27 +0200
Subject: [PATCH 086/154] minor formatting

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index d72354ae..871b7922 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -90,9 +90,9 @@ void FixedTimeslotTask::taskFunctionality() {
 
 	TickType_t xLastWakeTime;
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time

From 1cc50639c7ca8d99377d6bc753f9c6815469b659 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 23:49:31 +0200
Subject: [PATCH 087/154] improvements integrated

---
 osal/FreeRTOS/FixedTimeslotTask.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index cddd5ecd..08a9c3b3 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -12,7 +12,7 @@ class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
 
 	/**
-	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * Keep in mind that you need to call before vTaskStartScheduler()!
 	 * A lot of task parameters are set in "FreeRTOSConfig.h".
 	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
 	 * @param setPriority Number of priorities specified by
@@ -49,13 +49,13 @@ public:
 	static uint32_t deadlineMissedCount;
 
 	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-			int8_t executionStep);
+			int8_t executionStep) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkSequence() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 protected:
 	bool started;

From 4507bdfb69f9a8239b8af6c51d1f9c1a32338ae8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 01:14:28 +0200
Subject: [PATCH 088/154] added setting task IF

---
 osal/FreeRTOS/PeriodicTask.cpp   | 62 +++++++++++++++++++++++---------
 osal/FreeRTOS/PeriodicTask.h     | 13 ++++---
 osal/linux/PeriodicPosixTask.cpp |  9 +++--
 osal/linux/PeriodicPosixTask.h   |  7 ++--
 tasks/PeriodicTaskIF.h           | 26 +++++++++++---
 5 files changed, 87 insertions(+), 30 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 31867639..170eb0a4 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -70,39 +70,67 @@ void PeriodicTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const& object: objectList) {
+			object->performOperation();
 		}
 
-		/* If all operations are finished and the difference of the
-		 * current time minus the last wake time is larger than the
-		 * wait period, a deadline was missed. */
-		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
-#ifdef DEBUG
-			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
-					" missed deadline!\n" << std::flush;
-#endif
-			if(deadlineMissedFunc != nullptr) {
-				this->deadlineMissedFunc();
-			}
-		}
+		checkMissedDeadline(xLastWakeTime, xPeriod);
 
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
 
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	     newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t PeriodicTask::getPeriodMs() const {
 	return period * 1000;
 }
+
+void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void PeriodicTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index b9930a73..09aa6bc7 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -54,7 +54,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
@@ -63,11 +63,12 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	bool started;
 	TaskHandle_t handle;
@@ -115,6 +116,10 @@ protected:
 	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
 #endif /* PERIODICTASK_H_ */
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index b754c3f4..1a06a8bf 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -20,13 +20,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
+        bool addTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index 43647eda..e994898a 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -26,11 +26,12 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool addTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 private:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 304a7de6..6f490977 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -1,9 +1,11 @@
-#ifndef PERIODICTASKIF_H_
-#define PERIODICTASKIF_H_
+#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
+#define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/timemanager/Clock.h>
 #include <cstddef>
 class ExecutableObjectIF;
+
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.
@@ -17,11 +19,27 @@ public:
 	 */
 	virtual ~PeriodicTaskIF() { }
 	/**
-	 * @brief	With the startTask method, a created task can be started for the first time.
+	 * @brief	With the startTask method, a created task can be started
+	 *          for the first time.
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
+	/**
+	 * Add a component (object) to a periodic task. The pointer to the
+	 * task can be set optionally
+	 * @param object
+	 * Add an object to the task. The most important case is to add an
+	 * executable object with a function which will be called regularly
+	 * (see ExecutableObjectIF)
+	 * @param setTaskIF
+	 * Can be used to specify whether the task object pointer is passed
+	 * to the component.
+	 * @return
+	 */
+	virtual ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 

From e935b8bd04ee349e45c4bdcd60a2fa306cc73d74 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 10:45:47 +0200
Subject: [PATCH 089/154] some minor improvements

---
 tmtcservices/TmTcBridge.cpp | 50 ++++++++++++++++---------------------
 tmtcservices/TmTcBridge.h   | 20 ++++++++-------
 2 files changed, 32 insertions(+), 38 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index b4732a85..f9a7d3bc 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -1,9 +1,9 @@
 #include <framework/tmtcservices/TmTcBridge.h>
 
 #include <framework/ipc/QueueFactory.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/arrayprinter.h>
 
 TmTcBridge::TmTcBridge(object_id_t objectId_,
         object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
@@ -22,7 +22,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		return RETURN_OK;
 	}
 	else {
-	    warning << "TmTcBridge: Number of packets sent per cycle "
+	    sif::warning << "TmTcBridge: Number of packets sent per cycle "
 	               "exceeds limits. Keeping default value." << std::endl;
 		return RETURN_FAILED;
 	}
@@ -35,7 +35,7 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
         return RETURN_OK;
     }
     else {
-        warning << "TmTcBridge: Number of packets stored "
+        sif::warning << "TmTcBridge: Number of packets stored "
                    "exceeds limits. Keeping default value." << std::endl;
         return RETURN_FAILED;
     }
@@ -63,11 +63,11 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 	ReturnValue_t result;
 	result = handleTc();
 	if(result != RETURN_OK) {
-		error << "TMTC Bridge: Error handling TCs" << std::endl;
+		sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
 	}
 	result = handleTm();
 	if (result != RETURN_OK) {
-		error << "TMTC Bridge: Error handling TMs" << std::endl;
+		sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
 	}
 	return result;
 }
@@ -82,11 +82,11 @@ ReturnValue_t TmTcBridge::handleTc() {
 ReturnValue_t TmTcBridge::handleTm() {
 	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
-		error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
+		sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
 		return RETURN_FAILED;
 	}
 
-	if(tmStored && communicationLinkUp) {
+	if(tmStored and communicationLinkUp) {
 		result = handleStoredTm();
 	}
 	return result;
@@ -95,8 +95,8 @@ ReturnValue_t TmTcBridge::handleTm() {
 
 ReturnValue_t TmTcBridge::handleTmQueue() {
 	TmTcMessage message;
-	const uint8_t* data = nullptr;
-	uint32_t size = 0;
+	const uint8_t* data = nullptr;
+	size_t size = 0;
 	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
 		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
 	{
@@ -112,7 +112,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 
 		result = sendTm(data, size);
 		if (result != RETURN_OK) {
-			error << "TMTC Bridge: Could not send TM packet"<< std::endl;
+			sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl;
 			tmStore->deleteData(message.getStorageId());
 			return result;
 
@@ -127,14 +127,14 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	//		 "Saving packet ID to be sent later\r\n" << std::flush;
 	store_address_t storeId = 0;
 
-	if(fifo.full()) {
-		error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
+	if(tmFifo.full()) {
+		sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
 				 "reached! Overwriting old data" << std::endl;
-		fifo.retrieve(&storeId);
+		tmFifo.retrieve(&storeId);
 		tmStore->deleteData(storeId);
 	}
 	storeId = message->getStorageId();
-	fifo.insert(storeId);
+	tmFifo.insert(storeId);
 	tmStored = true;
 	return RETURN_OK;
 }
@@ -142,25 +142,25 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 ReturnValue_t TmTcBridge::handleStoredTm() {
 	uint8_t counter = 0;
 	ReturnValue_t result = RETURN_OK;
-	while(not fifo.empty() && counter < sentPacketsPerCycle) {
+	while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
 		//info << "TMTC Bridge: Sending stored TM data. There are "
 		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
 		store_address_t storeId;
-		const uint8_t* data = NULL;
-		uint32_t size = 0;
-		fifo.retrieve(&storeId);
+		const uint8_t* data = nullptr;
+		size_t size = 0;
+		tmFifo.retrieve(&storeId);
 		result = tmStore->getData(storeId, &data, &size);
 
 		sendTm(data,size);
 
 		if(result != RETURN_OK) {
-			error << "TMTC Bridge: Could not send stored downlink data"
+			sif::error << "TMTC Bridge: Could not send stored downlink data"
 			      << std::endl;
 			result = RETURN_FAILED;
 		}
 		counter ++;
 
-		if(fifo.empty()) {
+		if(tmFifo.empty()) {
 			tmStored = false;
 		}
 		tmStore->deleteData(storeId);
@@ -187,14 +187,6 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
 }
 
 
-
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
-	info << "TMTC Bridge: Printing data: [";
-	for(uint32_t i = 0; i < dataLen; i++) {
-		info << std::hex << (int)data[i];
-		if(i < dataLen-1){
-			info << " , ";
-		}
-	}
-	info << " ] " << std::endl;
+	arrayprinter::print(data, dataLen);
 }
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 15fd42c1..3e0432d8 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -25,8 +25,6 @@ public:
 	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
 	virtual ~TmTcBridge();
 
-	void setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets);
-
 	/**
 	 * Set number of packets sent per performOperation().Please note that this
 	 * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
@@ -45,8 +43,8 @@ public:
 	 */
 	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
 
-	void registerCommConnect();
-	void registerCommDisconnect();
+	virtual void registerCommConnect();
+	virtual void registerCommDisconnect();
 
 	/**
 	 * Initializes necessary FSFW components for the TMTC Bridge
@@ -64,7 +62,8 @@ public:
 	 * @param virtualChannel
 	 * @return
 	 */
-	MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
+	MessageQueueId_t getReportReceptionQueue(
+			uint8_t virtualChannel = 0) override;
 protected:
 	//! Used to send and receive TMTC messages.
 	//! TmTcMessage is used to transport messages between tasks.
@@ -75,7 +74,6 @@ protected:
 	//! Used to specify whether communication link is up
 	bool communicationLinkUp = false;
 	bool tmStored = false;
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> fifo;
 
 	/**
 	 * @brief 	Handle TC reception
@@ -141,9 +139,13 @@ protected:
 	 */
 	void printData(uint8_t * data, size_t dataLen);
 
-private:
-	uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-	uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+	/**
+	 * This fifo can be used to store downlink data
+	 * which can not be sent at the moment.
+	 */
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+    uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
+    uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 
 

From f6d2549534e8c4baa59e718781d3384c1d7922eb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 11:35:07 +0200
Subject: [PATCH 090/154] requested changed implemented

---
 container/HybridIterator.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index db1ce4bc..79f0485f 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -17,8 +17,8 @@ public:
 	}
 
 	HybridIterator(LinkedElement<T> *start) :
-		LinkedElement<T>::Iterator(start), value(
-					start->value), linked(true), end(NULL) {
+		LinkedElement<T>::Iterator(start), value(start->value),
+		linked(true) {
 
 	}
 
@@ -64,11 +64,11 @@ public:
 		return tmp;
 	}
 
-	bool operator==(const HybridIterator& other) {
+	bool operator==(const HybridIterator& other) const {
 		return value == other.value;
 	}
 
-	bool operator!=(const HybridIterator& other) {
+	bool operator!=(const HybridIterator& other) const {
 		return !(*this == other);
 	}
 

From a5a53e7f9b67bc6fd9e8df90f354a5502dace4df Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 11:36:10 +0200
Subject: [PATCH 091/154] include guard updated

---
 container/HybridIterator.h | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index 79f0485f..3dbd47a8 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -1,5 +1,5 @@
-#ifndef HYBRIDITERATOR_H_
-#define HYBRIDITERATOR_H_
+#ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
+#define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/container/SinglyLinkedList.h>
@@ -24,16 +24,16 @@ public:
 
 	HybridIterator(typename ArrayList<T, count_t>::Iterator start,
 			typename ArrayList<T, count_t>::Iterator end) :
-			ArrayList<T, count_t>::Iterator(start), value(start.value), linked(
-					false), end(end.value) {
+			ArrayList<T, count_t>::Iterator(start), value(start.value),
+			linked(false), end(end.value) {
 		if (value == this->end) {
 			value = NULL;
 		}
 	}
 
 	HybridIterator(T *firstElement, T *lastElement) :
-			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement), linked(
-					false), end(++lastElement) {
+			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
+			linked(false), end(++lastElement) {
 		if (value == end) {
 			value = NULL;
 		}
@@ -42,17 +42,17 @@ public:
 	HybridIterator& operator++() {
 		if (linked) {
 			LinkedElement<T>::Iterator::operator++();
-			if (LinkedElement<T>::Iterator::value != NULL) {
+			if (LinkedElement<T>::Iterator::value != nullptr) {
 				value = LinkedElement<T>::Iterator::value->value;
 			} else {
-				value = NULL;
+				value = nullptr;
 			}
 		} else {
 			ArrayList<T, count_t>::Iterator::operator++();
 			value = ArrayList<T, count_t>::Iterator::value;
 
 			if (value == end) {
-				value = NULL;
+				value = nullptr;
 			}
 		}
 		return *this;

From f826ada774ed53d31899483b003162c10302527d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 11:40:21 +0200
Subject: [PATCH 092/154] some more little changes for single linked list

---
 container/SinglyLinkedList.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 3c0078fc..a78a1467 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -88,14 +88,15 @@ public:
 	ElementIterator begin() const {
 		return ElementIterator::Iterator(start);
 	}
-	typename ElementIterator::Iterator end() const {
+
+	ElementIterator end() const {
 		return ElementIterator::Iterator();
 	}
 
-	uint32_t getSize() const {
-		uint32_t size = 0;
+	size_t getSize() const {
+		size_t size = 0;
 		LinkedElement<T> *element = start;
-		while (element != NULL) {
+		while (element != nullptr) {
 			size++;
 			element = element->getNext();
 		}

From 19cbac923f885f94f40876aa41e3f163874003e6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 12:06:08 +0200
Subject: [PATCH 093/154] typo fix

---
 osal/FreeRTOS/PeriodicTask.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 170eb0a4..44a7b801 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -86,7 +86,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 			object);
 	if (newObject == nullptr) {
 	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-	            "it implement ExecutableObjectIF" << std::endl;
+	            "it implements ExecutableObjectIF!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);

From 8a56964dab62de52a67563c5446fd7986100db06 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:01:17 +0200
Subject: [PATCH 094/154] doc fix, various improvements

---
 tmtcservices/CommandingServiceBase.cpp | 140 +++++++++++++------------
 tmtcservices/CommandingServiceBase.h   |  53 ++++++----
 2 files changed, 102 insertions(+), 91 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 4c557f82..acf66389 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -80,39 +80,49 @@ void CommandingServiceBase::handleCommandQueue() {
 	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		handleCommandMessage(reply);
+		handleCommandMessage(&reply);
 	}
 }
 
 
-void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
+void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	bool isStep = false;
 	CommandMessage nextCommand;
-	CommandMapIter iter;
-	if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-		handleUnrequestedReply(&reply);
-		return;
-	}
-	if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
-		handleUnrequestedReply(&reply);
+	CommandMapIter iter = commandMap.find(reply->getSender());
+
+	// handle unrequested reply first
+	if (reply->getSender() == MessageQueueIF::NO_QUEUE or
+			iter == commandMap.end()) {
+		handleUnrequestedReply(reply);
 		return;
 	}
 	nextCommand.setCommand(CommandMessage::CMD_NONE);
 
+
 	// Implemented by child class, specifies what to do with reply.
-	ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
+	ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
 			&nextCommand, iter->objectId, &isStep);
 
+	/* If the child implementation does not implement special handling for
+	 * rejected replies (RETURN_FAILED is returned), a failure verification
+	 * will be generated with the reason as the return code and the initial
+	 * command as failure parameter 1 */
+	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
+			result == RETURN_FAILED) {
+		result = reply->getReplyRejectedReason(
+				reinterpret_cast<Command_t*>(&failureParameter1));
+	}
+
 	switch (result) {
 	case EXECUTION_COMPLETE:
 	case RETURN_OK:
 	case NO_STEP_MESSAGE:
 		// handle result of reply handler implemented by developer.
-		handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
+		handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
 		break;
 	case INVALID_REPLY:
 		//might be just an unrequested reply at a bad moment
-		handleUnrequestedReply(&reply);
+		handleUnrequestedReply(reply);
 		break;
 	default:
 		if (isStep) {
@@ -129,24 +139,24 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
 		}
 		failureParameter1 = 0;
 		failureParameter2 = 0;
-		checkAndExecuteFifo(&iter);
+		checkAndExecuteFifo(iter);
 		break;
 	}
 
 }
 
 void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
-		CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
-		bool& isStep) {
-	iter->command = nextCommand.getCommand();
+		CommandMapIter iter, CommandMessage* nextCommand,
+		CommandMessage* reply, bool& isStep) {
+	iter->command = nextCommand->getCommand();
 
 	// In case a new command is to be sent immediately, this is performed here.
 	// If no new command is sent, only analyse reply result by initializing
 	// sendResult as RETURN_OK
 	ReturnValue_t sendResult = RETURN_OK;
-	if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
-		sendResult = commandQueue->sendMessage(reply.getSender(),
-				&nextCommand);
+	if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply->getSender(),
+				nextCommand);
 	}
 
 	if (sendResult == RETURN_OK) {
@@ -161,19 +171,19 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 					TC_VERIFY::COMPLETION_SUCCESS,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, 0);
-			checkAndExecuteFifo(&iter);
+			checkAndExecuteFifo(iter);
 		}
 	}
 	else {
 		if (isStep) {
-			nextCommand.clearCommandMessage();
+			nextCommand->clear();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, sendResult,
 					++iter->step, failureParameter1, failureParameter2);
 		} else {
-			nextCommand.clearCommandMessage();
+			nextCommand->clear();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@@ -182,7 +192,7 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 		}
 		failureParameter1 = 0;
 		failureParameter2 = 0;
-		checkAndExecuteFifo(&iter);
+		checkAndExecuteFifo(iter);
 	}
 }
 
@@ -198,8 +208,8 @@ void CommandingServiceBase::handleRequestQueue() {
 		address = message.getStorageId();
 		packet.setStoreAddress(address);
 
-		if ((packet.getSubService() == 0)
-				|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
+		if (packet.getSubService() == 0
+				or isValidSubservice(packet.getSubService()) != RETURN_OK) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}
@@ -212,8 +222,7 @@ void CommandingServiceBase::handleRequestQueue() {
 		}
 
 		//Is a command already active for the target object?
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
+		CommandMapIter iter;
 		iter = commandMap.find(queue);
 
 		if (iter != commandMap.end()) {
@@ -228,7 +237,7 @@ void CommandingServiceBase::handleRequestQueue() {
 			if (result != RETURN_OK) {
 				rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
 			} else {
-				startExecution(&packet, &iter);
+				startExecution(&packet, iter);
 			}
 		}
 
@@ -281,46 +290,44 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
 }
 
 
-void CommandingServiceBase::startExecution(
-		TcPacketStored *storedPacket,
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
-	ReturnValue_t result, sendResult = RETURN_OK;
-	CommandMessage message;
-	(*iter)->subservice = storedPacket->getSubService();
-	result = prepareCommand(&message, (*iter)->subservice,
-			storedPacket->getApplicationData(),
-			storedPacket->getApplicationDataSize(), &(*iter)->state,
-			(*iter)->objectId);
+void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
+        CommandMapIter iter) {
+    ReturnValue_t result = RETURN_OK;
+    CommandMessage command;
+    iter->subservice = storedPacket->getSubService();
+    result = prepareCommand(&command, iter->subservice,
+            storedPacket->getApplicationData(),
+            storedPacket->getApplicationDataSize(), &iter->state,
+            iter->objectId);
 
+    ReturnValue_t sendResult = RETURN_OK;
 	switch (result) {
 	case RETURN_OK:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
-			sendResult = commandQueue->sendMessage((*iter).value->first,
-					&message);
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
+			sendResult = commandQueue->sendMessage(iter.value->first,
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
-			Clock::getUptime(&(*iter)->uptimeOfStart);
-			(*iter)->step = 0;
-//			(*iter)->state = 0;
-			(*iter)->subservice = storedPacket->getSubService();
-			(*iter)->command = message.getCommand();
-			(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
-			(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
-			(*iter)->tcInfo.tcSequenceControl =
+			Clock::getUptime(&iter->uptimeOfStart);
+			iter->step = 0;
+			iter->subservice = storedPacket->getSubService();
+			iter->command = command.getCommand();
+			iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
+			iter->tcInfo.tcPacketId = storedPacket->getPacketId();
+			iter->tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			message.clearCommandMessage();
+			command.clear();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
 	case EXECUTION_COMPLETE:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			//Fire-and-forget command.
-			sendResult = commandQueue->sendMessage((*iter).value->first,
-					&message);
+			sendResult = commandQueue->sendMessage(iter.value->first,
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
 			verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
@@ -328,7 +335,7 @@ void CommandingServiceBase::startExecution(
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			message.clearCommandMessage();
+			command.clear();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -355,12 +362,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 	store_address_t address;
-	if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
-		commandMap.erase(iter);
+	if (iter->fifo.retrieve(&address) != RETURN_OK) {
+		commandMap.erase(&iter);
 	} else {
 		TcPacketStored newPacket(address);
 		startExecution(&newPacket, iter);
@@ -368,9 +373,8 @@ void CommandingServiceBase::checkAndExecuteFifo(
 }
 
 
-void CommandingServiceBase::handleUnrequestedReply(
-		CommandMessage* reply) {
-	reply->clearCommandMessage();
+void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
+	reply->clear();
 }
 
 
@@ -384,18 +388,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
 void CommandingServiceBase::checkTimeout() {
 	uint32_t uptime;
 	Clock::getUptime(&uptime);
-	typename FixedMap<MessageQueueId_t,
-			CommandingServiceBase::CommandInfo>::Iterator iter;
+	CommandMapIter iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
 		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
 					TIMEOUT);
-			checkAndExecuteFifo(&iter);
+			checkAndExecuteFifo(iter);
 		}
 	}
 }
 
-
-
+void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
+    executingTask = task_;
+}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 9a68a2d3..277e5589 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -97,9 +97,7 @@ public:
 	 * 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_){
-		executingTask = task_;
-	};
+	virtual void setTaskIF(PeriodicTaskIF* task_);
 
 protected:
 	/**
@@ -141,15 +139,15 @@ protected:
 	 * @param objectId Target object ID
 	 * @return
 	 */
-	virtual ReturnValue_t prepareCommand(CommandMessage *message,
+	virtual ReturnValue_t prepareCommand(CommandMessage* message,
 			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
 	 * This function is implemented by child services to specify how replies
-	 * to a command from another software component are handled
+	 * to a command from another software component are handled.
 	 * @param reply
-	 * This is the reply in form of a command message.
+	 * This is the reply in form of a generic read-only command message.
 	 * @param previousCommand
 	 * Command_t of related command
 	 * @param state [out/in]
@@ -163,19 +161,26 @@ protected:
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
 	 * - @c INVALID_REPLY calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
+	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
+	 *   a failure verification message with the reason as the error parameter
+	 *   and the initial command as failure parameter 1.
 	 */
-	virtual ReturnValue_t handleReply(const CommandMessage *reply,
+	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,
-			CommandMessage *optionalNextCommand, object_id_t objectId,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
 	/**
 	 * This function can be overidden to handle unrequested reply,
 	 * when the reply sender ID is unknown or is not found is the command map.
+	 * The default implementation will clear the command message and all
+	 * its contents.
 	 * @param reply
+	 * Reply which is non-const so the default implementation can clear the
+	 * message.
 	 */
-	virtual void handleUnrequestedReply(CommandMessage *reply);
+	virtual void handleUnrequestedReply(CommandMessage* reply);
 
 	virtual void doPeriodicOperation();
 
@@ -195,6 +200,9 @@ protected:
 		FIFO<store_address_t, 3> fifo;
 	};
 
+	using CommandMapIter = FixedMap<MessageQueueId_t,
+	        CommandingServiceBase::CommandInfo>::Iterator;
+
 	const uint16_t apid;
 
 	const uint8_t service;
@@ -263,21 +271,21 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	void checkAndExecuteFifo(
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+	void checkAndExecuteFifo(CommandMapIter iter);
 
 private:
-	using CommandMapIter = FixedMap<MessageQueueId_t,
-			CommandingServiceBase::CommandInfo>::Iterator;
 
 	/**
 	 * This method handles internal execution of a command,
-	 * once it has been started by @sa{startExecution()} in the Request Queue handler.
-	 * It handles replies generated by the devices and relayed by the specific service implementation.
-	 * This means that it determines further course of action depending on the return values specified
-	 * in the service implementation.
+	 * once it has been started by @sa{startExecution()} in the request
+	 * queue handler.
+	 * It handles replies generated by the devices and relayed by the specific
+	 * service implementation. This means that it determines further course of
+	 * action depending on the return values specified in the service
+	 * implementation.
 	 * This includes the generation of TC verification messages. Note that
-	 * the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
+	 * the static framework object ID @c VerificationReporter::messageReceiver
+	 * needs to be set.
 	 *   - TM[1,5] Step Successs
 	 *   - TM[1,6] Step Failure
 	 *   - TM[1,7] Completion Success
@@ -298,12 +306,11 @@ private:
 
 	void acceptPacket(uint8_t reportId, TcPacketStored* packet);
 
-	void startExecution(TcPacketStored *storedPacket,
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
 
-	void handleCommandMessage(CommandMessage& reply);
+	void handleCommandMessage(CommandMessage* reply);
 	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
-			CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
+			CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
 
 	void checkTimeout();
 };

From 644896245ff2eca019ebb0a5e9e0840f2b1dcc22 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:03:54 +0200
Subject: [PATCH 095/154] better returnvalues for CSB init

---
 objectmanager/ObjectManagerIF.h        | 3 ++-
 tmtcservices/CommandingServiceBase.cpp | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index 90a1ce3b..dcef81cd 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -21,7 +21,8 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
+
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
 protected:
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index acf66389..abf5b0ed 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -57,7 +57,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
 	if (packetForwarding == nullptr or distributor == nullptr) {
-		return RETURN_FAILED;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	distributor->registerService(this);
@@ -68,7 +68,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
 	if (IPCStore == nullptr or TCStore == nullptr) {
-		return RETURN_FAILED;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	return RETURN_OK;

From fc0d42e3e06e6d7c632f8a60ea0e5fe0e0972c7c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:07:02 +0200
Subject: [PATCH 096/154] error output for CSB init failure

---
 tmtcservices/CommandingServiceBase.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index abf5b0ed..f370cc6f 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -57,6 +57,8 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
 	if (packetForwarding == nullptr or distributor == nullptr) {
+	    sif::error << "CommandingServiceBase::intialize: Packet source or "
+	            "packet destination invalid!" << std::endl;
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
@@ -68,6 +70,8 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
 	if (IPCStore == nullptr or TCStore == nullptr) {
+	    sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
+	                    "not initialized yet!" << std::endl;
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 

From ce3e4a1176afd5170fb9dce62c2737c88d7d9786 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:24:16 +0200
Subject: [PATCH 097/154] added getter for reject reply

---
 ipc/CommandMessage.cpp                 | 11 +++++++++++
 ipc/CommandMessage.h                   |  2 ++
 tmtcservices/CommandingServiceBase.cpp | 12 ++++++------
 3 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index fa41c653..991c9df8 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -120,3 +120,14 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 	setParameter(reason);
 	setParameter2(initialCommand);
 }
+
+ReturnValue_t CommandMessage::getReplyRejectedReason(
+        Command_t *initialCommand) const {
+    ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
+    std::memcpy(&reason, getData(), sizeof(reason));
+    if(initialCommand != nullptr) {
+        std::memcpy(initialCommand, getData() + sizeof(reason),
+                sizeof(Command_t));
+    }
+    return reason;
+}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 2d966063..b800b9d2 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -124,6 +124,8 @@ public:
 	 */
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
+	ReturnValue_t getReplyRejectedReason(Command_t *initialCommand) const;
+
 	size_t getMinimumMessageSize() const;
 };
 
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index f370cc6f..e3ecada1 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -180,14 +180,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 	}
 	else {
 		if (isStep) {
-			nextCommand->clear();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, sendResult,
 					++iter->step, failureParameter1, failureParameter2);
 		} else {
-			nextCommand->clear();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@@ -267,7 +267,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
         object_id_t objectId, const uint8_t *data, size_t dataLen) {
     uint8_t buffer[sizeof(object_id_t)];
     uint8_t* pBuffer = buffer;
-    size_t size = 0;
+    uint32_t size = 0;
     SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
             sizeof(object_id_t), true);
     TmPacketStored tmPacketStored(this->apid, this->service, subservice,
@@ -322,7 +322,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			command.clear();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -339,7 +339,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			command.clear();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -378,7 +378,7 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 
 
 void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
-	reply->clear();
+	reply->clearCommandMessage();
 }
 
 

From 1ed5da3a122c98b01b9d59cac646bc9064cd33f5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:26:44 +0200
Subject: [PATCH 098/154] getter function bugfix

---
 ipc/CommandMessage.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 991c9df8..679793e3 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -123,11 +123,9 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 
 ReturnValue_t CommandMessage::getReplyRejectedReason(
         Command_t *initialCommand) const {
-    ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
-    std::memcpy(&reason, getData(), sizeof(reason));
+    ReturnValue_t reason = getParameter();
     if(initialCommand != nullptr) {
-        std::memcpy(initialCommand, getData() + sizeof(reason),
-                sizeof(Command_t));
+        *initialCommand = getParameter2();
     }
     return reason;
 }

From d1b9ab51263e10f5486fe2e8f53afe8670a3087b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 25 Jun 2020 17:17:24 +0200
Subject: [PATCH 099/154] added basic insertion operations

---
 container/SinglyLinkedList.h | 47 +++++++++++++++++++++++++++++++-----
 1 file changed, 41 insertions(+), 6 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index a78a1467..618a21e1 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -58,7 +58,7 @@ public:
 		this->next = next;
 	}
 
-	virtual void setEnd() {
+	virtual void setLast() {
 	    this->next = nullptr;
 	}
 
@@ -89,10 +89,23 @@ public:
 		return ElementIterator::Iterator(start);
 	}
 
+	/** Returns iterator to nulltr */
 	ElementIterator end() const {
 		return ElementIterator::Iterator();
 	}
 
+	/**
+	 * Returns last element in singly linked list.
+	 * @return
+	 */
+	ElementIterator back() const {
+	    LinkedElement<T> *element = start;
+	    while (element != nullptr) {
+	        element = element->getNext();
+	    }
+	    return ElementIterator::Iterator(element);
+	}
+
 	size_t getSize() const {
 		size_t size = 0;
 		LinkedElement<T> *element = start;
@@ -102,15 +115,37 @@ public:
 		}
 		return size;
 	}
-	void setStart(LinkedElement<T>* setStart) {
-		start = setStart;
+	void setStart(LinkedElement<T>* firstElement) {
+		start = firstElement;
 	}
 
-    void setEnd(LinkedElement<T>* setEnd) {
-        setEnd->setEnd();
+	void setNext(LinkedElement<T>* currentElement,
+	        LinkedElement<T>* nextElement) {
+	    currentElement->setNext(nextElement);
+	}
+
+    void setEnd(LinkedElement<T>* lastElement) {
+        lastElement->setLast();
     }
 
-    // SHOULDDO: Insertion operation ?
+    void insertElement(LinkedElement<T>* element, size_t position) {
+        LinkedElement<T> *currentElement = start;
+        for(size_t count = 0; count < position; count++) {
+            if(currentElement == nullptr) {
+                return;
+            }
+            currentElement = currentElement->getNext();
+        }
+        LinkedElement<T>* elementAfterCurrent = currentElement->next;
+        currentElement->setNext(element);
+        if(elementAfterCurrent != nullptr) {
+            element->setNext(elementAfterCurrent);
+        }
+    }
+
+    void insertBack(LinkedElement<T>* lastElement) {
+        back().value->setNext(lastElement);
+    }
 
 protected:
 	LinkedElement<T> *start = nullptr;

From 053b47215786d38b0f604755e0b712300908296a Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 25 Jun 2020 18:09:32 +0200
Subject: [PATCH 100/154] Fixed spelling mistake in HealthHelper

---
 devicehandlers/ChildHandlerBase.cpp  | 2 +-
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 devicehandlers/HealthDevice.cpp      | 2 +-
 health/HealthHelper.cpp              | 4 ++--
 health/HealthHelper.h                | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index 50a5c07e..430b24e0 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -34,7 +34,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 		parent->registerChild(getObjectId());
 	}
 
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 
 	modeHelper.setParentQueue(parentQueue);
 
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 90875838..2e24e0d5 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1072,7 +1072,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 
 void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 	modeHelper.setParentQueue(parentQueueId);
-	healthHelper.setParentQeueue(parentQueueId);
+	healthHelper.setParentQueue(parentQueueId);
 }
 
 bool DeviceHandlerBase::isAwaitingReply() {
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index ea0b99ff..61a82421 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -38,7 +38,7 @@ MessageQueueId_t HealthDevice::getCommandQueue() const {
 }
 
 void HealthDevice::setParentQueue(MessageQueueId_t parentQueue) {
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 }
 
 bool HealthDevice::hasHealthChanged() {
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index ed97f3d3..7b8b3a53 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -29,11 +29,11 @@ HasHealthIF::HealthState HealthHelper::getHealth() {
 }
 
 ReturnValue_t HealthHelper::initialize(MessageQueueId_t parentQueue) {
-	setParentQeueue(parentQueue);
+	setParentQueue(parentQueue);
 	return initialize();
 }
 
-void HealthHelper::setParentQeueue(MessageQueueId_t parentQueue) {
+void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 	this->parentQueue = parentQueue;
 }
 
diff --git a/health/HealthHelper.h b/health/HealthHelper.h
index a1ca2c52..471bc7e9 100644
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@@ -78,7 +78,7 @@ public:
 	/**
 	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
 	 */
-	void setParentQeueue(MessageQueueId_t parentQueue);
+	void setParentQueue(MessageQueueId_t parentQueue);
 
 	/**
 	 *

From bfd49caab4dd4432a575cc13738a818167d62c43 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 26 Jun 2020 12:52:03 +0200
Subject: [PATCH 101/154] fixed include guard comment

---
 container/HybridIterator.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index 3dbd47a8..f2fd6b28 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -87,4 +87,4 @@ private:
 	T *end = nullptr;
 };
 
-#endif /* HYBRIDITERATOR_H_ */
+#endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */

From 5400e38126d89730af33177f60963051659a985f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:53:32 +0200
Subject: [PATCH 102/154] slight change

---
 tmtcservices/CommandingServiceBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index e3ecada1..d69a0f03 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -113,8 +113,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	 * command as failure parameter 1 */
 	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
 			result == RETURN_FAILED) {
-		result = reply->getReplyRejectedReason(
-				reinterpret_cast<Command_t*>(&failureParameter1));
+	    result = reply->getReplyRejectedReason();
+	    failureParameter1 = iter->command;
 	}
 
 	switch (result) {

From d311c499981bbd247466e1da6bf5f84999931bad Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:57:00 +0200
Subject: [PATCH 103/154] setTaskIF implemented

---
 tmtcservices/PusServiceBase.cpp | 11 +++++++++++
 tmtcservices/PusServiceBase.h   | 17 +++++++++++++----
 2 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index f5d1e30b..82e5ff5c 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -32,6 +32,10 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 	return RETURN_OK;
 }
 
+void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
+    this->taskHandle = taskHandle;
+}
+
 void PusServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result = RETURN_FAILED;
@@ -108,3 +112,10 @@ ReturnValue_t PusServiceBase::initialize() {
 		return RETURN_FAILED;
 	}
 }
+
+ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
+    // If task parameters, for example task frequency are required, this
+    // function should be overriden and the system object task IF can
+    // be used to get those parameters.
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 39600c41..6d3d9bac 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -96,11 +96,20 @@ public:
 	 * @return	@c RETURN_OK if the periodic performService was successful.
 	 * 			@c RETURN_FAILED else.
 	 */
-	ReturnValue_t performOperation(uint8_t opCode);
-	virtual uint16_t getIdentifier();
-	MessageQueueId_t getRequestQueue();
-	virtual ReturnValue_t initialize();
+	ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual uint16_t getIdentifier() override;
+	MessageQueueId_t getRequestQueue() override;
+	virtual ReturnValue_t initialize() override;
+
+	virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 protected:
+	/**
+	 * @brief   Handle to the underlying task
+	 * @details
+	 * Will be set by setTaskIF(), which is called on task creation.
+	 */
+	PeriodicTaskIF* taskHandle = nullptr;
 	/**
 	 * The APID of this instance of the Service.
 	 */

From 06b481b02f4a598dcea06572683608264c49a217 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 12:44:08 +0200
Subject: [PATCH 104/154] Corrected filename of EndianConverter.h

---
 memory/MemoryHelper.cpp                          | 2 +-
 serialize/{EndianSwapper.h => EndianConverter.h} | 0
 serialize/SerializeAdapter.h                     | 2 +-
 3 files changed, 2 insertions(+), 2 deletions(-)
 rename serialize/{EndianSwapper.h => EndianConverter.h} (100%)

diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 132f4dc7..af56f2b8 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -2,7 +2,7 @@
 #include <framework/memory/MemoryHelper.h>
 #include <framework/memory/MemoryMessage.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/EndianSwapper.h>
+#include <framework/serialize/EndianConverter.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) :
diff --git a/serialize/EndianSwapper.h b/serialize/EndianConverter.h
similarity index 100%
rename from serialize/EndianSwapper.h
rename to serialize/EndianConverter.h
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index 73323c2a..ec727515 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -3,7 +3,7 @@
 
 #include <framework/container/IsDerivedFrom.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/EndianSwapper.h>
+#include <framework/serialize/EndianConverter.h>
 #include <framework/serialize/SerializeIF.h>
 #include <string.h>
 

From 89accf8940913213de1d5e067d42c1b2e09628e6 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 15:46:00 +0200
Subject: [PATCH 105/154] Documented EndianConverter and changed length to
 size_t

---
 serialize/EndianConverter.h | 57 +++++++++++++++++++++++++++++++++----
 1 file changed, 51 insertions(+), 6 deletions(-)

diff --git a/serialize/EndianConverter.h b/serialize/EndianConverter.h
index e142c2a1..cd5d5497 100644
--- a/serialize/EndianConverter.h
+++ b/serialize/EndianConverter.h
@@ -5,12 +5,44 @@
 #include <cstring>
 #include <iostream>
 
+/**
+ * Helper class to convert variables or bitstreams between machine
+ * endian and either big or little endian.
+ * Machine endian is the endianness used by the machine running the
+ * program and is one of big or little endian. As this is portable
+ * code, it is not known at coding time which it is. At compile time
+ * it is however, which is why this is implemented using compiler
+ * macros and translates to a copy operation at runtime.
+ *
+ * This changes the layout of multi-byte variables in the machine's
+ * memory. In most cases, you should not need to use this class.
+ * Probably what you are looking for is the SerializeAdapter.
+ * If you still decide you need this class, please read and understand
+ * the code first.
+ *
+ * The order of the individual bytes of the multi-byte variable is
+ * reversed, the byte at the highest address is moved to the lowest
+ * address and vice versa, same for the bytes in between.
+ *
+ * Note that the conversion is also its inversion, that is converting
+ * from machine to a specified endianness is the same operation as
+ * converting from specified to machine (I looked it up, mathematicians
+ * would call it an involution):
+ *
+ * X == convertBigEndian(convertBigEndian(X))
+ *
+ * Thus, there is only one function supplied to do the conversion.
+ */
 class EndianConverter {
 private:
 	EndianConverter() {
 	}
 	;
 public:
+	/**
+	 * Convert a typed variable between big endian and machine endian.
+	 * Intended for plain old datatypes.
+	 */
 	template<typename T>
 	static T convertBigEndian(T in) {
 #ifndef BYTE_ORDER_SYSTEM
@@ -19,7 +51,7 @@ public:
 		T tmp;
 		uint8_t *pointerOut = (uint8_t*) &tmp;
 		uint8_t *pointerIn = (uint8_t*) &in;
-		for (uint8_t count = 0; count < sizeof(T); count++) {
+		for (size_t count = 0; count < sizeof(T); count++) {
 			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 		}
 		return tmp;
@@ -29,12 +61,17 @@ public:
 #error Unknown Byte Order
 #endif
 	}
+
+	/**
+	 * convert a bytestream representing a single variable between big endian
+	 * and machine endian.
+	 */
 	static void convertBigEndian(uint8_t *out, const uint8_t *in,
-			uint32_t size) {
+			size_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-		for (uint8_t count = 0; count < size; count++) {
+		for (size_t count = 0; count < size; count++) {
 			out[size - count - 1] = in[count];
 		}
 		return;
@@ -44,6 +81,10 @@ public:
 #endif
 	}
 
+	/**
+	 * Convert a typed variable between little endian and machine endian.
+	 * Intended for plain old datatypes.
+	 */
 	template<typename T>
 	static T convertLittleEndian(T in) {
 #ifndef BYTE_ORDER_SYSTEM
@@ -52,7 +93,7 @@ public:
 			T tmp;
 			uint8_t *pointerOut = (uint8_t *) &tmp;
 			uint8_t *pointerIn = (uint8_t *) &in;
-			for (uint8_t count = 0; count < sizeof(T); count++) {
+			for (size_t count = 0; count < sizeof(T); count++) {
 				pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 			}
 			return tmp;
@@ -62,12 +103,16 @@ public:
 	#error Unknown Byte Order
 	#endif
 	}
+	/**
+	 * convert a bytestream representing a single variable between little endian
+	 * and machine endian.
+	 */
 	static void convertLittleEndian(uint8_t *out, const uint8_t *in,
-			uint32_t size) {
+			size_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 	#error BYTE_ORDER_SYSTEM not defined
 	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			for (uint8_t count = 0; count < size; count++) {
+			for (size_t count = 0; count < size; count++) {
 				out[size - count - 1] = in[count];
 			}
 			return;

From 45430e85861c9c14141d7f4841c69b34c051fce0 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 15:47:05 +0200
Subject: [PATCH 106/154] Reworked PoolRawAccess to use EndianConverter instead
 of converting by itself

---
 datapool/PoolRawAccess.cpp | 116 ++++++++++++++++---------------------
 datapool/PoolRawAccess.h   |  18 +++---
 2 files changed, 59 insertions(+), 75 deletions(-)

diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index 494aa567..e088e22f 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -2,12 +2,13 @@
 #include <framework/datapool/PoolEntryIF.h>
 #include <framework/datapool/PoolRawAccess.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/Endiness.h>
+#include <framework/serialize/EndianConverter.h>
 
 PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
-		DataSetIF* data_set, ReadWriteMode_t setReadWriteMode) :
-		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(Type::UNKNOWN_TYPE), typeSize(
-				0), arraySize(0), sizeTillEnd(0), readWriteMode(setReadWriteMode) {
+		DataSetIF *data_set, ReadWriteMode_t setReadWriteMode) :
+		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(
+				Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), readWriteMode(
+				setReadWriteMode) {
 	memset(value, 0, sizeof(value));
 	if (data_set != NULL) {
 		data_set->registerVariable(this);
@@ -19,7 +20,7 @@ PoolRawAccess::~PoolRawAccess() {
 }
 
 ReturnValue_t PoolRawAccess::read() {
-	PoolEntryIF* read_out = ::dataPool.getRawData(dataPoolId);
+	PoolEntryIF *read_out = ::dataPool.getRawData(dataPoolId);
 	if (read_out != NULL) {
 		valid = read_out->getValid();
 		if (read_out->getSize() > arrayEntry) {
@@ -29,7 +30,7 @@ ReturnValue_t PoolRawAccess::read() {
 			if (typeSize <= sizeof(value)) {
 				uint16_t arrayPosition = arrayEntry * typeSize;
 				sizeTillEnd = read_out->getByteSize() - arrayPosition;
-				uint8_t* ptr =
+				uint8_t *ptr =
 						&((uint8_t*) read_out->getRawData())[arrayPosition];
 				memcpy(value, ptr, typeSize);
 				return HasReturnvaluesIF::RETURN_OK;
@@ -42,8 +43,8 @@ ReturnValue_t PoolRawAccess::read() {
 	} else {
 		//Error entry does not exist.
 	}
-	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
-			<< std::dec << " failed." << std::endl;
+	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex
+			<< dataPoolId << std::dec << " failed." << std::endl;
 	valid = INVALID;
 	typeSize = 0;
 	sizeTillEnd = 0;
@@ -52,11 +53,11 @@ ReturnValue_t PoolRawAccess::read() {
 }
 
 ReturnValue_t PoolRawAccess::commit() {
-	PoolEntryIF* write_back = ::dataPool.getRawData(dataPoolId);
+	PoolEntryIF *write_back = ::dataPool.getRawData(dataPoolId);
 	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
 		write_back->setValid(valid);
 		uint8_t array_position = arrayEntry * typeSize;
-		uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position];
+		uint8_t *ptr = &((uint8_t*) write_back->getRawData())[array_position];
 		memcpy(ptr, value, typeSize);
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
@@ -68,23 +69,17 @@ uint8_t* PoolRawAccess::getEntry() {
 	return value;
 }
 
-ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
-		uint32_t* writtenBytes, uint32_t maxSize) {
-	uint8_t* data_ptr = getEntry();
+ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t *buffer,
+		size_t *writtenBytes, size_t maxSize) {
+	uint8_t *data_ptr = getEntry();
 //	debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
-	if (typeSize == 0)
+	if (typeSize == 0) {
 		return DATA_POOL_ACCESS_FAILED;
-	if (typeSize > maxSize)
-		return INCORRECT_SIZE;
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	for (uint8_t count = 0; count < typeSize; count++) {
-		buffer[count] = data_ptr[typeSize - count - 1];
 	}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, data_ptr, typeSize);
-#endif
+	if (typeSize > maxSize) {
+		return INCORRECT_SIZE;
+	}
+	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
 	*writtenBytes = typeSize;
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -93,11 +88,11 @@ Type PoolRawAccess::getType() {
 	return type;
 }
 
-uint8_t PoolRawAccess::getSizeOfType() {
+size_t PoolRawAccess::getSizeOfType() {
 	return typeSize;
 }
 
-uint8_t PoolRawAccess::getArraySize(){
+size_t PoolRawAccess::getArraySize() {
 	return arraySize;
 }
 
@@ -109,21 +104,14 @@ PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
 	return readWriteMode;
 }
 
-ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t* buffer,
-		uint32_t setSize) {
+ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
+		size_t setSize) {
 	if (typeSize == setSize) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-		for (uint8_t count = 0; count < typeSize; count++) {
-			value[count] = buffer[typeSize - count - 1];
-		}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-		memcpy(value, buffer, typeSize);
-#endif
+		EndianConverter::convertBigEndian(value, buffer, typeSize);
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
+		sif::error
+				<< "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
 				<< (uint32_t) typeSize << ", Requested: " << setSize
 				<< std::endl;
 		return INCORRECT_SIZE;
@@ -141,27 +129,24 @@ void PoolRawAccess::setValid(uint8_t valid) {
 	this->valid = valid;
 }
 
-uint16_t PoolRawAccess::getSizeTillEnd() const {
+size_t PoolRawAccess::getSizeTillEnd() const {
 	return sizeTillEnd;
 }
 
-ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
+ReturnValue_t PoolRawAccess::serialize(uint8_t **buffer, size_t *size,
 		size_t maxSize, Endianness streamEndianness) const {
-	//TODO integer overflow
 	if (typeSize + *size <= maxSize) {
-#warning use endian swapper
-		if (1) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-			for (uint8_t count = 0; count < typeSize; count++) {
-				(*buffer)[count] = value[typeSize - count - 1];
-			}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			memcpy(*buffer, value, typeSize);
-#endif
-		} else {
+		switch (streamEndianness) {
+		case (Endianness::BIG):
+			EndianConverter::convertBigEndian(*buffer, value, typeSize);
+			break;
+		case (Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(*buffer, value, typeSize);
+			break;
+		default:
+		case (Endianness::MACHINE):
 			memcpy(*buffer, value, typeSize);
+			break;
 		}
 		*size += typeSize;
 		(*buffer) += typeSize;
@@ -175,24 +160,23 @@ size_t PoolRawAccess::getSerializedSize() const {
 	return typeSize;
 }
 
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, size_t* size,
+ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
 		Endianness streamEndianness) {
 
 	if (*size >= typeSize) {
-		*size -= typeSize;
-		if (1) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-			for (uint8_t count = 0; count < typeSize; count++) {
-				value[count] = (*buffer)[typeSize - count - 1];
-			}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			memcpy(value, *buffer, typeSize);
-#endif
-		} else {
+		switch (streamEndianness) {
+		case (Endianness::BIG):
+			EndianConverter::convertBigEndian(value, *buffer, typeSize);
+			break;
+		case (Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(value, *buffer, typeSize);
+			break;
+		default:
+		case (Endianness::MACHINE):
 			memcpy(value, *buffer, typeSize);
+			break;
 		}
+		*size -= typeSize;
 		*buffer += typeSize;
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 8cc8f3f0..09d19afd 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -32,15 +32,15 @@ private:
 	/**
 	 * \brief	This value contains the size of the data pool entry in bytes.
 	 */
-	uint8_t typeSize;
+	size_t typeSize;
 	/**
 	 * The size of the DP array (single values return 1)
 	 */
-	uint8_t arraySize;
+	size_t arraySize;
 	/**
 	 * The size (in bytes) from the selected entry till the end of this DataPool variable.
 	 */
-	uint16_t sizeTillEnd;
+	size_t sizeTillEnd;
 	/**
 	 * \brief	The information whether the class is read-write or read-only is stored here.
 	 */
@@ -97,8 +97,8 @@ public:
 	 * \return	- \c RETURN_OK if entry could be acquired
 	 * 			- \c RETURN_FAILED else.
 	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, uint32_t *size,
-			uint32_t maxSize);
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
+			size_t maxSize);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
 	 * @param buffer	Pointer to the data to set
@@ -107,7 +107,7 @@ public:
 	 * 			- \c RETURN_FAILED on failure
 	 */
 	ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
-			uint32_t setSize);
+			size_t setSize);
 	/**
 	 *  \brief This operation returns the type of the entry currently stored.
 	 */
@@ -115,12 +115,12 @@ public:
 	/**
 	 *  \brief This operation returns the size of the entry currently stored.
 	 */
-	uint8_t getSizeOfType();
+	size_t getSizeOfType();
 	/**
 	 *
 	 * @return the size of the datapool array
 	 */
-	uint8_t getArraySize();
+	size_t getArraySize();
 	/**
 	 * \brief	This operation returns the data pool id of the variable.
 	 */
@@ -138,7 +138,7 @@ public:
 	/**
 	 * Getter for the remaining size.
 	 */
-	uint16_t getSizeTillEnd() const;
+	size_t getSizeTillEnd() const;
 
 	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
 			 Endianness streamEndianness) const override;

From 6e799720868de42e59be07f850b78cc04fe1e422 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 15:50:29 +0200
Subject: [PATCH 107/154] size_t for DataPoolAdmin

---
 datapool/DataPoolAdmin.cpp | 8 ++++----
 datapool/DataPoolAdmin.h   | 6 +++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp
index 3ac3ef6a..3ea266ea 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapool/DataPoolAdmin.cpp
@@ -26,7 +26,7 @@ MessageQueueId_t DataPoolAdmin::getCommandQueue() const {
 }
 
 ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
 	if (actionId != SET_VALIDITY) {
 		return INVALID_ACTION_ID;
 	}
@@ -91,7 +91,7 @@ void DataPoolAdmin::handleCommand() {
 }
 
 ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
-		const uint8_t* data, uint32_t size, uint8_t** dataPointer) {
+		const uint8_t* data, size_t size, uint8_t** dataPointer) {
 	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
 	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
 	DataSet testSet;
@@ -129,7 +129,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 	return ACTIVITY_COMPLETED;
 }
 
-ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, uint32_t size,
+ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
 		uint8_t** dataPointer, uint8_t* copyHere) {
 	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
 	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
@@ -151,7 +151,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, uint32_t size,
 				PoolVariableIF::VAR_READ);
 		status = rawSet.read();
 		if (status == RETURN_OK) {
-			uint32_t temp = 0;
+			size_t temp = 0;
 			status = variable.getEntryEndianSafe(ptrToCopy, &temp, size);
 			if (status != RETURN_OK) {
 				return RETURN_FAILED;
diff --git a/datapool/DataPoolAdmin.h b/datapool/DataPoolAdmin.h
index 448d78fb..1be920b5 100644
--- a/datapool/DataPoolAdmin.h
+++ b/datapool/DataPoolAdmin.h
@@ -29,12 +29,12 @@ public:
 	MessageQueueId_t getCommandQueue() const;
 
 	ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
-			uint32_t size, uint8_t** dataPointer);
-	ReturnValue_t handleMemoryDump(uint32_t address, uint32_t size,
+			size_t size, uint8_t** dataPointer);
+	ReturnValue_t handleMemoryDump(uint32_t address, size_t size,
 			uint8_t** dataPointer, uint8_t* copyHere);
 
 	ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size);
+			MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
 
 	//not implemented as ParameterHelper is no used
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,

From 6a0a2675b1bba3f69e81224d935ac93166306c97 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 12:36:01 +0200
Subject: [PATCH 108/154] typedef instead of auto used now

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 223cf4bd..c062101d 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -82,10 +82,10 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-	auto slotListIter = pst.current;
+	FixedSlotSequence::SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = (*slotListIter)->pollingTimeMs;
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;

From 986bb154be701a7ce989ac4edd6a8a4f4a6965de Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 13:24:04 +0200
Subject: [PATCH 109/154] hotfix: arrayprinter was renamed

---
 datapool/PoolEntry.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index a87a6c4e..d535a72b 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,6 +1,6 @@
 #include <framework/datapool/PoolEntry.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/globalfunctions/printer.h>
+#include <framework/globalfunctions/arrayprinter.h>
 #include <cstring>
 
 template <typename T>
@@ -68,7 +68,7 @@ template <typename T>
 void PoolEntry<T>::print() {
 	 sif::debug << "Pool Entry Validity: " <<
 			 (this->valid? " (valid) " : " (invalid) ") << std::endl;
-	printer::print(reinterpret_cast<uint8_t*>(address), length);
+	arrayprinter::print(reinterpret_cast<uint8_t*>(address), length);
 	sif::debug << std::dec << std::endl;
 }
 

From 133ed9586b2ecceccdf92316f25d7cbf2c551c0d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 19:31:28 +0200
Subject: [PATCH 110/154] tmtc bridge improvements

---
 tmtcservices/TmTcBridge.cpp | 58 +++++++++++++++++++++++--------------
 tmtcservices/TmTcBridge.h   | 53 +++++++++++++++++----------------
 2 files changed, 63 insertions(+), 48 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index f9a7d3bc..8c44f7de 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -5,11 +5,13 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/globalfunctions/arrayprinter.h>
 
-TmTcBridge::TmTcBridge(object_id_t objectId_,
-        object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
-        ccsdsPacketDistributor(ccsdsPacketDistributor_)
+TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+		object_id_t tmStoreId, object_id_t tcStoreId):
+		SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
+		tcDestination(tcDestination)
+
 {
-    TmTcReceptionQueue = QueueFactory::instance()->
+    tmTcReceptionQueue = QueueFactory::instance()->
             createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
@@ -42,20 +44,27 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
 }
 
 ReturnValue_t TmTcBridge::initialize() {
-	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
-	if (tcStore == NULL) {
-		return RETURN_FAILED;
+	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
+	if (tcStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
-	tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
-	if (tmStore == NULL) {
-		return RETURN_FAILED;
+	tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
+	if (tmStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 	AcceptsTelecommandsIF* tcDistributor =
-			objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
-	if (tcDistributor == NULL) {
-		return RETURN_FAILED;
+			objectManager->get<AcceptsTelecommandsIF>(tcDestination);
+	if (tcDistributor == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC Distributor invalid"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
-	TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
+
+	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
 	return RETURN_OK;
 }
 
@@ -73,10 +82,7 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t TmTcBridge::handleTc() {
-	uint8_t * recvBuffer = nullptr;
-	size_t recvLen = 0;
-	ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
-	return result;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TmTcBridge::handleTm() {
@@ -97,8 +103,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 	TmTcMessage message;
 	const uint8_t* data = nullptr;
 	size_t size = 0;
-	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
-		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
+	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
+		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
 	{
 		if(communicationLinkUp == false) {
 			result = storeDownlinkData(&message);
@@ -183,10 +189,20 @@ void TmTcBridge::registerCommDisconnect() {
 }
 
 MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
-	return TmTcReceptionQueue->getId();
+	return tmTcReceptionQueue->getId();
 }
 
 
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
 	arrayprinter::print(data, dataLen);
 }
+
+uint16_t TmTcBridge::getIdentifier() {
+	// This is no PUS service, so we just return 0
+	return 0;
+}
+
+MessageQueueId_t TmTcBridge::getRequestQueue() {
+	// Default implementation: Relay TC messages to TC distributor directly.
+	return tmTcReceptionQueue->getDefaultDestination();
+}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 3e0432d8..3e3d1b71 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,16 +1,18 @@
 #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 
+#include <framework/objectmanager/SystemObject.h>
 #include <framework/tmtcservices/AcceptsTelemetryIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 
-#include <framework/tmtcservices/TmTcMessage.h>
 #include <framework/container/FIFO.h>
+#include <framework/tmtcservices/TmTcMessage.h>
 
 class TmTcBridge : public AcceptsTelemetryIF,
+		public AcceptsTelecommandsIF,
 		public ExecutableObjectIF,
 		public HasReturnvaluesIF,
 		public SystemObject {
@@ -22,7 +24,8 @@ public:
 	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
 	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
 
-	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
+	TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+			object_id_t tmStoreId, object_id_t tcStoreId);
 	virtual ~TmTcBridge();
 
 	/**
@@ -57,45 +60,41 @@ public:
 	 */
 	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-	/**
-	 * Return TMTC Reception Queue
-	 * @param virtualChannel
-	 * @return
-	 */
-	MessageQueueId_t getReportReceptionQueue(
+
+	/** AcceptsTelemetryIF override */
+	virtual MessageQueueId_t getReportReceptionQueue(
 			uint8_t virtualChannel = 0) override;
+
+	/** AcceptsTelecommandsIF override */
+	virtual uint16_t getIdentifier() override;
+	virtual MessageQueueId_t getRequestQueue() override;
+
 protected:
+	//! Cached for initialize function.
+	object_id_t tmStoreId = objects::NO_OBJECT;
+	object_id_t tcStoreId = objects::NO_OBJECT;
+	object_id_t tcDestination = objects::NO_OBJECT;
+
 	//! Used to send and receive TMTC messages.
 	//! TmTcMessage is used to transport messages between tasks.
-	MessageQueueIF* TmTcReceptionQueue = nullptr;
-	StorageManagerIF* tcStore = nullptr;
+	MessageQueueIF* tmTcReceptionQueue = nullptr;
+
 	StorageManagerIF* tmStore = nullptr;
-	object_id_t ccsdsPacketDistributor = 0;
-	//! Used to specify whether communication link is up
-	bool communicationLinkUp = false;
+	StorageManagerIF* tcStore = nullptr;
+
+	//! Used to specify whether communication link is up by default.
+	bool communicationLinkUp = true;
 	bool tmStored = false;
 
 	/**
 	 * @brief 	Handle TC reception
 	 * @details
 	 * Default implementation provided, but is empty.
-	 * Child handler should override this in most cases orsend TC to the
-	 * TC distributor directly with the address of the reception queue by
-	 * calling getReportRecptionQueue()
+	 * In most cases, TC reception will be handled in a separate task anyway.
 	 * @return
 	 */
 	virtual ReturnValue_t handleTc();
 
-	/**
-	 * Implemented by child class. Perform receiving of Telecommand,
-	 * for example by implementing specific drivers or wrappers,
-	 * e.g. UART Communication or an ethernet stack
-	 * @param recvBuffer [out] Received data
-	 * @param size [out] Size of received data
-	 * @return
-	 */
-	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
-
 	/**
 	 * Handle Telemetry. Default implementation provided.
 	 * Calls sendTm()

From 90e299977bcb0d32672d520ecf94fee666913923 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 19:41:16 +0200
Subject: [PATCH 111/154] minor formatting improvements

---
 tmtcservices/TmTcBridge.cpp | 27 +++++++++++++++------------
 tmtcservices/TmTcBridge.h   | 11 +++++++----
 2 files changed, 22 insertions(+), 16 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 8c44f7de..b55803cb 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -24,8 +24,9 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		return RETURN_OK;
 	}
 	else {
-	    sif::warning << "TmTcBridge: Number of packets sent per cycle "
-	               "exceeds limits. Keeping default value." << std::endl;
+	    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
+	             << "packets sent per cycle exceeds limits. "
+	             << "Keeping default value." << std::endl;
 		return RETURN_FAILED;
 	}
 }
@@ -37,8 +38,9 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
         return RETURN_OK;
     }
     else {
-        sif::warning << "TmTcBridge: Number of packets stored "
-                   "exceeds limits. Keeping default value." << std::endl;
+        sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
+                << "packets stored exceeds limits. "
+                << "Keeping default value." << std::endl;
         return RETURN_FAILED;
     }
 }
@@ -72,11 +74,13 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 	ReturnValue_t result;
 	result = handleTc();
 	if(result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
+		sif::debug << "TmTcBridge::performOperation: "
+		        << "Error handling TCs" << std::endl;
 	}
 	result = handleTm();
 	if (result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
+	    sif::debug << "TmTcBridge::performOperation: "
+	                    << "Error handling TMs" << std::endl;
 	}
 	return result;
 }
@@ -88,7 +92,7 @@ ReturnValue_t TmTcBridge::handleTc() {
 ReturnValue_t TmTcBridge::handleTm() {
 	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
+		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
 		return RETURN_FAILED;
 	}
 
@@ -118,7 +122,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 
 		result = sendTm(data, size);
 		if (result != RETURN_OK) {
-			sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl;
+			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
 			tmStore->deleteData(message.getStorageId());
 			return result;
 
@@ -129,13 +133,12 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 }
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
-	//debug << "TMTC Bridge: Comm Link down. "
-	//		 "Saving packet ID to be sent later\r\n" << std::flush;
 	store_address_t storeId = 0;
 
 	if(tmFifo.full()) {
-		sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
-				 "reached! Overwriting old data" << std::endl;
+		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+		        << "of stored packet IDs reached! "
+		        << "Overwriting old data" << std::endl;
 		tmFifo.retrieve(&storeId);
 		tmStore->deleteData(storeId);
 	}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 3e3d1b71..993cd5b9 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -76,13 +76,14 @@ protected:
 	object_id_t tcDestination = objects::NO_OBJECT;
 
 	//! Used to send and receive TMTC messages.
-	//! TmTcMessage is used to transport messages between tasks.
+	//! The TmTcMessage class is used to transport messages between tasks.
 	MessageQueueIF* tmTcReceptionQueue = nullptr;
 
 	StorageManagerIF* tmStore = nullptr;
 	StorageManagerIF* tcStore = nullptr;
 
-	//! Used to specify whether communication link is up by default.
+	//! Used to specify whether communication link is up. Will be true
+	//! by default, so telemetry will be handled immediately.
 	bool communicationLinkUp = true;
 	bool tmStored = false;
 
@@ -103,7 +104,8 @@ protected:
 	virtual ReturnValue_t handleTm();
 
 	/**
-	 * Read the TM Queue and send TM if necessary. Default implementation provided
+	 * Read the TM Queue and send TM if necessary.
+	 * Default implementation provided
 	 * @return
 	 */
 	virtual ReturnValue_t handleTmQueue();
@@ -116,7 +118,8 @@ protected:
 
 	/**
 	 * Implemented by child class. Perform sending of Telemetry by implementing
-	 * communication drivers or wrappers, e.g. UART communication or lwIP stack.
+	 * communication drivers or wrappers, e.g. serial communication or a socket
+	 * call.
 	 * @param data
 	 * @param dataLen
 	 * @return

From 83484237ae67298190275965c64e83c4268fd4e1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 19:53:17 +0200
Subject: [PATCH 112/154] default argument for getter function

---
 ipc/CommandMessage.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index b800b9d2..b75d94b1 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -124,7 +124,8 @@ public:
 	 */
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
-	ReturnValue_t getReplyRejectedReason(Command_t *initialCommand) const;
+	ReturnValue_t getReplyRejectedReason(
+	        Command_t *initialCommand = nullptr) const;
 
 	size_t getMinimumMessageSize() const;
 };

From d1e922eecf6b24bdd01286864a075b63080d4aa0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 20:08:40 +0200
Subject: [PATCH 113/154] new intiialize after task creation function

---
 tasks/ExecutableObjectIF.h | 36 ++++++++++++++++++++----------------
 1 file changed, 20 insertions(+), 16 deletions(-)

diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h
index 5c5955c1..d716cdfb 100644
--- a/tasks/ExecutableObjectIF.h
+++ b/tasks/ExecutableObjectIF.h
@@ -1,15 +1,5 @@
-/**
- * @file	ExecutableObjectIF.h
- *
- * @brief	This file contains the definition for the ExecutableObjectIF interface.
- *
- * @author	Bastian Baetz
- *
- * @date	12.03.2012
- */
-
-#ifndef EXECUTABLEOBJECTIF_H_
-#define EXECUTABLEOBJECTIF_H_
+#ifndef FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
+#define FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
 
 class PeriodicTaskIF;
 
@@ -20,6 +10,7 @@ class PeriodicTaskIF;
  * @brief	The interface provides a method to execute objects within a task.
  * @details	The performOperation method, that is required by the interface is
  * 			executed cyclically within a task context.
+ * @author  Bastian Baetz
  */
 class ExecutableObjectIF {
 public:
@@ -37,13 +28,26 @@ public:
 
 	/**
 	 * @brief Function called during setup assignment of object to task
-	 * @details Has to be called from the function that assigns the object to a task and
-	 * 			enables the object implementation to overwrite this function and get a reference to the executing task
+	 * @details
+	 * Has to be called from the function that assigns the object to a task and
+	 * enables the object implementation to overwrite this function and get
+	 * a reference to the executing task
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_) {
+	virtual void setTaskIF(PeriodicTaskIF* task_) {};
 
+	/**
+	 * This function should be called after the object was assigned to a
+	 * specific task.
+	 *
+	 * Example: Can be used to get task execution frequency.
+	 * The task is created after initialize() and the object ctors have been
+	 * called so the execution frequency can't be cached in initialize()
+	 * @return
+	 */
+	virtual ReturnValue_t initializeAfterTaskCreation() {
+	    return HasReturnvaluesIF::RETURN_OK;
 	}
 };
 
-#endif /* EXECUTABLEOBJECTIF_H_ */
+#endif /* FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_ */

From 6b2b788308bef172e6a83c46a44ea20bf3106f41 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 14:16:55 +0200
Subject: [PATCH 114/154] added new pus services

---
 framework.mk                            |  13 +-
 pus/CService200ModeCommanding.cpp       | 119 +++++++++++++++++
 pus/CService200ModeCommanding.h         |  85 ++++++++++++
 pus/Service1TelecommandVerification.cpp | 100 ++++++++++++++
 pus/Service1TelecommandVerification.h   |  94 +++++++++++++
 pus/Service2DeviceAccess.cpp            | 167 ++++++++++++++++++++++++
 pus/Service2DeviceAccess.h              |  92 +++++++++++++
 pus/Service5EventReporting.cpp          |  91 +++++++++++++
 pus/Service5EventReporting.h            |  86 ++++++++++++
 pus/Service8FunctionManagement.cpp      | 135 +++++++++++++++++++
 pus/Service8FunctionManagement.h        |  67 ++++++++++
 pus/servicepackets/Service1Packets.h    | 166 +++++++++++++++++++++++
 pus/servicepackets/Service200Packets.h  |  63 +++++++++
 pus/servicepackets/Service2Packets.h    |  76 +++++++++++
 pus/servicepackets/Service5Packets.h    |  76 +++++++++++
 pus/servicepackets/Service8Packets.h    | 136 +++++++++++++++++++
 16 files changed, 1562 insertions(+), 4 deletions(-)
 create mode 100644 pus/CService200ModeCommanding.cpp
 create mode 100644 pus/CService200ModeCommanding.h
 create mode 100644 pus/Service1TelecommandVerification.cpp
 create mode 100644 pus/Service1TelecommandVerification.h
 create mode 100644 pus/Service2DeviceAccess.cpp
 create mode 100644 pus/Service2DeviceAccess.h
 create mode 100644 pus/Service5EventReporting.cpp
 create mode 100644 pus/Service5EventReporting.h
 create mode 100644 pus/Service8FunctionManagement.cpp
 create mode 100644 pus/Service8FunctionManagement.h
 create mode 100644 pus/servicepackets/Service1Packets.h
 create mode 100644 pus/servicepackets/Service200Packets.h
 create mode 100644 pus/servicepackets/Service2Packets.h
 create mode 100644 pus/servicepackets/Service5Packets.h
 create mode 100644 pus/servicepackets/Service8Packets.h

diff --git a/framework.mk b/framework.mk
index a5a65364..5db96b5b 100644
--- a/framework.mk
+++ b/framework.mk
@@ -1,5 +1,5 @@
-# This file needs FRAMEWORK_PATH and API set correctly
-# Valid API settings: rtems, linux, freeRTOS
+# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
+# Valid API settings: rtems, linux, freeRTOS, host
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
@@ -8,11 +8,13 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
@@ -32,8 +34,10 @@ else ifeq ($(OS),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
 else ifeq ($(OS),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
@@ -54,3 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
new file mode 100644
index 00000000..fd6da67e
--- /dev/null
+++ b/pus/CService200ModeCommanding.cpp
@@ -0,0 +1,119 @@
+#include <framework/pus/CService200ModeCommanding.h>
+#include <framework/pus/servicepackets/Service200Packets.h>
+
+#include <framework/modes/HasModesIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/modes/ModeMessage.h>
+
+CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+        CommandingServiceBase(objectId, apid, serviceId,
+	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
+
+CService200ModeCommanding::~CService200ModeCommanding() {}
+
+ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
+	switch(subservice) {
+	case(Subservice::COMMAND_MODE_COMMAND):
+	case(Subservice::COMMAND_MODE_READ):
+	case(Subservice::COMMAND_MODE_ANNCOUNCE):
+		return RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+
+ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+		MessageQueueId_t *id, object_id_t *objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
+            SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
+        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+    HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
+    if(destination == nullptr) {
+        return CommandingServiceBase::INVALID_OBJECT;
+
+    }
+
+    *messageQueueToSet = destination->getCommandQueue();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t CService200ModeCommanding::prepareCommand(
+		CommandMessage* message,uint8_t subservice, const uint8_t *tcData,
+		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
+	ModePacket modeCommandPacket;
+	ReturnValue_t result = modeCommandPacket.deSerialize(&tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
+	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+	        modeCommandPacket.getSubmode());
+	return result;
+}
+
+
+ReturnValue_t CService200ModeCommanding::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t *state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool *isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	switch(replyId) {
+	case(ModeMessage::REPLY_MODE_REPLY): {
+		result = prepareModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_WRONG_MODE_REPLY): {
+		result = prepareWrongModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_CANT_REACH_MODE): {
+		result = prepareCantReachModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_MODE_INFO):
+		result = INVALID_REPLY;
+		break;
+	default:
+		result = RETURN_FAILED;
+	}
+	return result;
+}
+
+ReturnValue_t CService200ModeCommanding::prepareModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket modeReplyPacket(objectId,
+			ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	CantReachModePacket cantReachModePacket(objectId,
+	        ModeMessage::getCantReachModeReason(reply));
+	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
+	        &cantReachModePacket);
+}
diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h
new file mode 100644
index 00000000..ede61a84
--- /dev/null
+++ b/pus/CService200ModeCommanding.h
@@ -0,0 +1,85 @@
+#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief Custom PUS service to set mode of all objects implementing HasModesIF
+ *
+ * Examples: Device Handlers, Assemblies or Subsystems.
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * @ingroup pus_services
+ */
+class CService200ModeCommanding: public CommandingServiceBase {
+public:
+	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
+	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
+
+	CService200ModeCommanding(object_id_t objectId,
+	        uint16_t apid, uint8_t serviceId);
+	virtual~ CService200ModeCommanding();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+			uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
+			bool *isStep) override;
+
+private:
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+			const uint8_t* tcData, uint32_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+
+	enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
+		//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
+		COMMAND_MODE_COMMAND = 1,
+		//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
+		//! regardless of external control flag
+		COMMAND_MODE_COMMAND_FORCED = 2,
+		//!< [EXPORT] : [COMMAND] Read the current mode and
+		//! reply with a REPLY_MODE_REPLY
+		COMMAND_MODE_READ = 3,
+		//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
+		//! This command does NOT have a reply
+		COMMAND_MODE_ANNCOUNCE = 4,
+		//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
+		//! command to every child. This command does NOT have a reply.
+		COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
+		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+		REPLY_MODE_REPLY = 6,
+		//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
+		REPLY_CANT_REACH_MODE = 7,
+		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a
+		//! mode was commanded and a transition started but was aborted,
+		//! the parameters contain the mode that was reached
+		REPLY_WRONG_MODE_REPLY = 8
+	};
+
+	enum modeParameters {
+		MODE_OFF = 0,
+		MODE_ON = 1,
+		MODE_NORMAL = 2,
+		MODE_RAW = 3
+	};
+};
+
+#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
new file mode 100644
index 00000000..4ce2ce54
--- /dev/null
+++ b/pus/Service1TelecommandVerification.cpp
@@ -0,0 +1,100 @@
+#include <framework/pus/Service1TelecommandVerification.h>
+#include <framework/pus/servicepackets/Service1Packets.h>
+
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcservices/PusVerificationReport.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+
+Service1TelecommandVerification::Service1TelecommandVerification(
+        object_id_t objectId, uint16_t apid, uint8_t serviceId,
+        object_id_t targetDestination):
+        SystemObject(objectId), apid(apid), serviceId(serviceId),
+        targetDestination(targetDestination) {
+	tmQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+Service1TelecommandVerification::~Service1TelecommandVerification() {}
+
+MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){
+	return tmQueue->getId();
+}
+
+
+ReturnValue_t Service1TelecommandVerification::performOperation(
+		uint8_t operationCode){
+	PusVerificationMessage message;
+	ReturnValue_t status = tmQueue->receiveMessage(&message);
+	while(status == HasReturnvaluesIF::RETURN_OK) {
+		status = sendVerificationReport(&message);
+		if(status != HasReturnvaluesIF::RETURN_OK) {
+			return status;
+		}
+		status = tmQueue->receiveMessage(&message);
+	}
+	if (status == MessageQueueIF::EMPTY) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return status;
+	}
+}
+
+
+ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
+		PusVerificationMessage* message) {
+	ReturnValue_t result;
+	if(message->getReportId() % 2 == 0) {
+		result = generateFailureReport(message);
+	} else {
+		result = generateSuccessReport(message);
+	}
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		sif::error << "Service1TelecommandVerification::initialize: "
+		        "Sending verification packet failed !" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t Service1TelecommandVerification::generateFailureReport(
+        PusVerificationMessage *message) {
+	FailureReport report(
+			message->getReportId(), message->getTcPacketId(),
+			message->getTcSequenceControl(), message->getStep(),
+			message->getErrorCode(), message->getParameter1(),
+			message->getParameter2());
+	TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
+	        packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
+			tmQueue->getId());
+	return result;
+}
+
+ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
+        PusVerificationMessage *message) {
+	SuccessReport report(message->getReportId(),message->getTcPacketId(),
+			message->getTcSequenceControl(),message->getStep());
+	TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
+	        packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
+			tmQueue->getId());
+	return result;
+}
+
+
+ReturnValue_t Service1TelecommandVerification::initialize() {
+	// Get target object for TC verification messages
+	AcceptsTelemetryIF* funnel = objectManager->
+			get<AcceptsTelemetryIF>(targetDestination);
+	if(funnel == nullptr){
+	    sif::error << "Service1TelecommandVerification::initialize: Specified"
+	            " TM funnel invalid. Make sure it is set up and implements"
+	            " AcceptsTelemetryIF." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+	tmQueue->setDefaultDestination(funnel->getReportReceptionQueue());
+	return SystemObject::initialize();
+}
diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h
new file mode 100644
index 00000000..1d4b6719
--- /dev/null
+++ b/pus/Service1TelecommandVerification.h
@@ -0,0 +1,94 @@
+#ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+#define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
+#include <framework/tmtcservices/PusVerificationReport.h>
+#include <framework/ipc/MessageQueueIF.h>
+
+/**
+ * @brief Verify TC acceptance, start, progress and execution.
+ *
+ * Full Documentation: ECSS-E70-41A p.51
+ *
+ * The telecommand verification service provides the capability for
+ * explicit verification of each distinct stage of execution of a telecommand
+ * packet, from on-board acceptance through to completion of execution.
+ *
+ * Minimum capabilities of this service:
+ *
+ *  - TM[1,1]: Telecommand Acceptance Report - Success.
+ *  - TM[1,2]: Telecommand Acceptance Report - Failure.
+ *
+ * Additional capabilities of this service:
+ *
+ *  - TM[1,3]: Telecommand Execution Started Report - Success (Req. 4).
+ *  - TM[1,4]: Telecommand Execution Started Report - Failure (Req. 3).
+ *  - TM[1,5]: Telecommand Execution Progress Report - Success (Req. 6).
+ *  - TM[1,6]: Telecommand Execution Progress Report - Failure (Req. 5).
+ *  - TM[1,7]: Telecommand Execution Completed Report - Success (Req. 8).
+ *  - TM[1,8]: Telecommand Execution Completed Report - Failure (Req. 7).
+ *
+ * This Service is not inherited from PUSServiceBase unlike other PUS Services
+ * because all services implementing PUSServiceBase use this service to
+ * generate verification reports.
+ * @ingroup pus_services
+ */
+class Service1TelecommandVerification: public AcceptsVerifyMessageIF,
+		public SystemObject,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1;
+
+	Service1TelecommandVerification(object_id_t objectId,
+	        uint16_t apid, uint8_t serviceId, object_id_t targetDestination);
+	virtual ~Service1TelecommandVerification();
+
+	/**
+	 *
+	 * @return ID of Verification Queue
+	 */
+	virtual MessageQueueId_t getVerificationQueue();
+
+	/**
+	 * Performs the service periodically as specified in init_mission().
+	 * Triggers the handlePacket function to send TC verification messages
+	 * @param operationCode
+	 * @return
+	 */
+	ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+	/**
+	 * Initializes the destination for TC verification messages and initializes
+	 * Service 1 as a system object
+	 * @return
+	 */
+	ReturnValue_t initialize() override;
+private:
+	uint16_t apid = 0;
+	uint8_t serviceId = 0;
+
+	object_id_t targetDestination = objects::NO_OBJECT;
+
+	ReturnValue_t sendVerificationReport(PusVerificationMessage* message);
+	ReturnValue_t generateFailureReport(PusVerificationMessage* message);
+	ReturnValue_t generateSuccessReport(PusVerificationMessage* message);
+
+	uint16_t packetSubCounter = 0;
+
+	MessageQueueIF* tmQueue = nullptr;
+
+	enum class Subservice: uint8_t {
+		VERIFY_ACCEPTANCE_SUCCESS = 1, //!< [EXPORT] : [TM]
+		VERIFY_ACCEPTANCE_FAILED = 2, //!< [EXPORT] : [TM]
+		VERIFY_START_SUCCESS = 3, //!< [EXPORT] : [TM]
+		VERIFY_START_FAILED = 4, //!< [EXPORT] : [TM]
+		VERIFY_STEP_SUCCESS = 5, //!< [EXPORT] : [TM]
+		VERIFY_STEP_FAILED = 6 //!< [EXPORT] : [TM]
+	};
+};
+
+#endif /* MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */
diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
new file mode 100644
index 00000000..1d5f21eb
--- /dev/null
+++ b/pus/Service2DeviceAccess.cpp
@@ -0,0 +1,167 @@
+#include <framework/pus/Service2DeviceAccess.h>
+#include <framework/pus/servicepackets/Service2Packets.h>
+
+#include <framework/devicehandlers/DeviceHandlerIF.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/devicehandlers/DeviceHandlerMessage.h>
+#include <framework/serialize/EndianConverter.h>
+#include <framework/action/ActionMessage.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
+        uint16_t commandTimeoutSeconds):
+        CommandingServiceBase(objectId, apid, serviceId,
+	        numberOfParallelCommands, commandTimeoutSeconds) {}
+
+Service2DeviceAccess::~Service2DeviceAccess() {}
+
+
+ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING:
+	case Subservice::TOGGLE_WIRETAPPING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		sif::error << "Invalid Subservice" << std::endl;
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData,
+                &tcDataLen, SerializeIF::Endianness::BIG);
+
+	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
+	DeviceHandlerIF* possibleTarget =
+			objectManager->get<DeviceHandlerIF>(*objectId);
+	if(possibleTarget == nullptr) {
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		uint32_t* state, object_id_t objectId) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING: {
+		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	case Subservice::TOGGLE_WIRETAPPING: {
+		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::prepareRawCommand(
+        CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
+	RawCommand RawCommand(tcData,tcDataLen);
+	// store command into the Inter Process Communication Store
+	store_address_t storeAddress;
+	ReturnValue_t result = IPCStore->addData(&storeAddress,
+	        RawCommand.getCommand(), RawCommand.getCommandSize());
+	DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
+	        storeAddress);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
+		CommandMessage *messageToSet, const uint8_t *tcData,
+		size_t tcDataLen) {
+	if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	WiretappingToggle command;
+	ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
+	        SerializeIF::Endianness::BIG);
+	DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
+			command.getWiretappingMode());
+	return result;
+}
+
+
+ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
+		Command_t previousCommand, uint32_t* state,
+		CommandMessage* optionalNextCommand, object_id_t objectId,
+		bool* isStep) {
+	switch(reply->getCommand()) {
+	case CommandMessage::REPLY_COMMAND_OK:
+		return HasReturnvaluesIF::RETURN_OK;
+	case CommandMessage::REPLY_REJECTED:
+		return reply->getReplyRejectedReason();
+	default:
+		return CommandingServiceBase::INVALID_REPLY;
+	}
+}
+
+// All device handlers set service 2 as default raw receiver for wiretapping
+// so we have to handle those unrequested messages.
+void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
+	switch(reply->getCommand()) {
+	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
+		break;
+	case DeviceHandlerMessage::REPLY_RAW_REPLY:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::RAW_REPLY));
+		break;
+	default:
+		sif::error << "Unknown message in Service2DeviceAccess::"
+				"handleUnrequestedReply with command ID " <<
+				reply->getCommand() << std::endl;
+		break;
+	}
+	//Must be reached by all cases to clear message
+	reply->clear();
+}
+
+void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
+		uint8_t subservice) {
+	// Raw Wiretapping
+	// Get Address of Data from Message
+	store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
+	const uint8_t* data = nullptr;
+	size_t size = 0;
+	ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
+		        "handleUnrequestedReply with failure ID "<< result
+		        << std::endl;
+		return;
+	}
+
+	// Init our dummy packet and correct endianness of object ID before
+	// sending it back.
+	WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
+	        data);
+	TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
+	sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast<uint8_t*>(
+			&TmPacket.objectId), sizeof(TmPacket.objectId));
+}
+
+MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
+	return commandQueue->getId();
+}
+
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
new file mode 100644
index 00000000..1a0bede0
--- /dev/null
+++ b/pus/Service2DeviceAccess.h
@@ -0,0 +1,92 @@
+#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief   Raw Commanding and Wiretapping of devices.
+ * @details
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This service provides the capability to communicate with devices in their
+ * native protocols with raw commands through the DeviceHandlerIF.
+ *
+ * This is a gateway service. It relays device commands to the software bus.
+ * This service is very closely tied to the CommandingServiceBase
+ * template class.
+ *
+ * There are 4 adaption points for component implementation through the
+ * CommandingServiceBase.
+ *
+ * This service employs custom subservices exclusively.  This includes a
+ * wiretapping subservice to monitor all traffic between target devices and
+ * this service.
+ *
+ *   - TC[2,128]: Raw Commanding
+ *   - TC[2,129]: Toggle Wiretapping
+ *   - TM[2,130]: Wiretapping Packet TM
+ *   - TM[2,131]: Wiretapping Packet TC
+ * @ingroup pus_services
+ */
+class Service2DeviceAccess : public CommandingServiceBase,
+		public AcceptsDeviceResponsesIF
+{
+public:
+	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
+	        uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service2DeviceAccess();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
+	        object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+	/**
+	 * @brief 	Generates TM packets containing either the TC wiretapping
+	 * 			packets or the TM wiretapping packets.
+	 * Note that for service 2, all telemetry will be treated as an
+	 * unrequested reply regardless of wiretapping mode.
+	 * @param reply
+	 */
+	void handleUnrequestedReply(CommandMessage* reply) override;
+
+	MessageQueueId_t getDeviceQueue() override;
+private:
+	/**
+	 * Generates TM packets for Wiretapping Service
+	 * @param reply
+	 * @param subservice
+	 */
+	void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+
+	enum class Subservice {
+		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
+		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
+		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
+		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+	};
+};
+
+
+#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
new file mode 100644
index 00000000..1dfbe229
--- /dev/null
+++ b/pus/Service5EventReporting.cpp
@@ -0,0 +1,91 @@
+#include <framework/pus/Service5EventReporting.h>
+#include <framework/pus/servicepackets/Service5Packets.h>
+
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/events/EventManagerIF.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
+
+
+Service5EventReporting::Service5EventReporting(object_id_t objectId,
+            uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle):
+		PusServiceBase(objectId, apid, serviceId),
+		maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
+	eventQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+Service5EventReporting::~Service5EventReporting(){}
+
+ReturnValue_t Service5EventReporting::performService() {
+	EventMessage message;
+	ReturnValue_t status = RETURN_OK;
+	for(uint8_t counter = 0;
+	        counter < maxNumberReportsPerCycle;
+	        counter++)
+	{
+	    // Receive messages even if reporting is disabled for now.
+	    status = eventQueue->receiveMessage(&message);
+	    if(status == MessageQueueIF::EMPTY) {
+	        return HasReturnvaluesIF::RETURN_OK;
+	    }
+
+	    if(enableEventReport) {
+	       status = generateEventReport(message);
+	       if(status != HasReturnvaluesIF::RETURN_OK) {
+	           return status;
+	       }
+	    }
+	}
+	sif::debug <<  "Service5EventReporting::generateEventReport:"
+	        " Too many events" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service5EventReporting::generateEventReport(
+		EventMessage message)
+{
+	EventReport report(message.getEventId(),message.getReporter(),
+			message.getParameter1(),message.getParameter2());
+	TmPacketStored tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
+			message.getSeverity(), packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(
+	        requestQueue->getDefaultDestination(),requestQueue->getId());
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::debug << "Service5EventReporting::generateEventReport:"
+		        " Could not send TM packet" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
+	switch(subservice) {
+	case Subservice::ENABLE: {
+		enableEventReport = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	case Subservice::DISABLE: {
+		enableEventReport = false;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+
+// In addition to the default PUSServiceBase initialization, this service needs
+// to be registered to the event manager to listen for events.
+ReturnValue_t Service5EventReporting::initialize() {
+	EventManagerIF* manager = objectManager->get<EventManagerIF>(
+				objects::EVENT_MANAGER);
+	if (manager == NULL) {
+			return RETURN_FAILED;
+	}
+	// register Service 5 as listener for events
+	ReturnValue_t result =  manager->registerListener(eventQueue->getId(),true);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+	     return result;
+	}
+	return PusServiceBase::initialize();
+}
diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h
new file mode 100644
index 00000000..79b7c5e7
--- /dev/null
+++ b/pus/Service5EventReporting.h
@@ -0,0 +1,86 @@
+#ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
+#define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
+
+#include <framework/tmtcservices/PusServiceBase.h>
+#include <framework/events/EventMessage.h>
+
+/**
+ * @brief Report on-board events like information or errors
+ * @details
+ * Full Documentation: ECSS-E70-41A p.79
+ * Implements the PusServiceBase template class.
+ * Documentation: Dissertation Baetz p.135,136
+ *
+ * This service provides for the reporting to the service user of information of
+ * operational significance.
+ *   1. reporting of failures or anomalies detected on-board;
+ *   2. reporting of autonomous on-board actions;
+ *   3. reporting of normal progress of operations and activities, e.g.
+ *   detection of events which are not anomalous (such as payload events),
+ *   reaching of predefined steps in an operation. Some reports can combine
+ *   more than one of these events.
+ *
+ * Minimum capabilities of this service:
+ *
+ * - TM[5,1]: Normal/Progress Report
+ * - TM[5,2]: Error/Anomaly Report - Low Severity
+ * - TM[5,3]: Error/Anomaly Report - Medium Severity
+ * - TM[5,4]: Error/Anomaly Report - High Severity
+ *
+ * Events can be translated by using translator files located in
+ * /config/objects/ and /config/events/. Description to events can be added by
+ * adding a comment behind the event definition with [//!<] as leading string
+ *
+ * Additional capabilities of this service:
+ *
+ *  - TC[5,5]: Enable Event Report Generation (Req. 6)
+ *  - TC[5,6]: Disable Event Report Generation (Req. 5)
+ * @author 	R. Mueller
+ * @ingroup pus_services
+ */
+class Service5EventReporting: public PusServiceBase {
+public:
+
+	Service5EventReporting(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, size_t maxNumberReportsPerCycle = 10);
+	virtual ~Service5EventReporting();
+
+	/***
+	* Check for events and generate event reports if required.
+	* @return
+	*/
+	ReturnValue_t performService() override;
+
+	/***
+	 * Turn event generation on or off.
+	 * @return
+	 */
+	ReturnValue_t handleRequest(uint8_t subservice) override;
+
+	/**
+	 * The default PusServiceBase initialize has been overridden but is still
+	 * executed. Registers this service as a listener for events at the
+	 * EventManager.
+	 * @return
+	 */
+	ReturnValue_t initialize() override;
+
+	enum Subservice: uint8_t {
+		NORMAL_REPORT = 1, //!< [EXPORT] : [REPLY] Generate normal report
+		ERROR_LOW_SEVERITY = 2, //!< [EXPORT] : [REPLY] Generate error report with low severity
+		ERROR_MED_SEVERITY = 3, //!< [EXPORT] : [REPLY] Generate error report with medium severity
+		ERROR_HIGH_SEVERITY = 4, //!< [EXPORT] : [REPLY] Generate error report with high severity
+		ENABLE = 5, //!< [EXPORT] : [COMMAND] Enable report generation
+		DISABLE = 6 //!< [EXPORT] : [COMMAND] Disable report generation
+	};
+
+private:
+	uint16_t packetSubCounter = 0;
+	MessageQueueIF* eventQueue = nullptr;
+	bool enableEventReport = true;
+	const uint8_t maxNumberReportsPerCycle;
+
+	ReturnValue_t generateEventReport(EventMessage message);
+};
+
+#endif /* MISSION_PUS_SERVICE5EVENTREPORTING_H_ */
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
new file mode 100644
index 00000000..812398b9
--- /dev/null
+++ b/pus/Service8FunctionManagement.cpp
@@ -0,0 +1,135 @@
+#include <framework/pus/Service8FunctionManagement.h>
+#include <framework/pus/servicepackets/Service8Packets.h>
+
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/action/HasActionsIF.h>
+#include <framework/devicehandlers/DeviceHandlerIF.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
+		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+		uint16_t commandTimeoutSeconds):
+		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
+		commandTimeoutSeconds) {}
+
+Service8FunctionManagement::~Service8FunctionManagement() {}
+
+
+ReturnValue_t Service8FunctionManagement::isValidSubservice(
+		uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)) {
+	case Subservice::DIRECT_COMMANDING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+	if(tcDataLen < sizeof(object_id_t)) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	SerializeAdapter::deSerialize(objectId, &tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+	// check HasActionIF property of target
+	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
+	if(possibleTarget == nullptr){
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service8FunctionManagement::prepareCommand(
+		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
+		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
+	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+}
+
+ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
+		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+	// Create direct command instance by extracting data from Telecommand
+	DirectCommand command(tcData,tcDataLen);
+
+	// store additional parameters into the IPC Store
+	store_address_t parameterAddress;
+	ReturnValue_t result = IPCStore->addData(&parameterAddress,
+			command.getParameters(),command.getParametersSize());
+
+	// setCommand expects a Command Message, an Action ID and a store adress
+	// pointing to additional parameters
+	ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
+	return result;
+}
+
+
+ReturnValue_t Service8FunctionManagement::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t* state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool* isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	ActionId_t actionId = ActionMessage::getActionId(reply);
+	ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
+
+	switch(replyId)  {
+	case ActionMessage::COMPLETION_SUCCESS: {
+		DirectReply completionReply(objectId, actionId,returnCode);
+		result = CommandingServiceBase::EXECUTION_COMPLETE;
+		break;
+	}
+	case ActionMessage::STEP_SUCCESS: {
+		*isStep = true;
+		result = HasReturnvaluesIF::RETURN_OK;
+		break;
+	}
+	case ActionMessage::DATA_REPLY: {
+	    result = handleDataReply(reply, objectId, actionId);
+		break;
+	}
+	case ActionMessage::STEP_FAILED:
+		*isStep = true;
+		/*No break, falls through*/
+	case ActionMessage::COMPLETION_FAILED:
+		result = ActionMessage::getReturnCode(reply);
+		break;
+	default:
+		result = INVALID_REPLY;
+	}
+	return result;
+}
+
+ReturnValue_t Service8FunctionManagement::handleDataReply(
+        const CommandMessage* reply, object_id_t objectId,
+        ActionId_t actionId) {
+    store_address_t storeId = ActionMessage::getStoreId(reply);
+    size_t size = 0;
+    const uint8_t * buffer = nullptr;
+    ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
+    if(result != RETURN_OK) {
+        sif::error << "Service 8: Could not retrieve data for data reply"
+                << std::endl;
+        return result;
+    }
+    DataReply dataReply(objectId, actionId, buffer, size);
+    result = sendTmPacket(static_cast<uint8_t>(
+            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
+
+    auto deletionResult = IPCStore->deleteData(storeId);
+    if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Service8FunctionManagement::handleReply: Deletion"
+                << " of data in pool failed." << std::endl;
+    }
+    return result;
+}
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
new file mode 100644
index 00000000..e2c7a84f
--- /dev/null
+++ b/pus/Service8FunctionManagement.h
@@ -0,0 +1,67 @@
+#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief Functional commanding.
+ * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
+ * Dissertation Baetz p. 115, 116, 165-167
+ *
+ * This service provides the capability to perform functions of an
+ * application process and provides high-level commanding as opposed to the
+ * Raw Access provided by Service 2. Examples for these functions can include
+ * control and operation of payload or the AOCS subsystem.
+ * This service will be the primary means to control the spacecraft as it is
+ * considered safer than the Raw Access provided
+ * by Service 2 and is generally sufficient for most tasks.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base template
+ * class. There is constant interaction between this Service Base und a
+ * subclass like this service.
+ *
+ * Service Capability:
+ * 	 - TC[8,128]: Direct Commanding
+ *   - TM[8,130]: Direct Commanding Data Reply
+ *
+ * @ingroup pus_services
+ */
+class Service8FunctionManagement : public CommandingServiceBase
+{
+public:
+	Service8FunctionManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId, uint8_t numParallelCommands = 4,
+			uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service8FunctionManagement();
+
+protected:
+	/* CSB abstract functions implementation . See CSB documentation. */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+				uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+				uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+private:
+	enum class Subservice {
+		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
+		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
+	};
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+	ReturnValue_t prepareDirectCommand(CommandMessage* message,
+			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t handleDataReply(const CommandMessage* reply,
+	        object_id_t objectId, ActionId_t actionId);
+};
+
+#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
new file mode 100644
index 00000000..b01942c6
--- /dev/null
+++ b/pus/servicepackets/Service1Packets.h
@@ -0,0 +1,166 @@
+/**
+ * @defgroup spacepackets PUS Packet Definitions
+ *  This group contains all implemented TM or TM packages that are sent to
+ *  or sent by the OBC.They are exported later to display
+ *  packet structures in Mission Information Base (MIB).
+ */
+
+#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+#define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/tmtcservices/VerificationCodes.h>
+
+/**
+ * @brief 	FailureReport class to serialize a failure report
+ * @brief 	Subservice 1, 3, 5, 7
+ * @ingroup spacepackets
+ */
+class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
+public:
+	FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
+			uint16_t packetSequenceControl_, uint8_t stepNumber_,
+			ReturnValue_t errorCode_, uint32_t errorParameter1_,
+			uint32_t errorParameter2_) :
+			packetId(packetId_), packetSequenceControl(packetSequenceControl_),
+			stepNumber(stepNumber_), errorCode(errorCode_),
+			errorParameter1(errorParameter1_), errorParameter2(errorParameter2_),
+			failureSubtype(failureSubtype_) {}
+
+	/**
+	 * This function is called by the FSFW when calling the tm packet send
+	 * function and supplying the SerializeIF* as parameter
+	 * @param buffer Object content is serialized into the buffer
+	 * @param size
+	 * @param max_size
+	 * @param bigEndian
+	 * @return
+	 */
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+	        size_t maxSize, SerializeIF::Endianness streamEndianness
+	        ) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&packetSequenceControl, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if (failureSubtype == TC_VERIFY::PROGRESS_FAILURE) {
+			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
+			        maxSize, streamEndianness);
+			if (result != HasReturnvaluesIF::RETURN_OK) {
+				return result;
+			}
+		}
+		result = SerializeAdapter::serialize(&errorCode, buffer, size,
+		        maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&errorParameter1, buffer, size,
+		        maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+
+		result = SerializeAdapter::serialize(&errorParameter2, buffer, size,
+		        maxSize, streamEndianness);
+		return result;
+	}
+
+
+	virtual size_t getSerializedSize() const {
+		size_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&packetId);
+		size += sizeof(packetSequenceControl);
+		if(failureSubtype==TC_VERIFY::PROGRESS_FAILURE){
+			size += SerializeAdapter::getSerializedSize(&stepNumber);
+		}
+		size += SerializeAdapter::getSerializedSize(&errorCode);
+		size += SerializeAdapter::getSerializedSize(&errorParameter1);
+		size += SerializeAdapter::getSerializedSize(&errorParameter2);
+		return size;
+	}
+
+	/**
+	 * Deserialization is not allowed for a report.
+	 * @param buffer
+	 * @param size
+	 * @param bigEndian
+	 * @return
+	 */
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand
+	uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand
+	uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6
+	ReturnValue_t errorCode; //!< [EXPORT] : [COMMENT] Error code which can be looked up in generated error code file
+	uint32_t errorParameter1;
+	uint32_t errorParameter2;
+	const uint8_t failureSubtype; //!< [EXPORT] : [IGNORE]
+};
+
+/**
+ * @brief       Subservices 2, 4, 6, 8
+ * @ingroup     spacepackets
+ */
+class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
+public:
+	SuccessReport(uint8_t subtype_, uint16_t packetId_,
+			uint16_t packetSequenceControl_,uint8_t stepNumber_) :
+			packetId(packetId_), packetSequenceControl(packetSequenceControl_),
+			stepNumber(stepNumber_), subtype(subtype_) {}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, SerializeIF::Endianness streamEndianness
+			) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&packetSequenceControl, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if (subtype == TC_VERIFY::PROGRESS_SUCCESS) {
+			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
+					maxSize, streamEndianness);
+			if (result != HasReturnvaluesIF::RETURN_OK) {
+				return result;
+			}
+		}
+		return result;
+	}
+
+	virtual size_t getSerializedSize() const override {
+		size_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&packetId);
+		size += sizeof(packetSequenceControl);
+		if(subtype == TC_VERIFY::PROGRESS_SUCCESS){
+			size += SerializeAdapter::getSerializedSize(&stepNumber);
+		}
+		return size;
+
+	}
+
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand
+	uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand
+	uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6
+	const uint8_t subtype; //!< [EXPORT] : [IGNORE]
+};
+
+#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ */
diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h
new file mode 100644
index 00000000..1b5bf236
--- /dev/null
+++ b/pus/servicepackets/Service200Packets.h
@@ -0,0 +1,63 @@
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/modes/ModeMessage.h>
+#include <framework/serialize/SerializeIF.h>
+
+/**
+ * @brief Subservice 1, 2, 3, 4, 5
+ * @ingroup spacepackets
+ */
+class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
+public:
+
+	ModePacket() {
+		setLinks();
+	}
+
+	ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) :
+	        objectId(objectId), mode(mode), submode(submode) {
+		setLinks();
+	}
+
+	Mode_t getMode() {
+		return mode.entry;
+	}
+
+	Submode_t getSubmode() {
+		return submode.entry;
+	}
+
+	// Forbid copying, pointers are used.
+	ModePacket(const ModePacket&) = delete;
+	ModePacket& operator=(const ModePacket&) = delete;
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&mode);
+		mode.setNext(&submode);
+	}
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Target or source object
+	SerializeElement<Mode_t> mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW
+	SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
+};
+
+/**
+ * @brief Subservice 7
+ * @ingroup spacepackets
+ */
+class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
+public:
+    CantReachModePacket(object_id_t objectId, ReturnValue_t reason):
+            objectId(objectId), reason(reason) {
+        setStart(&this->objectId);
+        this->objectId.setNext(&this->reason);
+    }
+
+    SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Reply source object
+	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h
new file mode 100644
index 00000000..f292611e
--- /dev/null
+++ b/pus/servicepackets/Service2Packets.h
@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+/**
+ * @brief Subservice 128
+ * @ingroup spacepackets
+ */
+class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	RawCommand(const uint8_t* buffer, size_t size) {
+		// Deserialize Adapter to get correct endianness
+		SerializeAdapter::deSerialize(&objectId, &buffer, &size,
+		        SerializeIF::Endianness::BIG);
+		commandBuffer = buffer;
+		// size is decremented by AutoSerializeAdapter,
+		// remaining size is data size
+		dataSize = size;
+	}
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getCommand() {
+		return commandBuffer;
+	}
+
+	size_t getCommandSize() const {
+		return dataSize;
+	}
+private:
+	object_id_t objectId = 0;
+	const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
+	size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
+};
+
+
+/**
+ * @brief Subservice 129: Command packet to set wiretapping mode
+ * @ingroup spacepackets
+ */
+class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
+public:
+	static const size_t WIRETAPPING_COMMAND_SIZE = 5;
+	WiretappingToggle(){
+		setStart(&objectId);
+		objectId.setNext(&wiretappingMode);
+	}
+
+	uint8_t getWiretappingMode() const {
+		return wiretappingMode.entry;
+	}
+private:
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
+};
+
+
+/**
+ * @brief Subservices 130 and 131: TM packets
+ * @ingroup spacepackets
+ */
+class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
+public:
+	object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
+	const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
+	WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
+	    objectId(objectId), data(buffer) {
+	}
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h
new file mode 100644
index 00000000..14219c93
--- /dev/null
+++ b/pus/servicepackets/Service5Packets.h
@@ -0,0 +1,76 @@
+#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/tmtcservices/VerificationCodes.h>
+
+
+/**
+ * @brief Subservice 1, 2, 3, 4
+ * Structure of Event Report.
+ * It consists of:
+ *      1. Report ID(RID). This is the Event ID in the FSFW
+ *      2. Object ID of the reporter (e.g. subsystem)
+ *      2. Parameter 1
+ *      3. Parameter 2
+ *
+ * @ingroup spacepackets
+ */
+class EventReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
+public:
+
+	EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_,
+			uint32_t parameter2_):
+			reportId(reportId_),objectId(objectId_), parameter1(parameter1_),
+			parameter2(parameter2_) {}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize,
+			SerializeIF::Endianness streamEndianness) const override
+	{
+		ReturnValue_t result = SerializeAdapter::serialize(&reportId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&objectId, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&parameter1, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&parameter2, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		return result;
+	}
+
+	virtual size_t getSerializedSize() const override {
+		uint32_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&reportId);
+		size += SerializeAdapter::getSerializedSize(&objectId);
+		size += SerializeAdapter::getSerializedSize(&parameter1);
+		size += SerializeAdapter::getSerializedSize(&parameter2);
+		return size;
+
+	}
+
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	EventId_t reportId;
+	object_id_t objectId;
+	uint32_t parameter1;
+	uint32_t parameter2;
+};
+
+
+#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
new file mode 100644
index 00000000..5ef91280
--- /dev/null
+++ b/pus/servicepackets/Service8Packets.h
@@ -0,0 +1,136 @@
+/**
+ * \file Service8Packets.h
+ *
+ * \brief Structure of a Direct Command.
+ * Normal reply (subservice 130) consists of
+ *   1. Target object ID
+ *   2. Action ID (taget device has specified functions with action IDs)
+ *   3. Return Code
+ *   4. Optional step number for step replies
+ *
+ * Data reply (subservice 132) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ *
+ *  \date 01.07.2019
+ *  \author R. Mueller
+ */
+
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/serialize/SerialBufferAdapter.h>
+#include <framework/serialize/SerializeElement.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serialize/SerialFixedArrayListAdapter.h>
+
+
+/**
+ * \brief Subservice 128
+ * \ingroup spacepackets
+ */
+class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	//typedef uint16_t typeOfMaxData;
+	//static const typeOfMaxData MAX_DATA = 256;
+	DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) {
+		size_t size = sizeof(objectId);
+		SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size,
+		        SerializeIF::Endianness::BIG);
+		size = sizeof(actionId);
+		SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size,
+		        SerializeIF::Endianness::BIG);
+		parameterBuffer = dataBuffer_;
+		parametersSize = size_ - sizeof(objectId) - sizeof(actionId);
+	}
+	ActionId_t getActionId() const {
+		return actionId;
+	}
+
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getParameters() {
+		return parameterBuffer;
+	}
+
+	uint32_t getParametersSize() const {
+		return parametersSize;
+	}
+
+private:
+	DirectCommand(const DirectCommand &command);
+	object_id_t objectId;
+	ActionId_t actionId;
+	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
+	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
+
+};
+
+
+/**
+ * \brief Subservice 130
+ * \ingroup spacepackets
+ */
+class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+	DataReply(object_id_t objectId_, ActionId_t actionId_,
+		const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
+		objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
+		setLinks();
+	}
+
+private:
+	DataReply(const DataReply &reply);
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&replyData);
+	}
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<ActionId_t> actionId;
+	SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
+};
+
+
+/**
+ * \brief Subservice 132
+ * \ingroup spacepackets
+ */
+class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+
+	DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
+			bool isStep_ = false, uint8_t step_ = 0):
+			isStep(isStep_), objectId(objectId_), actionId(actionId_),
+			returnCode(returnCode_),step(step_)  {
+		setLinks();
+	}
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&returnCode);
+		if(isStep) {
+			returnCode.setNext(&step);
+		}
+	}
+	bool isDataReply; //!< [EXPORT] : [IGNORE]
+	bool isStep; //!< [EXPORT] : [IGNORE]
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
+	SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
+
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */

From 97b01f837ceaf876ec2939150c444c23e7d6040e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 14:29:17 +0200
Subject: [PATCH 115/154] srv8 improvements

---
 pus/Service8FunctionManagement.cpp   |  9 +++++-
 pus/servicepackets/Service8Packets.h | 41 ++++++++++++++--------------
 2 files changed, 29 insertions(+), 21 deletions(-)

diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 812398b9..50102b04 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -59,8 +59,15 @@ ReturnValue_t Service8FunctionManagement::prepareCommand(
 
 ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
 		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+    if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
+        sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
+                << " TC size smaller thant minimum size of direct command."
+                << std::endl;
+        return CommandingServiceBase::INVALID_TC;
+    }
+
 	// Create direct command instance by extracting data from Telecommand
-	DirectCommand command(tcData,tcDataLen);
+	DirectCommand command(tcData, tcDataLen);
 
 	// store additional parameters into the IPC Store
 	store_address_t parameterAddress;
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 5ef91280..86681c14 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -8,10 +8,7 @@
  *   3. Return Code
  *   4. Optional step number for step replies
  *
- * Data reply (subservice 132) consists of
- *   1. Target Object ID
- *   2. Action ID
- *   3. Data
+
  *
  *  \date 01.07.2019
  *  \author R. Mueller
@@ -29,23 +26,21 @@
 
 
 /**
- * \brief Subservice 128
- * \ingroup spacepackets
+ * @brief Subservice 128
+ * @ingroup spacepackets
  */
 class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
 public:
-	//typedef uint16_t typeOfMaxData;
-	//static const typeOfMaxData MAX_DATA = 256;
-	DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) {
-		size_t size = sizeof(objectId);
-		SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size,
+
+	DirectCommand(const uint8_t* tcData, size_t size) {
+		SerializeAdapter::deSerialize(&objectId, &tcData, &size,
 		        SerializeIF::Endianness::BIG);
-		size = sizeof(actionId);
-		SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size,
+		SerializeAdapter::deSerialize(&actionId, &tcData, &size,
 		        SerializeIF::Endianness::BIG);
-		parameterBuffer = dataBuffer_;
-		parametersSize = size_ - sizeof(objectId) - sizeof(actionId);
+		parameterBuffer = tcData;
+		parametersSize = size;
 	}
+
 	ActionId_t getActionId() const {
 		return actionId;
 	}
@@ -73,8 +68,12 @@ private:
 
 
 /**
- * \brief Subservice 130
- * \ingroup spacepackets
+ * @brief Subservice 130
+ * Data reply (subservice 130) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ * @ingroup spacepackets
  */
 class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
 public:
@@ -100,8 +99,10 @@ private:
 
 
 /**
- * \brief Subservice 132
- * \ingroup spacepackets
+ * @brief Subservice 132
+ * @details
+ * Not used yet. Telecommand Verification takes care of this.
+ * @ingroup spacepackets
  */
 class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
 public:
@@ -124,7 +125,7 @@ private:
 			returnCode.setNext(&step);
 		}
 	}
-	bool isDataReply; //!< [EXPORT] : [IGNORE]
+
 	bool isStep; //!< [EXPORT] : [IGNORE]
 	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
 	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]

From 85d24b9dfef5b13b8ae5dd4ffd8eadf60c38fd8b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 14:31:58 +0200
Subject: [PATCH 116/154] removed file header comment

---
 pus/servicepackets/Service8Packets.h | 16 ----------------
 1 file changed, 16 deletions(-)

diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 86681c14..8ea0d108 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -1,19 +1,3 @@
-/**
- * \file Service8Packets.h
- *
- * \brief Structure of a Direct Command.
- * Normal reply (subservice 130) consists of
- *   1. Target object ID
- *   2. Action ID (taget device has specified functions with action IDs)
- *   3. Return Code
- *   4. Optional step number for step replies
- *
-
- *
- *  \date 01.07.2019
- *  \author R. Mueller
- */
-
 #ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
 #define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
 

From 72c9ef1089ddc3108c999b9b5aec01bf8bb26376 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 02:12:11 +0200
Subject: [PATCH 117/154] size_t replacement

---
 health/HealthTableIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h
index 6fdfc2c0..a850a804 100644
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@@ -17,7 +17,7 @@ public:
 			HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
 
 	virtual uint32_t getPrintSize() = 0;
-	virtual void printAll(uint8_t *pointer, uint32_t maxSize) = 0;
+	virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
 
 protected:
 	virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false) = 0;

From 14f86422e366390583a8070f685b390c2eccb04f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 19:47:31 +0200
Subject: [PATCH 118/154] additional size_t replacement

---
 tmtcservices/CommandingServiceBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 4277de6f..0c5f5eab 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -267,7 +267,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
         object_id_t objectId, const uint8_t *data, size_t dataLen) {
     uint8_t buffer[sizeof(object_id_t)];
     uint8_t* pBuffer = buffer;
-    uint32_t size = 0;
+    size_t size = 0;
     SerializeAdapter::serialize(&objectId, &pBuffer, &size,
                 sizeof(object_id_t), SerializeIF::Endianness::BIG);
     TmPacketStored tmPacketStored(this->apid, this->service, subservice,

From d7e157d90817d26a1546d78fec56d658073465ad Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 19:53:44 +0200
Subject: [PATCH 119/154] switch setLast and setEnd

---
 container/SinglyLinkedList.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 618a21e1..7d5fc4a9 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -58,7 +58,7 @@ public:
 		this->next = next;
 	}
 
-	virtual void setLast() {
+	virtual void setEnd() {
 	    this->next = nullptr;
 	}
 
@@ -124,8 +124,8 @@ public:
 	    currentElement->setNext(nextElement);
 	}
 
-    void setEnd(LinkedElement<T>* lastElement) {
-        lastElement->setLast();
+    void setLast(LinkedElement<T>* lastElement) {
+        lastElement->setEnd();
     }
 
     void insertElement(LinkedElement<T>* element, size_t position) {

From ef2a44c683fe0d236dfa55ad935c09d8f7472f2e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 22:15:38 +0200
Subject: [PATCH 120/154] added back inttypes.h for cleaner code

---
 timemanager/CCSDSTime.cpp | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 47cab911..71b2539d 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -205,9 +205,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	uint8_t hour;
 	uint8_t minute;
 	float second;
-	//try Code A (yyyy-mm-dd)
-	int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
-				&month, &day, &hour, &minute, &second);
+    //try Code A (yyyy-mm-dd)
+    int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16
+            "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day,
+            &hour, &minute, &second);
 	if (count == 6) {
 		to->year = year;
 		to->month = month;
@@ -219,9 +220,9 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		return RETURN_OK;
 	}
 
-	//try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
-			&hour, &minute, &second);
+    //try Code B (yyyy-ddd)
+    count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8
+            ":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,

From aca0c94c514a3cfb6401f291e1021b2fe6c662d5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 11:47:11 +0200
Subject: [PATCH 121/154] CSB new update init

---
 tmtcservices/CommandingServiceBase.cpp | 396 ++++++++++++++-----------
 tmtcservices/CommandingServiceBase.h   | 256 ++++++++++------
 2 files changed, 379 insertions(+), 273 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index aa41f334..4c9b5375 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,26 +1,35 @@
-/*
- * CommandingServiceBase.cpp
- *
- *  Created on: 28.08.2019
- *      Author: gaisser
- */
+#include <framework/tcdistribution/PUSDistributorIF.h>
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
 
 #include <framework/tmtcservices/CommandingServiceBase.h>
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TcPacketStored.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
+
+object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
+object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
 
 CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
-		uint16_t commandTimeout_seconds, object_id_t setPacketSource,
-		object_id_t setPacketDestination, size_t queueDepth) :
-		SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
-				commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
-		NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
-				numberOfParallelCommands), failureParameter1(0), failureParameter2(
-				0), packetSource(setPacketSource), packetDestination(
-				setPacketDestination),executingTask(NULL) {
+		uint16_t commandTimeoutSeconds, size_t queueDepth) :
+		SystemObject(setObjectId), apid(apid), service(service),
+		timeoutSeconds(commandTimeoutSeconds),
+		commandMap(numberOfParallelCommands) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
 
+void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
+	this->packetSource = packetSource;
+}
+
+void CommandingServiceBase::setPacketDestination(
+		object_id_t packetDestination) {
+	this->packetDestination = packetDestination;
+}
+
 
 CommandingServiceBase::~CommandingServiceBase() {
 	QueueFactory::instance()->deleteMessageQueue(commandQueue);
@@ -53,12 +62,22 @@ ReturnValue_t CommandingServiceBase::initialize() {
 		return result;
 	}
 
+	if(packetDestination == objects::NO_OBJECT) {
+	    packetDestination = defaultPacketDestination;
+	}
 	AcceptsTelemetryIF* packetForwarding =
 			objectManager->get<AcceptsTelemetryIF>(packetDestination);
+
+	if(packetSource == objects::NO_OBJECT) {
+	    packetSource = defaultPacketSource;
+	}
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((packetForwarding == NULL) && (distributor == NULL)) {
-		return RETURN_FAILED;
+
+	if (packetForwarding == nullptr or distributor == nullptr) {
+	    sif::error << "CommandingServiceBase::intialize: Packet source or "
+	            "packet destination invalid!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	distributor->registerService(this);
@@ -68,8 +87,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
-	if ((IPCStore == NULL) || (TCStore == NULL)) {
-		return RETURN_FAILED;
+	if (IPCStore == nullptr or TCStore == nullptr) {
+	    sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
+	                    "not initialized yet!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	return RETURN_OK;
@@ -77,97 +98,126 @@ ReturnValue_t CommandingServiceBase::initialize() {
 }
 
 void CommandingServiceBase::handleCommandQueue() {
-	CommandMessage reply, nextCommand;
-	ReturnValue_t result, sendResult = RETURN_OK;
-	bool isStep = false;
+	CommandMessage reply;
+	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		isStep = false;
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
-		if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		nextCommand.setCommand(CommandMessage::CMD_NONE);
-		result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
-				iter->objectId, &isStep);
-		switch (result) {
-		case EXECUTION_COMPLETE:
-		case RETURN_OK:
-		case NO_STEP_MESSAGE:
-			iter->command = nextCommand.getCommand();
-			if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
-				sendResult = commandQueue->sendMessage(reply.getSender(),
-						&nextCommand);
-			}
-			if (sendResult == RETURN_OK) {
-				if (isStep) {
-					if (result != NO_STEP_MESSAGE) {
-						verificationReporter.sendSuccessReport(
-								TC_VERIFY::PROGRESS_SUCCESS,
-								iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-								iter->tcInfo.tcSequenceControl, ++iter->step);
-					}
-				} else {
-					verificationReporter.sendSuccessReport(
-							TC_VERIFY::COMPLETION_SUCCESS,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, 0);
-					checkAndExecuteFifo(&iter);
-				}
-			} else {
-				if (isStep) {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-							iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult,
-							++iter->step, failureParameter1, failureParameter2);
-				} else {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::COMPLETION_FAILURE,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult, 0,
-							failureParameter1, failureParameter2);
-				}
-				failureParameter1 = 0;
-				failureParameter2 = 0;
-				checkAndExecuteFifo(&iter);
-			}
-			break;
-		case INVALID_REPLY:
-			//might be just an unrequested reply at a bad moment
-			handleUnrequestedReply(&reply);
-			break;
-		default:
-			if (isStep) {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, ++iter->step, failureParameter1,
-						failureParameter2);
-			} else {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, 0, failureParameter1, failureParameter2);
-			}
-			failureParameter1 = 0;
-			failureParameter2 = 0;
-			checkAndExecuteFifo(&iter);
-			break;
-		}
-
+		handleCommandMessage(&reply);
 	}
 }
 
 
+void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
+	bool isStep = false;
+	CommandMessage nextCommand;
+	CommandMapIter iter = commandMap.find(reply->getSender());
+
+	// handle unrequested reply first
+	if (reply->getSender() == MessageQueueIF::NO_QUEUE or
+			iter == commandMap.end()) {
+		handleUnrequestedReply(reply);
+		return;
+	}
+	nextCommand.setCommand(CommandMessage::CMD_NONE);
+
+
+	// Implemented by child class, specifies what to do with reply.
+	ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
+			&nextCommand, iter->objectId, &isStep);
+
+	/* If the child implementation does not implement special handling for
+	 * rejected replies (RETURN_FAILED is returned), a failure verification
+	 * will be generated with the reason as the return code and the initial
+	 * command as failure parameter 1 */
+	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
+			result == RETURN_FAILED) {
+	    result = reply->getReplyRejectedReason();
+	    failureParameter1 = iter->command;
+	}
+
+	switch (result) {
+	case EXECUTION_COMPLETE:
+	case RETURN_OK:
+	case NO_STEP_MESSAGE:
+		// handle result of reply handler implemented by developer.
+		handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
+		break;
+	case INVALID_REPLY:
+		//might be just an unrequested reply at a bad moment
+		handleUnrequestedReply(reply);
+		break;
+	default:
+		if (isStep) {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, ++iter->step, failureParameter1,
+					failureParameter2);
+		} else {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, 0, failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(iter);
+		break;
+	}
+
+}
+
+void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
+		CommandMapIter iter, CommandMessage* nextCommand,
+		CommandMessage* reply, bool& isStep) {
+	iter->command = nextCommand->getCommand();
+
+	// In case a new command is to be sent immediately, this is performed here.
+	// If no new command is sent, only analyse reply result by initializing
+	// sendResult as RETURN_OK
+	ReturnValue_t sendResult = RETURN_OK;
+	if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply->getSender(),
+				nextCommand);
+	}
+
+	if (sendResult == RETURN_OK) {
+		if (isStep and result != NO_STEP_MESSAGE) {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::PROGRESS_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, ++iter->step);
+		}
+		else {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::COMPLETION_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, 0);
+			checkAndExecuteFifo(iter);
+		}
+	}
+	else {
+		if (isStep) {
+			nextCommand->clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult,
+					++iter->step, failureParameter1, failureParameter2);
+		} else {
+			nextCommand->clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult, 0,
+					failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(iter);
+	}
+}
+
 void CommandingServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result;
@@ -180,8 +230,8 @@ void CommandingServiceBase::handleRequestQueue() {
 		address = message.getStorageId();
 		packet.setStoreAddress(address);
 
-		if ((packet.getSubService() == 0)
-				|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
+		if (packet.getSubService() == 0
+				or isValidSubservice(packet.getSubService()) != RETURN_OK) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}
@@ -194,8 +244,7 @@ void CommandingServiceBase::handleRequestQueue() {
 		}
 
 		//Is a command already active for the target object?
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
+		CommandMapIter iter;
 		iter = commandMap.find(queue);
 
 		if (iter != commandMap.end()) {
@@ -210,7 +259,7 @@ void CommandingServiceBase::handleRequestQueue() {
 			if (result != RETURN_OK) {
 				rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
 			} else {
-				startExecution(&packet, &iter);
+				startExecution(&packet, iter);
 			}
 		}
 
@@ -218,9 +267,9 @@ void CommandingServiceBase::handleRequestQueue() {
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
-		uint32_t headerSize) {
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+		const uint8_t* data, size_t dataLen, const uint8_t* headerData,
+		size_t headerSize) {
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, headerData, headerSize);
 	ReturnValue_t result = tmPacketStored.sendPacket(
@@ -228,79 +277,79 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		this->tmPacketCounter++;
 	}
+	return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
-	uint8_t buffer[sizeof(object_id_t)];
-	uint8_t* pBuffer = buffer;
-	size_t size = 0;
-	SerializeAdapter::serialize(&objectId, &pBuffer, &size,
-			sizeof(object_id_t), SerializeIF::Endianness::BIG);
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, data, dataLen, buffer, size);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
-
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        object_id_t objectId, const uint8_t *data, size_t dataLen) {
+    uint8_t buffer[sizeof(object_id_t)];
+    uint8_t* pBuffer = buffer;
+    size_t size = 0;
+    SerializeAdapter::serialize(&objectId, &pBuffer, &size,
+                sizeof(object_id_t), SerializeIF::Endianness::BIG);
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, data, dataLen, buffer, size);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		SerializeIF* content, SerializeIF* header) {
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, content, header);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        SerializeIF* content, SerializeIF* header) {
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, content, header);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
-void CommandingServiceBase::startExecution(
-		TcPacketStored *storedPacket,
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
-	ReturnValue_t result, sendResult = RETURN_OK;
-	CommandMessage message;
-	(*iter)->subservice = storedPacket->getSubService();
-	result = prepareCommand(&message, (*iter)->subservice,
-			storedPacket->getApplicationData(),
-			storedPacket->getApplicationDataSize(), &(*iter)->state,
-			(*iter)->objectId);
+void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
+        CommandMapIter iter) {
+    ReturnValue_t result = RETURN_OK;
+    CommandMessage command;
+    iter->subservice = storedPacket->getSubService();
+    result = prepareCommand(&command, iter->subservice,
+            storedPacket->getApplicationData(),
+            storedPacket->getApplicationDataSize(), &iter->state,
+            iter->objectId);
 
+    ReturnValue_t sendResult = RETURN_OK;
 	switch (result) {
 	case RETURN_OK:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
-			sendResult = commandQueue->sendMessage((*iter).value->first,
-					&message);
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
+			sendResult = commandQueue->sendMessage(iter.value->first,
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
-			Clock::getUptime(&(*iter)->uptimeOfStart);
-			(*iter)->step = 0;
-//			(*iter)->state = 0;
-			(*iter)->subservice = storedPacket->getSubService();
-			(*iter)->command = message.getCommand();
-			(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
-			(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
-			(*iter)->tcInfo.tcSequenceControl =
+			Clock::getUptime(&iter->uptimeOfStart);
+			iter->step = 0;
+			iter->subservice = storedPacket->getSubService();
+			iter->command = command.getCommand();
+			iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
+			iter->tcInfo.tcPacketId = storedPacket->getPacketId();
+			iter->tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			message.clearCommandMessage();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
 	case EXECUTION_COMPLETE:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			//Fire-and-forget command.
-			sendResult = commandQueue->sendMessage((*iter).value->first,
-					&message);
+			sendResult = commandQueue->sendMessage(iter.value->first,
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
 			verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
@@ -308,7 +357,7 @@ void CommandingServiceBase::startExecution(
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			message.clearCommandMessage();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -335,12 +384,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 	store_address_t address;
-	if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
-		commandMap.erase(iter);
+	if (iter->fifo.retrieve(&address) != RETURN_OK) {
+		commandMap.erase(&iter);
 	} else {
 		TcPacketStored newPacket(address);
 		startExecution(&newPacket, iter);
@@ -348,8 +395,7 @@ void CommandingServiceBase::checkAndExecuteFifo(
 }
 
 
-void CommandingServiceBase::handleUnrequestedReply(
-		CommandMessage* reply) {
+void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
 	reply->clearCommandMessage();
 }
 
@@ -364,18 +410,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
 void CommandingServiceBase::checkTimeout() {
 	uint32_t uptime;
 	Clock::getUptime(&uptime);
-	typename FixedMap<MessageQueueId_t,
-			CommandingServiceBase::CommandInfo>::Iterator iter;
+	CommandMapIter iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
-		if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
+		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
 					TIMEOUT);
-			checkAndExecuteFifo(&iter);
+			checkAndExecuteFifo(iter);
 		}
 	}
 }
 
-
-
+void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
+    executingTask = task_;
+}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index bf2e8242..1bd18571 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,40 +1,43 @@
-#ifndef COMMANDINGSERVICEBASE_H_
-#define COMMANDINGSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
-#include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
-#include <framework/serialize/SerializeAdapter.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include <framework/ipc/MessageQueueIF.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/timemanager/Clock.h>
+#include <framework/ipc/CommandMessage.h>
+#include <framework/container/FixedMap.h>
+#include <framework/container/FIFO.h>
+#include <framework/serialize/SerializeIF.h>
+
+class TcPacketStored;
+
+namespace Factory{
+void setStaticFrameworkObjectIds();
+}
 
 /**
- * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
+ * @brief 	This class is the basis for all PUS Services, which have to
+ * 			relay Telecommands to software bus.
  *
- * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
- * Every class that inherits from this abstract class has to implement four adaption points:
+ * It manages Telecommand reception and the generation of Verification Reports
+ * similar to PusServiceBase. This class is used if a telecommand can't be
+ * handled immediately and must be relayed to the internal software bus.
  *   - isValidSubservice
  *   - getMessageQueueAndObject
  *   - prepareCommand
  *   - handleReply
- * \ingroup pus_services
+ * @author gaisser
+ * @ingroup pus_services
  */
 class CommandingServiceBase: public SystemObject,
 		public AcceptsTelecommandsIF,
 		public ExecutableObjectIF,
 		public HasReturnvaluesIF {
+	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
 	static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
@@ -59,10 +62,24 @@ public:
 	 */
 	CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
 			uint8_t service, uint8_t numberOfParallelCommands,
-			uint16_t commandTimeout_seconds, object_id_t setPacketSource,
-			object_id_t setPacketDestination, size_t queueDepth = 20);
+			uint16_t commandTimeoutSeconds, size_t queueDepth = 20);
 	virtual ~CommandingServiceBase();
 
+	/**
+	 * This setter can be used to set the packet source individually instead
+	 * of using the default static framework ID set in the factory.
+	 * This should be called at object initialization and not during run-time!
+	 * @param packetSource
+	 */
+	void setPacketSource(object_id_t packetSource);
+	/**
+	 * This setter can be used to set the packet destination individually
+	 * instead of using the default static framework ID set in the factory.
+	 * This should be called at object initialization and not during run-time!
+	 * @param packetDestination
+	 */
+	void setPacketDestination(object_id_t packetDestination);
+
 	/***
 	 * This is the periodically called function.
 	 * Handle request queue for external commands.
@@ -91,82 +108,111 @@ public:
 	 */
 	virtual MessageQueueId_t getCommandQueue();
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 
 	/**
 	 * 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
+	 * @param task Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_){
-		executingTask = task_;
-	};
+	virtual void setTaskIF(PeriodicTaskIF* task);
 
 protected:
 	/**
 	 * Check the target subservice
 	 * @param subservice[in]
-	 * @return -@c RETURN_OK on success
-     *         -@c INVALID_SUBSERVICE if service is not known
+	 * @return
+	 * -@c RETURN_OK Subservice valid, continue message handling
+     * -@c INVALID_SUBSERVICE if service is not known, rejects packet.
 	 */
 	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
 
 	/**
-	 * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
-	 * The target message queue ID can then be acquired by using the target interface.
+	 * Once a TC Request is valid, the existence of the destination and its
+	 * target interface is checked and retrieved. The target message queue ID
+	 * can then be acquired by using the target interface.
 	 * @param subservice
 	 * @param tcData Application Data of TC Packet
 	 * @param tcDataLen
 	 * @param id MessageQueue ID is stored here
 	 * @param objectId Object ID is extracted and stored here
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED
-	 *         - @c CSB or implementation specific return codes
+	 * @return
+	 * - @c RETURN_OK Cotinue message handling
+	 * - @c RETURN_FAILED Reject the packet and generates a start failure
+	 *      verification
 	 */
 	virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
 			object_id_t *objectId) = 0;
 
 	/**
-	 * After the Message Queue and Object ID are determined,
-	 * the command is prepared by using an implementation specific CommandMessage type
-	 * which is sent to the target object.
-	 * It contains all necessary information for the device to execute telecommands.
-	 * @param message[out] message to be sent to the object
-	 * @param subservice[in] Subservice of the current communication
-	 * @param tcData Additional data of the command
-	 * @param tcDataLen Length of the additional data
-	 * @param state[out] Setable state of the communication
+	 * After the Message Queue and Object ID are determined, the command is
+	 * prepared by using an implementation specific CommandMessage type
+	 * which is sent to the target object. It contains all necessary information
+	 * for the device to execute telecommands.
+	 * @param message [out] message which can be set and is sent to the object
+	 * @param subservice Subservice of the current communication
+	 * @param tcData Application data of command
+	 * @param tcDataLen Application data length
+	 * @param state [out/in] Setable state of the communication.
+	 * communication
 	 * @param objectId Target object ID
-	 * @return - @c RETURN_OK on success
-     *         - @c EXECUTION_COMPLETE if exectuin is finished 
-     *         - any other return code will be part of (1,4) start failure
+	 * @return
+	 * - @c RETURN_OK to generate a verification start message
+	 * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
+	 *      verification message.
+	 * - @c Anything else rejects the packets and generates a start failure
+	 *      verification.
 	 */
-	virtual ReturnValue_t prepareCommand(CommandMessage *message,
-			uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
+	virtual ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
-	 * This function is responsible for the communication between the Command Service Base
-	 * and the respective PUS Commanding Service once the execution has started.
-	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
-	 * There are different translations of these replies to specify how the Command Service proceeds.
-	 * @param reply Command Message which contains information about the command
-	 * @param previousCommand Command_t of last command
-	 * @param state state of the communication
-	 * @param optionalNextCommand[out] An optional next command which can be set in this function
+	 * This function is implemented by child services to specify how replies
+	 * to a command from another software component are handled.
+	 * @param reply
+	 * This is the reply which can be accessed via the command message
+	 * interface. The internal message pointer can be passed to different
+	 * command message implementations (see CommandMessageIF)
+	 * @param previousCommand
+	 * Command_t of related command
+	 * @param state [out/in]
+	 * Additional parameter which can be used to pass state information.
+	 * State of the communication
+	 * @param optionalNextCommand [out]
+	 * An optional next command which can be set in this function
 	 * @param objectId Source object ID
 	 * @param isStep Flag value to mark steps of command execution
-	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
-	 *         - @c INVALID_REPLY can handle unrequested replies
-	 *         - Anything else triggers a TC verification failure
+	 * @return
+	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
+	 *   generate TC verification success
+	 * - @c INVALID_REPLY Calls handleUnrequestedReply
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
+	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
+	 *   a failure verification message with the reason as the error parameter
+	 *   and the initial command as failure parameter 1.
 	 */
-	virtual ReturnValue_t handleReply(const CommandMessage *reply,
+	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,
-			CommandMessage *optionalNextCommand, object_id_t objectId,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
+	/**
+	 * This function can be overidden to handle unrequested reply,
+	 * when the reply sender ID is unknown or is not found is the command map.
+	 * The default implementation will clear the command message and all
+	 * its contents.
+	 * @param reply
+	 * Reply which is non-const so the default implementation can clear the
+	 * message.
+	 */
+	virtual void handleUnrequestedReply(CommandMessage* reply);
+
+	virtual void doPeriodicOperation();
+
+
 	struct CommandInfo {
 		struct tcInfo {
 			uint8_t ackFlags;
@@ -182,84 +228,92 @@ protected:
 		FIFO<store_address_t, 3> fifo;
 	};
 
+	using CommandMapIter = FixedMap<MessageQueueId_t,
+	        CommandingServiceBase::CommandInfo>::Iterator;
+
 	const uint16_t apid;
 
 	const uint8_t service;
 
-	const uint16_t timeout_seconds;
+	const uint16_t timeoutSeconds;
 
-	uint8_t tmPacketCounter;
+	uint8_t tmPacketCounter = 0;
 
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
-	StorageManagerIF *TCStore;
+	StorageManagerIF *TCStore = nullptr;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 
 	VerificationReporter verificationReporter;
 
 	FixedMap<MessageQueueId_t, CommandInfo> commandMap;
 
-	uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
-	uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
+	/* May be set be children to return a more precise failure condition. */
+	uint32_t failureParameter1 = 0;
+	uint32_t failureParameter2 = 0;
 
-	object_id_t packetSource;
-
-	object_id_t packetDestination;
+	static object_id_t defaultPacketSource;
+	object_id_t packetSource = objects::NO_OBJECT;
+	static object_id_t defaultPacketDestination;
+	object_id_t packetDestination = objects::NO_OBJECT;
 
 	/**
-	 * 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;
 
 	/**
-	 * Send TM data from pointer to data. If a header is supplied it is added before data
+	 * @brief   Send TM data from pointer to data.
+	 *          If a header is supplied it is added before data
 	 * @param subservice Number of subservice
 	 * @param data Pointer to the data in the Packet
 	 * @param dataLen Lenght of data in the Packet
 	 * @param headerData HeaderData will be placed before data
 	 * @param headerSize Size of HeaderData
 	 */
-	void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
-			const uint8_t* headerData = NULL, uint32_t headerSize = 0);
+	ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
+	        size_t dataLen, const uint8_t* headerData = nullptr,
+	        size_t headerSize = 0);
 
 	/**
-	 * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
+	 * @brief   To send TM packets of objects that still need to be serialized
+	 *          and consist of an object ID with appended data.
 	 * @param subservice Number of subservice
 	 * @param objectId ObjectId is placed before data
 	 * @param data Data to append to the packet
 	 * @param dataLen Length of Data
 	 */
-	void sendTmPacket(uint8_t subservice, object_id_t objectId,
-			const uint8_t *data, uint32_t dataLen);
+	ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
+			const uint8_t *data, size_t dataLen);
 
 	/**
-	 * To send packets has data which is in form of a SerializeIF or Adapters implementing it
+	 * @brief   To send packets which are contained inside a class implementing
+	 *          SerializeIF.
 	 * @param subservice Number of subservice
 	 * @param content This is a pointer to the serialized packet
 	 * @param header Serialize IF header which will be placed before content
 	 */
-	void sendTmPacket(uint8_t subservice, SerializeIF* content,
-			SerializeIF* header = NULL);
+	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
+			SerializeIF* header = nullptr);
 
-	virtual void handleUnrequestedReply(CommandMessage *reply);
-
-	virtual void doPeriodicOperation();
-
-	void checkAndExecuteFifo(
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+	void checkAndExecuteFifo(CommandMapIter iter);
 
 private:
 	/**
 	 * This method handles internal execution of a command,
-	 * once it has been started by @sa{startExecution()} in the Request Queue handler.
-	 * It handles replies generated by the devices and relayed by the specific service implementation.
-	 * This means that it determines further course of action depending on the return values specified
-	 * in the service implementation.
+	 * once it has been started by @sa{startExecution()} in the request
+	 * queue handler.
+	 * It handles replies generated by the devices and relayed by the specific
+	 * service implementation. This means that it determines further course of
+	 * action depending on the return values specified in the service
+	 * implementation.
 	 * This includes the generation of TC verification messages. Note that
-	 * the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
+	 * the static framework object ID @c VerificationReporter::messageReceiver
+	 * needs to be set.
 	 *   - TM[1,5] Step Successs
 	 *   - TM[1,6] Step Failure
 	 *   - TM[1,7] Completion Success
@@ -268,10 +322,13 @@ private:
 	void handleCommandQueue();
 
 	/**
+	 * @brief       Handler function for request queue
+	 * @details
 	 * Sequence of request queue handling:
 	 * isValidSubservice -> getMessageQueueAndObject -> startExecution
-	 * Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()}
-	 * or Start Failure Report TM[1,4] by using the TC Verification Service
+	 * Generates a Start Success Reports TM[1,3] in subfunction
+	 * @sa{startExecution()} or  a Start Failure Report TM[1,4] by using the
+	 * TC Verification Service.
 	 */
 	void handleRequestQueue();
 
@@ -280,8 +337,11 @@ private:
 
 	void acceptPacket(uint8_t reportId, TcPacketStored* packet);
 
-	void startExecution(TcPacketStored *storedPacket,
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
+
+	void handleCommandMessage(CommandMessage* reply);
+	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
+			CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
 
 	void checkTimeout();
 };

From 307c954007f8526d8459146e7cbd6317b365433d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 12:49:53 +0200
Subject: [PATCH 122/154] fixed CommandMessageTypo

and integrated HasActionsIF interface changes
---
 action/ActionHelper.cpp              | 15 ++++----
 action/ActionHelper.h                |  2 +-
 action/HasActionsIF.h                | 54 ++++++++++++++++------------
 devicehandlers/DeviceHandlerBase.cpp |  4 +--
 devicehandlers/DeviceHandlerBase.h   |  2 +-
 ipc/CommandMessage.cpp               |  2 +-
 ipc/CommandMessage.h                 |  2 +-
 subsystem/SubsystemBase.cpp          |  2 +-
 tmstorage/TmStoreMessage.cpp         |  2 +-
 9 files changed, 49 insertions(+), 36 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index bcb302cd..dc6bd498 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -1,9 +1,9 @@
 #include <framework/action/ActionHelper.h>
 #include <framework/action/HasActionsIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
+
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
-		owner(setOwner), queueToUse(useThisQueue), ipcStore(
-				NULL) {
+		owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
 }
 
 ActionHelper::~ActionHelper() {
@@ -16,16 +16,18 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 				ActionMessage::getStoreId(command));
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		return CommandMessage::UNKNOW_COMMAND;
+		return CommandMessage::UNKNOWN_COMMAND;
 	}
 }
 
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
 	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore == NULL) {
+	if (ipcStore == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	setQueueToUse(queueToUse_);
+	if(queueToUse_ != nullptr) {
+		setQueueToUse(queueToUse_);
+	}
 
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -67,7 +69,8 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 	}
 }
 
-ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender) {
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+		ActionId_t replyId, SerializeIF* data, bool hideSender) {
 	CommandMessage reply;
 	store_address_t storeAddress;
 	uint8_t *dataPtr;
diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index 6ba6dd89..3d8351d6 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -38,7 +38,7 @@ public:
 	 * @param queueToUse_ Pointer to the messageQueue to be used
 	 * @return Returns RETURN_OK if successful
 	 */
-	ReturnValue_t initialize(MessageQueueIF* queueToUse_);
+	ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
 	/**
 	 * Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
 	 *
diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index f30fcb45..008d9eaf 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -1,5 +1,5 @@
-#ifndef HASACTIONSIF_H_
-#define HASACTIONSIF_H_
+#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
+#define FRAMEWORK_ACTION_HASACTIONSIF_H_
 
 #include <framework/action/ActionHelper.h>
 #include <framework/action/ActionMessage.h>
@@ -7,27 +7,35 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 /**
- * \brief Interface for component which uses actions
+ * @brief
+ * Interface for component which uses actions
  *
- * This interface is used to execute actions in the component. Actions, in the sense of this interface, are activities with a well-defined beginning and
- * end in time. They may adjust sub-states of components, but are not supposed to change
- * the main mode of operation, which is handled with the HasModesIF described below.
+ * @details
+ * This interface is used to execute actions in the component. Actions, in the
+ * sense of this interface, are activities with a well-defined beginning and
+ * end in time. They may adjust sub-states of components, but are not supposed
+ * to change the main mode of operation, which is handled with the HasModesIF
+ * described below.
  *
- * The HasActionsIF allows components to define such actions and make them available
- * for other components to use. Implementing the interface is straightforward: There’s a
- * single executeAction call, which provides an identifier for the action to execute, as well
- * as arbitrary parameters for input. Aside from direct, software-based
- * actions, it is used in device handler components as an interface to forward commands to
- * devices.
- * Implementing components of the interface are supposed to check identifier (ID) and
- * parameters and immediately start execution of the action. It is, however, not required to
- * immediately finish execution. Instead, this may be deferred to a later point in time, at
- * which the component needs to inform the caller about finished or failed execution.
+ * The HasActionsIF allows components to define such actions and make them
+ * available for other components to use. Implementing the interface is
+ * straightforward: There’s a single executeAction call, which provides an
+ * identifier for the action to execute, as well as arbitrary parameters for
+ * input.
+ * Aside from direct, software-based actions, it is used in device handler
+ * components as an interface to forward commands to devices.
+ * Implementing components of the interface are supposed to check identifier
+ * (ID) and parameters and immediately start execution of the action.
+ * It is, however, not required to immediately finish execution.
+ * Instead, this may be deferred to a later point in time, at which the
+ * component needs to inform the caller about finished or failed execution.
+ *
+ * @ingroup interfaces
  */
 class HasActionsIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
-	static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);//!<
+	static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
 	static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
@@ -39,12 +47,14 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	/**
 	 * Execute or initialize the execution of a certain function.
-	 * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to be done.
-	 * When needing more steps, return RETURN_OK and issue steps and completion manually. One "step failed" or completion report must
-	 * be issued!
+	 * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
+	 * be done. When needing more steps, return RETURN_OK and issue steps and
+	 * completion manually.
+	 * One "step failed" or completion report must be issued!
 	 */
-	virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) = 0;
+	virtual ReturnValue_t executeAction(ActionId_t actionId,
+			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
 };
 
 
-#endif /* HASACTIONSIF_H_ */
+#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 872310a1..79b504b5 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -236,7 +236,7 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	replyReturnvalueToCommand(CommandMessage::UNKNOW_COMMAND);
+	replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND);
 
 }
 
@@ -1149,7 +1149,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 }
 
 ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
 	ReturnValue_t result = acceptExternalDeviceCommands();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 435f8e06..e79d5d5c 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -484,7 +484,7 @@ public:
 	/** @brief 	Implementation required for HasActionIF */
 	ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data,
-			uint32_t size) override;
+			size_t size) override;
 
 	Mode_t getTransitionSourceMode() const;
 	Submode_t getTransitionSourceSubMode() const;
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index fa41c653..ce72786b 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -111,7 +111,7 @@ size_t CommandMessage::getMinimumMessageSize() const {
 void CommandMessage::setToUnknownCommand() {
 	Command_t initialCommand = getCommand();
 	clearCommandMessage();
-	setReplyRejected(UNKNOW_COMMAND, initialCommand);
+	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 2d966063..c3ed2016 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -20,7 +20,7 @@ typedef ReturnValue_t Command_t;
 class CommandMessage : public MessageQueueMessage {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOW_COMMAND = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
 
 
 	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND;
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index 6df0b64f..cceb2d41 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -329,7 +329,7 @@ void SubsystemBase::checkCommandQueue() {
 		result = handleCommandMessage(&message);
 		if (result != RETURN_OK) {
 			CommandMessage reply;
-			reply.setReplyRejected(CommandMessage::UNKNOW_COMMAND,
+			reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
 					message.getCommand());
 			replyToCommand(&reply);
 		}
diff --git a/tmstorage/TmStoreMessage.cpp b/tmstorage/TmStoreMessage.cpp
index 4509ba91..e908b923 100644
--- a/tmstorage/TmStoreMessage.cpp
+++ b/tmstorage/TmStoreMessage.cpp
@@ -74,7 +74,7 @@ void TmStoreMessage::clear(CommandMessage* cmd) {
 	case DELETE_STORE_CONTENT_BLOCKS:
 	case DOWNLINK_STORE_CONTENT_BLOCKS:
 	case REPORT_INDEX_REQUEST:
-		cmd->setCommand(UNKNOW_COMMAND);
+		cmd->setCommand(UNKNOWN_COMMAND);
 		cmd->setParameter(0);
 		cmd->setParameter2(0);
 		break;

From be9d0a61f47b7e630f8d3ba94b36dd4ee25d0910 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 21 Jul 2020 15:15:53 +0200
Subject: [PATCH 123/154] Fixes #149

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 12 ++++++------
 serviceinterface/ServiceInterfaceBuffer.h   |  2 +-
 serviceinterface/ServiceInterfaceStream.cpp |  2 +-
 serviceinterface/ServiceInterfaceStream.h   |  2 +-
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 5c80862c..8c510eac 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -78,9 +78,9 @@ int ServiceInterfaceBuffer::sync(void) {
 	}
 
 	size_t preambleSize  = 0;
-	auto preamble = getPreamble(&preambleSize);
+	std::string* preamble = getPreamble(&preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.data(), preamble.data() + preambleSize);
+	this->putChars(preamble->data(), preamble->data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -92,7 +92,7 @@ bool ServiceInterfaceBuffer::isBuffered() const {
 	return buffered;
 }
 
-std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
+std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
 	size_t currentSize = 0;
@@ -110,18 +110,18 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 					loggerTime.usecond /1000);
 	if(charCount < 0) {
 		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
-		return "";
+		return &preamble;
 	}
 	if(charCount > MAX_PREAMBLE_SIZE) {
 		printf("ServiceInterfaceBuffer: Char count too large for maximum "
 				"preamble size");
-		return "";
+		return &preamble;
 	}
 	currentSize += charCount;
 	if(preambleSize != nullptr) {
 		*preambleSize = currentSize;
 	}
-	return preamble;
+	return &preamble;
 }
 
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 39ea25c2..7a2ce2ee 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -60,7 +60,7 @@ private:
 	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
-	std::string getPreamble(size_t * preambleSize = nullptr);
+	std::string* getPreamble(size_t * preambleSize = nullptr);
 };
 
 #endif
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 76481ed1..31bc7c73 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -9,7 +9,7 @@ void ServiceInterfaceStream::setActive( bool myActive) {
 	this->streambuf.isActive = myActive;
 }
 
-std::string ServiceInterfaceStream::getPreamble() {
+std::string* ServiceInterfaceStream::getPreamble() {
 	return streambuf.getPreamble();
 }
 
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 9e19c228..dc111459 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -33,7 +33,7 @@ public:
 	 * the unbuffered mode.
 	 * @return Preamle consisting of log message and timestamp.
 	 */
-	std::string getPreamble();
+	std::string* getPreamble();
 
 	/**
 	 * This prints an error with a preamble. Useful if using the unbuffered

From 06e7f286d6592b454823a2027377cfde10be798f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 25 Jul 2020 10:55:28 +0200
Subject: [PATCH 124/154] added explicit brackets

---
 tmtcservices/CommandingServiceBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 0c5f5eab..331bc7c8 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -212,8 +212,8 @@ void CommandingServiceBase::handleRequestQueue() {
 		address = message.getStorageId();
 		packet.setStoreAddress(address);
 
-		if (packet.getSubService() == 0
-				or isValidSubservice(packet.getSubService()) != RETURN_OK) {
+		if ((packet.getSubService() == 0)
+				or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}

From 5df88eb73be77446e520d542e062ebcc4728cd78 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 12:20:23 +0200
Subject: [PATCH 125/154] singlyl inked list bugfix

---
 container/SinglyLinkedList.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 7d5fc4a9..eb6ae276 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -100,7 +100,7 @@ public:
 	 */
 	ElementIterator back() const {
 	    LinkedElement<T> *element = start;
-	    while (element != nullptr) {
+	    while (element->getNext() != nullptr) {
 	        element = element->getNext();
 	    }
 	    return ElementIterator::Iterator(element);

From 0defc6a7d867ec1d966b2e6078e224c5a94f4686 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 12:36:22 +0200
Subject: [PATCH 126/154] removed folders

---
 framework.mk | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/framework.mk b/framework.mk
index c8822981..ee0a7ba4 100644
--- a/framework.mk
+++ b/framework.mk
@@ -8,9 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
@@ -58,4 +55,3 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp)
\ No newline at end of file

From 036a887ea31124fe1ae0492343c811afceeb7eef Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 13:02:43 +0200
Subject: [PATCH 127/154] bugfix

---
 serialize/SerialArrayListAdapter.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index bcd99818..56fb3452 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -63,6 +63,9 @@ public:
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
 				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return result;
+		}
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}

From 4bffcf17fb2a70373c8d3765796cc8e9f4aac277 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 13:04:58 +0200
Subject: [PATCH 128/154] some formatting stuff

---
 serialize/SerialArrayListAdapter.h | 27 ++++++++++++---------------
 1 file changed, 12 insertions(+), 15 deletions(-)

diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index 56fb3452..21c6951d 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -1,18 +1,13 @@
-/**
- * @file	SerialArrayListAdapter.h
- * @brief	This file defines the SerialArrayListAdapter class.
- * @date	22.07.2014
- * @author	baetz
- */
-#ifndef SERIALARRAYLISTADAPTER_H_
-#define SERIALARRAYLISTADAPTER_H_
+#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
+#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/serialize/SerializeIF.h>
 #include <utility>
 
 /**
- * \ingroup serialize
+ * @ingroup serialize
+ * @author  baetz
  */
 template<typename T, typename count_t = uint8_t>
 class SerialArrayListAdapter : public SerializeIF {
@@ -25,14 +20,15 @@ public:
 		return serialize(adaptee, buffer, size, maxSize, streamEndianness);
 	}
 
-	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) {
+	static ReturnValue_t serialize(const ArrayList<T, count_t>* list,
+	        uint8_t** buffer, size_t* size, size_t maxSize,
+	        Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
 				buffer, size, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
-					maxSize, streamEndianness);
+			result = SerializeAdapter::serialize(&list->entries[i], buffer,
+			        size, maxSize, streamEndianness);
 			++i;
 		}
 		return result;
@@ -58,7 +54,8 @@ public:
 		return deSerialize(adaptee, buffer, size, streamEndianness);
 	}
 
-	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, size_t* size,
+	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list,
+	        const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness) {
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
@@ -85,4 +82,4 @@ private:
 
 
 
-#endif /* SERIALARRAYLISTADAPTER_H_ */
+#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */

From 652c60c362f2b9b57ef6b54b6d3ca0b3051e6a3b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 29 Jul 2020 20:02:04 +0200
Subject: [PATCH 129/154] important bugfix

I checked all 5 cases for overflows when checking
for missed deadlines (there is current time, timeToWake
and lastWakeTime, with various combinations of overflows)

This should be the correct implementation now
---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 19 +++++++++----------
 osal/FreeRTOS/PeriodicTask.cpp      | 19 +++++++++----------
 2 files changed, 18 insertions(+), 20 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index c062101d..17804d90 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -125,19 +125,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
-    if(currentTickCount < xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
-        // is larger than the time to wake, a deadline was missed.
-        if(timeToWake < xLastWakeTime and
-                currentTickCount > timeToWake) {
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
-    // and the current tick count is larger than the time to wake,
-    // a deadline was missed.
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
 }
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 44a7b801..91135375 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -108,19 +108,18 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
-    if(currentTickCount < xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
-        // is larger than the time to wake, a deadline was missed.
-        if(timeToWake < xLastWakeTime and
-                currentTickCount > timeToWake) {
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
-    // and the current tick count is larger than the time to wake,
-    // a deadline was missed.
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
 }

From 21984067140f3baf3ecc30db4e1e5d196bae56e6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 1 Aug 2020 16:53:17 +0200
Subject: [PATCH 130/154] csb update

---
 tmtcservices/CommandingServiceBase.cpp | 10 +++++-----
 tmtcservices/CommandingServiceBase.h   | 15 ++++++---------
 2 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 98cbbe2c..330fd00f 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -126,11 +126,11 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 			&nextCommand, iter->objectId, &isStep);
 
 	/* If the child implementation does not implement special handling for
-	 * rejected replies (RETURN_FAILED is returned), a failure verification
-	 * will be generated with the reason as the return code and the initial
-	 * command as failure parameter 1 */
-	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
-			result == RETURN_FAILED) {
+	 * rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
+	 * failure verification will be generated with the reason as the
+	 * return code and the initial command as failure parameter 1 */
+	if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
+			(result == RETURN_FAILED or result == INVALID_REPLY)) {
 	    result = reply->getReplyRejectedReason();
 	    failureParameter1 = iter->command;
 	}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 76eca6b7..9290bb7c 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -87,7 +87,7 @@ public:
 	 * @param opCode is unused here at the moment
 	 * @return RETURN_OK
 	 */
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
 	virtual uint16_t getIdentifier();
 
@@ -186,12 +186,11 @@ protected:
 	 * @return
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
-	 * - @c INVALID_REPLY calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure. If RETURN_FAILED or
-	 *   INVALID_REPLY is returned and the command ID is
-	 *   CommandMessage::REPLY_REJECTED, a failure verification message
-	 *   with the reason as the error parameter and the initial command as
-	 *   failure parameter 1 is generated.
+	 * - @c INVALID_REPLY Calls handleUnrequestedReply
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED is
+	 *   returned and the command ID is CommandMessage::REPLY_REJECTED,
+     *   a failure verification message with the reason as the error parameter
+     *   and the initial command as failure parameter 1
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,
@@ -254,7 +253,6 @@ protected:
 	uint32_t failureParameter1 = 0;
 	uint32_t failureParameter2 = 0;
 
-	object_id_t packetSource;
 	static object_id_t defaultPacketSource;
 	object_id_t packetSource = objects::NO_OBJECT;
 	static object_id_t defaultPacketDestination;
@@ -303,7 +301,6 @@ protected:
 	void checkAndExecuteFifo(CommandMapIter iter);
 
 private:
-
 	/**
 	 * This method handles internal execution of a command,
 	 * once it has been started by @sa{startExecution()} in the request

From d8bf1931ccbbca5d96598905599bdf594e914c7f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 1 Aug 2020 16:55:20 +0200
Subject: [PATCH 131/154] doc correction

---
 tmtcservices/CommandingServiceBase.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 9290bb7c..b3a15985 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -187,10 +187,11 @@ protected:
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
 	 * - @c INVALID_REPLY Calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure. If RETURN_FAILED is
-	 *   returned and the command ID is CommandMessage::REPLY_REJECTED,
-     *   a failure verification message with the reason as the error parameter
-     *   and the initial command as failure parameter 1
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED or
+	 * 	 INVALID_REPLY is returned and the command ID is
+	 * 	 CommandMessage::REPLY_REJECTED, a failure verification message with
+	 * 	 the reason as the error parameter and the initial command as
+	 * 	 failure parameter 1 is generated.
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,

From d58fc5c6f71724221c10968bddad8a3d29e66fe5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 2 Aug 2020 15:55:56 +0200
Subject: [PATCH 132/154] removed includes in framework.mk

---
 framework.mk | 2 --
 1 file changed, 2 deletions(-)

diff --git a/framework.mk b/framework.mk
index 7f27c037..04fac47f 100644
--- a/framework.mk
+++ b/framework.mk
@@ -8,8 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)

From 6ac36cec1546ba637c822979243ab1fc4a51ba1e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 2 Aug 2020 15:56:38 +0200
Subject: [PATCH 133/154] removed other include in framework.mk

---
 framework.mk | 1 -
 1 file changed, 1 deletion(-)

diff --git a/framework.mk b/framework.mk
index 04fac47f..c3917f20 100644
--- a/framework.mk
+++ b/framework.mk
@@ -8,7 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)

From 78442a8b92b5548098fca7439a78ba65978de4b5 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Tue, 4 Aug 2020 12:22:45 +0200
Subject: [PATCH 134/154] Amending PR #145, forgot some documentation

---
 action/ActionHelper.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index 3d8351d6..eb3bfa54 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -35,7 +35,7 @@ public:
 	ReturnValue_t handleActionMessage(CommandMessage* command);
 	/**
 	 * Helper initialize function. Must be called before use of any other helper function
-	 * @param queueToUse_ Pointer to the messageQueue to be used
+	 * @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
 	 * @return Returns RETURN_OK if successful
 	 */
 	ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);

From ea9288d848d62352c78e81dd98cc6555bb6a12d5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 15:17:40 +0200
Subject: [PATCH 135/154] updated subsystem ID range

---
 events/fwSubsystemIdRanges.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h
index 4c261e57..a05652c2 100644
--- a/events/fwSubsystemIdRanges.h
+++ b/events/fwSubsystemIdRanges.h
@@ -18,6 +18,8 @@ enum {
 	SYSTEM_MANAGER = 74,
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
+	PUS_SERVICE_1 = 80,
+	FW_SUBSYSTEM_ID_RANGE
 };
 }
 

From c42b5283af448e288bc54775e51e80ebb50715a8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 15:19:31 +0200
Subject: [PATCH 136/154] periodic task IF: setting task if boolean removed

---
 osal/linux/PeriodicPosixTask.cpp | 7 ++-----
 osal/linux/PeriodicPosixTask.h   | 3 +--
 tasks/PeriodicTaskIF.h           | 3 +--
 3 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index c05f1030..6b2ebd88 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -21,8 +21,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
-        bool addTaskIF) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
@@ -30,9 +29,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 	}
 	objectList.push_back(newObject);
 
-	if(setTaskIF) {
-	    newObject->setTaskIF(this);
-	}
+	newObject->setTaskIF(this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index bf1a995b..b194733b 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -39,8 +39,7 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
-	        bool addTaskIF = true) override;
+	ReturnValue_t addComponent(object_id_t object) override;
 
 	uint32_t getPeriodMs() const override;
 
diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 6f490977..f54d6155 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -36,8 +36,7 @@ public:
 	 * to the component.
 	 * @return
 	 */
-	virtual ReturnValue_t addComponent(object_id_t object,
-	        bool setTaskIF = true) {
+	virtual ReturnValue_t addComponent(object_id_t object) {
 	    return HasReturnvaluesIF::RETURN_FAILED;
 	};
 

From 9102eec4ab20e13bd15acdac83498e88398856b3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 15:20:43 +0200
Subject: [PATCH 137/154] interface change for freeRTOS

---
 osal/FreeRTOS/PeriodicTask.cpp | 6 ++----
 osal/FreeRTOS/PeriodicTask.h   | 3 +--
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 44a7b801..e84411f8 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -81,7 +81,7 @@ void PeriodicTask::taskFunctionality() {
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
@@ -91,9 +91,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	}
 	objectList.push_back(newObject);
 
-	if(setTaskIF) {
-	     newObject->setTaskIF(this);
-	}
+	newObject->setTaskIF(this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 09aa6bc7..eea88dfd 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -63,8 +63,7 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
-	        bool setTaskIF = true) override;
+	ReturnValue_t addComponent(object_id_t object) override;
 
 	uint32_t getPeriodMs() const override;
 

From 7b3fddfd429a02f6dedaad4e33a7c0a308f540d4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 7 Aug 2020 22:10:58 +0200
Subject: [PATCH 138/154] implemented mutex if changes

---
 ipc/MutexHelper.h       |  5 +++--
 ipc/MutexIF.h           | 38 ++++++++++++++++++++------------------
 osal/FreeRTOS/Mutex.cpp | 17 ++++++++---------
 osal/FreeRTOS/Mutex.h   |  4 +++-
 4 files changed, 34 insertions(+), 30 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index 20760b32..fc6e38bf 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -8,9 +8,10 @@ class MutexHelper {
 public:
 	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
 			internalMutex(mutex) {
-		ReturnValue_t status = mutex->lockMutex(timeoutMs);
+		ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
+		        timeoutMs);
 		if(status == MutexIF::MUTEX_TIMEOUT) {
-			sif::error << "MutexHelper: Lock of mutex failed with timeout of"
+			sif::error << "MutexHelper: Lock of mutex failed with timeout of "
 					<< timeoutMs << " milliseconds!" << std::endl;
 		}
 		else if(status != HasReturnvaluesIF::RETURN_OK){
diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index 29e59e58..b0096a34 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -5,27 +5,31 @@
 
 /**
  * @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
- *
  * @details https://en.wikipedia.org/wiki/Lock_(computer_science)
  * @ingroup osal
  * @ingroup interface
  */
 class MutexIF {
 public:
-	/**
-	 * @brief 	Timeout value used for polling lock attempt.
-	 * @details
-	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
-	 * immediately. Value needs to be defined in implementation.
-	 */
-	static const uint32_t POLLING;
-	/**
-	 * @brief 	Timeout value used for permanent blocking lock attempt.
-	 * @details
-	 * The task will be blocked (indefinitely) until the mutex is unlocked.
-	 * Value needs to be defined in implementation.
-	 */
-	static const uint32_t BLOCKING;
+    /**
+     * Different types of timeout for the mutex lock.
+     */
+    enum TimeoutType {
+        POLLING, //!< If mutex is not available, return immediately
+        WAITING, //!< Wait a specified time for the mutex to become available
+        BLOCKING //!< Block indefinitely until the mutex becomes available.
+    };
+
+    /**
+     * Lock the mutex. The timeout value will only be used for
+     * TimeoutType::WAITING
+     * @param timeoutType
+     * @param timeoutMs
+     * @return
+     */
+    virtual ReturnValue_t lockMutex(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
+    virtual ReturnValue_t unlockMutex() = 0;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
@@ -77,9 +81,7 @@ public:
 	 */
 	static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12);
 
-	virtual ~MutexIF() {}
-	virtual ReturnValue_t lockMutex(uint32_t timeoutMs) = 0;
-	virtual ReturnValue_t unlockMutex() = 0;
+    virtual ~MutexIF() {}
 };
 
 
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 6d90c3f6..764b0ae0 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -2,13 +2,10 @@
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
-
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
 	if(handle == nullptr) {
-		sif::error << "Mutex: Creation failure" << std::endl;
+		sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
 	}
 }
 
@@ -19,15 +16,17 @@ Mutex::~Mutex() {
 
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
 	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = MutexIF::POLLING;
-	if(timeoutMs == MutexIF::BLOCKING) {
-		timeout = MutexIF::BLOCKING;
+	// If the timeout type is BLOCKING, this will be the correct value.
+	uint32_t timeout = portMAX_DELAY;
+	if(timeoutType == TimeoutType::POLLING) {
+		timeout = 0;
 	}
-	else if(timeoutMs > MutexIF::POLLING){
+	else if(timeoutType == TimeoutType::WAITING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index d6e0aab9..2a4fae26 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -18,8 +18,10 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
+	ReturnValue_t lockMutex(TimeoutType timeoutType,
+	        uint32_t timeoutMs) override;
 	ReturnValue_t unlockMutex() override;
+
 private:
 	SemaphoreHandle_t handle;
 };

From caeb2f9dd639cddd9674f2b0c5cc32887a4db041 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 7 Aug 2020 22:16:10 +0200
Subject: [PATCH 139/154] mutex api changes

---
 ipc/MutexHelper.h    |  5 +++--
 osal/linux/Mutex.cpp | 41 ++++++++++++++++++++++++-----------------
 osal/linux/Mutex.h   | 10 +++++++---
 3 files changed, 34 insertions(+), 22 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index fc6e38bf..52ce51e3 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -6,9 +6,10 @@
 
 class MutexHelper {
 public:
-	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
+	MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
+			MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0) :
 			internalMutex(mutex) {
-		ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
+		ReturnValue_t status = mutex->lockMutex(timeoutType,
 		        timeoutMs);
 		if(status == MutexIF::MUTEX_TIMEOUT) {
 			sif::error << "MutexHelper: Lock of mutex failed with timeout of "
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 169ac354..03789e62 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -2,8 +2,6 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::BLOCKING = 0xffffffff;
 uint8_t Mutex::count = 0;
 
 
@@ -26,7 +24,9 @@ Mutex::Mutex() {
 		sif::error << "Mutex: creation with name, id " << mutex.__data.__count
 				<< ", " << " failed with " << strerror(status) << std::endl;
 	}
-	//After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes.
+	// After a mutex attributes object has been used to initialize one or more
+	// mutexes, any function affecting the attributes object
+	// (including destruction) shall not affect any previously initialized mutexes.
 	status = pthread_mutexattr_destroy(&mutexAttr);
 	if (status != 0) {
 		sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
@@ -38,15 +38,13 @@ Mutex::~Mutex() {
 	pthread_mutex_destroy(&mutex);
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
 	int status = 0;
-	if(timeoutMs == MutexIF::POLLING) {
-		status = pthread_mutex_trylock(&mutex);
+
+	if(timeoutType == TimeoutType::POLLING) {
+	    status = pthread_mutex_trylock(&mutex);
 	}
-	else if (timeoutMs == MutexIF::BLOCKING) {
-		status = pthread_mutex_lock(&mutex);
-	}
-	else {
+	else if (timeoutType == TimeoutType::WAITING) {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
@@ -55,25 +53,34 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
 		status = pthread_mutex_timedlock(&mutex, &timeOut);
 	}
+	else if(timeoutType == TimeoutType::BLOCKING) {
+		status = pthread_mutex_lock(&mutex);
+	}
 
 	switch (status) {
 	case EINVAL:
-		//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling.
+		// The mutex was created with the protocol attribute having the value
+		// PTHREAD_PRIO_PROTECT and the calling thread's priority is higher
+		// than the mutex's current priority ceiling.
 		return WRONG_ATTRIBUTE_SETTING;
-		//The process or thread would have blocked, and the abs_timeout parameter specified a nanoseconds field value less than zero or greater than or equal to 1000 million.
-		//The value specified by mutex does not refer to an initialized mutex object.
+		// The process or thread would have blocked, and the abs_timeout
+		// parameter specified a nanoseconds field value less than zero or
+		// greater than or equal to 1000 million.
+		// The value specified by mutex does not refer to an initialized mutex object.
 		//return MUTEX_NOT_FOUND;
 	case EBUSY:
-		//The mutex could not be acquired because it was already locked.
+		// The mutex could not be acquired because it was already locked.
 		return MUTEX_ALREADY_LOCKED;
 	case ETIMEDOUT:
-		//The mutex could not be locked before the specified timeout expired.
+		// The mutex could not be locked before the specified timeout expired.
 		return MUTEX_TIMEOUT;
 	case EAGAIN:
-		//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded.
+		// The mutex could not be acquired because the maximum number of
+		// recursive locks for mutex has been exceeded.
 		return MUTEX_MAX_LOCKS;
 	case EDEADLK:
-		//A deadlock condition was detected or the current thread already owns the mutex.
+		// A deadlock condition was detected or the current thread
+		// already owns the mutex.
 		return CURR_THREAD_ALREADY_OWNS_MUTEX;
 	case 0:
 		//Success
diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h
index d02d008f..26420c2e 100644
--- a/osal/linux/Mutex.h
+++ b/osal/linux/Mutex.h
@@ -1,14 +1,18 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef OS_LINUX_MUTEX_H_
+#define OS_LINUX_MUTEX_H_
 
 #include <framework/ipc/MutexIF.h>
+
+extern "C" {
 #include <pthread.h>
+}
+
 
 class Mutex : public MutexIF {
 public:
 	Mutex();
 	virtual ~Mutex();
-	virtual ReturnValue_t lockMutex(uint32_t timeoutMs);
+	virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs);
 	virtual ReturnValue_t unlockMutex();
 private:
 	pthread_mutex_t mutex;

From 54825dca6b3c63259a4eb1a45878358e5ae1192d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 7 Aug 2020 22:19:13 +0200
Subject: [PATCH 140/154] periodic posix task hotfix

---
 osal/linux/PeriodicPosixTask.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index c05f1030..548590ac 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -22,7 +22,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 }
 
 ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
-        bool addTaskIF) {
+		bool addTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
@@ -30,9 +30,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 	}
 	objectList.push_back(newObject);
 
-	if(setTaskIF) {
-	    newObject->setTaskIF(this);
-	}
+	newObject->setTaskIF(this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

From 90a3e2b8c5dfa121fb02a8627d9cbe8973261a0e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 7 Aug 2020 22:26:01 +0200
Subject: [PATCH 141/154] linux hotfix

---
 osal/linux/PeriodicPosixTask.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index c05f1030..6149c84b 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -29,10 +29,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
 
-	if(setTaskIF) {
-	    newObject->setTaskIF(this);
-	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

From 3d4daa51d537b0e957644103293b8dbadb773018 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 11 Aug 2020 17:17:50 +0200
Subject: [PATCH 142/154] Corrected warning to fit name of setting

---
 framework.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/framework.mk b/framework.mk
index ee0a7ba4..643eb74f 100644
--- a/framework.mk
+++ b/framework.mk
@@ -34,7 +34,7 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
+$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)

From d5dedce294d02e2afe44331f455cd65eee00197a Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 13 Aug 2020 20:53:35 +0200
Subject: [PATCH 143/154] Relative Paths

---
 action/ActionHelper.cpp                       |   6 +-
 action/ActionHelper.h                         |   6 +-
 action/ActionMessage.cpp                      |   6 +-
 action/ActionMessage.h                        |   6 +-
 action/CommandActionHelper.cpp                |  10 +-
 action/CommandActionHelper.h                  |  12 +-
 action/CommandsActionsIF.h                    |   6 +-
 action/HasActionsIF.h                         |  10 +-
 action/SimpleActionHelper.cpp                 |   4 +-
 action/SimpleActionHelper.h                   |   2 +-
 container/ArrayList.h                         |   6 +-
 container/FIFO.h                              |   2 +-
 container/FixedArrayList.h                    |   2 +-
 container/FixedMap.h                          |   4 +-
 container/FixedOrderedMultimap.h              |   2 +-
 container/HybridIterator.h                    |   4 +-
 container/IndexedRingMemoryArray.h            |  10 +-
 container/PlacementFactory.h                  |   2 +-
 container/RingBufferBase.h                    |   2 +-
 container/SimpleRingBuffer.cpp                |   2 +-
 container/SimpleRingBuffer.h                  |   2 +-
 controller/ControllerBase.cpp                 |  10 +-
 controller/ControllerBase.h                   |  14 +-
 coordinates/CoordinateTransformations.cpp     |   8 +-
 coordinates/CoordinateTransformations.h       |   2 +-
 coordinates/Jgm3Model.h                       |   8 +-
 coordinates/Sgp4Propagator.cpp                |  12 +-
 coordinates/Sgp4Propagator.h                  |   2 +-
 datalinklayer/BCFrame.h                       |   2 +-
 datalinklayer/CCSDSReturnValuesIF.h           |   2 +-
 datalinklayer/Clcw.cpp                        |   4 +-
 datalinklayer/Clcw.h                          |   2 +-
 datalinklayer/DataLinkLayer.cpp               |   6 +-
 datalinklayer/DataLinkLayer.h                 |  10 +-
 datalinklayer/Farm1StateIF.h                  |   2 +-
 datalinklayer/Farm1StateLockout.cpp           |   8 +-
 datalinklayer/Farm1StateLockout.h             |   2 +-
 datalinklayer/Farm1StateOpen.cpp              |   8 +-
 datalinklayer/Farm1StateOpen.h                |   2 +-
 datalinklayer/Farm1StateWait.cpp              |   8 +-
 datalinklayer/Farm1StateWait.h                |   2 +-
 datalinklayer/MapPacketExtraction.cpp         |  14 +-
 datalinklayer/MapPacketExtraction.h           |   8 +-
 datalinklayer/MapPacketExtractionIF.h         |   4 +-
 datalinklayer/TcTransferFrame.cpp             |   4 +-
 datalinklayer/TcTransferFrameLocal.cpp        |   6 +-
 datalinklayer/TcTransferFrameLocal.h          |   2 +-
 datalinklayer/VirtualChannelReception.cpp     |   6 +-
 datalinklayer/VirtualChannelReception.h       |  16 +-
 datalinklayer/VirtualChannelReceptionIF.h     |   6 +-
 datapool/ControllerSet.cpp                    |   2 +-
 datapool/ControllerSet.h                      |   2 +-
 datapool/DataPool.cpp                         |   6 +-
 datapool/DataPool.h                           |   6 +-
 datapool/DataPoolAdmin.cpp                    |  14 +-
 datapool/DataPoolAdmin.h                      |  18 +-
 datapool/DataPoolParameterWrapper.cpp         |   6 +-
 datapool/DataPoolParameterWrapper.h           |   4 +-
 datapool/DataSet.cpp                          |   4 +-
 datapool/DataSet.h                            |  14 +-
 datapool/HkSwitchHelper.cpp                   |   4 +-
 datapool/HkSwitchHelper.h                     |   6 +-
 datapool/PIDReader.h                          |  12 +-
 datapool/PIDReaderList.h                      |   4 +-
 datapool/PoolEntry.cpp                        |   6 +-
 datapool/PoolEntry.h                          |   2 +-
 datapool/PoolEntryIF.h                        |   2 +-
 datapool/PoolRawAccess.cpp                    |  10 +-
 datapool/PoolRawAccess.h                      |   4 +-
 datapool/PoolVarList.h                        |   4 +-
 datapool/PoolVariable.h                       |  10 +-
 datapool/PoolVariableIF.h                     |   4 +-
 datapool/PoolVector.h                         |  10 +-
 devicehandlers/AcceptsDeviceResponsesIF.h     |   2 +-
 devicehandlers/AssemblyBase.cpp               |   2 +-
 devicehandlers/AssemblyBase.h                 |   6 +-
 devicehandlers/ChildHandlerBase.cpp           |   6 +-
 devicehandlers/ChildHandlerBase.h             |   4 +-
 devicehandlers/ChildHandlerFDIR.cpp           |   2 +-
 devicehandlers/ChildHandlerFDIR.h             |   2 +-
 devicehandlers/DeviceCommunicationIF.h        |   4 +-
 devicehandlers/DeviceHandlerBase.cpp          |  24 +-
 devicehandlers/DeviceHandlerBase.h            |  30 +-
 .../DeviceHandlerFailureIsolation.cpp         |  12 +-
 .../DeviceHandlerFailureIsolation.h           |   4 +-
 devicehandlers/DeviceHandlerIF.h              |  10 +-
 devicehandlers/DeviceHandlerMessage.cpp       |   6 +-
 devicehandlers/DeviceHandlerMessage.h         |   8 +-
 devicehandlers/DeviceTmReportingWrapper.cpp   |   6 +-
 devicehandlers/DeviceTmReportingWrapper.h     |   6 +-
 devicehandlers/FixedSequenceSlot.cpp          |   4 +-
 devicehandlers/FixedSequenceSlot.h            |   4 +-
 devicehandlers/FixedSlotSequence.cpp          |   4 +-
 devicehandlers/FixedSlotSequence.h            |   4 +-
 devicehandlers/HealthDevice.cpp               |   4 +-
 devicehandlers/HealthDevice.h                 |  10 +-
 events/Event.cpp                              |   2 +-
 events/Event.h                                |   2 +-
 events/EventManager.cpp                       |  10 +-
 events/EventManager.h                         |  14 +-
 events/EventManagerIF.h                       |   8 +-
 events/EventMessage.cpp                       |   2 +-
 events/EventMessage.h                         |   6 +-
 events/EventReportingProxyIF.h                |   2 +-
 events/eventmatching/EventIdRangeMatcher.cpp  |   2 +-
 events/eventmatching/EventIdRangeMatcher.h    |   2 +-
 events/eventmatching/EventMatchTree.cpp       |   8 +-
 events/eventmatching/EventMatchTree.h         |   8 +-
 events/eventmatching/EventRangeMatcherBase.h  |   6 +-
 events/eventmatching/ReporterRangeMatcher.cpp |   2 +-
 events/eventmatching/ReporterRangeMatcher.h   |   2 +-
 events/eventmatching/SeverityRangeMatcher.cpp |   6 +-
 events/eventmatching/SeverityRangeMatcher.h   |   2 +-
 events/eventmatching/eventmatching.h          |   8 +-
 fdir/ConfirmsFailuresIF.h                     |   4 +-
 fdir/EventCorrelation.cpp                     |   2 +-
 fdir/EventCorrelation.h                       |   2 +-
 fdir/FailureIsolationBase.cpp                 |  12 +-
 fdir/FailureIsolationBase.h                   |  14 +-
 fdir/FaultCounter.cpp                         |   2 +-
 fdir/FaultCounter.h                           |   4 +-
 globalfunctions/AsciiConverter.cpp            |   2 +-
 globalfunctions/AsciiConverter.h              |   2 +-
 globalfunctions/CRC.cpp                       |   2 +-
 globalfunctions/DleEncoder.cpp                |   2 +-
 globalfunctions/DleEncoder.h                  |   2 +-
 globalfunctions/Type.cpp                      |   6 +-
 globalfunctions/Type.h                        |   4 +-
 globalfunctions/arrayprinter.cpp              |   4 +-
 globalfunctions/matching/BinaryMatcher.h      |   2 +-
 globalfunctions/matching/DecimalMatcher.h     |   2 +-
 globalfunctions/matching/MatchTree.h          |   6 +-
 globalfunctions/matching/RangeMatcher.h       |   4 +-
 .../matching/SerializeableMatcherIF.h         |   4 +-
 globalfunctions/math/QuaternionOperations.cpp |   2 +-
 globalfunctions/timevalOperations.cpp         |   2 +-
 health/HasHealthIF.h                          |   6 +-
 health/HealthHelper.cpp                       |   6 +-
 health/HealthHelper.h                         |  14 +-
 health/HealthMessage.cpp                      |   2 +-
 health/HealthMessage.h                        |   4 +-
 health/HealthTable.cpp                        |   6 +-
 health/HealthTable.h                          |   6 +-
 health/HealthTableIF.h                        |   6 +-
 health/ManagesHealthIF.h                      |   4 +-
 internalError/InternalErrorReporter.cpp       |   8 +-
 internalError/InternalErrorReporter.h         |   6 +-
 ipc/CommandMessage.cpp                        |  18 +-
 ipc/CommandMessage.h                          |   4 +-
 ipc/MessageQueueIF.h                          |   6 +-
 ipc/MessageQueueMessage.cpp                   |   4 +-
 ipc/MessageQueueMessage.h                     |   2 +-
 ipc/MessageQueueSenderIF.h                    |   2 +-
 ipc/MutexFactory.h                            |   2 +-
 ipc/MutexHelper.h                             |   4 +-
 ipc/MutexIF.h                                 |   2 +-
 ipc/QueueFactory.h                            |   2 +-
 memory/AcceptsMemoryMessagesIF.h              |   6 +-
 memory/HasMemoryIF.h                          |   2 +-
 memory/MemoryHelper.cpp                       |  12 +-
 memory/MemoryHelper.h                         |  10 +-
 memory/MemoryMessage.cpp                      |   4 +-
 memory/MemoryMessage.h                        |   4 +-
 memory/MemoryProxyIF.h                        |   2 +-
 modes/HasModesIF.h                            |   8 +-
 modes/ModeHelper.cpp                          |   6 +-
 modes/ModeHelper.h                            |   6 +-
 modes/ModeMessage.cpp                         |   2 +-
 modes/ModeMessage.h                           |   2 +-
 monitoring/AbsLimitMonitor.h                  |   2 +-
 monitoring/HasMonitorsIF.h                    |   6 +-
 monitoring/LimitMonitor.h                     |   2 +-
 monitoring/LimitViolationReporter.cpp         |  10 +-
 monitoring/LimitViolationReporter.h           |   8 +-
 monitoring/MonitorBase.h                      |  12 +-
 monitoring/MonitorReporter.h                  |  10 +-
 monitoring/MonitoringIF.h                     |   6 +-
 monitoring/MonitoringMessage.cpp              |   4 +-
 monitoring/MonitoringMessage.h                |   4 +-
 monitoring/MonitoringMessageContent.h         |  18 +-
 monitoring/ReceivesMonitoringReportsIF.h      |   2 +-
 monitoring/TriplexMonitor.h                   |  10 +-
 monitoring/TwoValueLimitMonitor.h             |   2 +-
 objectmanager/ObjectManager.cpp               |   4 +-
 objectmanager/ObjectManager.h                 |   4 +-
 objectmanager/ObjectManagerIF.h               |   8 +-
 objectmanager/SystemObject.cpp                |   6 +-
 objectmanager/SystemObject.h                  |   8 +-
 objectmanager/SystemObjectIF.h                |   4 +-
 osal/FreeRTOS/Clock.cpp                       |   6 +-
 osal/FreeRTOS/FixedTimeslotTask.cpp           |   2 +-
 osal/FreeRTOS/FixedTimeslotTask.h             |   6 +-
 osal/FreeRTOS/MessageQueue.cpp                |   2 +-
 osal/FreeRTOS/MessageQueue.h                  |   6 +-
 osal/FreeRTOS/Mutex.cpp                       |   2 +-
 osal/FreeRTOS/Mutex.h                         |   2 +-
 osal/FreeRTOS/MutexFactory.cpp                |   2 +-
 osal/FreeRTOS/PeriodicTask.cpp                |   4 +-
 osal/FreeRTOS/PeriodicTask.h                  |   6 +-
 osal/FreeRTOS/QueueFactory.cpp                |   4 +-
 osal/FreeRTOS/TaskFactory.cpp                 |   4 +-
 osal/FreeRTOS/Timekeeper.cpp                  |   2 +-
 osal/FreeRTOS/Timekeeper.h                    |   2 +-
 osal/InternalErrorCodes.h                     |   2 +-
 osal/linux/Clock.cpp                          |   4 +-
 osal/linux/FixedTimeslotTask.cpp              |   4 +-
 osal/linux/FixedTimeslotTask.h                |   6 +-
 osal/linux/InternalErrorCodes.cpp             |   2 +-
 osal/linux/MessageQueue.cpp                   |   4 +-
 osal/linux/MessageQueue.h                     |   6 +-
 osal/linux/Mutex.cpp                          |   6 +-
 osal/linux/Mutex.h                            |   2 +-
 osal/linux/MutexFactory.cpp                   |   4 +-
 osal/linux/PeriodicPosixTask.cpp              |   6 +-
 osal/linux/PeriodicPosixTask.h                |   8 +-
 osal/linux/PosixThread.cpp                    |   4 +-
 osal/linux/PosixThread.h                      |   2 +-
 osal/linux/QueueFactory.cpp                   |   6 +-
 osal/linux/TaskFactory.cpp                    |   8 +-
 osal/linux/Timer.cpp                          |   4 +-
 osal/rtems/Clock.cpp                          |   2 +-
 osal/rtems/CpuUsage.cpp                       |   4 +-
 osal/rtems/CpuUsage.h                         |   4 +-
 osal/rtems/InternalErrorCodes.cpp             |   2 +-
 osal/rtems/Interrupt.h                        |   2 +-
 osal/rtems/MessageQueue.cpp                   |   2 +-
 osal/rtems/MessageQueue.h                     |   6 +-
 osal/rtems/MultiObjectTask.cpp                |   4 +-
 osal/rtems/MultiObjectTask.h                  |   4 +-
 osal/rtems/Mutex.cpp                          |   2 +-
 osal/rtems/Mutex.h                            |   2 +-
 osal/rtems/MutexFactory.cpp                   |   2 +-
 osal/rtems/PollingTask.cpp                    |  12 +-
 osal/rtems/PollingTask.h                      |   4 +-
 osal/rtems/QueueFactory.cpp                   |   2 +-
 osal/rtems/RtemsBasic.h                       |   2 +-
 osal/rtems/TaskBase.cpp                       |   2 +-
 osal/rtems/TaskBase.h                         |   2 +-
 osal/rtems/TaskFactory.cpp                    |   4 +-
 parameters/HasParametersIF.h                  |   4 +-
 parameters/ParameterHelper.cpp                |   6 +-
 parameters/ParameterHelper.h                  |   4 +-
 parameters/ParameterMessage.cpp               |   4 +-
 parameters/ParameterMessage.h                 |   6 +-
 parameters/ParameterWrapper.cpp               |   2 +-
 parameters/ParameterWrapper.h                 |   8 +-
 parameters/ReceivesParameterMessagesIF.h      |   4 +-
 power/Fuse.cpp                                |  12 +-
 power/Fuse.h                                  |  16 +-
 power/PowerComponent.cpp                      |   2 +-
 power/PowerComponent.h                        |   4 +-
 power/PowerComponentIF.h                      |   4 +-
 power/PowerSensor.cpp                         |   4 +-
 power/PowerSensor.h                           |  16 +-
 power/PowerSwitchIF.h                         |   4 +-
 power/PowerSwitcher.cpp                       |   6 +-
 power/PowerSwitcher.h                         |   6 +-
 pus/CService200ModeCommanding.cpp             | 238 +++++-----
 pus/CService200ModeCommanding.h               | 170 +++----
 pus/Service1TelecommandVerification.cpp       |  16 +-
 pus/Service1TelecommandVerification.h         |  12 +-
 pus/Service2DeviceAccess.cpp                  | 334 +++++++-------
 pus/Service2DeviceAccess.h                    | 184 ++++----
 pus/Service5EventReporting.cpp                |  12 +-
 pus/Service5EventReporting.h                  |   4 +-
 pus/Service8FunctionManagement.cpp            | 284 ++++++------
 pus/Service8FunctionManagement.h              | 134 +++---
 pus/servicepackets/Service1Packets.h          |   4 +-
 pus/servicepackets/Service200Packets.h        | 126 +++---
 pus/servicepackets/Service2Packets.h          | 152 +++----
 pus/servicepackets/Service5Packets.h          |   4 +-
 pus/servicepackets/Service8Packets.h          | 242 +++++-----
 returnvalues/HasReturnvaluesIF.h              |   2 +-
 rmap/RMAP.cpp                                 |   8 +-
 rmap/RMAP.h                                   |   4 +-
 rmap/RMAPChannelIF.h                          |   4 +-
 rmap/RMAPCookie.cpp                           |   4 +-
 rmap/RMAPCookie.h                             |   4 +-
 rmap/RmapDeviceCommunicationIF.cpp            |   4 +-
 rmap/RmapDeviceCommunicationIF.h              |   2 +-
 serialize/EndianConverter.h                   |   2 +-
 serialize/SerialArrayListAdapter.h            |   4 +-
 serialize/SerialBufferAdapter.cpp             |   2 +-
 serialize/SerialBufferAdapter.h               |   4 +-
 serialize/SerialFixedArrayListAdapter.h       |   4 +-
 serialize/SerialLinkedListAdapter.h           |   8 +-
 serialize/SerializeAdapter.h                  |   8 +-
 serialize/SerializeElement.h                  |   4 +-
 serialize/SerializeIF.h                       |   2 +-
 serviceinterface/ServiceInterfaceBuffer.cpp   |   6 +-
 serviceinterface/ServiceInterfaceBuffer.h     |   2 +-
 serviceinterface/ServiceInterfaceStream.cpp   |   2 +-
 serviceinterface/ServiceInterfaceStream.h     |   2 +-
 storagemanager/LocalPool.h                    |  12 +-
 storagemanager/PoolManager.h                  |   4 +-
 storagemanager/StorageManagerIF.h             |   4 +-
 subsystem/Subsystem.cpp                       |  14 +-
 subsystem/Subsystem.h                         |  14 +-
 subsystem/SubsystemBase.cpp                   |   8 +-
 subsystem/SubsystemBase.h                     |  18 +-
 subsystem/modes/HasModeSequenceIF.h           |   6 +-
 subsystem/modes/ModeDefinitions.h             |   8 +-
 subsystem/modes/ModeSequenceMessage.cpp       |  10 +-
 subsystem/modes/ModeSequenceMessage.h         |   6 +-
 subsystem/modes/ModeStore.cpp                 |   2 +-
 subsystem/modes/ModeStore.h                   |   8 +-
 subsystem/modes/ModeStoreIF.h                 |   8 +-
 tasks/ExecutableObjectIF.h                    |   2 +-
 tasks/FixedTimeslotTaskIF.h                   |   4 +-
 tasks/PeriodicTaskIF.h                        |   4 +-
 tasks/TaskFactory.h                           |   4 +-
 tcdistribution/CCSDSDistributor.cpp           |   6 +-
 tcdistribution/CCSDSDistributor.h             |  10 +-
 tcdistribution/CCSDSDistributorIF.h           |   4 +-
 tcdistribution/PUSDistributor.cpp             |  10 +-
 tcdistribution/PUSDistributor.h               |  12 +-
 tcdistribution/PUSDistributorIF.h             |   4 +-
 tcdistribution/TcDistributor.cpp              |  10 +-
 tcdistribution/TcDistributor.h                |  14 +-
 tcdistribution/TcPacketCheck.cpp              |  10 +-
 tcdistribution/TcPacketCheck.h                |   6 +-
 thermal/AbstractTemperatureSensor.cpp         |   2 +-
 thermal/AbstractTemperatureSensor.h           |  12 +-
 thermal/CoreComponent.h                       |  12 +-
 thermal/Heater.cpp                            |   6 +-
 thermal/Heater.h                              |  10 +-
 thermal/RedundantHeater.h                     |   2 +-
 thermal/TemperatureSensor.h                   |   4 +-
 thermal/ThermalComponentIF.h                  |   8 +-
 thermal/ThermalModule.cpp                     |   4 +-
 thermal/ThermalModule.h                       |   8 +-
 thermal/ThermalMonitor.cpp                    |   6 +-
 thermal/ThermalMonitor.h                      |   4 +-
 timemanager/CCSDSTime.cpp                     |   2 +-
 timemanager/CCSDSTime.h                       |   4 +-
 timemanager/Clock.h                           |   6 +-
 timemanager/Countdown.cpp                     |   2 +-
 timemanager/Countdown.h                       |   2 +-
 timemanager/Stopwatch.cpp                     | 114 ++---
 timemanager/Stopwatch.h                       | 142 +++---
 timemanager/TimeMessage.cpp                   |   2 +-
 timemanager/TimeMessage.h                     |   4 +-
 timemanager/TimeStamperIF.h                   |   2 +-
 tmstorage/TmStoreBackendIF.h                  |  10 +-
 tmstorage/TmStoreFrontendIF.h                 |   6 +-
 tmstorage/TmStoreMessage.cpp                  |   4 +-
 tmstorage/TmStoreMessage.h                    |   8 +-
 tmstorage/TmStorePackets.h                    |  16 +-
 tmtcpacket/SpacePacket.cpp                    |   6 +-
 tmtcpacket/SpacePacket.h                      |   2 +-
 tmtcpacket/SpacePacketBase.cpp                |   4 +-
 tmtcpacket/SpacePacketBase.h                  |   2 +-
 tmtcpacket/packetmatcher/ApidMatcher.h        |   6 +-
 tmtcpacket/packetmatcher/PacketMatchTree.cpp  |   8 +-
 tmtcpacket/packetmatcher/PacketMatchTree.h    |   8 +-
 tmtcpacket/packetmatcher/ServiceMatcher.h     |   6 +-
 tmtcpacket/packetmatcher/SubserviceMatcher.h  |   6 +-
 tmtcpacket/pus/PacketTimestampInterpreterIF.h |   2 +-
 tmtcpacket/pus/TcPacketBase.cpp               |   6 +-
 tmtcpacket/pus/TcPacketBase.h                 |   2 +-
 tmtcpacket/pus/TcPacketStored.cpp             |   6 +-
 tmtcpacket/pus/TcPacketStored.h               |   4 +-
 tmtcpacket/pus/TmPacketBase.cpp               |  10 +-
 tmtcpacket/pus/TmPacketBase.h                 |   8 +-
 tmtcpacket/pus/TmPacketMinimal.cpp            |   4 +-
 tmtcpacket/pus/TmPacketMinimal.h              |   4 +-
 tmtcpacket/pus/TmPacketStored.cpp             |   8 +-
 tmtcpacket/pus/TmPacketStored.h               |  10 +-
 tmtcservices/AcceptsTelecommandsIF.h          |   2 +-
 tmtcservices/AcceptsTelemetryIF.h             |   2 +-
 tmtcservices/AcceptsVerifyMessageIF.h         |   2 +-
 tmtcservices/CommandingServiceBase.cpp        |  16 +-
 tmtcservices/CommandingServiceBase.h          |  20 +-
 tmtcservices/PusServiceBase.cpp               |  14 +-
 tmtcservices/PusServiceBase.h                 |  18 +-
 tmtcservices/PusVerificationReport.cpp        |   4 +-
 tmtcservices/PusVerificationReport.h          |   6 +-
 tmtcservices/SourceSequenceCounter.h          |   2 +-
 tmtcservices/TmTcBridge.cpp                   | 414 +++++++++---------
 tmtcservices/TmTcBridge.h                     | 308 ++++++-------
 tmtcservices/TmTcMessage.cpp                  |   2 +-
 tmtcservices/TmTcMessage.h                    |   4 +-
 tmtcservices/VerificationReporter.cpp         |   8 +-
 tmtcservices/VerificationReporter.h           |   4 +-
 384 files changed, 2477 insertions(+), 2477 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index dc6bd498..b43c676d 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/action/ActionHelper.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "ActionHelper.h"
+#include "HasActionsIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
 		owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index eb3bfa54..bbc6d114 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -1,9 +1,9 @@
 #ifndef ACTIONHELPER_H_
 #define ACTIONHELPER_H_
 
-#include <framework/action/ActionMessage.h>
-#include <framework/serialize/SerializeIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "ActionMessage.h"
+#include "../serialize/SerializeIF.h"
+#include "../ipc/MessageQueueIF.h"
 /**
  * \brief Action Helper is a helper class which handles action messages
  *
diff --git a/action/ActionMessage.cpp b/action/ActionMessage.cpp
index 96ff59b6..b0bcabaa 100644
--- a/action/ActionMessage.cpp
+++ b/action/ActionMessage.cpp
@@ -1,6 +1,6 @@
-#include <framework/action/ActionMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "ActionMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../storagemanager/StorageManagerIF.h"
 
 ActionMessage::ActionMessage() {
 }
diff --git a/action/ActionMessage.h b/action/ActionMessage.h
index 5d8332cb..c564911c 100644
--- a/action/ActionMessage.h
+++ b/action/ActionMessage.h
@@ -1,9 +1,9 @@
 #ifndef ACTIONMESSAGE_H_
 #define ACTIONMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/CommandMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../storagemanager/StorageManagerIF.h"
 typedef uint32_t ActionId_t;
 
 class ActionMessage {
diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp
index 70ffbbde..4e88f3c3 100644
--- a/action/CommandActionHelper.cpp
+++ b/action/CommandActionHelper.cpp
@@ -1,8 +1,8 @@
-#include <framework/action/ActionMessage.h>
-#include <framework/action/CommandActionHelper.h>
-#include <framework/action/CommandsActionsIF.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "ActionMessage.h"
+#include "CommandActionHelper.h"
+#include "CommandsActionsIF.h"
+#include "HasActionsIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
 		owner(setOwner), queueToUse(NULL), ipcStore(
diff --git a/action/CommandActionHelper.h b/action/CommandActionHelper.h
index 24d0380c..cfed8c94 100644
--- a/action/CommandActionHelper.h
+++ b/action/CommandActionHelper.h
@@ -1,12 +1,12 @@
 #ifndef COMMANDACTIONHELPER_H_
 #define COMMANDACTIONHELPER_H_
 
-#include <framework/action/ActionMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "ActionMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class CommandsActionsIF;
 
diff --git a/action/CommandsActionsIF.h b/action/CommandsActionsIF.h
index db76fb50..3d04015d 100644
--- a/action/CommandsActionsIF.h
+++ b/action/CommandsActionsIF.h
@@ -1,9 +1,9 @@
 #ifndef COMMANDSACTIONSIF_H_
 #define COMMANDSACTIONSIF_H_
 
-#include <framework/action/CommandActionHelper.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "CommandActionHelper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 /**
  * Interface to separate commanding actions of other objects.
diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index 008d9eaf..886d0837 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
 #define FRAMEWORK_ACTION_HASACTIONSIF_H_
 
-#include <framework/action/ActionHelper.h>
-#include <framework/action/ActionMessage.h>
-#include <framework/action/SimpleActionHelper.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "ActionHelper.h"
+#include "ActionMessage.h"
+#include "SimpleActionHelper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueIF.h"
 /**
  * @brief
  * Interface for component which uses actions
diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp
index 6861fc28..d79a3c97 100644
--- a/action/SimpleActionHelper.cpp
+++ b/action/SimpleActionHelper.cpp
@@ -1,5 +1,5 @@
-#include <framework/action/HasActionsIF.h>
-#include <framework/action/SimpleActionHelper.h>
+#include "HasActionsIF.h"
+#include "SimpleActionHelper.h"
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
 		MessageQueueIF* useThisQueue) :
 		ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
diff --git a/action/SimpleActionHelper.h b/action/SimpleActionHelper.h
index 71e73c5a..1329b5fb 100644
--- a/action/SimpleActionHelper.h
+++ b/action/SimpleActionHelper.h
@@ -1,7 +1,7 @@
 #ifndef SIMPLEACTIONHELPER_H_
 #define SIMPLEACTIONHELPER_H_
 
-#include <framework/action/ActionHelper.h>
+#include "ActionHelper.h"
 
 class SimpleActionHelper: public ActionHelper {
 public:
diff --git a/container/ArrayList.h b/container/ArrayList.h
index 9c4c4ceb..018f9894 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -1,9 +1,9 @@
 #ifndef ARRAYLIST_H_
 #define ARRAYLIST_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serialize/SerializeIF.h"
 
 /**
  * A List that stores its values in an array.
diff --git a/container/FIFO.h b/container/FIFO.h
index f70c78b0..3172d9d1 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -1,7 +1,7 @@
 #ifndef FIFO_H_
 #define FIFO_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief Simple First-In-First-Out data structure
diff --git a/container/FixedArrayList.h b/container/FixedArrayList.h
index eeffcc87..42b59177 100644
--- a/container/FixedArrayList.h
+++ b/container/FixedArrayList.h
@@ -1,7 +1,7 @@
 #ifndef FIXEDARRAYLIST_H_
 #define FIXEDARRAYLIST_H_
 
-#include <framework/container/ArrayList.h>
+#include "ArrayList.h"
 /**
  * \ingroup container
  */
diff --git a/container/FixedMap.h b/container/FixedMap.h
index ac170bd2..dc19ce53 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -1,8 +1,8 @@
 #ifndef FIXEDMAP_H_
 #define FIXEDMAP_H_
 
-#include <framework/container/ArrayList.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "ArrayList.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <utility>
 
 /**
diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 21629664..6152d8d7 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
 
-#include <framework/container/ArrayList.h>
+#include "ArrayList.h"
 #include <cstring>
 #include <set>
 /**
diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index f2fd6b28..8d020cb9 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 #define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 
-#include <framework/container/ArrayList.h>
-#include <framework/container/SinglyLinkedList.h>
+#include "ArrayList.h"
+#include "SinglyLinkedList.h"
 
 template<typename T, typename count_t = uint8_t>
 class HybridIterator: public LinkedElement<T>::Iterator,
diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h
index 6e7f330c..0d85b49b 100644
--- a/container/IndexedRingMemoryArray.h
+++ b/container/IndexedRingMemoryArray.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
 #define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
 
-#include <framework/container/ArrayList.h>
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerialArrayListAdapter.h>
+#include "ArrayList.h"
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerialArrayListAdapter.h"
 #include <cmath>
 
 template<typename T>
diff --git a/container/PlacementFactory.h b/container/PlacementFactory.h
index daf4ee20..05538478 100644
--- a/container/PlacementFactory.h
+++ b/container/PlacementFactory.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
 #define FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
 
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../storagemanager/StorageManagerIF.h"
 #include <utility>
 
 class PlacementFactory {
diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h
index 3ef782d8..e3a87d9d 100644
--- a/container/RingBufferBase.h
+++ b/container/RingBufferBase.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
 #define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 63dc3514..ee087643 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -1,4 +1,4 @@
-#include <framework/container/SimpleRingBuffer.h>
+#include "SimpleRingBuffer.h"
 #include <string.h>
 
 SimpleRingBuffer::SimpleRingBuffer(uint32_t size, bool overwriteOld) :
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 6d7d67e1..5d4fecab 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
 #define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
 
-#include <framework/container/RingBufferBase.h>
+#include "RingBufferBase.h"
 #include <stddef.h>
 
 class SimpleRingBuffer: public RingBufferBase<> {
diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp
index 7b11bdfa..69551731 100644
--- a/controller/ControllerBase.cpp
+++ b/controller/ControllerBase.cpp
@@ -1,8 +1,8 @@
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/controller/ControllerBase.h>
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/action/HasActionsIF.h>
+#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,
 		size_t commandQueueDepth) :
diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h
index 804bc7c2..f5182ceb 100644
--- a/controller/ControllerBase.h
+++ b/controller/ControllerBase.h
@@ -1,13 +1,13 @@
 #ifndef CONTROLLERBASE_H_
 #define CONTROLLERBASE_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/modes/ModeHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/datapool/HkSwitchHelper.h>
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../modes/HasModesIF.h"
+#include "../modes/ModeHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../datapool/HkSwitchHelper.h"
 
 
 class ControllerBase: public HasModesIF,
diff --git a/coordinates/CoordinateTransformations.cpp b/coordinates/CoordinateTransformations.cpp
index b57519a3..4e2debbe 100644
--- a/coordinates/CoordinateTransformations.cpp
+++ b/coordinates/CoordinateTransformations.cpp
@@ -1,7 +1,7 @@
-#include <framework/coordinates/CoordinateTransformations.h>
-#include <framework/globalfunctions/constants.h>
-#include <framework/globalfunctions/math/MatrixOperations.h>
-#include <framework/globalfunctions/math/VectorOperations.h>
+#include "CoordinateTransformations.h"
+#include "../globalfunctions/constants.h"
+#include "../globalfunctions/math/MatrixOperations.h"
+#include "../globalfunctions/math/VectorOperations.h"
 #include <stddef.h>
 #include <cmath>
 
diff --git a/coordinates/CoordinateTransformations.h b/coordinates/CoordinateTransformations.h
index b072271f..09ea2c48 100644
--- a/coordinates/CoordinateTransformations.h
+++ b/coordinates/CoordinateTransformations.h
@@ -1,7 +1,7 @@
 #ifndef COORDINATETRANSFORMATIONS_H_
 #define COORDINATETRANSFORMATIONS_H_
 
-#include <framework/timemanager/Clock.h>
+#include "../timemanager/Clock.h"
 #include <cstring>
 
 class CoordinateTransformations {
diff --git a/coordinates/Jgm3Model.h b/coordinates/Jgm3Model.h
index 8f0598f8..884ed141 100644
--- a/coordinates/Jgm3Model.h
+++ b/coordinates/Jgm3Model.h
@@ -2,10 +2,10 @@
 #define FRAMEWORK_COORDINATES_JGM3MODEL_H_
 
 #include <stdint.h>
-#include <framework/coordinates/CoordinateTransformations.h>
-#include <framework/globalfunctions/math/VectorOperations.h>
-#include <framework/globalfunctions/timevalOperations.h>
-#include <framework/globalfunctions/constants.h>
+#include "CoordinateTransformations.h"
+#include "../globalfunctions/math/VectorOperations.h"
+#include "../globalfunctions/timevalOperations.h"
+#include "../globalfunctions/constants.h"
 #include <memory.h>
 
 
diff --git a/coordinates/Sgp4Propagator.cpp b/coordinates/Sgp4Propagator.cpp
index 0eb20f08..5cb1497c 100644
--- a/coordinates/Sgp4Propagator.cpp
+++ b/coordinates/Sgp4Propagator.cpp
@@ -1,9 +1,9 @@
-#include <framework/coordinates/CoordinateTransformations.h>
-#include <framework/coordinates/Sgp4Propagator.h>
-#include <framework/globalfunctions/constants.h>
-#include <framework/globalfunctions/math/MatrixOperations.h>
-#include <framework/globalfunctions/math/VectorOperations.h>
-#include <framework/globalfunctions/timevalOperations.h>
+#include "CoordinateTransformations.h"
+#include "Sgp4Propagator.h"
+#include "../globalfunctions/constants.h"
+#include "../globalfunctions/math/MatrixOperations.h"
+#include "../globalfunctions/math/VectorOperations.h"
+#include "../globalfunctions/timevalOperations.h"
 #include <cstring>
 Sgp4Propagator::Sgp4Propagator() :
 		initialized(false), epoch({0, 0}), whichconst(wgs84) {
diff --git a/coordinates/Sgp4Propagator.h b/coordinates/Sgp4Propagator.h
index 95739762..3949547e 100644
--- a/coordinates/Sgp4Propagator.h
+++ b/coordinates/Sgp4Propagator.h
@@ -3,7 +3,7 @@
 
 #include <sys/time.h>
 #include "../contrib/sgp4/sgp4unit.h"
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class Sgp4Propagator {
 public:
diff --git a/datalinklayer/BCFrame.h b/datalinklayer/BCFrame.h
index bcdf5300..b7795556 100644
--- a/datalinklayer/BCFrame.h
+++ b/datalinklayer/BCFrame.h
@@ -8,7 +8,7 @@
 #ifndef BCFRAME_H_
 #define BCFRAME_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
+#include "CCSDSReturnValuesIF.h"
 
 /**
  * Small helper class to identify a BcFrame.
diff --git a/datalinklayer/CCSDSReturnValuesIF.h b/datalinklayer/CCSDSReturnValuesIF.h
index 4d4f4bde..805b6969 100644
--- a/datalinklayer/CCSDSReturnValuesIF.h
+++ b/datalinklayer/CCSDSReturnValuesIF.h
@@ -8,7 +8,7 @@
 #ifndef CCSDSRETURNVALUESIF_H_
 #define CCSDSRETURNVALUESIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 /**
  * This is a helper class to collect special return values that come up during CCSDS Handling.
  * @ingroup ccsds_handling
diff --git a/datalinklayer/Clcw.cpp b/datalinklayer/Clcw.cpp
index ee497e20..dc435a2b 100644
--- a/datalinklayer/Clcw.cpp
+++ b/datalinklayer/Clcw.cpp
@@ -7,8 +7,8 @@
 
 
 
-#include <framework/datalinklayer/Clcw.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "Clcw.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 Clcw::Clcw() {
 	content.raw = 0;
diff --git a/datalinklayer/Clcw.h b/datalinklayer/Clcw.h
index f19f37b6..8116d63b 100644
--- a/datalinklayer/Clcw.h
+++ b/datalinklayer/Clcw.h
@@ -8,7 +8,7 @@
 #ifndef CLCW_H_
 #define CLCW_H_
 
-#include <framework/datalinklayer/ClcwIF.h>
+#include "ClcwIF.h"
 /**
  * Small helper method to handle the Clcw values.
  * It has a content struct that manages the register and can be set externally.
diff --git a/datalinklayer/DataLinkLayer.cpp b/datalinklayer/DataLinkLayer.cpp
index 4ca7f270..75f2edda 100644
--- a/datalinklayer/DataLinkLayer.cpp
+++ b/datalinklayer/DataLinkLayer.cpp
@@ -1,6 +1,6 @@
-#include <framework/datalinklayer/DataLinkLayer.h>
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataLinkLayer.h"
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw,
 		uint8_t set_start_sequence_length, uint16_t set_scid) :
diff --git a/datalinklayer/DataLinkLayer.h b/datalinklayer/DataLinkLayer.h
index 8a3bb8e5..5a900099 100644
--- a/datalinklayer/DataLinkLayer.h
+++ b/datalinklayer/DataLinkLayer.h
@@ -1,11 +1,11 @@
 #ifndef DATALINKLAYER_H_
 #define DATALINKLAYER_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/datalinklayer/VirtualChannelReceptionIF.h>
-#include <framework/events/Event.h>
+#include "CCSDSReturnValuesIF.h"
+#include "ClcwIF.h"
+#include "TcTransferFrame.h"
+#include "VirtualChannelReceptionIF.h"
+#include "../events/Event.h"
 #include <map>
 
 
diff --git a/datalinklayer/Farm1StateIF.h b/datalinklayer/Farm1StateIF.h
index 25836e6a..71794d75 100644
--- a/datalinklayer/Farm1StateIF.h
+++ b/datalinklayer/Farm1StateIF.h
@@ -8,7 +8,7 @@
 #ifndef FARM1STATEIF_H_
 #define FARM1STATEIF_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
+#include "CCSDSReturnValuesIF.h"
 class VirtualChannelReception;
 class TcTransferFrame;
 class ClcwIF;
diff --git a/datalinklayer/Farm1StateLockout.cpp b/datalinklayer/Farm1StateLockout.cpp
index 45ae47f9..1b339a85 100644
--- a/datalinklayer/Farm1StateLockout.cpp
+++ b/datalinklayer/Farm1StateLockout.cpp
@@ -7,10 +7,10 @@
 
 
 
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/Farm1StateLockout.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/datalinklayer/VirtualChannelReception.h>
+#include "ClcwIF.h"
+#include "Farm1StateLockout.h"
+#include "TcTransferFrame.h"
+#include "VirtualChannelReception.h"
 Farm1StateLockout::Farm1StateLockout(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }
 
diff --git a/datalinklayer/Farm1StateLockout.h b/datalinklayer/Farm1StateLockout.h
index aac8ed74..63cdc4d2 100644
--- a/datalinklayer/Farm1StateLockout.h
+++ b/datalinklayer/Farm1StateLockout.h
@@ -8,7 +8,7 @@
 #ifndef FARM1STATELOCKOUT_H_
 #define FARM1STATELOCKOUT_H_
 
-#include <framework/datalinklayer/Farm1StateIF.h>
+#include "Farm1StateIF.h"
 
 /**
  * This class represents the FARM-1 "Lockout" State.
diff --git a/datalinklayer/Farm1StateOpen.cpp b/datalinklayer/Farm1StateOpen.cpp
index b06cff48..61c0997f 100644
--- a/datalinklayer/Farm1StateOpen.cpp
+++ b/datalinklayer/Farm1StateOpen.cpp
@@ -8,10 +8,10 @@
 
 
 
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/Farm1StateOpen.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/datalinklayer/VirtualChannelReception.h>
+#include "ClcwIF.h"
+#include "Farm1StateOpen.h"
+#include "TcTransferFrame.h"
+#include "VirtualChannelReception.h"
 
 Farm1StateOpen::Farm1StateOpen(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }
diff --git a/datalinklayer/Farm1StateOpen.h b/datalinklayer/Farm1StateOpen.h
index 09caacbb..3b3a2604 100644
--- a/datalinklayer/Farm1StateOpen.h
+++ b/datalinklayer/Farm1StateOpen.h
@@ -8,7 +8,7 @@
 #ifndef FARM1STATEOPEN_H_
 #define FARM1STATEOPEN_H_
 
-#include <framework/datalinklayer/Farm1StateIF.h>
+#include "Farm1StateIF.h"
 
 /**
  * This class represents the FARM-1 "Open" State.
diff --git a/datalinklayer/Farm1StateWait.cpp b/datalinklayer/Farm1StateWait.cpp
index 1c72e68f..9001e1f5 100644
--- a/datalinklayer/Farm1StateWait.cpp
+++ b/datalinklayer/Farm1StateWait.cpp
@@ -6,10 +6,10 @@
  */
 
 
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/Farm1StateWait.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/datalinklayer/VirtualChannelReception.h>
+#include "ClcwIF.h"
+#include "Farm1StateWait.h"
+#include "TcTransferFrame.h"
+#include "VirtualChannelReception.h"
 
 Farm1StateWait::Farm1StateWait(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }
diff --git a/datalinklayer/Farm1StateWait.h b/datalinklayer/Farm1StateWait.h
index f1201791..877c36c2 100644
--- a/datalinklayer/Farm1StateWait.h
+++ b/datalinklayer/Farm1StateWait.h
@@ -8,7 +8,7 @@
 #ifndef FARM1STATEWAIT_H_
 #define FARM1STATEWAIT_H_
 
-#include <framework/datalinklayer/Farm1StateIF.h>
+#include "Farm1StateIF.h"
 
 /**
  * This class represents the FARM-1 "Wait" State.
diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index 11b0792a..cb12b321 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -5,13 +5,13 @@
  * @author	baetz
  */
 
-#include <framework/datalinklayer/MapPacketExtraction.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmtcpacket/SpacePacketBase.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+#include "MapPacketExtraction.h"
+#include "../ipc/QueueFactory.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../tmtcpacket/SpacePacketBase.h"
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../tmtcservices/TmTcMessage.h"
 #include <string.h>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
diff --git a/datalinklayer/MapPacketExtraction.h b/datalinklayer/MapPacketExtraction.h
index 5a32366c..507f13db 100644
--- a/datalinklayer/MapPacketExtraction.h
+++ b/datalinklayer/MapPacketExtraction.h
@@ -8,10 +8,10 @@
 #ifndef MAPPACKETEXTRACTION_H_
 #define MAPPACKETEXTRACTION_H_
 
-#include <framework/datalinklayer/MapPacketExtractionIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "MapPacketExtractionIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class StorageManagerIF;
 
diff --git a/datalinklayer/MapPacketExtractionIF.h b/datalinklayer/MapPacketExtractionIF.h
index 802a893d..e29ac666 100644
--- a/datalinklayer/MapPacketExtractionIF.h
+++ b/datalinklayer/MapPacketExtractionIF.h
@@ -8,8 +8,8 @@
 #ifndef MAPPACKETEXTRACTIONIF_H_
 #define MAPPACKETEXTRACTIONIF_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
+#include "CCSDSReturnValuesIF.h"
+#include "TcTransferFrame.h"
 
 /**
  * This is the interface for MAP Packet Extraction classes.
diff --git a/datalinklayer/TcTransferFrame.cpp b/datalinklayer/TcTransferFrame.cpp
index 30398e9b..f1a70bdc 100644
--- a/datalinklayer/TcTransferFrame.cpp
+++ b/datalinklayer/TcTransferFrame.cpp
@@ -7,8 +7,8 @@
 
 
 
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "TcTransferFrame.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 TcTransferFrame::TcTransferFrame() {
 	 frame = NULL;
diff --git a/datalinklayer/TcTransferFrameLocal.cpp b/datalinklayer/TcTransferFrameLocal.cpp
index 79e14167..e8785c92 100644
--- a/datalinklayer/TcTransferFrameLocal.cpp
+++ b/datalinklayer/TcTransferFrameLocal.cpp
@@ -5,9 +5,9 @@
  * @author	baetz
  */
 
-#include <framework/datalinklayer/TcTransferFrameLocal.h>
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "TcTransferFrameLocal.h"
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include <string.h>
 
 TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uint16_t scid,
diff --git a/datalinklayer/TcTransferFrameLocal.h b/datalinklayer/TcTransferFrameLocal.h
index f20f12ec..487d8940 100644
--- a/datalinklayer/TcTransferFrameLocal.h
+++ b/datalinklayer/TcTransferFrameLocal.h
@@ -8,7 +8,7 @@
 #ifndef TCTRANSFERFRAMELOCAL_H_
 #define TCTRANSFERFRAMELOCAL_H_
 
-#include <framework/datalinklayer/TcTransferFrame.h>
+#include "TcTransferFrame.h"
 
 /**
  * This is a helper class to locally create TC Transfer Frames.
diff --git a/datalinklayer/VirtualChannelReception.cpp b/datalinklayer/VirtualChannelReception.cpp
index 373f6c62..cde28de3 100644
--- a/datalinklayer/VirtualChannelReception.cpp
+++ b/datalinklayer/VirtualChannelReception.cpp
@@ -5,9 +5,9 @@
  * @author	baetz
  */
 
-#include <framework/datalinklayer/BCFrame.h>
-#include <framework/datalinklayer/VirtualChannelReception.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "BCFrame.h"
+#include "VirtualChannelReception.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 VirtualChannelReception::VirtualChannelReception(uint8_t setChannelId,
 		uint8_t setSlidingWindowWidth) :
diff --git a/datalinklayer/VirtualChannelReception.h b/datalinklayer/VirtualChannelReception.h
index f364c6e5..9b4e2987 100644
--- a/datalinklayer/VirtualChannelReception.h
+++ b/datalinklayer/VirtualChannelReception.h
@@ -8,14 +8,14 @@
 #ifndef VIRTUALCHANNELRECEPTION_H_
 #define VIRTUALCHANNELRECEPTION_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
-#include <framework/datalinklayer/Clcw.h>
-#include <framework/datalinklayer/Farm1StateIF.h>
-#include <framework/datalinklayer/Farm1StateLockout.h>
-#include <framework/datalinklayer/Farm1StateOpen.h>
-#include <framework/datalinklayer/Farm1StateWait.h>
-#include <framework/datalinklayer/MapPacketExtractionIF.h>
-#include <framework/datalinklayer/VirtualChannelReceptionIF.h>
+#include "CCSDSReturnValuesIF.h"
+#include "Clcw.h"
+#include "Farm1StateIF.h"
+#include "Farm1StateLockout.h"
+#include "Farm1StateOpen.h"
+#include "Farm1StateWait.h"
+#include "MapPacketExtractionIF.h"
+#include "VirtualChannelReceptionIF.h"
 #include <map>
 /**
  * Implementation of a TC Virtual Channel.
diff --git a/datalinklayer/VirtualChannelReceptionIF.h b/datalinklayer/VirtualChannelReceptionIF.h
index 98a9b72c..36f60e8c 100644
--- a/datalinklayer/VirtualChannelReceptionIF.h
+++ b/datalinklayer/VirtualChannelReceptionIF.h
@@ -8,9 +8,9 @@
 #ifndef VIRTUALCHANNELRECEPTIONIF_H_
 #define VIRTUALCHANNELRECEPTIONIF_H_
 
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "ClcwIF.h"
+#include "TcTransferFrame.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * This is the interface for Virtual Channel reception classes.
diff --git a/datapool/ControllerSet.cpp b/datapool/ControllerSet.cpp
index eb4f6d0f..6339034c 100644
--- a/datapool/ControllerSet.cpp
+++ b/datapool/ControllerSet.cpp
@@ -1,4 +1,4 @@
-#include <framework/datapool/ControllerSet.h>
+#include "ControllerSet.h"
 
 ControllerSet::ControllerSet() {
 
diff --git a/datapool/ControllerSet.h b/datapool/ControllerSet.h
index de06bf91..e27debff 100644
--- a/datapool/ControllerSet.h
+++ b/datapool/ControllerSet.h
@@ -1,7 +1,7 @@
 #ifndef CONTROLLERSET_H_
 #define CONTROLLERSET_H_
 
-#include <framework/datapool/DataSet.h>
+#include "DataSet.h"
 
 class ControllerSet :public DataSet {
 public:
diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
index f44da64e..817089bf 100644
--- a/datapool/DataPool.cpp
+++ b/datapool/DataPool.cpp
@@ -1,6 +1,6 @@
-#include <framework/datapool/DataPool.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/ipc/MutexFactory.h>
+#include "DataPool.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../ipc/MutexFactory.h"
 
 DataPool::DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) ) {
 	mutex = MutexFactory::instance()->createMutex();
diff --git a/datapool/DataPool.h b/datapool/DataPool.h
index 6e38dc1b..7abf2898 100644
--- a/datapool/DataPool.h
+++ b/datapool/DataPool.h
@@ -11,9 +11,9 @@
 #ifndef DATAPOOL_H_
 #define DATAPOOL_H_
 
-#include <framework/datapool/PoolEntry.h>
-#include <framework/globalfunctions/Type.h>
-#include <framework/ipc/MutexIF.h>
+#include "PoolEntry.h"
+#include "../globalfunctions/Type.h"
+#include "../ipc/MutexIF.h"
 #include <map>
 
 /**
diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp
index 3ea266ea..f298d530 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapool/DataPoolAdmin.cpp
@@ -1,10 +1,10 @@
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/DataPoolAdmin.h>
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolRawAccess.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/parameters/ParameterMessage.h>
+#include "DataPool.h"
+#include "DataPoolAdmin.h"
+#include "DataSet.h"
+#include "PoolRawAccess.h"
+#include "../ipc/CommandMessage.h"
+#include "../ipc/QueueFactory.h"
+#include "../parameters/ParameterMessage.h"
 
 DataPoolAdmin::DataPoolAdmin(object_id_t objectId) :
 		SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper(
diff --git a/datapool/DataPoolAdmin.h b/datapool/DataPoolAdmin.h
index 1be920b5..e2d1e9e1 100644
--- a/datapool/DataPoolAdmin.h
+++ b/datapool/DataPoolAdmin.h
@@ -1,15 +1,15 @@
 #ifndef DATAPOOLADMIN_H_
 #define DATAPOOLADMIN_H_
 
-#include <framework/memory/MemoryHelper.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/action/SimpleActionHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/parameters/ReceivesParameterMessagesIF.h>
-#include <framework/datapool/DataPoolParameterWrapper.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../memory/MemoryHelper.h"
+#include "../action/HasActionsIF.h"
+#include "../action/SimpleActionHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../parameters/ReceivesParameterMessagesIF.h"
+#include "DataPoolParameterWrapper.h"
+#include "../ipc/MessageQueueIF.h"
 
 class DataPoolAdmin: public HasActionsIF,
 		public ExecutableObjectIF,
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp
index e08eba5b..79367405 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapool/DataPoolParameterWrapper.cpp
@@ -1,10 +1,10 @@
 #include "DataPoolParameterWrapper.h"
 
 //for returncodes
-#include <framework/parameters/HasParametersIF.h>
+#include "../parameters/HasParametersIF.h"
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolRawAccess.h>
+#include "DataSet.h"
+#include "PoolRawAccess.h"
 
 DataPoolParameterWrapper::DataPoolParameterWrapper() :
 		type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
diff --git a/datapool/DataPoolParameterWrapper.h b/datapool/DataPoolParameterWrapper.h
index a3dbdc04..b1e505a7 100644
--- a/datapool/DataPoolParameterWrapper.h
+++ b/datapool/DataPoolParameterWrapper.h
@@ -1,8 +1,8 @@
 #ifndef DATAPOOLPARAMETERWRAPPER_H_
 #define DATAPOOLPARAMETERWRAPPER_H_
 
-#include <framework/globalfunctions/Type.h>
-#include <framework/parameters/ParameterWrapper.h>
+#include "../globalfunctions/Type.h"
+#include "../parameters/ParameterWrapper.h"
 
 class DataPoolParameterWrapper: public SerializeIF {
 public:
diff --git a/datapool/DataSet.cpp b/datapool/DataSet.cpp
index f49f2ee5..e41489bd 100644
--- a/datapool/DataSet.cpp
+++ b/datapool/DataSet.cpp
@@ -1,5 +1,5 @@
-#include <framework/datapool/DataSet.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataSet.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 DataSet::DataSet() :
 		fill_count(0), state(DATA_SET_UNINITIALISED) {
diff --git a/datapool/DataSet.h b/datapool/DataSet.h
index 3d211537..04044bfe 100644
--- a/datapool/DataSet.h
+++ b/datapool/DataSet.h
@@ -12,13 +12,13 @@
 #ifndef DATASET_H_
 #define DATASET_H_
 
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolRawAccess.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVarList.h>
-#include <framework/datapool/PoolVector.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "DataPool.h"
+#include "DataSetIF.h"
+#include "PoolRawAccess.h"
+#include "PoolVariable.h"
+#include "PoolVarList.h"
+#include "PoolVector.h"
+#include "../serialize/SerializeAdapter.h"
 /**
  * \brief	The DataSet class manages a set of locally checked out variables.
  *
diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp
index caae2146..04096aca 100644
--- a/datapool/HkSwitchHelper.cpp
+++ b/datapool/HkSwitchHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/datapool/HkSwitchHelper.h>
+#include "HkSwitchHelper.h"
 //#include <mission/tmtcservices/HKService_03.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../ipc/QueueFactory.h"
 
 HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
 		commandActionHelper(this), eventProxy(eventProxy) {
diff --git a/datapool/HkSwitchHelper.h b/datapool/HkSwitchHelper.h
index 1a3b6275..385b2047 100644
--- a/datapool/HkSwitchHelper.h
+++ b/datapool/HkSwitchHelper.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
 #define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
 
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/action/CommandsActionsIF.h>
-#include <framework/events/EventReportingProxyIF.h>
+#include "../tasks/ExecutableObjectIF.h"
+#include "../action/CommandsActionsIF.h"
+#include "../events/EventReportingProxyIF.h"
 
 //TODO this class violations separation between mission and framework
 //but it is only a transitional solution until the Datapool is
diff --git a/datapool/PIDReader.h b/datapool/PIDReader.h
index 464b1549..3b38b51d 100644
--- a/datapool/PIDReader.h
+++ b/datapool/PIDReader.h
@@ -1,11 +1,11 @@
 #ifndef PIDREADER_H_
 #define PIDREADER_H_
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolEntry.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataPool.h"
+#include "DataSetIF.h"
+#include "PoolEntry.h"
+#include "PoolVariableIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 template<typename U, uint8_t n_var> class PIDReaderList;
 
diff --git a/datapool/PIDReaderList.h b/datapool/PIDReaderList.h
index 07d1b8e6..1f6aa99c 100644
--- a/datapool/PIDReaderList.h
+++ b/datapool/PIDReaderList.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
 #define FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
 
-#include <framework/datapool/PIDReader.h>
-#include <framework/datapool/PoolVariableIF.h>
+#include "PIDReader.h"
+#include "PoolVariableIF.h"
 template <class T, uint8_t n_var>
 class PIDReaderList {
 private:
diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index d535a72b..56e489a5 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,6 +1,6 @@
-#include <framework/datapool/PoolEntry.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/globalfunctions/arrayprinter.h>
+#include "PoolEntry.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../globalfunctions/arrayprinter.h"
 #include <cstring>
 
 template <typename T>
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index 1a22bb63..7b47c673 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
 #define FRAMEWORK_DATAPOOL_POOLENTRY_H_
 
-#include <framework/datapool/PoolEntryIF.h>
+#include "PoolEntryIF.h"
 
 #include <initializer_list>
 #include <type_traits>
diff --git a/datapool/PoolEntryIF.h b/datapool/PoolEntryIF.h
index a075436e..462de18b 100644
--- a/datapool/PoolEntryIF.h
+++ b/datapool/PoolEntryIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 #define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 
-#include <framework/globalfunctions/Type.h>
+#include "../globalfunctions/Type.h"
 #include <cstdint>
 
 /**
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index eca354a9..f9264081 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -1,8 +1,8 @@
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/PoolEntryIF.h>
-#include <framework/datapool/PoolRawAccess.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/serialize/EndianConverter.h>
+#include "DataPool.h"
+#include "PoolEntryIF.h"
+#include "PoolRawAccess.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serialize/EndianConverter.h"
 
 #include <cstring>
 
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 09d19afd..0c7a06bf 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -1,8 +1,8 @@
 #ifndef POOLRAWACCESS_H_
 #define POOLRAWACCESS_H_
 
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolVariableIF.h>
+#include "DataSetIF.h"
+#include "PoolVariableIF.h"
 
 /**
  * This class allows accessing Data Pool variables as raw bytes.
diff --git a/datapool/PoolVarList.h b/datapool/PoolVarList.h
index 90c9f178..035ff2ac 100644
--- a/datapool/PoolVarList.h
+++ b/datapool/PoolVarList.h
@@ -1,8 +1,8 @@
 #ifndef POOLVARLIST_H_
 #define POOLVARLIST_H_
 
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVariableIF.h>
+#include "PoolVariable.h"
+#include "PoolVariableIF.h"
 template <class T, uint8_t n_var>
 class PoolVarList {
 private:
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
index a06935c3..a9d3407d 100644
--- a/datapool/PoolVariable.h
+++ b/datapool/PoolVariable.h
@@ -11,11 +11,11 @@
 #ifndef POOLVARIABLE_H_
 #define POOLVARIABLE_H_
 
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolEntry.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataSetIF.h"
+#include "PoolEntry.h"
+#include "PoolVariableIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 template<typename T, uint8_t n_var> class PoolVarList;
 
diff --git a/datapool/PoolVariableIF.h b/datapool/PoolVariableIF.h
index 7626c9c1..f47173df 100644
--- a/datapool/PoolVariableIF.h
+++ b/datapool/PoolVariableIF.h
@@ -11,8 +11,8 @@
 #ifndef POOLVARIABLEIF_H_
 #define POOLVARIABLEIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
 
 /**
  * \brief	This interface is used to control local data pool variable representations.
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
index 777ec723..d4ca0842 100644
--- a/datapool/PoolVector.h
+++ b/datapool/PoolVector.h
@@ -11,11 +11,11 @@
 #ifndef POOLVECTOR_H_
 #define POOLVECTOR_H_
 
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolEntry.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataSetIF.h"
+#include "PoolEntry.h"
+#include "PoolVariableIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 /**
  * \brief	This is the access class for array-type data pool entries.
diff --git a/devicehandlers/AcceptsDeviceResponsesIF.h b/devicehandlers/AcceptsDeviceResponsesIF.h
index 0eedae88..8dc69de4 100644
--- a/devicehandlers/AcceptsDeviceResponsesIF.h
+++ b/devicehandlers/AcceptsDeviceResponsesIF.h
@@ -8,7 +8,7 @@
 #ifndef ACCEPTSDEVICERESPONSESIF_H_
 #define ACCEPTSDEVICERESPONSESIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 
 class AcceptsDeviceResponsesIF {
 public:
diff --git a/devicehandlers/AssemblyBase.cpp b/devicehandlers/AssemblyBase.cpp
index c250cf73..8b3f7f4d 100644
--- a/devicehandlers/AssemblyBase.cpp
+++ b/devicehandlers/AssemblyBase.cpp
@@ -1,4 +1,4 @@
-#include <framework/devicehandlers/AssemblyBase.h>
+#include "AssemblyBase.h"
 
 AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
 		uint16_t commandQueueDepth) :
diff --git a/devicehandlers/AssemblyBase.h b/devicehandlers/AssemblyBase.h
index ee121032..bd2e8fad 100644
--- a/devicehandlers/AssemblyBase.h
+++ b/devicehandlers/AssemblyBase.h
@@ -1,9 +1,9 @@
 #ifndef ASSEMBLYBASE_H_
 #define ASSEMBLYBASE_H_
 
-#include <framework/container/FixedArrayList.h>
-#include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/subsystem/SubsystemBase.h>
+#include "../container/FixedArrayList.h"
+#include "DeviceHandlerBase.h"
+#include "../subsystem/SubsystemBase.h"
 
 class AssemblyBase: public SubsystemBase {
 public:
diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index 34e45b68..cee2a349 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -1,6 +1,6 @@
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/devicehandlers/ChildHandlerBase.h>
-#include <framework/subsystem/SubsystemBase.h>
+#include "../subsystem/SubsystemBase.h"
+#include "ChildHandlerBase.h"
+#include "../subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 59cf26b1..005e8065 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -1,8 +1,8 @@
 #ifndef PAYLOADHANDLERBASE_H_
 #define PAYLOADHANDLERBASE_H_
 
-#include <framework/devicehandlers/ChildHandlerFDIR.h>
-#include <framework/devicehandlers/DeviceHandlerBase.h>
+#include "ChildHandlerFDIR.h"
+#include "DeviceHandlerBase.h"
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
diff --git a/devicehandlers/ChildHandlerFDIR.cpp b/devicehandlers/ChildHandlerFDIR.cpp
index 1bba47fe..14043a77 100644
--- a/devicehandlers/ChildHandlerFDIR.cpp
+++ b/devicehandlers/ChildHandlerFDIR.cpp
@@ -1,4 +1,4 @@
-#include <framework/devicehandlers/ChildHandlerFDIR.h>
+#include "ChildHandlerFDIR.h"
 
 ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner, object_id_t faultTreeParent, uint32_t recoveryCount) :
 		DeviceHandlerFailureIsolation(owner, faultTreeParent) {
diff --git a/devicehandlers/ChildHandlerFDIR.h b/devicehandlers/ChildHandlerFDIR.h
index 7df9d238..ce844518 100644
--- a/devicehandlers/ChildHandlerFDIR.h
+++ b/devicehandlers/ChildHandlerFDIR.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
 #define FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
 
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
+#include "DeviceHandlerFailureIsolation.h"
 
 /**
  * Very simple extension to normal FDIR.
diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 9ca31a9b..11960d8e 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,8 +1,8 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/CookieIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "CookieIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
 /**
  * @defgroup interfaces Interfaces
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 79b504b5..a87b6de1 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1,16 +1,16 @@
-#include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/objectmanager/ObjectManager.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/thermal/ThermalComponentIF.h>
-#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+#include "DeviceHandlerBase.h"
+#include "../objectmanager/ObjectManager.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../thermal/ThermalComponentIF.h"
+#include "AcceptsDeviceResponsesIF.h"
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/globalfunctions/CRC.h>
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PoolVariable.h"
+#include "DeviceTmReportingWrapper.h"
+#include "../globalfunctions/CRC.h"
+#include "../subsystem/SubsystemBase.h"
+#include "../ipc/QueueFactory.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 #include <iomanip>
 
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index e79d5d5c..7c68ce06 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1,22 +1,22 @@
 #ifndef DEVICEHANDLERBASE_H_
 #define DEVICEHANDLERBASE_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/devicehandlers/DeviceHandlerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/devicehandlers/DeviceCommunicationIF.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/power/PowerSwitchIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "DeviceHandlerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../action/HasActionsIF.h"
+#include "../datapool/PoolVariableIF.h"
+#include "DeviceCommunicationIF.h"
+#include "../modes/HasModesIF.h"
+#include "../power/PowerSwitchIF.h"
+#include "../ipc/MessageQueueIF.h"
 
-#include <framework/action/ActionHelper.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/datapool/HkSwitchHelper.h>
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
+#include "../action/ActionHelper.h"
+#include "../health/HealthHelper.h"
+#include "../parameters/ParameterHelper.h"
+#include "../datapool/HkSwitchHelper.h"
+#include "DeviceHandlerFailureIsolation.h"
 
 #include <map>
 
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 65c40219..497d6469 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -1,9 +1,9 @@
-#include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
-#include <framework/health/HealthTableIF.h>
-#include <framework/power/Fuse.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/thermal/ThermalComponentIF.h>
+#include "DeviceHandlerBase.h"
+#include "DeviceHandlerFailureIsolation.h"
+#include "../health/HealthTableIF.h"
+#include "../power/Fuse.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0;
 
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h
index 91f6ef64..aa43b762 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.h
+++ b/devicehandlers/DeviceHandlerFailureIsolation.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
 #define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
 
-#include <framework/fdir/FaultCounter.h>
-#include <framework/fdir/FailureIsolationBase.h>
+#include "../fdir/FaultCounter.h"
+#include "../fdir/FailureIsolationBase.h"
 namespace Factory{
 void setStaticFrameworkObjectIds();
 }
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 666d9efc..52a3be4d 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -1,11 +1,11 @@
 #ifndef DEVICEHANDLERIF_H_
 #define DEVICEHANDLERIF_H_
 
-#include <framework/action/HasActionsIF.h>
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/events/Event.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../action/HasActionsIF.h"
+#include "DeviceHandlerMessage.h"
+#include "../events/Event.h"
+#include "../modes/HasModesIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
diff --git a/devicehandlers/DeviceHandlerMessage.cpp b/devicehandlers/DeviceHandlerMessage.cpp
index 58a6d312..564fae21 100644
--- a/devicehandlers/DeviceHandlerMessage.cpp
+++ b/devicehandlers/DeviceHandlerMessage.cpp
@@ -1,6 +1,6 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "DeviceHandlerMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 DeviceHandlerMessage::DeviceHandlerMessage() {
 }
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index fad0f1b1..f33fdad8 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -1,10 +1,10 @@
 #ifndef DEVICEHANDLERMESSAGE_H_
 #define DEVICEHANDLERMESSAGE_H_
 
-#include <framework/action/ActionMessage.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../action/ActionMessage.h"
+#include "../ipc/CommandMessage.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../storagemanager/StorageManagerIF.h"
 //SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
 
 /**
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index ce5eb109..84f926f0 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -1,6 +1,6 @@
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../serialize/SerializeAdapter.h"
+#include "DeviceTmReportingWrapper.h"
+#include "../serialize/SerializeAdapter.h"
 
 DeviceTmReportingWrapper::DeviceTmReportingWrapper(object_id_t objectId,
 		ActionId_t actionId, SerializeIF* data) :
diff --git a/devicehandlers/DeviceTmReportingWrapper.h b/devicehandlers/DeviceTmReportingWrapper.h
index 4432b7f1..a14c4261 100644
--- a/devicehandlers/DeviceTmReportingWrapper.h
+++ b/devicehandlers/DeviceTmReportingWrapper.h
@@ -1,9 +1,9 @@
 #ifndef DEVICETMREPORTINGWRAPPER_H_
 #define DEVICETMREPORTINGWRAPPER_H_
 
-#include <framework/action/HasActionsIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../action/HasActionsIF.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../serialize/SerializeIF.h"
 
 class DeviceTmReportingWrapper: public SerializeIF {
 public:
diff --git a/devicehandlers/FixedSequenceSlot.cpp b/devicehandlers/FixedSequenceSlot.cpp
index bb97a8e5..667aba1d 100644
--- a/devicehandlers/FixedSequenceSlot.cpp
+++ b/devicehandlers/FixedSequenceSlot.cpp
@@ -5,8 +5,8 @@
  * @author	baetz
  */
 
-#include <framework/devicehandlers/FixedSequenceSlot.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "FixedSequenceSlot.h"
+#include "../objectmanager/SystemObjectIF.h"
 #include <cstddef>
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
diff --git a/devicehandlers/FixedSequenceSlot.h b/devicehandlers/FixedSequenceSlot.h
index 7868cce3..73504955 100644
--- a/devicehandlers/FixedSequenceSlot.h
+++ b/devicehandlers/FixedSequenceSlot.h
@@ -8,8 +8,8 @@
 #ifndef FIXEDSEQUENCESLOT_H_
 #define FIXEDSEQUENCESLOT_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../tasks/ExecutableObjectIF.h"
 class PeriodicTaskIF;
 
 /**
diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp
index 9a0dc372..38d4dcea 100644
--- a/devicehandlers/FixedSlotSequence.cpp
+++ b/devicehandlers/FixedSlotSequence.cpp
@@ -1,5 +1,5 @@
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "FixedSlotSequence.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
 		lengthMs(setLengthMs) {
diff --git a/devicehandlers/FixedSlotSequence.h b/devicehandlers/FixedSlotSequence.h
index 32b61f56..be6dc2d1 100644
--- a/devicehandlers/FixedSlotSequence.h
+++ b/devicehandlers/FixedSlotSequence.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
 #define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
 
-#include <framework/devicehandlers/FixedSequenceSlot.h>
-#include <framework/objectmanager/SystemObject.h>
+#include "FixedSequenceSlot.h"
+#include "../objectmanager/SystemObject.h"
 #include <set>
 
 /**
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index 61a82421..411731dc 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -1,5 +1,5 @@
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/ipc/QueueFactory.h>
+#include "HealthDevice.h"
+#include "../ipc/QueueFactory.h"
 
 HealthDevice::HealthDevice(object_id_t setObjectId,
 		MessageQueueId_t parentQueue) :
diff --git a/devicehandlers/HealthDevice.h b/devicehandlers/HealthDevice.h
index ffb9e5bd..53b0ab09 100644
--- a/devicehandlers/HealthDevice.h
+++ b/devicehandlers/HealthDevice.h
@@ -1,11 +1,11 @@
 #ifndef HEALTHDEVICE_H_
 #define HEALTHDEVICE_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class HealthDevice: public SystemObject,
 		public ExecutableObjectIF,
diff --git a/events/Event.cpp b/events/Event.cpp
index 9ea9f552..ea3d46fe 100644
--- a/events/Event.cpp
+++ b/events/Event.cpp
@@ -1,4 +1,4 @@
-#include <framework/events/Event.h>
+#include "Event.h"
 namespace EVENT {
 EventId_t getEventId(Event event) {
 	return (event & 0xFFFF);
diff --git a/events/Event.h b/events/Event.h
index 96800f34..e22c9db1 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -2,7 +2,7 @@
 #define EVENTOBJECT_EVENT_H_
 
 #include <stdint.h>
-#include <framework/events/fwSubsystemIdRanges.h>
+#include "fwSubsystemIdRanges.h"
 //could be move to more suitable location
 #include <config/tmtc/subsystemIdRanges.h>
 
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 0f1511e4..fb4499b2 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -1,8 +1,8 @@
-#include <framework/events/EventManager.h>
-#include <framework/events/EventMessage.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/ipc/MutexFactory.h>
+#include "EventManager.h"
+#include "EventMessage.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../ipc/QueueFactory.h"
+#include "../ipc/MutexFactory.h"
 
 
 const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
diff --git a/events/EventManager.h b/events/EventManager.h
index 76dde9f8..7badc3bf 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -1,13 +1,13 @@
 #ifndef EVENTMANAGER_H_
 #define EVENTMANAGER_H_
 
-#include <framework/events/eventmatching/EventMatchTree.h>
-#include <framework/events/EventManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/storagemanager/LocalPool.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MutexIF.h>
+#include "eventmatching/EventMatchTree.h"
+#include "EventManagerIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../storagemanager/LocalPool.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../ipc/MutexIF.h"
 #include <map>
 
 class EventManager: public EventManagerIF,
diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h
index bc0de432..f9ac420b 100644
--- a/events/EventManagerIF.h
+++ b/events/EventManagerIF.h
@@ -1,10 +1,10 @@
 #ifndef EVENTMANAGERIF_H_
 #define EVENTMANAGERIF_H_
 
-#include <framework/events/eventmatching/eventmatching.h>
-#include <framework/events/EventMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "eventmatching/eventmatching.h"
+#include "EventMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class EventManagerIF {
 public:
diff --git a/events/EventMessage.cpp b/events/EventMessage.cpp
index f06f68c3..b911abab 100644
--- a/events/EventMessage.cpp
+++ b/events/EventMessage.cpp
@@ -1,4 +1,4 @@
-#include <framework/events/EventMessage.h>
+#include "EventMessage.h"
 #include <cstring>
 
 EventMessage::EventMessage() {
diff --git a/events/EventMessage.h b/events/EventMessage.h
index 9cbe3336..4d003bd7 100644
--- a/events/EventMessage.h
+++ b/events/EventMessage.h
@@ -1,9 +1,9 @@
 #ifndef EVENTMESSAGE_H_
 #define EVENTMESSAGE_H_
 
-#include <framework/events/Event.h>
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "Event.h"
+#include "../ipc/MessageQueueMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 /**
  * Passing on events through IPC.
diff --git a/events/EventReportingProxyIF.h b/events/EventReportingProxyIF.h
index 8aca4e26..7a96e3d1 100644
--- a/events/EventReportingProxyIF.h
+++ b/events/EventReportingProxyIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_EVENTS_EVENTREPORTINGPROXYIF_H_
 #define FRAMEWORK_EVENTS_EVENTREPORTINGPROXYIF_H_
 
-#include <framework/events/Event.h>
+#include "Event.h"
 
 
 class EventReportingProxyIF {
diff --git a/events/eventmatching/EventIdRangeMatcher.cpp b/events/eventmatching/EventIdRangeMatcher.cpp
index ac9156fd..974567d4 100644
--- a/events/eventmatching/EventIdRangeMatcher.cpp
+++ b/events/eventmatching/EventIdRangeMatcher.cpp
@@ -1,4 +1,4 @@
-#include <framework/events/eventmatching/EventIdRangeMatcher.h>
+#include "EventIdRangeMatcher.h"
 
 EventIdRangeMatcher::EventIdRangeMatcher(EventId_t lower, EventId_t upper,
 		bool inverted) : EventRangeMatcherBase<EventId_t>(lower, upper, inverted) {
diff --git a/events/eventmatching/EventIdRangeMatcher.h b/events/eventmatching/EventIdRangeMatcher.h
index 57b77cb1..540d372f 100644
--- a/events/eventmatching/EventIdRangeMatcher.h
+++ b/events/eventmatching/EventIdRangeMatcher.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTIDRANGEMATCHER_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTIDRANGEMATCHER_H_
 
-#include <framework/events/eventmatching/EventRangeMatcherBase.h>
+#include "EventRangeMatcherBase.h"
 
 class EventIdRangeMatcher: public EventRangeMatcherBase<EventId_t> {
 public:
diff --git a/events/eventmatching/EventMatchTree.cpp b/events/eventmatching/EventMatchTree.cpp
index e1925b8f..55e4083f 100644
--- a/events/eventmatching/EventMatchTree.cpp
+++ b/events/eventmatching/EventMatchTree.cpp
@@ -1,7 +1,7 @@
-#include <framework/events/eventmatching/EventIdRangeMatcher.h>
-#include <framework/events/eventmatching/EventMatchTree.h>
-#include <framework/events/eventmatching/ReporterRangeMatcher.h>
-#include <framework/events/eventmatching/SeverityRangeMatcher.h>
+#include "EventIdRangeMatcher.h"
+#include "EventMatchTree.h"
+#include "ReporterRangeMatcher.h"
+#include "SeverityRangeMatcher.h"
 
 EventMatchTree::EventMatchTree(StorageManagerIF* storageBackend,
 		bool invertedMatch) :
diff --git a/events/eventmatching/EventMatchTree.h b/events/eventmatching/EventMatchTree.h
index bd81e3be..82a6de81 100644
--- a/events/eventmatching/EventMatchTree.h
+++ b/events/eventmatching/EventMatchTree.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTMATCHTREE_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTMATCHTREE_H_
 
-#include <framework/container/PlacementFactory.h>
-#include <framework/events/EventMessage.h>
-#include <framework/globalfunctions/matching/MatchTree.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/PlacementFactory.h"
+#include "../../events/EventMessage.h"
+#include "../../globalfunctions/matching/MatchTree.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 class StorageManagerIF;
 
 class EventMatchTree: public MatchTree<EventMessage*>, public HasReturnvaluesIF {
diff --git a/events/eventmatching/EventRangeMatcherBase.h b/events/eventmatching/EventRangeMatcherBase.h
index 587669ba..e9d57f1c 100644
--- a/events/eventmatching/EventRangeMatcherBase.h
+++ b/events/eventmatching/EventRangeMatcherBase.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTRANGEMATCHERBASE_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTRANGEMATCHERBASE_H_
 
-#include <framework/events/EventMessage.h>
-#include <framework/globalfunctions/matching/RangeMatcher.h>
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
+#include "../../events/EventMessage.h"
+#include "../../globalfunctions/matching/RangeMatcher.h"
+#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
 
 template <typename T>
 class EventRangeMatcherBase: public SerializeableMatcherIF<EventMessage*> {
diff --git a/events/eventmatching/ReporterRangeMatcher.cpp b/events/eventmatching/ReporterRangeMatcher.cpp
index 76b8e788..61179726 100644
--- a/events/eventmatching/ReporterRangeMatcher.cpp
+++ b/events/eventmatching/ReporterRangeMatcher.cpp
@@ -1,4 +1,4 @@
-#include <framework/events/eventmatching/ReporterRangeMatcher.h>
+#include "ReporterRangeMatcher.h"
 
 ReporterRangeMatcher::ReporterRangeMatcher(object_id_t lower, object_id_t upper,
 		bool inverted) : EventRangeMatcherBase<object_id_t>(lower, upper, inverted) {
diff --git a/events/eventmatching/ReporterRangeMatcher.h b/events/eventmatching/ReporterRangeMatcher.h
index 65be2365..9a0a5fcf 100644
--- a/events/eventmatching/ReporterRangeMatcher.h
+++ b/events/eventmatching/ReporterRangeMatcher.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_REPORTERRANGEMATCHER_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_REPORTERRANGEMATCHER_H_
 
-#include <framework/events/eventmatching/EventRangeMatcherBase.h>
+#include "EventRangeMatcherBase.h"
 
 class ReporterRangeMatcher: public EventRangeMatcherBase<object_id_t> {
 public:
diff --git a/events/eventmatching/SeverityRangeMatcher.cpp b/events/eventmatching/SeverityRangeMatcher.cpp
index 98f8d7e1..6fd38271 100644
--- a/events/eventmatching/SeverityRangeMatcher.cpp
+++ b/events/eventmatching/SeverityRangeMatcher.cpp
@@ -1,6 +1,6 @@
-#include <framework/events/eventmatching/SeverityRangeMatcher.h>
-#include <framework/events/EventMessage.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "SeverityRangeMatcher.h"
+#include "../../events/EventMessage.h"
+#include "../../serialize/SerializeAdapter.h"
 
 SeverityRangeMatcher::SeverityRangeMatcher(EventSeverity_t from,
 		EventSeverity_t till, bool inverted) : EventRangeMatcherBase<EventSeverity_t>(from, till, inverted) {
diff --git a/events/eventmatching/SeverityRangeMatcher.h b/events/eventmatching/SeverityRangeMatcher.h
index ffacff81..3f7cc418 100644
--- a/events/eventmatching/SeverityRangeMatcher.h
+++ b/events/eventmatching/SeverityRangeMatcher.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_SEVERITYRANGEMATCHER_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_SEVERITYRANGEMATCHER_H_
 
-#include <framework/events/eventmatching/EventRangeMatcherBase.h>
+#include "EventRangeMatcherBase.h"
 
 class SeverityRangeMatcher: public EventRangeMatcherBase<EventSeverity_t> {
 public:
diff --git a/events/eventmatching/eventmatching.h b/events/eventmatching/eventmatching.h
index 435c7457..7a87e177 100644
--- a/events/eventmatching/eventmatching.h
+++ b/events/eventmatching/eventmatching.h
@@ -1,10 +1,10 @@
 #ifndef EVENTMATCHING_H_
 #define EVENTMATCHING_H_
 
-#include <framework/events/eventmatching/EventIdRangeMatcher.h>
-#include <framework/events/eventmatching/EventMatchTree.h>
-#include <framework/events/eventmatching/ReporterRangeMatcher.h>
-#include <framework/events/eventmatching/SeverityRangeMatcher.h>
+#include "EventIdRangeMatcher.h"
+#include "EventMatchTree.h"
+#include "ReporterRangeMatcher.h"
+#include "SeverityRangeMatcher.h"
 
 
 #endif /* EVENTMATCHING_H_ */
diff --git a/fdir/ConfirmsFailuresIF.h b/fdir/ConfirmsFailuresIF.h
index 99cd212a..14411461 100644
--- a/fdir/ConfirmsFailuresIF.h
+++ b/fdir/ConfirmsFailuresIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_FDIR_CONFIRMSFAILURESIF_H_
 #define FRAMEWORK_FDIR_CONFIRMSFAILURESIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class ConfirmsFailuresIF {
 public:
diff --git a/fdir/EventCorrelation.cpp b/fdir/EventCorrelation.cpp
index 32aa3cd3..d60fc6ca 100644
--- a/fdir/EventCorrelation.cpp
+++ b/fdir/EventCorrelation.cpp
@@ -1,4 +1,4 @@
-#include <framework/fdir/EventCorrelation.h>
+#include "EventCorrelation.h"
 
 EventCorrelation::EventCorrelation(uint32_t timeout) :
 		eventPending(false) {
diff --git a/fdir/EventCorrelation.h b/fdir/EventCorrelation.h
index 0cad6265..b8793edf 100644
--- a/fdir/EventCorrelation.h
+++ b/fdir/EventCorrelation.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_FDIR_EVENTCORRELATION_H_
 #define FRAMEWORK_FDIR_EVENTCORRELATION_H_
 
-#include <framework/timemanager/Countdown.h>
+#include "../timemanager/Countdown.h"
 
 class EventCorrelation {
 public:
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index 4b7caac5..eb7b1bfc 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -1,9 +1,9 @@
-#include <framework/events/EventManagerIF.h>
-#include <framework/fdir/FailureIsolationBase.h>
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../events/EventManagerIF.h"
+#include "FailureIsolationBase.h"
+#include "../health/HasHealthIF.h"
+#include "../health/HealthMessage.h"
+#include "../ipc/QueueFactory.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
 		eventQueue(NULL), ownerId(
diff --git a/fdir/FailureIsolationBase.h b/fdir/FailureIsolationBase.h
index cd582e39..6f38bc9f 100644
--- a/fdir/FailureIsolationBase.h
+++ b/fdir/FailureIsolationBase.h
@@ -1,13 +1,13 @@
 #ifndef FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_
 #define FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_
 
-#include <framework/events/EventMessage.h>
-#include <framework/fdir/ConfirmsFailuresIF.h>
-#include <framework/fdir/FaultCounter.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../events/EventMessage.h"
+#include "ConfirmsFailuresIF.h"
+#include "FaultCounter.h"
+#include "../health/HealthMessage.h"
+#include "../parameters/HasParametersIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class FailureIsolationBase: public HasReturnvaluesIF,
 		public ConfirmsFailuresIF,
diff --git a/fdir/FaultCounter.cpp b/fdir/FaultCounter.cpp
index 3dc899c2..443adb52 100644
--- a/fdir/FaultCounter.cpp
+++ b/fdir/FaultCounter.cpp
@@ -1,4 +1,4 @@
-#include <framework/fdir/FaultCounter.h>
+#include "FaultCounter.h"
 
 FaultCounter::FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
 		uint8_t setParameterDomain) :
diff --git a/fdir/FaultCounter.h b/fdir/FaultCounter.h
index ac23853c..dc929deb 100644
--- a/fdir/FaultCounter.h
+++ b/fdir/FaultCounter.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_FDIR_FAULTCOUNTER_H_
 #define FRAMEWORK_FDIR_FAULTCOUNTER_H_
 
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/timemanager/Countdown.h>
+#include "../parameters/HasParametersIF.h"
+#include "../timemanager/Countdown.h"
 
 class FaultCounter: public HasParametersIF {
 public:
diff --git a/globalfunctions/AsciiConverter.cpp b/globalfunctions/AsciiConverter.cpp
index 1459a241..9eb3698f 100644
--- a/globalfunctions/AsciiConverter.cpp
+++ b/globalfunctions/AsciiConverter.cpp
@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/AsciiConverter.h>
+#include "AsciiConverter.h"
 #include <limits>
 #include <cmath>
 
diff --git a/globalfunctions/AsciiConverter.h b/globalfunctions/AsciiConverter.h
index acd406da..7af3cb3d 100644
--- a/globalfunctions/AsciiConverter.h
+++ b/globalfunctions/AsciiConverter.h
@@ -1,7 +1,7 @@
 #ifndef ASCIICONVERTER_H_
 #define ASCIICONVERTER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class AsciiConverter: public HasReturnvaluesIF {
 public:
diff --git a/globalfunctions/CRC.cpp b/globalfunctions/CRC.cpp
index ecd0b675..7bb56806 100644
--- a/globalfunctions/CRC.cpp
+++ b/globalfunctions/CRC.cpp
@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/CRC.h>
+#include "CRC.h"
 #include <math.h>
 
 const uint16_t CRC::crc16ccitt_table[256] = {
diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index a68f1524..088c9d80 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/DleEncoder.h>
+#include "DleEncoder.h"
 
 DleEncoder::DleEncoder() {
 }
diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index fc155600..ff3a2727 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -1,7 +1,7 @@
 #ifndef DLEENCODER_H_
 #define DLEENCODER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class DleEncoder: public HasReturnvaluesIF {
 private:
diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index a481f768..ae595b81 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -1,6 +1,6 @@
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/globalfunctions/Type.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../serialize/SerializeAdapter.h"
+#include "Type.h"
+#include "../serialize/SerializeAdapter.h"
 
 Type::Type() :
 		actualType(UNKNOWN_TYPE) {
diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h
index 3ec250b0..be499ffc 100644
--- a/globalfunctions/Type.h
+++ b/globalfunctions/Type.h
@@ -1,8 +1,8 @@
 #ifndef TYPE_H_
 #define TYPE_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
 
 class Type: public SerializeIF {
 public:
diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp
index e8fce56c..b1e888c5 100644
--- a/globalfunctions/arrayprinter.cpp
+++ b/globalfunctions/arrayprinter.cpp
@@ -1,5 +1,5 @@
-#include <framework/globalfunctions/arrayprinter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "arrayprinter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include <bitset>
 
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
diff --git a/globalfunctions/matching/BinaryMatcher.h b/globalfunctions/matching/BinaryMatcher.h
index df7325cf..4f6db85d 100644
--- a/globalfunctions/matching/BinaryMatcher.h
+++ b/globalfunctions/matching/BinaryMatcher.h
@@ -1,7 +1,7 @@
 #ifndef BINARYMATCHER_H_
 #define BINARYMATCHER_H_
 
-#include <framework/globalfunctions/matching/MatcherIF.h>
+#include "MatcherIF.h"
 
 template<typename T>
 class BinaryMatcher: public MatcherIF<T> {
diff --git a/globalfunctions/matching/DecimalMatcher.h b/globalfunctions/matching/DecimalMatcher.h
index f4722e6b..53505020 100644
--- a/globalfunctions/matching/DecimalMatcher.h
+++ b/globalfunctions/matching/DecimalMatcher.h
@@ -1,7 +1,7 @@
 #ifndef DECIMALMATCHER_H_
 #define DECIMALMATCHER_H_
 
-#include <framework/globalfunctions/matching/MatcherIF.h>
+#include "MatcherIF.h"
 
 template<typename T>
 class DecimalMatcher: public MatcherIF<T> {
diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h
index b54f5492..755687b2 100644
--- a/globalfunctions/matching/MatchTree.h
+++ b/globalfunctions/matching/MatchTree.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_MATCHING_MATCHTREE_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_MATCHING_MATCHTREE_H_
 
-#include <framework/container/BinaryTree.h>
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../../container/BinaryTree.h"
+#include "SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
 
 template<typename T>
 class MatchTree: public SerializeableMatcherIF<T>, public BinaryTree<
diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h
index 6fee1f52..b64b9e30 100644
--- a/globalfunctions/matching/RangeMatcher.h
+++ b/globalfunctions/matching/RangeMatcher.h
@@ -1,8 +1,8 @@
 #ifndef RANGEMATCHER_H_
 #define RANGEMATCHER_H_
 
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
 
 template<typename T>
 class RangeMatcher: public SerializeableMatcherIF<T> {
diff --git a/globalfunctions/matching/SerializeableMatcherIF.h b/globalfunctions/matching/SerializeableMatcherIF.h
index 7b00a1b3..067b0251 100644
--- a/globalfunctions/matching/SerializeableMatcherIF.h
+++ b/globalfunctions/matching/SerializeableMatcherIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_MATCHING_SERIALIZEABLEMATCHERIF_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_MATCHING_SERIALIZEABLEMATCHERIF_H_
 
-#include <framework/globalfunctions/matching/MatcherIF.h>
-#include <framework/serialize/SerializeIF.h>
+#include "MatcherIF.h"
+#include "../../serialize/SerializeIF.h"
 
 template<typename T>
 class SerializeableMatcherIF : public MatcherIF<T>, public SerializeIF {
diff --git a/globalfunctions/math/QuaternionOperations.cpp b/globalfunctions/math/QuaternionOperations.cpp
index f8c75149..c09426da 100644
--- a/globalfunctions/math/QuaternionOperations.cpp
+++ b/globalfunctions/math/QuaternionOperations.cpp
@@ -1,5 +1,5 @@
 #include "QuaternionOperations.h"
-#include <framework/globalfunctions/math/VectorOperations.h>
+#include "VectorOperations.h"
 
 #include <cmath>
 #include <cstring>
diff --git a/globalfunctions/timevalOperations.cpp b/globalfunctions/timevalOperations.cpp
index 253b6eb7..6efe75ba 100644
--- a/globalfunctions/timevalOperations.cpp
+++ b/globalfunctions/timevalOperations.cpp
@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/timevalOperations.h>
+#include "timevalOperations.h"
 
 timeval& operator+=(timeval& lhs, const timeval& rhs) {
 	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
diff --git a/health/HasHealthIF.h b/health/HasHealthIF.h
index dd27fe39..ac404300 100644
--- a/health/HasHealthIF.h
+++ b/health/HasHealthIF.h
@@ -1,9 +1,9 @@
 #ifndef HASHEALTHIF_H_
 #define HASHEALTHIF_H_
 
-#include <framework/events/Event.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../events/Event.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class HasHealthIF {
 public:
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index 7b8b3a53..1cc7d858 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/health/HealthHelper.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "HealthHelper.h"
+#include "../ipc/MessageQueueSenderIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
 		healthTable(NULL), eventSender(NULL), objectId(objectId), parentQueue(
 				0), owner(owner) {
diff --git a/health/HealthHelper.h b/health/HealthHelper.h
index 471bc7e9..90155ad4 100644
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@@ -1,13 +1,13 @@
 #ifndef HEALTHHELPER_H_
 #define HEALTHHELPER_H_
 
-#include <framework/events/EventManagerIF.h>
-#include <framework/events/EventReportingProxyIF.h>
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/health/HealthTableIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/EventManagerIF.h"
+#include "../events/EventReportingProxyIF.h"
+#include "HasHealthIF.h"
+#include "HealthMessage.h"
+#include "HealthTableIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * Helper class for Objects that implement HasHealthIF
diff --git a/health/HealthMessage.cpp b/health/HealthMessage.cpp
index 768dea46..1bb29526 100644
--- a/health/HealthMessage.cpp
+++ b/health/HealthMessage.cpp
@@ -1,4 +1,4 @@
-#include <framework/health/HealthMessage.h>
+#include "HealthMessage.h"
 
 void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command,
 		HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth) {
diff --git a/health/HealthMessage.h b/health/HealthMessage.h
index 7fd00904..95bd9d45 100644
--- a/health/HealthMessage.h
+++ b/health/HealthMessage.h
@@ -1,8 +1,8 @@
 #ifndef HEALTHMESSAGE_H_
 #define HEALTHMESSAGE_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/ipc/CommandMessage.h>
+#include "HasHealthIF.h"
+#include "../ipc/CommandMessage.h"
 
 class HealthMessage {
 public:
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index bd6606db..846152f6 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -1,6 +1,6 @@
-#include <framework/health/HealthTable.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/ipc/MutexFactory.h>
+#include "HealthTable.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../ipc/MutexFactory.h"
 
 HealthTable::HealthTable(object_id_t objectid) :
 		SystemObject(objectid) {
diff --git a/health/HealthTable.h b/health/HealthTable.h
index 2c74bda4..6f5dd18d 100644
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@@ -1,9 +1,9 @@
 #ifndef HEALTHTABLE_H_
 #define HEALTHTABLE_H_
 
-#include <framework/health/HealthTableIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/ipc/MutexIF.h>
+#include "HealthTableIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../ipc/MutexIF.h"
 #include <map>
 
 typedef std::map<object_id_t, HasHealthIF::HealthState> HealthMap;
diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h
index a850a804..404c03e4 100644
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@@ -1,9 +1,9 @@
 #ifndef HEALTHTABLEIF_H_
 #define HEALTHTABLEIF_H_
 
-#include <framework/health/ManagesHealthIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "ManagesHealthIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <map>
 
 
diff --git a/health/ManagesHealthIF.h b/health/ManagesHealthIF.h
index ff0c5386..42d4c4f0 100644
--- a/health/ManagesHealthIF.h
+++ b/health/ManagesHealthIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
 #define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "HasHealthIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 class ManagesHealthIF {
 public:
 	virtual ~ManagesHealthIF() {
diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 9a8ede00..b468ca5e 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -1,10 +1,10 @@
 #include "InternalErrorReporter.h"
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/ipc/MutexFactory.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PoolVariable.h"
+#include "../ipc/MutexFactory.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
 		uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) :
diff --git a/internalError/InternalErrorReporter.h b/internalError/InternalErrorReporter.h
index 7c1df6a7..9aa24a0f 100644
--- a/internalError/InternalErrorReporter.h
+++ b/internalError/InternalErrorReporter.h
@@ -3,9 +3,9 @@
 
 #include "InternalErrorReporterIF.h"
 
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/ipc/MutexIF.h>
+#include "../tasks/ExecutableObjectIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../ipc/MutexIF.h"
 
 class InternalErrorReporter: public SystemObject,
 		public ExecutableObjectIF,
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 05896cbc..8c5e15b8 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -5,15 +5,15 @@
  * @author	baetz
  */
 
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/memory/MemoryMessage.h>
-#include <framework/modes/ModeMessage.h>
-#include <framework/monitoring/MonitoringMessage.h>
-#include <framework/subsystem/modes/ModeSequenceMessage.h>
-#include <framework/tmstorage/TmStoreMessage.h>
-#include <framework/parameters/ParameterMessage.h>
+#include "../devicehandlers/DeviceHandlerMessage.h"
+#include "../health/HealthMessage.h"
+#include "CommandMessage.h"
+#include "../memory/MemoryMessage.h"
+#include "../modes/ModeMessage.h"
+#include "../monitoring/MonitoringMessage.h"
+#include "../subsystem/modes/ModeSequenceMessage.h"
+#include "../tmstorage/TmStoreMessage.h"
+#include "../parameters/ParameterMessage.h"
 
 namespace MESSAGE_TYPE {
 void clearMissionMessage(CommandMessage* message);
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 897632fe..87244c11 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -9,10 +9,10 @@
 #define COMMANDMESSAGE_H_
 
 
-#include <framework/ipc/FwMessageTypes.h>
+#include "FwMessageTypes.h"
 #include <config/ipc/MissionMessageTypes.h>
 
-#include <framework/ipc/MessageQueueMessage.h>
+#include "MessageQueueMessage.h"
 
 #define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
 typedef ReturnValue_t Command_t;
diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index 18e2d99a..9fff5287 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -3,9 +3,9 @@
 
 // COULDDO: We could support blocking calls
 
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "MessageQueueMessage.h"
+#include "MessageQueueSenderIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 class MessageQueueIF {
 public:
 
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index 30e0325c..05dde1f5 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "MessageQueueMessage.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 #include <string.h>
 
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 8c4ec947..aa3559d6 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -1,7 +1,7 @@
 #ifndef MESSAGEQUEUEMESSAGE_H_
 #define MESSAGEQUEUEMESSAGE_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "MessageQueueSenderIF.h"
 #include <stddef.h>
 
 /**
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 9e7e11c0..d9692f54 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
 #define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
 class MessageQueueMessage;
 
 
diff --git a/ipc/MutexFactory.h b/ipc/MutexFactory.h
index b2e58b6e..f8133d81 100644
--- a/ipc/MutexFactory.h
+++ b/ipc/MutexFactory.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_MUTEXFACTORY_H_
 #define FRAMEWORK_IPC_MUTEXFACTORY_H_
 
-#include <framework/ipc/MutexIF.h>
+#include "MutexIF.h"
 /**
  * Creates Mutex.
  * This class is a "singleton" interface, i.e. it provides an
diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index f76ccec4..dffcd54e 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_IPC_MUTEXHELPER_H_
 #define FRAMEWORK_IPC_MUTEXHELPER_H_
 
-#include <framework/ipc/MutexFactory.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "MutexFactory.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 class MutexHelper {
 public:
diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index 35786d6a..851d50a1 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_MUTEXIF_H_
 #define FRAMEWORK_IPC_MUTEXIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class MutexIF {
 public:
diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index 6e7c4a26..4f4d72c7 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
 #define FRAMEWORK_IPC_QUEUEFACTORY_H_
 
-#include <framework/ipc/MessageQueueIF.h>
+#include "MessageQueueIF.h"
 #include <stdint.h>
 /**
  * Creates message queues.
diff --git a/memory/AcceptsMemoryMessagesIF.h b/memory/AcceptsMemoryMessagesIF.h
index 2b37f1af..a1cbddf8 100644
--- a/memory/AcceptsMemoryMessagesIF.h
+++ b/memory/AcceptsMemoryMessagesIF.h
@@ -8,9 +8,9 @@
 #ifndef ACCEPTSMEMORYMESSAGESIF_H_
 #define ACCEPTSMEMORYMESSAGESIF_H_
 
-#include <framework/memory/HasMemoryIF.h>
-#include <framework/memory/MemoryMessage.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "HasMemoryIF.h"
+#include "MemoryMessage.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class AcceptsMemoryMessagesIF : public HasMemoryIF {
 public:
diff --git a/memory/HasMemoryIF.h b/memory/HasMemoryIF.h
index cd6e6665..4096d1b7 100644
--- a/memory/HasMemoryIF.h
+++ b/memory/HasMemoryIF.h
@@ -1,7 +1,7 @@
 #ifndef HASMEMORYIF_H_
 #define HASMEMORYIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class HasMemoryIF {
 public:
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index af56f2b8..48a605be 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -1,9 +1,9 @@
-#include <framework/globalfunctions/CRC.h>
-#include <framework/memory/MemoryHelper.h>
-#include <framework/memory/MemoryMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/EndianConverter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../globalfunctions/CRC.h"
+#include "MemoryHelper.h"
+#include "MemoryMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/EndianConverter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) :
 		workOnThis(workOnThis), queueToUse(useThisQueue), ipcStore(NULL), ipcAddress(), lastCommand(
diff --git a/memory/MemoryHelper.h b/memory/MemoryHelper.h
index 2ff82eb3..5e1a99b6 100644
--- a/memory/MemoryHelper.h
+++ b/memory/MemoryHelper.h
@@ -1,10 +1,10 @@
 #ifndef MEMORYHELPER_H_
 #define MEMORYHELPER_H_
-#include <framework/ipc/CommandMessage.h>
-#include <framework/memory/AcceptsMemoryMessagesIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../ipc/CommandMessage.h"
+#include "AcceptsMemoryMessagesIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class MemoryHelper : public HasReturnvaluesIF {
 public:
diff --git a/memory/MemoryMessage.cpp b/memory/MemoryMessage.cpp
index c1116e08..741565fc 100644
--- a/memory/MemoryMessage.cpp
+++ b/memory/MemoryMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/memory/MemoryMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "MemoryMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 MemoryMessage::MemoryMessage() {
 }
 
diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h
index 124fad08..f723bbb6 100644
--- a/memory/MemoryMessage.h
+++ b/memory/MemoryMessage.h
@@ -1,8 +1,8 @@
 #ifndef MEMORYMESSAGE_H_
 #define MEMORYMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/CommandMessage.h"
+#include "../storagemanager/StorageManagerIF.h"
 
 
 class MemoryMessage {
diff --git a/memory/MemoryProxyIF.h b/memory/MemoryProxyIF.h
index d325ba4e..1494d523 100644
--- a/memory/MemoryProxyIF.h
+++ b/memory/MemoryProxyIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
 #define FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
 
-#include <framework/memory/AcceptsMemoryMessagesIF.h>
+#include "AcceptsMemoryMessagesIF.h"
 
 /**
  * This was a nice idea to transparently forward incoming messages to another object.
diff --git a/modes/HasModesIF.h b/modes/HasModesIF.h
index 263b0a87..4381046c 100644
--- a/modes/HasModesIF.h
+++ b/modes/HasModesIF.h
@@ -8,10 +8,10 @@
 #ifndef HASMODESIF_H_
 #define HASMODESIF_H_
 
-#include <framework/events/Event.h>
-#include <framework/modes/ModeHelper.h>
-#include <framework/modes/ModeMessage.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/Event.h"
+#include "ModeHelper.h"
+#include "ModeMessage.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
 
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index 7b98bdc6..cb62c468 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/modes/HasModesIF.h>
-#include <framework/modes/ModeHelper.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "HasModesIF.h"
+#include "ModeHelper.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 ModeHelper::ModeHelper(HasModesIF *owner) :
 		theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode(
diff --git a/modes/ModeHelper.h b/modes/ModeHelper.h
index 87f6d411..542fe780 100644
--- a/modes/ModeHelper.h
+++ b/modes/ModeHelper.h
@@ -1,9 +1,9 @@
 #ifndef MODEHELPER_H_
 #define MODEHELPER_H_
 
-#include <framework/modes/ModeMessage.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/timemanager/Countdown.h>
+#include "ModeMessage.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Countdown.h"
 
 class HasModesIF;
 
diff --git a/modes/ModeMessage.cpp b/modes/ModeMessage.cpp
index 1d3baad5..14dbbb31 100644
--- a/modes/ModeMessage.cpp
+++ b/modes/ModeMessage.cpp
@@ -1,4 +1,4 @@
-#include <framework/modes/ModeMessage.h>
+#include "ModeMessage.h"
 
 Mode_t ModeMessage::getMode(const CommandMessage* message) {
 	return message->getParameter();
diff --git a/modes/ModeMessage.h b/modes/ModeMessage.h
index f72fdeec..5fd82512 100644
--- a/modes/ModeMessage.h
+++ b/modes/ModeMessage.h
@@ -8,7 +8,7 @@
 #ifndef MODEMESSAGE_H_
 #define MODEMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
+#include "../ipc/CommandMessage.h"
 
 typedef uint32_t Mode_t;
 typedef uint8_t Submode_t;
diff --git a/monitoring/AbsLimitMonitor.h b/monitoring/AbsLimitMonitor.h
index 3525ba2c..2e60f6f8 100644
--- a/monitoring/AbsLimitMonitor.h
+++ b/monitoring/AbsLimitMonitor.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
 #define FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
 
-#include <framework/monitoring/MonitorBase.h>
+#include "MonitorBase.h"
 #include <cmath>
 
 template<typename T>
diff --git a/monitoring/HasMonitorsIF.h b/monitoring/HasMonitorsIF.h
index 6f1dc1b3..85d92b6b 100644
--- a/monitoring/HasMonitorsIF.h
+++ b/monitoring/HasMonitorsIF.h
@@ -7,9 +7,9 @@
 #ifndef HASMONITORSIF_H_
 #define HASMONITORSIF_H_
 
-#include <framework/events/EventReportingProxyIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../events/EventReportingProxyIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class HasMonitorsIF {
 public:
diff --git a/monitoring/LimitMonitor.h b/monitoring/LimitMonitor.h
index 45abe48b..66e6725e 100644
--- a/monitoring/LimitMonitor.h
+++ b/monitoring/LimitMonitor.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MONITORING_LIMITMONITOR_H_
 #define FRAMEWORK_MONITORING_LIMITMONITOR_H_
 
-#include <framework/monitoring/MonitorBase.h>
+#include "MonitorBase.h"
 
 /**
  * Variant of a limit checking class.
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index 489a8f9e..c531a6e6 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -4,11 +4,11 @@
  * @date	17.07.2014
  * @author	baetz
  */
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringIF.h>
-#include <framework/monitoring/ReceivesMonitoringReportsIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "ReceivesMonitoringReportsIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/SerializeAdapter.h"
 
 ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF* data) {
 	ReturnValue_t result = checkClassLoaded();
diff --git a/monitoring/LimitViolationReporter.h b/monitoring/LimitViolationReporter.h
index 3a9d04dd..a71b972f 100644
--- a/monitoring/LimitViolationReporter.h
+++ b/monitoring/LimitViolationReporter.h
@@ -7,10 +7,10 @@
 #ifndef LIMITVIOLATIONREPORTER_H_
 #define LIMITVIOLATIONREPORTER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h
index 79622645..b2d0e6cb 100644
--- a/monitoring/MonitorBase.h
+++ b/monitoring/MonitorBase.h
@@ -1,12 +1,12 @@
 #ifndef MONITORBASE_H_
 #define MONITORBASE_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PIDReader.h>
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringIF.h>
-#include <framework/monitoring/MonitoringMessageContent.h>
-#include <framework/monitoring/MonitorReporter.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PIDReader.h"
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "MonitoringMessageContent.h"
+#include "MonitorReporter.h"
 
 /**
  * Base class for monitoring of parameters.
diff --git a/monitoring/MonitorReporter.h b/monitoring/MonitorReporter.h
index 6274313f..ca2b534b 100644
--- a/monitoring/MonitorReporter.h
+++ b/monitoring/MonitorReporter.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_MONITORING_MONITORREPORTER_H_
 #define FRAMEWORK_MONITORING_MONITORREPORTER_H_
 
-#include <framework/events/EventManagerIF.h>
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringIF.h>
-#include <framework/monitoring/MonitoringMessageContent.h>
-#include <framework/parameters/HasParametersIF.h>
+#include "../events/EventManagerIF.h"
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "MonitoringMessageContent.h"
+#include "../parameters/HasParametersIF.h"
 
 template<typename T>
 class MonitorReporter: public HasParametersIF {
diff --git a/monitoring/MonitoringIF.h b/monitoring/MonitoringIF.h
index d2d62f35..44218c36 100644
--- a/monitoring/MonitoringIF.h
+++ b/monitoring/MonitoringIF.h
@@ -1,9 +1,9 @@
 #ifndef MONITORINGIF_H_
 #define MONITORINGIF_H_
 
-#include <framework/memory/HasMemoryIF.h>
-#include <framework/monitoring/MonitoringMessage.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../memory/HasMemoryIF.h"
+#include "MonitoringMessage.h"
+#include "../serialize/SerializeIF.h"
 
 class MonitoringIF : public SerializeIF {
 public:
diff --git a/monitoring/MonitoringMessage.cpp b/monitoring/MonitoringMessage.cpp
index 77919bfe..8caa27ae 100644
--- a/monitoring/MonitoringMessage.cpp
+++ b/monitoring/MonitoringMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/monitoring/MonitoringMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "MonitoringMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 MonitoringMessage::~MonitoringMessage() {
 }
diff --git a/monitoring/MonitoringMessage.h b/monitoring/MonitoringMessage.h
index d2ff9b4d..248cd6ff 100644
--- a/monitoring/MonitoringMessage.h
+++ b/monitoring/MonitoringMessage.h
@@ -1,8 +1,8 @@
 #ifndef MONITORINGMESSAGE_H_
 #define MONITORINGMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/CommandMessage.h"
+#include "../storagemanager/StorageManagerIF.h"
 
 class MonitoringMessage: public CommandMessage {
 public:
diff --git a/monitoring/MonitoringMessageContent.h b/monitoring/MonitoringMessageContent.h
index 7e1aca62..c82506f3 100644
--- a/monitoring/MonitoringMessageContent.h
+++ b/monitoring/MonitoringMessageContent.h
@@ -1,15 +1,15 @@
 #ifndef MONITORINGMESSAGECONTENT_H_
 #define MONITORINGMESSAGECONTENT_H_
 
-#include <framework/monitoring/HasMonitorsIF.h>
-#include <framework/monitoring/MonitoringIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/SerialBufferAdapter.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/timemanager/TimeStamperIF.h>
+#include "HasMonitorsIF.h"
+#include "MonitoringIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/SerialBufferAdapter.h"
+#include "../serialize/SerialFixedArrayListAdapter.h"
+#include "../serialize/SerializeElement.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../timemanager/TimeStamperIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
diff --git a/monitoring/ReceivesMonitoringReportsIF.h b/monitoring/ReceivesMonitoringReportsIF.h
index 42c365c1..fb37c16c 100644
--- a/monitoring/ReceivesMonitoringReportsIF.h
+++ b/monitoring/ReceivesMonitoringReportsIF.h
@@ -1,7 +1,7 @@
 #ifndef RECEIVESMONITORINGREPORTSIF_H_
 #define RECEIVESMONITORINGREPORTSIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 
 class ReceivesMonitoringReportsIF {
 public:
diff --git a/monitoring/TriplexMonitor.h b/monitoring/TriplexMonitor.h
index 9a2e69c3..9b60aeb6 100644
--- a/monitoring/TriplexMonitor.h
+++ b/monitoring/TriplexMonitor.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_
 #define FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PIDReaderList.h>
-#include <framework/health/HealthTableIF.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PIDReaderList.h"
+#include "../health/HealthTableIF.h"
+#include "../parameters/HasParametersIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 
 //SHOULDDO: This is by far not perfect. Could be merged with new Monitor classes. But still, it's over-engineering.
diff --git a/monitoring/TwoValueLimitMonitor.h b/monitoring/TwoValueLimitMonitor.h
index c17ad433..e690cdae 100644
--- a/monitoring/TwoValueLimitMonitor.h
+++ b/monitoring/TwoValueLimitMonitor.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MONITORING_TWOVALUELIMITMONITOR_H_
 #define FRAMEWORK_MONITORING_TWOVALUELIMITMONITOR_H_
 
-#include <framework/monitoring/LimitMonitor.h>
+#include "LimitMonitor.h"
 
 template<typename T>
 class TwoValueLimitMonitor: public LimitMonitor<T> {
diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 1c54355a..dd0ae188 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -1,5 +1,5 @@
-#include <framework/objectmanager/ObjectManager.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "ObjectManager.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include <iomanip>
 #include <cstdlib>
 
diff --git a/objectmanager/ObjectManager.h b/objectmanager/ObjectManager.h
index 63451071..0d2b3c4a 100644
--- a/objectmanager/ObjectManager.h
+++ b/objectmanager/ObjectManager.h
@@ -8,8 +8,8 @@
 #ifndef OBJECTMANAGER_H_
 #define OBJECTMANAGER_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "ObjectManagerIF.h"
+#include "SystemObjectIF.h"
 #include <map>
 
 /**
diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index dcef81cd..e0162af9 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
 #define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
-#include <framework/objectmanager/frameworkObjects.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "frameworkObjects.h"
+#include "SystemObjectIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 /**
  * @brief	This class provides an interface to the global object manager.
diff --git a/objectmanager/SystemObject.cpp b/objectmanager/SystemObject.cpp
index 85daaa35..53aac599 100644
--- a/objectmanager/SystemObject.cpp
+++ b/objectmanager/SystemObject.cpp
@@ -1,6 +1,6 @@
-#include <framework/events/EventManagerIF.h>
-#include <framework/objectmanager/ObjectManager.h>
-#include <framework/objectmanager/SystemObject.h>
+#include "../events/EventManagerIF.h"
+#include "ObjectManager.h"
+#include "SystemObject.h"
 
 SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
 		objectId(setObjectId), registered(doRegister) {
diff --git a/objectmanager/SystemObject.h b/objectmanager/SystemObject.h
index 6a1b35b6..8e9f20d5 100644
--- a/objectmanager/SystemObject.h
+++ b/objectmanager/SystemObject.h
@@ -8,10 +8,10 @@
 #ifndef SYSTEMOBJECT_H_
 #define SYSTEMOBJECT_H_
 
-#include <framework/events/Event.h>
-#include <framework/events/EventReportingProxyIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/timemanager/Clock.h>
+#include "../events/Event.h"
+#include "../events/EventReportingProxyIF.h"
+#include "SystemObjectIF.h"
+#include "../timemanager/Clock.h"
 
 /**
  * @brief	This class automates insertion into the ObjectManager and
diff --git a/objectmanager/SystemObjectIF.h b/objectmanager/SystemObjectIF.h
index 7540f80f..c5a92196 100644
--- a/objectmanager/SystemObjectIF.h
+++ b/objectmanager/SystemObjectIF.h
@@ -8,8 +8,8 @@
 #ifndef SYSTEMOBJECTIF_H_
 #define SYSTEMOBJECTIF_H_
 
-#include <framework/events/EventReportingProxyIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/EventReportingProxyIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 /**
  * \defgroup system_objects Software System Object Management
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index dce20265..9733c405 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -1,6 +1,6 @@
-#include <framework/timemanager/Clock.h>
-#include <framework/globalfunctions/timevalOperations.h>
-#include <framework/osal/FreeRTOS/Timekeeper.h>
+#include "../../timemanager/Clock.h"
+#include "../../globalfunctions/timevalOperations.h"
+#include "Timekeeper.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 17804d90..902502f9 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -1,6 +1,6 @@
 #include "FixedTimeslotTask.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 66af0311..d65f1fe4 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/tasks/Typedef.h>
+#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/Typedef.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 18e7aa3d..3bbd4d9d 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -1,6 +1,6 @@
 #include "MessageQueue.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.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
 
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index 32f41b44..aa3d54c1 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -1,9 +1,9 @@
 #ifndef MESSAGEQUEUE_H_
 #define MESSAGEQUEUE_H_
 
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
 
 #include <FreeRTOS.h>
 #include <queue.h>
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 7c511091..6da58783 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -1,6 +1,6 @@
 #include "Mutex.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 const uint32_t MutexIF::NO_TIMEOUT = 0;
 
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index 91f29585..d376b7bc 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_MUTEX_H_
 #define OS_RTEMS_MUTEX_H_
 
-#include <framework/ipc/MutexIF.h>
+#include "../../ipc/MutexIF.h"
 
 
 #include <FreeRTOS.h>
diff --git a/osal/FreeRTOS/MutexFactory.cpp b/osal/FreeRTOS/MutexFactory.cpp
index cadb54fb..75b63d07 100644
--- a/osal/FreeRTOS/MutexFactory.cpp
+++ b/osal/FreeRTOS/MutexFactory.cpp
@@ -1,4 +1,4 @@
-#include <framework/ipc/MutexFactory.h>
+#include "../../ipc/MutexFactory.h"
 
 #include "../FreeRTOS/Mutex.h"
 
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 91135375..a95333b4 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -1,7 +1,7 @@
 #include "PeriodicTask.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 09aa6bc7..3eb8f57e 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
-#include <framework/tasks/Typedef.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../tasks/Typedef.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index a0128918..e639179a 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,6 +1,6 @@
-#include <framework/ipc/QueueFactory.h>
+#include "../../ipc/QueueFactory.h"
 
-#include <framework/osal/FreeRTOS/MessageQueue.h>
+#include "MessageQueue.h"
 
 
 QueueFactory* QueueFactory::factoryInstance = NULL;
diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp
index 753da60f..80df38b2 100644
--- a/osal/FreeRTOS/TaskFactory.cpp
+++ b/osal/FreeRTOS/TaskFactory.cpp
@@ -1,5 +1,5 @@
-#include <framework/tasks/TaskFactory.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../tasks/TaskFactory.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include "PeriodicTask.h"
 #include "FixedTimeslotTask.h"
diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp
index 643b2747..1031f0c4 100644
--- a/osal/FreeRTOS/Timekeeper.cpp
+++ b/osal/FreeRTOS/Timekeeper.cpp
@@ -1,4 +1,4 @@
-#include <framework/osal/FreeRTOS/Timekeeper.h>
+#include "Timekeeper.h"
 
 #include "FreeRTOSConfig.h"
 
diff --git a/osal/FreeRTOS/Timekeeper.h b/osal/FreeRTOS/Timekeeper.h
index 7d3ca22b..7d583f7d 100644
--- a/osal/FreeRTOS/Timekeeper.h
+++ b/osal/FreeRTOS/Timekeeper.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 #define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 
-#include <framework/timemanager/Clock.h>
+#include "../../timemanager/Clock.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/InternalErrorCodes.h b/osal/InternalErrorCodes.h
index 5419fd94..1da116fa 100644
--- a/osal/InternalErrorCodes.h
+++ b/osal/InternalErrorCodes.h
@@ -1,7 +1,7 @@
 #ifndef INTERNALERRORCODES_H_
 #define INTERNALERRORCODES_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class InternalErrorCodes {
 public:
diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index 630b2cf4..48e325ef 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/timemanager/Clock.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Clock.h"
 
 #include <sys/time.h>
 #include <sys/sysinfo.h>
diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp
index e5c68f9d..858a39a7 100644
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/linux/FixedTimeslotTask.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "FixedTimeslotTask.h"
 
 #include <limits.h>
 
diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index 916e6d6c..42802b1d 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
 
-#include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/osal/linux/PosixThread.h>
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../devicehandlers/FixedSlotSequence.h"
+#include "PosixThread.h"
 #include <pthread.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
diff --git a/osal/linux/InternalErrorCodes.cpp b/osal/linux/InternalErrorCodes.cpp
index 7f83663b..a01cc72a 100644
--- a/osal/linux/InternalErrorCodes.cpp
+++ b/osal/linux/InternalErrorCodes.cpp
@@ -1,4 +1,4 @@
-#include <framework/osal/InternalErrorCodes.h>
+#include "../../osal/InternalErrorCodes.h"
 
 ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 	//TODO This class can be removed
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index a0749ded..e5c61cae 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/linux/MessageQueue.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "MessageQueue.h"
 
 #include <fstream>
 
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index 2808d36e..31cdca11 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -1,9 +1,9 @@
 #ifndef MESSAGEQUEUE_H_
 #define MESSAGEQUEUE_H_
 
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
 
 #include <mqueue.h>
 /**
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 36bb3ce4..dd8d3c5b 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -1,6 +1,6 @@
-#include <framework/osal/linux/Mutex.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/timemanager/Clock.h>
+#include "Mutex.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Clock.h"
 
 const uint32_t MutexIF::NO_TIMEOUT = 0;
 uint8_t Mutex::count = 0;
diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h
index d02d008f..9f9bf521 100644
--- a/osal/linux/Mutex.h
+++ b/osal/linux/Mutex.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_MUTEX_H_
 #define OS_RTEMS_MUTEX_H_
 
-#include <framework/ipc/MutexIF.h>
+#include "../../ipc/MutexIF.h"
 #include <pthread.h>
 
 class Mutex : public MutexIF {
diff --git a/osal/linux/MutexFactory.cpp b/osal/linux/MutexFactory.cpp
index d769cc33..8c2faf88 100644
--- a/osal/linux/MutexFactory.cpp
+++ b/osal/linux/MutexFactory.cpp
@@ -1,5 +1,5 @@
-#include <framework/ipc/MutexFactory.h>
-#include <framework/osal/linux/Mutex.h>
+#include "../../ipc/MutexFactory.h"
+#include "Mutex.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index 6149c84b..c08bb472 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -1,7 +1,7 @@
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../tasks/ExecutableObjectIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <errno.h>
-#include <framework/osal/linux/PeriodicPosixTask.h>
+#include "PeriodicPosixTask.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
 		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index bf1a995b..6737cee6 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 
-#include <framework/tasks/PeriodicTaskIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/osal/linux/PosixThread.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "PosixThread.h"
+#include "../../tasks/ExecutableObjectIF.h"
 #include <vector>
 
 class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index bc3e62ed..ddb1f74f 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/linux/PosixThread.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "PosixThread.h"
 #include <cstring>
 #include <errno.h>
 
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index e9d31728..7d8d349a 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 #define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 #include <pthread.h>
 #include <signal.h>
 #include <cstdlib>
diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index 268d0b99..afeca547 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -1,8 +1,8 @@
-#include <framework/ipc/QueueFactory.h>
+#include "../../ipc/QueueFactory.h"
 #include <mqueue.h>
 #include <errno.h>
-#include <framework/osal/linux/MessageQueue.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <cstring>
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp
index 219630a7..f507c767 100644
--- a/osal/linux/TaskFactory.cpp
+++ b/osal/linux/TaskFactory.cpp
@@ -1,7 +1,7 @@
-#include <framework/osal/linux/FixedTimeslotTask.h>
-#include <framework/osal/linux/PeriodicPosixTask.h>
-#include <framework/tasks/TaskFactory.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "FixedTimeslotTask.h"
+#include "PeriodicPosixTask.h"
+#include "../../tasks/TaskFactory.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
diff --git a/osal/linux/Timer.cpp b/osal/linux/Timer.cpp
index 5e27c328..ee964baa 100644
--- a/osal/linux/Timer.cpp
+++ b/osal/linux/Timer.cpp
@@ -1,6 +1,6 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <errno.h>
-#include <framework/osal/linux/Timer.h>
+#include "Timer.h"
 
 Timer::Timer() {
 	sigevent sigEvent;
diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp
index 98198dd3..eeffd7f3 100644
--- a/osal/rtems/Clock.cpp
+++ b/osal/rtems/Clock.cpp
@@ -1,4 +1,4 @@
-#include <framework/timemanager/Clock.h>
+#include "../../timemanager/Clock.h"
 #include "RtemsBasic.h"
 #include <rtems/score/todimpl.h>
 
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index 61b66c3d..d49de4ad 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -1,6 +1,6 @@
 #include "CpuUsage.h"
-#include <framework/serialize/SerialArrayListAdapter.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../../serialize/SerialArrayListAdapter.h"
+#include "../../serialize/SerializeAdapter.h"
 #include <string.h>
 
 extern "C" {
diff --git a/osal/rtems/CpuUsage.h b/osal/rtems/CpuUsage.h
index eb03c5e3..f487e191 100644
--- a/osal/rtems/CpuUsage.h
+++ b/osal/rtems/CpuUsage.h
@@ -1,8 +1,8 @@
 #ifndef CPUUSAGE_H_
 #define CPUUSAGE_H_
 
-#include <framework/container/FixedArrayList.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../../container/FixedArrayList.h"
+#include "../../serialize/SerializeIF.h"
 #include <stdarg.h>
 
 class CpuUsage : public SerializeIF {
diff --git a/osal/rtems/InternalErrorCodes.cpp b/osal/rtems/InternalErrorCodes.cpp
index dbe3172e..9346cf15 100644
--- a/osal/rtems/InternalErrorCodes.cpp
+++ b/osal/rtems/InternalErrorCodes.cpp
@@ -1,4 +1,4 @@
-#include <framework/osal/InternalErrorCodes.h>
+#include "../../osal/InternalErrorCodes.h"
 #include <rtems/score/interr.h>
 
 ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
diff --git a/osal/rtems/Interrupt.h b/osal/rtems/Interrupt.h
index c4c21911..2152e2f0 100644
--- a/osal/rtems/Interrupt.h
+++ b/osal/rtems/Interrupt.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_INTERRUPT_H_
 #define OS_RTEMS_INTERRUPT_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 #include <cstring>
 #include <rtems.h>
 
diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp
index de148fdc..700db444 100644
--- a/osal/rtems/MessageQueue.cpp
+++ b/osal/rtems/MessageQueue.cpp
@@ -1,4 +1,4 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 #include <cstring>
diff --git a/osal/rtems/MessageQueue.h b/osal/rtems/MessageQueue.h
index 9bdce7ca..c6fc62d5 100644
--- a/osal/rtems/MessageQueue.h
+++ b/osal/rtems/MessageQueue.h
@@ -10,9 +10,9 @@
 #ifndef MESSAGEQUEUE_H_
 #define MESSAGEQUEUE_H_
 
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
 #include "RtemsBasic.h"
 
 /**
diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index bb8c2c81..3c4886a5 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -5,8 +5,8 @@
  * @author	baetz
  */
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
 #include "MultiObjectTask.h"
 
 MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 64b09c52..28d05fb1 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -7,8 +7,8 @@
 #ifndef MULTIOBJECTTASK_H_
 #define MULTIOBJECTTASK_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
 
 #include "TaskBase.h"
 #include <vector>
diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index d094e1dc..d8babcde 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,5 +1,5 @@
 #include "Mutex.h"
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
 uint8_t Mutex::count = 0;
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 19b34e7f..340bb16b 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_MUTEX_H_
 #define OS_RTEMS_MUTEX_H_
 
-#include <framework/ipc/MutexIF.h>
+#include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
 
 class Mutex : public MutexIF {
diff --git a/osal/rtems/MutexFactory.cpp b/osal/rtems/MutexFactory.cpp
index d7bd16bc..ea594789 100644
--- a/osal/rtems/MutexFactory.cpp
+++ b/osal/rtems/MutexFactory.cpp
@@ -1,4 +1,4 @@
-#include <framework/ipc/MutexFactory.h>
+#include "../../ipc/MutexFactory.h"
 #include "Mutex.h"
 #include "RtemsBasic.h"
 
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index 03ba0951..04191515 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -1,9 +1,9 @@
-#include <framework/devicehandlers/FixedSequenceSlot.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/osal/rtems/PollingTask.h>
-#include <framework/osal/rtems/RtemsBasic.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../devicehandlers/FixedSequenceSlot.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "PollingTask.h"
+#include "RtemsBasic.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <rtems/bspIo.h>
 #include <rtems/rtems/ratemon.h>
 #include <rtems/rtems/status.h>
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 82ec65a2..199c34e7 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -1,8 +1,8 @@
 #ifndef POLLINGTASK_H_
 #define POLLINGTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/tasks/FixedTimeslotTaskIF.h>
+#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "TaskBase.h"
 
 class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp
index 8cc9905c..fce55a0e 100644
--- a/osal/rtems/QueueFactory.cpp
+++ b/osal/rtems/QueueFactory.cpp
@@ -1,4 +1,4 @@
-#include <framework/ipc/QueueFactory.h>
+#include "../../ipc/QueueFactory.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 
diff --git a/osal/rtems/RtemsBasic.h b/osal/rtems/RtemsBasic.h
index f7ab8614..78e0d46e 100644
--- a/osal/rtems/RtemsBasic.h
+++ b/osal/rtems/RtemsBasic.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_RTEMSBASIC_H_
 #define OS_RTEMS_RTEMSBASIC_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 #include <rtems.h>
 #include <rtems/libio.h>
 #include <rtems/error.h>
diff --git a/osal/rtems/TaskBase.cpp b/osal/rtems/TaskBase.cpp
index ad795645..adf6ee70 100644
--- a/osal/rtems/TaskBase.cpp
+++ b/osal/rtems/TaskBase.cpp
@@ -1,4 +1,4 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "TaskBase.h"
 
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
diff --git a/osal/rtems/TaskBase.h b/osal/rtems/TaskBase.h
index b9c1192a..410d9110 100644
--- a/osal/rtems/TaskBase.h
+++ b/osal/rtems/TaskBase.h
@@ -2,7 +2,7 @@
 #define TASKBASE_H_
 
 #include "RtemsBasic.h"
-#include <framework/tasks/PeriodicTaskIF.h>
+#include "../../tasks/PeriodicTaskIF.h"
 
 /**
  * @brief	This is the basic task handling class for rtems.
diff --git a/osal/rtems/TaskFactory.cpp b/osal/rtems/TaskFactory.cpp
index 2bee19c7..bab48a44 100644
--- a/osal/rtems/TaskFactory.cpp
+++ b/osal/rtems/TaskFactory.cpp
@@ -1,9 +1,9 @@
-#include <framework/tasks/TaskFactory.h>
+#include "../../tasks/TaskFactory.h"
 #include "MultiObjectTask.h"
 #include "PollingTask.h"
 #include "InitTask.h"
 #include "RtemsBasic.h"
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
diff --git a/parameters/HasParametersIF.h b/parameters/HasParametersIF.h
index fbb69445..71212b57 100644
--- a/parameters/HasParametersIF.h
+++ b/parameters/HasParametersIF.h
@@ -1,8 +1,8 @@
 #ifndef HASPARAMETERSIF_H_
 #define HASPARAMETERSIF_H_
 
-#include <framework/parameters/ParameterWrapper.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "ParameterWrapper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
 typedef uint32_t ParameterId_t;
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index f896f00f..8543515f 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/parameters/ParameterMessage.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "ParameterHelper.h"
+#include "ParameterMessage.h"
 
 ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
 		owner(owner), storage(NULL) {
diff --git a/parameters/ParameterHelper.h b/parameters/ParameterHelper.h
index e2fefdba..d887bf1d 100644
--- a/parameters/ParameterHelper.h
+++ b/parameters/ParameterHelper.h
@@ -1,8 +1,8 @@
 #ifndef PARAMETERHELPER_H_
 #define PARAMETERHELPER_H_
 
-#include <framework/parameters/ParameterMessage.h>
-#include <framework/parameters/ReceivesParameterMessagesIF.h>
+#include "ParameterMessage.h"
+#include "ReceivesParameterMessagesIF.h"
 
 class ParameterHelper {
 public:
diff --git a/parameters/ParameterMessage.cpp b/parameters/ParameterMessage.cpp
index 1c7d6911..7e0ed114 100644
--- a/parameters/ParameterMessage.cpp
+++ b/parameters/ParameterMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/parameters/ParameterMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "ParameterMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {
 	return message->getParameter();
diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h
index 0f286675..7cb02d96 100644
--- a/parameters/ParameterMessage.h
+++ b/parameters/ParameterMessage.h
@@ -1,9 +1,9 @@
 #ifndef PARAMETERMESSAGE_H_
 #define PARAMETERMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/CommandMessage.h"
+#include "HasParametersIF.h"
+#include "../storagemanager/StorageManagerIF.h"
 
 class ParameterMessage {
 private:
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index bbf1e8a3..56f56426 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -1,4 +1,4 @@
-#include <framework/parameters/ParameterWrapper.h>
+#include "ParameterWrapper.h"
 
 ParameterWrapper::ParameterWrapper() :
 		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index a00c997c..b18fe2b9 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -1,11 +1,11 @@
 #ifndef PARAMETERWRAPPER_H_
 #define PARAMETERWRAPPER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serialize/SerializeIF.h"
 #include <stddef.h>
-#include <framework/globalfunctions/Type.h>
+#include "../globalfunctions/Type.h"
 
 class ParameterWrapper: public SerializeIF {
 	friend class DataPoolParameterWrapper;
diff --git a/parameters/ReceivesParameterMessagesIF.h b/parameters/ReceivesParameterMessagesIF.h
index 9bcd226d..1fcbd4b3 100644
--- a/parameters/ReceivesParameterMessagesIF.h
+++ b/parameters/ReceivesParameterMessagesIF.h
@@ -2,8 +2,8 @@
 #define RECEIVESPARAMETERMESSAGESIF_H_
 
 
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "HasParametersIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class ReceivesParameterMessagesIF : public HasParametersIF {
 public:
diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index db24100b..9986ab6b 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -1,9 +1,9 @@
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringMessageContent.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/power/Fuse.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../monitoring/LimitViolationReporter.h"
+#include "../monitoring/MonitoringMessageContent.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "Fuse.h"
+#include "../serialize/SerialFixedArrayListAdapter.h"
+#include "../ipc/QueueFactory.h"
 
 object_id_t Fuse::powerSwitchId = 0;
 
diff --git a/power/Fuse.h b/power/Fuse.h
index 4e22e3ed..279642be 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -1,14 +1,14 @@
 #ifndef FUSE_H_
 #define FUSE_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PIDReader.h>
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/monitoring/AbsLimitMonitor.h>
-#include <framework/power/PowerComponentIF.h>
-#include <framework/power/PowerSwitchIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/parameters/ParameterHelper.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PIDReader.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../monitoring/AbsLimitMonitor.h"
+#include "PowerComponentIF.h"
+#include "PowerSwitchIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../parameters/ParameterHelper.h"
 #include <list>
 
 namespace Factory {
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index cd116a86..6012ad4c 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -5,7 +5,7 @@
  * @author	baetz
  */
 
-#include <framework/power/PowerComponent.h>
+#include "PowerComponent.h"
 
 PowerComponent::PowerComponent() :
 		deviceObjectId(0), switchId1(0xFF), switchId2(0xFF), doIHaveTwoSwitches(
diff --git a/power/PowerComponent.h b/power/PowerComponent.h
index 61ab3674..6d1c9c06 100644
--- a/power/PowerComponent.h
+++ b/power/PowerComponent.h
@@ -1,8 +1,8 @@
 #ifndef POWERCOMPONENT_H_
 #define POWERCOMPONENT_H_
 
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/power/PowerComponentIF.h>
+#include "../objectmanager/SystemObjectIF.h"
+#include "PowerComponentIF.h"
 
 class PowerComponent: public PowerComponentIF {
 public:
diff --git a/power/PowerComponentIF.h b/power/PowerComponentIF.h
index f2aa70ae..c2e3a6a5 100644
--- a/power/PowerComponentIF.h
+++ b/power/PowerComponentIF.h
@@ -1,8 +1,8 @@
 #ifndef POWERCOMPONENTIF_H_
 #define POWERCOMPONENTIF_H_
 
-#include <framework/serialize/SerializeIF.h>
-#include <framework/parameters/HasParametersIF.h>
+#include "../serialize/SerializeIF.h"
+#include "../parameters/HasParametersIF.h"
 
 class PowerComponentIF : public SerializeIF, public HasParametersIF {
 public:
diff --git a/power/PowerSensor.cpp b/power/PowerSensor.cpp
index 5433acc9..50cb6acd 100644
--- a/power/PowerSensor.cpp
+++ b/power/PowerSensor.cpp
@@ -1,5 +1,5 @@
-#include <framework/power/PowerSensor.h>
-#include <framework/ipc/QueueFactory.h>
+#include "PowerSensor.h"
+#include "../ipc/QueueFactory.h"
 
 PowerSensor::PowerSensor(object_id_t setId, VariableIds ids,
 		DefaultLimits limits, SensorEvents events, uint16_t confirmationCount) :
diff --git a/power/PowerSensor.h b/power/PowerSensor.h
index 922560d0..0f973e45 100644
--- a/power/PowerSensor.h
+++ b/power/PowerSensor.h
@@ -1,14 +1,14 @@
 #ifndef POWERSENSOR_H_
 #define POWERSENSOR_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PIDReader.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/monitoring/LimitMonitor.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PIDReader.h"
+#include "../datapool/PoolVariable.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../monitoring/LimitMonitor.h"
+#include "../parameters/ParameterHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../ipc/MessageQueueIF.h"
 
 class PowerController;
 
diff --git a/power/PowerSwitchIF.h b/power/PowerSwitchIF.h
index 1c4c06f7..40220fb6 100644
--- a/power/PowerSwitchIF.h
+++ b/power/PowerSwitchIF.h
@@ -8,8 +8,8 @@
 #ifndef POWERSWITCHIF_H_
 #define POWERSWITCHIF_H_
 
-#include <framework/events/Event.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/Event.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 /**
  * This interface defines a connection to a device that is capable of turning on and off
  * switches of devices identified by a switch ID.
diff --git a/power/PowerSwitcher.cpp b/power/PowerSwitcher.cpp
index 6b06bf73..6296a04c 100644
--- a/power/PowerSwitcher.cpp
+++ b/power/PowerSwitcher.cpp
@@ -1,6 +1,6 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/power/PowerSwitcher.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "PowerSwitcher.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
 		PowerSwitcher::State_t setStartState) :
diff --git a/power/PowerSwitcher.h b/power/PowerSwitcher.h
index 5b2789e9..0f1c02de 100644
--- a/power/PowerSwitcher.h
+++ b/power/PowerSwitcher.h
@@ -1,8 +1,8 @@
 #ifndef POWERSWITCHER_H_
 #define POWERSWITCHER_H_
-#include <framework/power/PowerSwitchIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/timemanager/Countdown.h>
+#include "PowerSwitchIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Countdown.h"
 
 class PowerSwitcher : public HasReturnvaluesIF {
 public:
diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
index fd6da67e..32f7e5a7 100644
--- a/pus/CService200ModeCommanding.cpp
+++ b/pus/CService200ModeCommanding.cpp
@@ -1,119 +1,119 @@
-#include <framework/pus/CService200ModeCommanding.h>
-#include <framework/pus/servicepackets/Service200Packets.h>
-
-#include <framework/modes/HasModesIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/modes/ModeMessage.h>
-
-CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
-        uint16_t apid, uint8_t serviceId):
-        CommandingServiceBase(objectId, apid, serviceId,
-	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
-
-CService200ModeCommanding::~CService200ModeCommanding() {}
-
-ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
-	switch(subservice) {
-	case(Subservice::COMMAND_MODE_COMMAND):
-	case(Subservice::COMMAND_MODE_READ):
-	case(Subservice::COMMAND_MODE_ANNCOUNCE):
-		return RETURN_OK;
-	default:
-		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-	}
-}
-
-
-ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
-		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
-		MessageQueueId_t *id, object_id_t *objectId) {
-    if(tcDataLen < sizeof(object_id_t)) {
-        return CommandingServiceBase::INVALID_TC;
-    }
-    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
-            SerializeIF::Endianness::BIG);
-
-	return checkInterfaceAndAcquireMessageQueue(id,objectId);
-}
-
-ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
-        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
-    HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
-    if(destination == nullptr) {
-        return CommandingServiceBase::INVALID_OBJECT;
-
-    }
-
-    *messageQueueToSet = destination->getCommandQueue();
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t CService200ModeCommanding::prepareCommand(
-		CommandMessage* message,uint8_t subservice, const uint8_t *tcData,
-		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
-	ModePacket modeCommandPacket;
-	ReturnValue_t result = modeCommandPacket.deSerialize(&tcData,
-			&tcDataLen, SerializeIF::Endianness::BIG);
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
-	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-	        modeCommandPacket.getSubmode());
-	return result;
-}
-
-
-ReturnValue_t CService200ModeCommanding::handleReply(
-		const CommandMessage* reply, Command_t previousCommand,
-		uint32_t *state, CommandMessage* optionalNextCommand,
-		object_id_t objectId, bool *isStep) {
-	Command_t replyId = reply->getCommand();
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	switch(replyId) {
-	case(ModeMessage::REPLY_MODE_REPLY): {
-		result = prepareModeReply(reply, objectId);
-		break;
-	}
-	case(ModeMessage::REPLY_WRONG_MODE_REPLY): {
-		result = prepareWrongModeReply(reply, objectId);
-		break;
-	}
-	case(ModeMessage::REPLY_CANT_REACH_MODE): {
-		result = prepareCantReachModeReply(reply, objectId);
-		break;
-	}
-	case(ModeMessage::REPLY_MODE_INFO):
-		result = INVALID_REPLY;
-		break;
-	default:
-		result = RETURN_FAILED;
-	}
-	return result;
-}
-
-ReturnValue_t CService200ModeCommanding::prepareModeReply(
-		const CommandMessage *reply, object_id_t objectId) {
-	ModePacket modeReplyPacket(objectId,
-			ModeMessage::getMode(reply),
-			ModeMessage::getSubmode(reply));
-	return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
-}
-
-ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
-		const CommandMessage *reply, object_id_t objectId) {
-	ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
-			ModeMessage::getSubmode(reply));
-	return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
-}
-
-ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
-		const CommandMessage *reply, object_id_t objectId) {
-	CantReachModePacket cantReachModePacket(objectId,
-	        ModeMessage::getCantReachModeReason(reply));
-	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
-	        &cantReachModePacket);
-}
+#include "CService200ModeCommanding.h"
+#include "servicepackets/Service200Packets.h"
+
+#include "../modes/HasModesIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../modes/ModeMessage.h"
+
+CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+        CommandingServiceBase(objectId, apid, serviceId,
+	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
+
+CService200ModeCommanding::~CService200ModeCommanding() {}
+
+ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
+	switch(subservice) {
+	case(Subservice::COMMAND_MODE_COMMAND):
+	case(Subservice::COMMAND_MODE_READ):
+	case(Subservice::COMMAND_MODE_ANNCOUNCE):
+		return RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+
+ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+		MessageQueueId_t *id, object_id_t *objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
+            SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
+        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+    HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
+    if(destination == nullptr) {
+        return CommandingServiceBase::INVALID_OBJECT;
+
+    }
+
+    *messageQueueToSet = destination->getCommandQueue();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t CService200ModeCommanding::prepareCommand(
+		CommandMessage* message,uint8_t subservice, const uint8_t *tcData,
+		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
+	ModePacket modeCommandPacket;
+	ReturnValue_t result = modeCommandPacket.deSerialize(&tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
+	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+	        modeCommandPacket.getSubmode());
+	return result;
+}
+
+
+ReturnValue_t CService200ModeCommanding::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t *state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool *isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	switch(replyId) {
+	case(ModeMessage::REPLY_MODE_REPLY): {
+		result = prepareModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_WRONG_MODE_REPLY): {
+		result = prepareWrongModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_CANT_REACH_MODE): {
+		result = prepareCantReachModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_MODE_INFO):
+		result = INVALID_REPLY;
+		break;
+	default:
+		result = RETURN_FAILED;
+	}
+	return result;
+}
+
+ReturnValue_t CService200ModeCommanding::prepareModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket modeReplyPacket(objectId,
+			ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	CantReachModePacket cantReachModePacket(objectId,
+	        ModeMessage::getCantReachModeReason(reply));
+	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
+	        &cantReachModePacket);
+}
diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h
index ede61a84..89347dbd 100644
--- a/pus/CService200ModeCommanding.h
+++ b/pus/CService200ModeCommanding.h
@@ -1,85 +1,85 @@
-#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
-#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
-
-#include <framework/tmtcservices/CommandingServiceBase.h>
-
-/**
- * @brief Custom PUS service to set mode of all objects implementing HasModesIF
- *
- * Examples: Device Handlers, Assemblies or Subsystems.
- * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
- * Dissertation Baetz p. 115, 116, 165-167.
- *
- * This is a gateway service. It relays device commands using the software bus.
- * @ingroup pus_services
- */
-class CService200ModeCommanding: public CommandingServiceBase {
-public:
-	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
-	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
-
-	CService200ModeCommanding(object_id_t objectId,
-	        uint16_t apid, uint8_t serviceId);
-	virtual~ CService200ModeCommanding();
-
-protected:
-	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
-	ReturnValue_t isValidSubservice(uint8_t subservice) override;
-	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
-			object_id_t *objectId) override;
-	ReturnValue_t prepareCommand(CommandMessage* message,
-			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
-			uint32_t *state, object_id_t objectId) override;
-	ReturnValue_t handleReply(const CommandMessage* reply,
-			Command_t previousCommand, uint32_t *state,
-			CommandMessage* optionalNextCommand, object_id_t objectId,
-			bool *isStep) override;
-
-private:
-	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
-			const uint8_t* tcData, uint32_t tcDataLen);
-	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
-			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
-
-	ReturnValue_t prepareModeReply(const CommandMessage *reply,
-			object_id_t objectId);
-	ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
-			object_id_t objectId);
-	ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
-			object_id_t objectId);
-
-	enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
-		//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
-		COMMAND_MODE_COMMAND = 1,
-		//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
-		//! regardless of external control flag
-		COMMAND_MODE_COMMAND_FORCED = 2,
-		//!< [EXPORT] : [COMMAND] Read the current mode and
-		//! reply with a REPLY_MODE_REPLY
-		COMMAND_MODE_READ = 3,
-		//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
-		//! This command does NOT have a reply
-		COMMAND_MODE_ANNCOUNCE = 4,
-		//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
-		//! command to every child. This command does NOT have a reply.
-		COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
-		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
-		REPLY_MODE_REPLY = 6,
-		//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
-		REPLY_CANT_REACH_MODE = 7,
-		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a
-		//! mode was commanded and a transition started but was aborted,
-		//! the parameters contain the mode that was reached
-		REPLY_WRONG_MODE_REPLY = 8
-	};
-
-	enum modeParameters {
-		MODE_OFF = 0,
-		MODE_ON = 1,
-		MODE_NORMAL = 2,
-		MODE_RAW = 3
-	};
-};
-
-#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
+#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief Custom PUS service to set mode of all objects implementing HasModesIF
+ *
+ * Examples: Device Handlers, Assemblies or Subsystems.
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * @ingroup pus_services
+ */
+class CService200ModeCommanding: public CommandingServiceBase {
+public:
+	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
+	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
+
+	CService200ModeCommanding(object_id_t objectId,
+	        uint16_t apid, uint8_t serviceId);
+	virtual~ CService200ModeCommanding();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+			uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
+			bool *isStep) override;
+
+private:
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+			const uint8_t* tcData, uint32_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+
+	enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
+		//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
+		COMMAND_MODE_COMMAND = 1,
+		//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
+		//! regardless of external control flag
+		COMMAND_MODE_COMMAND_FORCED = 2,
+		//!< [EXPORT] : [COMMAND] Read the current mode and
+		//! reply with a REPLY_MODE_REPLY
+		COMMAND_MODE_READ = 3,
+		//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
+		//! This command does NOT have a reply
+		COMMAND_MODE_ANNCOUNCE = 4,
+		//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
+		//! command to every child. This command does NOT have a reply.
+		COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
+		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+		REPLY_MODE_REPLY = 6,
+		//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
+		REPLY_CANT_REACH_MODE = 7,
+		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a
+		//! mode was commanded and a transition started but was aborted,
+		//! the parameters contain the mode that was reached
+		REPLY_WRONG_MODE_REPLY = 8
+	};
+
+	enum modeParameters {
+		MODE_OFF = 0,
+		MODE_ON = 1,
+		MODE_NORMAL = 2,
+		MODE_RAW = 3
+	};
+};
+
+#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
index 4ce2ce54..570005c5 100644
--- a/pus/Service1TelecommandVerification.cpp
+++ b/pus/Service1TelecommandVerification.cpp
@@ -1,12 +1,12 @@
-#include <framework/pus/Service1TelecommandVerification.h>
-#include <framework/pus/servicepackets/Service1Packets.h>
+#include "Service1TelecommandVerification.h"
+#include "servicepackets/Service1Packets.h"
 
-#include <framework/ipc/QueueFactory.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../ipc/QueueFactory.h"
+#include "../tmtcservices/PusVerificationReport.h"
+#include "/tmtcpacketTmPacketStored.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../tmtcservices/AcceptsTelemetryIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 
 Service1TelecommandVerification::Service1TelecommandVerification(
diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h
index 1d4b6719..37562d1c 100644
--- a/pus/Service1TelecommandVerification.h
+++ b/pus/Service1TelecommandVerification.h
@@ -1,12 +1,12 @@
 #ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
 #define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../tmtcservices/AcceptsVerifyMessageIF.h"
+#include "../tmtcservices/PusVerificationReport.h"
+#include "../ipc/MessageQueueIF.h"
 
 /**
  * @brief Verify TC acceptance, start, progress and execution.
diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index 1d5f21eb..2093a617 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -1,167 +1,167 @@
-#include <framework/pus/Service2DeviceAccess.h>
-#include <framework/pus/servicepackets/Service2Packets.h>
-
-#include <framework/devicehandlers/DeviceHandlerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/serialize/EndianConverter.h>
-#include <framework/action/ActionMessage.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
-        uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
-        uint16_t commandTimeoutSeconds):
-        CommandingServiceBase(objectId, apid, serviceId,
-	        numberOfParallelCommands, commandTimeoutSeconds) {}
-
-Service2DeviceAccess::~Service2DeviceAccess() {}
-
-
-ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
-	switch(static_cast<Subservice>(subservice)){
-	case Subservice::RAW_COMMANDING:
-	case Subservice::TOGGLE_WIRETAPPING:
-		return HasReturnvaluesIF::RETURN_OK;
-	default:
-		sif::error << "Invalid Subservice" << std::endl;
-		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-	}
-}
-
-ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
-		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
-		MessageQueueId_t* id, object_id_t* objectId) {
-    if(tcDataLen < sizeof(object_id_t)) {
-        return CommandingServiceBase::INVALID_TC;
-    }
-    SerializeAdapter::deSerialize(objectId, &tcData,
-                &tcDataLen, SerializeIF::Endianness::BIG);
-
-	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
-	return result;
-}
-
-ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
-		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
-	DeviceHandlerIF* possibleTarget =
-			objectManager->get<DeviceHandlerIF>(*objectId);
-	if(possibleTarget == nullptr) {
-		return CommandingServiceBase::INVALID_OBJECT;
-	}
-	*messageQueueToSet = possibleTarget->getCommandQueue();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
-		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
-		uint32_t* state, object_id_t objectId) {
-	switch(static_cast<Subservice>(subservice)){
-	case Subservice::RAW_COMMANDING: {
-		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
-	}
-	break;
-	case Subservice::TOGGLE_WIRETAPPING: {
-		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
-	}
-	break;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Service2DeviceAccess::prepareRawCommand(
-        CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
-	RawCommand RawCommand(tcData,tcDataLen);
-	// store command into the Inter Process Communication Store
-	store_address_t storeAddress;
-	ReturnValue_t result = IPCStore->addData(&storeAddress,
-	        RawCommand.getCommand(), RawCommand.getCommandSize());
-	DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
-	        storeAddress);
-	return result;
-}
-
-ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
-		CommandMessage *messageToSet, const uint8_t *tcData,
-		size_t tcDataLen) {
-	if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
-		return CommandingServiceBase::INVALID_TC;
-	}
-	WiretappingToggle command;
-	ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
-	        SerializeIF::Endianness::BIG);
-	DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
-			command.getWiretappingMode());
-	return result;
-}
-
-
-ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
-		Command_t previousCommand, uint32_t* state,
-		CommandMessage* optionalNextCommand, object_id_t objectId,
-		bool* isStep) {
-	switch(reply->getCommand()) {
-	case CommandMessage::REPLY_COMMAND_OK:
-		return HasReturnvaluesIF::RETURN_OK;
-	case CommandMessage::REPLY_REJECTED:
-		return reply->getReplyRejectedReason();
-	default:
-		return CommandingServiceBase::INVALID_REPLY;
-	}
-}
-
-// All device handlers set service 2 as default raw receiver for wiretapping
-// so we have to handle those unrequested messages.
-void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
-	switch(reply->getCommand()) {
-	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
-		sendWiretappingTm(reply,
-				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
-		break;
-	case DeviceHandlerMessage::REPLY_RAW_REPLY:
-		sendWiretappingTm(reply,
-				static_cast<uint8_t>(Subservice::RAW_REPLY));
-		break;
-	default:
-		sif::error << "Unknown message in Service2DeviceAccess::"
-				"handleUnrequestedReply with command ID " <<
-				reply->getCommand() << std::endl;
-		break;
-	}
-	//Must be reached by all cases to clear message
-	reply->clear();
-}
-
-void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
-		uint8_t subservice) {
-	// Raw Wiretapping
-	// Get Address of Data from Message
-	store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
-	const uint8_t* data = nullptr;
-	size_t size = 0;
-	ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
-		        "handleUnrequestedReply with failure ID "<< result
-		        << std::endl;
-		return;
-	}
-
-	// Init our dummy packet and correct endianness of object ID before
-	// sending it back.
-	WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
-	        data);
-	TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
-	sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast<uint8_t*>(
-			&TmPacket.objectId), sizeof(TmPacket.objectId));
-}
-
-MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
-	return commandQueue->getId();
-}
-
+#include "Service2DeviceAccess.h"
+#include "servicepackets/Service2Packets.h"
+
+#include "../devicehandlers/DeviceHandlerIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../devicehandlers/DeviceHandlerMessage.h"
+#include "../serialize/EndianConverter.h"
+#include "../action/ActionMessage.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
+        uint16_t commandTimeoutSeconds):
+        CommandingServiceBase(objectId, apid, serviceId,
+	        numberOfParallelCommands, commandTimeoutSeconds) {}
+
+Service2DeviceAccess::~Service2DeviceAccess() {}
+
+
+ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING:
+	case Subservice::TOGGLE_WIRETAPPING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		sif::error << "Invalid Subservice" << std::endl;
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData,
+                &tcDataLen, SerializeIF::Endianness::BIG);
+
+	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
+	DeviceHandlerIF* possibleTarget =
+			objectManager->get<DeviceHandlerIF>(*objectId);
+	if(possibleTarget == nullptr) {
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		uint32_t* state, object_id_t objectId) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING: {
+		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	case Subservice::TOGGLE_WIRETAPPING: {
+		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::prepareRawCommand(
+        CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
+	RawCommand RawCommand(tcData,tcDataLen);
+	// store command into the Inter Process Communication Store
+	store_address_t storeAddress;
+	ReturnValue_t result = IPCStore->addData(&storeAddress,
+	        RawCommand.getCommand(), RawCommand.getCommandSize());
+	DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
+	        storeAddress);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
+		CommandMessage *messageToSet, const uint8_t *tcData,
+		size_t tcDataLen) {
+	if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	WiretappingToggle command;
+	ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
+	        SerializeIF::Endianness::BIG);
+	DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
+			command.getWiretappingMode());
+	return result;
+}
+
+
+ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
+		Command_t previousCommand, uint32_t* state,
+		CommandMessage* optionalNextCommand, object_id_t objectId,
+		bool* isStep) {
+	switch(reply->getCommand()) {
+	case CommandMessage::REPLY_COMMAND_OK:
+		return HasReturnvaluesIF::RETURN_OK;
+	case CommandMessage::REPLY_REJECTED:
+		return reply->getReplyRejectedReason();
+	default:
+		return CommandingServiceBase::INVALID_REPLY;
+	}
+}
+
+// All device handlers set service 2 as default raw receiver for wiretapping
+// so we have to handle those unrequested messages.
+void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
+	switch(reply->getCommand()) {
+	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
+		break;
+	case DeviceHandlerMessage::REPLY_RAW_REPLY:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::RAW_REPLY));
+		break;
+	default:
+		sif::error << "Unknown message in Service2DeviceAccess::"
+				"handleUnrequestedReply with command ID " <<
+				reply->getCommand() << std::endl;
+		break;
+	}
+	//Must be reached by all cases to clear message
+	reply->clear();
+}
+
+void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
+		uint8_t subservice) {
+	// Raw Wiretapping
+	// Get Address of Data from Message
+	store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
+	const uint8_t* data = nullptr;
+	size_t size = 0;
+	ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
+		        "handleUnrequestedReply with failure ID "<< result
+		        << std::endl;
+		return;
+	}
+
+	// Init our dummy packet and correct endianness of object ID before
+	// sending it back.
+	WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
+	        data);
+	TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
+	sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast<uint8_t*>(
+			&TmPacket.objectId), sizeof(TmPacket.objectId));
+}
+
+MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
+	return commandQueue->getId();
+}
+
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
index 1a0bede0..f6aa8b52 100644
--- a/pus/Service2DeviceAccess.h
+++ b/pus/Service2DeviceAccess.h
@@ -1,92 +1,92 @@
-#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
-#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
-
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
-#include <framework/tmtcservices/CommandingServiceBase.h>
-
-/**
- * @brief   Raw Commanding and Wiretapping of devices.
- * @details
- * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
- * Dissertation Baetz p. 115, 116, 165-167.
- *
- * This service provides the capability to communicate with devices in their
- * native protocols with raw commands through the DeviceHandlerIF.
- *
- * This is a gateway service. It relays device commands to the software bus.
- * This service is very closely tied to the CommandingServiceBase
- * template class.
- *
- * There are 4 adaption points for component implementation through the
- * CommandingServiceBase.
- *
- * This service employs custom subservices exclusively.  This includes a
- * wiretapping subservice to monitor all traffic between target devices and
- * this service.
- *
- *   - TC[2,128]: Raw Commanding
- *   - TC[2,129]: Toggle Wiretapping
- *   - TM[2,130]: Wiretapping Packet TM
- *   - TM[2,131]: Wiretapping Packet TC
- * @ingroup pus_services
- */
-class Service2DeviceAccess : public CommandingServiceBase,
-		public AcceptsDeviceResponsesIF
-{
-public:
-	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
-	        uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
-	        uint16_t commandTimeoutSeconds = 60);
-	virtual ~Service2DeviceAccess();
-
-protected:
-	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
-	ReturnValue_t isValidSubservice(uint8_t subservice) override;
-	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-	        const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
-			object_id_t *objectId) override;
-	ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
-	        const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
-	        object_id_t objectId) override;
-	ReturnValue_t handleReply(const CommandMessage* reply,
-				Command_t previousCommand, uint32_t *state,
-				CommandMessage* optionalNextCommand, object_id_t objectId,
-				bool *isStep) override;
-
-	/**
-	 * @brief 	Generates TM packets containing either the TC wiretapping
-	 * 			packets or the TM wiretapping packets.
-	 * Note that for service 2, all telemetry will be treated as an
-	 * unrequested reply regardless of wiretapping mode.
-	 * @param reply
-	 */
-	void handleUnrequestedReply(CommandMessage* reply) override;
-
-	MessageQueueId_t getDeviceQueue() override;
-private:
-	/**
-	 * Generates TM packets for Wiretapping Service
-	 * @param reply
-	 * @param subservice
-	 */
-	void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
-
-	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
-	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
-
-	ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
-	        const uint8_t* tcData, size_t tcDataLen);
-	ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
-	        const uint8_t* tcData, size_t tcDataLen);
-
-	enum class Subservice {
-		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
-		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
-		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
-		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
-	};
-};
-
-
-#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
+#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+
+#include "../objectmanager/SystemObjectIF.h"
+#include "../devicehandlers/AcceptsDeviceResponsesIF.h"
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief   Raw Commanding and Wiretapping of devices.
+ * @details
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This service provides the capability to communicate with devices in their
+ * native protocols with raw commands through the DeviceHandlerIF.
+ *
+ * This is a gateway service. It relays device commands to the software bus.
+ * This service is very closely tied to the CommandingServiceBase
+ * template class.
+ *
+ * There are 4 adaption points for component implementation through the
+ * CommandingServiceBase.
+ *
+ * This service employs custom subservices exclusively.  This includes a
+ * wiretapping subservice to monitor all traffic between target devices and
+ * this service.
+ *
+ *   - TC[2,128]: Raw Commanding
+ *   - TC[2,129]: Toggle Wiretapping
+ *   - TM[2,130]: Wiretapping Packet TM
+ *   - TM[2,131]: Wiretapping Packet TC
+ * @ingroup pus_services
+ */
+class Service2DeviceAccess : public CommandingServiceBase,
+		public AcceptsDeviceResponsesIF
+{
+public:
+	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
+	        uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service2DeviceAccess();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
+	        object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+	/**
+	 * @brief 	Generates TM packets containing either the TC wiretapping
+	 * 			packets or the TM wiretapping packets.
+	 * Note that for service 2, all telemetry will be treated as an
+	 * unrequested reply regardless of wiretapping mode.
+	 * @param reply
+	 */
+	void handleUnrequestedReply(CommandMessage* reply) override;
+
+	MessageQueueId_t getDeviceQueue() override;
+private:
+	/**
+	 * Generates TM packets for Wiretapping Service
+	 * @param reply
+	 * @param subservice
+	 */
+	void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+
+	enum class Subservice {
+		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
+		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
+		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
+		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+	};
+};
+
+
+#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
index 1dfbe229..831f92c1 100644
--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@@ -1,10 +1,10 @@
-#include <framework/pus/Service5EventReporting.h>
-#include <framework/pus/servicepackets/Service5Packets.h>
+#include "Service5EventReporting.h"
+#include "servicepackets/Service5Packets.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/events/EventManagerIF.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../events/EventManagerIF.h"
+#include "../ipc/QueueFactory.h"
+#include "/tmtcpacketTmPacketStored.h"
 
 
 Service5EventReporting::Service5EventReporting(object_id_t objectId,
diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h
index 79b7c5e7..0b6ee9a8 100644
--- a/pus/Service5EventReporting.h
+++ b/pus/Service5EventReporting.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
 #define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
 
-#include <framework/tmtcservices/PusServiceBase.h>
-#include <framework/events/EventMessage.h>
+#include "../tmtcservices/PusServiceBase.h"
+#include "../events/EventMessage.h"
 
 /**
  * @brief Report on-board events like information or errors
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 50102b04..2c2e590b 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -1,142 +1,142 @@
-#include <framework/pus/Service8FunctionManagement.h>
-#include <framework/pus/servicepackets/Service8Packets.h>
-
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/devicehandlers/DeviceHandlerIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
-		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
-		uint16_t commandTimeoutSeconds):
-		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
-		commandTimeoutSeconds) {}
-
-Service8FunctionManagement::~Service8FunctionManagement() {}
-
-
-ReturnValue_t Service8FunctionManagement::isValidSubservice(
-		uint8_t subservice) {
-	switch(static_cast<Subservice>(subservice)) {
-	case Subservice::DIRECT_COMMANDING:
-		return HasReturnvaluesIF::RETURN_OK;
-	default:
-		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-	}
-}
-
-ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
-		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
-		MessageQueueId_t* id, object_id_t* objectId) {
-	if(tcDataLen < sizeof(object_id_t)) {
-		return CommandingServiceBase::INVALID_TC;
-	}
-	SerializeAdapter::deSerialize(objectId, &tcData,
-			&tcDataLen, SerializeIF::Endianness::BIG);
-
-	return checkInterfaceAndAcquireMessageQueue(id,objectId);
-}
-
-ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
-		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
-	// check HasActionIF property of target
-	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
-	if(possibleTarget == nullptr){
-		return CommandingServiceBase::INVALID_OBJECT;
-	}
-	*messageQueueToSet = possibleTarget->getCommandQueue();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t Service8FunctionManagement::prepareCommand(
-		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
-		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
-	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
-}
-
-ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
-		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
-    if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
-        sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
-                << " TC size smaller thant minimum size of direct command."
-                << std::endl;
-        return CommandingServiceBase::INVALID_TC;
-    }
-
-	// Create direct command instance by extracting data from Telecommand
-	DirectCommand command(tcData, tcDataLen);
-
-	// store additional parameters into the IPC Store
-	store_address_t parameterAddress;
-	ReturnValue_t result = IPCStore->addData(&parameterAddress,
-			command.getParameters(),command.getParametersSize());
-
-	// setCommand expects a Command Message, an Action ID and a store adress
-	// pointing to additional parameters
-	ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
-	return result;
-}
-
-
-ReturnValue_t Service8FunctionManagement::handleReply(
-		const CommandMessage* reply, Command_t previousCommand,
-		uint32_t* state, CommandMessage* optionalNextCommand,
-		object_id_t objectId, bool* isStep) {
-	Command_t replyId = reply->getCommand();
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	ActionId_t actionId = ActionMessage::getActionId(reply);
-	ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
-
-	switch(replyId)  {
-	case ActionMessage::COMPLETION_SUCCESS: {
-		DirectReply completionReply(objectId, actionId,returnCode);
-		result = CommandingServiceBase::EXECUTION_COMPLETE;
-		break;
-	}
-	case ActionMessage::STEP_SUCCESS: {
-		*isStep = true;
-		result = HasReturnvaluesIF::RETURN_OK;
-		break;
-	}
-	case ActionMessage::DATA_REPLY: {
-	    result = handleDataReply(reply, objectId, actionId);
-		break;
-	}
-	case ActionMessage::STEP_FAILED:
-		*isStep = true;
-		/*No break, falls through*/
-	case ActionMessage::COMPLETION_FAILED:
-		result = ActionMessage::getReturnCode(reply);
-		break;
-	default:
-		result = INVALID_REPLY;
-	}
-	return result;
-}
-
-ReturnValue_t Service8FunctionManagement::handleDataReply(
-        const CommandMessage* reply, object_id_t objectId,
-        ActionId_t actionId) {
-    store_address_t storeId = ActionMessage::getStoreId(reply);
-    size_t size = 0;
-    const uint8_t * buffer = nullptr;
-    ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
-    if(result != RETURN_OK) {
-        sif::error << "Service 8: Could not retrieve data for data reply"
-                << std::endl;
-        return result;
-    }
-    DataReply dataReply(objectId, actionId, buffer, size);
-    result = sendTmPacket(static_cast<uint8_t>(
-            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
-
-    auto deletionResult = IPCStore->deleteData(storeId);
-    if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "Service8FunctionManagement::handleReply: Deletion"
-                << " of data in pool failed." << std::endl;
-    }
-    return result;
-}
+#include "Service8FunctionManagement.h"
+#include "servicepackets/Service8Packets.h"
+
+#include "../objectmanager/SystemObjectIF.h"
+#include "../action/HasActionsIF.h"
+#include "../devicehandlers/DeviceHandlerIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
+		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+		uint16_t commandTimeoutSeconds):
+		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
+		commandTimeoutSeconds) {}
+
+Service8FunctionManagement::~Service8FunctionManagement() {}
+
+
+ReturnValue_t Service8FunctionManagement::isValidSubservice(
+		uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)) {
+	case Subservice::DIRECT_COMMANDING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+	if(tcDataLen < sizeof(object_id_t)) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	SerializeAdapter::deSerialize(objectId, &tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+	// check HasActionIF property of target
+	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
+	if(possibleTarget == nullptr){
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service8FunctionManagement::prepareCommand(
+		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
+		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
+	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+}
+
+ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
+		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+    if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
+        sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
+                << " TC size smaller thant minimum size of direct command."
+                << std::endl;
+        return CommandingServiceBase::INVALID_TC;
+    }
+
+	// Create direct command instance by extracting data from Telecommand
+	DirectCommand command(tcData, tcDataLen);
+
+	// store additional parameters into the IPC Store
+	store_address_t parameterAddress;
+	ReturnValue_t result = IPCStore->addData(&parameterAddress,
+			command.getParameters(),command.getParametersSize());
+
+	// setCommand expects a Command Message, an Action ID and a store adress
+	// pointing to additional parameters
+	ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
+	return result;
+}
+
+
+ReturnValue_t Service8FunctionManagement::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t* state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool* isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	ActionId_t actionId = ActionMessage::getActionId(reply);
+	ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
+
+	switch(replyId)  {
+	case ActionMessage::COMPLETION_SUCCESS: {
+		DirectReply completionReply(objectId, actionId,returnCode);
+		result = CommandingServiceBase::EXECUTION_COMPLETE;
+		break;
+	}
+	case ActionMessage::STEP_SUCCESS: {
+		*isStep = true;
+		result = HasReturnvaluesIF::RETURN_OK;
+		break;
+	}
+	case ActionMessage::DATA_REPLY: {
+	    result = handleDataReply(reply, objectId, actionId);
+		break;
+	}
+	case ActionMessage::STEP_FAILED:
+		*isStep = true;
+		/*No break, falls through*/
+	case ActionMessage::COMPLETION_FAILED:
+		result = ActionMessage::getReturnCode(reply);
+		break;
+	default:
+		result = INVALID_REPLY;
+	}
+	return result;
+}
+
+ReturnValue_t Service8FunctionManagement::handleDataReply(
+        const CommandMessage* reply, object_id_t objectId,
+        ActionId_t actionId) {
+    store_address_t storeId = ActionMessage::getStoreId(reply);
+    size_t size = 0;
+    const uint8_t * buffer = nullptr;
+    ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
+    if(result != RETURN_OK) {
+        sif::error << "Service 8: Could not retrieve data for data reply"
+                << std::endl;
+        return result;
+    }
+    DataReply dataReply(objectId, actionId, buffer, size);
+    result = sendTmPacket(static_cast<uint8_t>(
+            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
+
+    auto deletionResult = IPCStore->deleteData(storeId);
+    if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Service8FunctionManagement::handleReply: Deletion"
+                << " of data in pool failed." << std::endl;
+    }
+    return result;
+}
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
index e2c7a84f..b5ebcda8 100644
--- a/pus/Service8FunctionManagement.h
+++ b/pus/Service8FunctionManagement.h
@@ -1,67 +1,67 @@
-#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
-#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
-
-#include <framework/action/ActionMessage.h>
-#include <framework/tmtcservices/CommandingServiceBase.h>
-
-/**
- * @brief Functional commanding.
- * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
- * Dissertation Baetz p. 115, 116, 165-167
- *
- * This service provides the capability to perform functions of an
- * application process and provides high-level commanding as opposed to the
- * Raw Access provided by Service 2. Examples for these functions can include
- * control and operation of payload or the AOCS subsystem.
- * This service will be the primary means to control the spacecraft as it is
- * considered safer than the Raw Access provided
- * by Service 2 and is generally sufficient for most tasks.
- *
- * This is a gateway service. It relays device commands using the software bus.
- * This service is very closely tied to the Commanding Service Base template
- * class. There is constant interaction between this Service Base und a
- * subclass like this service.
- *
- * Service Capability:
- * 	 - TC[8,128]: Direct Commanding
- *   - TM[8,130]: Direct Commanding Data Reply
- *
- * @ingroup pus_services
- */
-class Service8FunctionManagement : public CommandingServiceBase
-{
-public:
-	Service8FunctionManagement(object_id_t objectId, uint16_t apid,
-			uint8_t serviceId, uint8_t numParallelCommands = 4,
-			uint16_t commandTimeoutSeconds = 60);
-	virtual ~Service8FunctionManagement();
-
-protected:
-	/* CSB abstract functions implementation . See CSB documentation. */
-	ReturnValue_t isValidSubservice(uint8_t subservice) override;
-	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
-			object_id_t *objectId) override;
-	ReturnValue_t prepareCommand(CommandMessage* message,
-				uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
-				uint32_t *state, object_id_t objectId) override;
-	ReturnValue_t handleReply(const CommandMessage* reply,
-				Command_t previousCommand, uint32_t *state,
-				CommandMessage* optionalNextCommand, object_id_t objectId,
-				bool *isStep) override;
-
-private:
-	enum class Subservice {
-		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
-		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
-	};
-
-	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
-	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
-	ReturnValue_t prepareDirectCommand(CommandMessage* message,
-			const uint8_t* tcData, size_t tcDataLen);
-	ReturnValue_t handleDataReply(const CommandMessage* reply,
-	        object_id_t objectId, ActionId_t actionId);
-};
-
-#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
+#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+
+#include "../action/ActionMessage.h"
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief Functional commanding.
+ * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
+ * Dissertation Baetz p. 115, 116, 165-167
+ *
+ * This service provides the capability to perform functions of an
+ * application process and provides high-level commanding as opposed to the
+ * Raw Access provided by Service 2. Examples for these functions can include
+ * control and operation of payload or the AOCS subsystem.
+ * This service will be the primary means to control the spacecraft as it is
+ * considered safer than the Raw Access provided
+ * by Service 2 and is generally sufficient for most tasks.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base template
+ * class. There is constant interaction between this Service Base und a
+ * subclass like this service.
+ *
+ * Service Capability:
+ * 	 - TC[8,128]: Direct Commanding
+ *   - TM[8,130]: Direct Commanding Data Reply
+ *
+ * @ingroup pus_services
+ */
+class Service8FunctionManagement : public CommandingServiceBase
+{
+public:
+	Service8FunctionManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId, uint8_t numParallelCommands = 4,
+			uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service8FunctionManagement();
+
+protected:
+	/* CSB abstract functions implementation . See CSB documentation. */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+				uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+				uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+private:
+	enum class Subservice {
+		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
+		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
+	};
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+	ReturnValue_t prepareDirectCommand(CommandMessage* message,
+			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t handleDataReply(const CommandMessage* reply,
+	        object_id_t objectId, ActionId_t actionId);
+};
+
+#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
index b01942c6..dbd31028 100644
--- a/pus/servicepackets/Service1Packets.h
+++ b/pus/servicepackets/Service1Packets.h
@@ -8,8 +8,8 @@
 #ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
 #define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
 
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcservices/VerificationCodes.h>
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcservices/VerificationCodes.h"
 
 /**
  * @brief 	FailureReport class to serialize a failure report
diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h
index 1b5bf236..efcf65fc 100644
--- a/pus/servicepackets/Service200Packets.h
+++ b/pus/servicepackets/Service200Packets.h
@@ -1,63 +1,63 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
-
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/modes/ModeMessage.h>
-#include <framework/serialize/SerializeIF.h>
-
-/**
- * @brief Subservice 1, 2, 3, 4, 5
- * @ingroup spacepackets
- */
-class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
-public:
-
-	ModePacket() {
-		setLinks();
-	}
-
-	ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) :
-	        objectId(objectId), mode(mode), submode(submode) {
-		setLinks();
-	}
-
-	Mode_t getMode() {
-		return mode.entry;
-	}
-
-	Submode_t getSubmode() {
-		return submode.entry;
-	}
-
-	// Forbid copying, pointers are used.
-	ModePacket(const ModePacket&) = delete;
-	ModePacket& operator=(const ModePacket&) = delete;
-private:
-
-	void setLinks() {
-		setStart(&objectId);
-		objectId.setNext(&mode);
-		mode.setNext(&submode);
-	}
-	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Target or source object
-	SerializeElement<Mode_t> mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW
-	SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
-};
-
-/**
- * @brief Subservice 7
- * @ingroup spacepackets
- */
-class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
-public:
-    CantReachModePacket(object_id_t objectId, ReturnValue_t reason):
-            objectId(objectId), reason(reason) {
-        setStart(&this->objectId);
-        this->objectId.setNext(&this->reason);
-    }
-
-    SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Reply source object
-	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
-};
-
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+
+#include "../../serialize/SerialLinkedListAdapter.h"
+#include "../../modes/ModeMessage.h"
+#include "../../serialize/SerializeIF.h"
+
+/**
+ * @brief Subservice 1, 2, 3, 4, 5
+ * @ingroup spacepackets
+ */
+class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
+public:
+
+	ModePacket() {
+		setLinks();
+	}
+
+	ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) :
+	        objectId(objectId), mode(mode), submode(submode) {
+		setLinks();
+	}
+
+	Mode_t getMode() {
+		return mode.entry;
+	}
+
+	Submode_t getSubmode() {
+		return submode.entry;
+	}
+
+	// Forbid copying, pointers are used.
+	ModePacket(const ModePacket&) = delete;
+	ModePacket& operator=(const ModePacket&) = delete;
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&mode);
+		mode.setNext(&submode);
+	}
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Target or source object
+	SerializeElement<Mode_t> mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW
+	SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
+};
+
+/**
+ * @brief Subservice 7
+ * @ingroup spacepackets
+ */
+class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
+public:
+    CantReachModePacket(object_id_t objectId, ReturnValue_t reason):
+            objectId(objectId), reason(reason) {
+        setStart(&this->objectId);
+        this->objectId.setNext(&this->reason);
+    }
+
+    SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Reply source object
+	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h
index f292611e..d4f3fb17 100644
--- a/pus/servicepackets/Service2Packets.h
+++ b/pus/servicepackets/Service2Packets.h
@@ -1,76 +1,76 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
-
-#include <framework/action/ActionMessage.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-/**
- * @brief Subservice 128
- * @ingroup spacepackets
- */
-class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
-public:
-	RawCommand(const uint8_t* buffer, size_t size) {
-		// Deserialize Adapter to get correct endianness
-		SerializeAdapter::deSerialize(&objectId, &buffer, &size,
-		        SerializeIF::Endianness::BIG);
-		commandBuffer = buffer;
-		// size is decremented by AutoSerializeAdapter,
-		// remaining size is data size
-		dataSize = size;
-	}
-	object_id_t getObjectId() const {
-		return objectId;
-	}
-
-	const uint8_t*  getCommand() {
-		return commandBuffer;
-	}
-
-	size_t getCommandSize() const {
-		return dataSize;
-	}
-private:
-	object_id_t objectId = 0;
-	const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
-	size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
-};
-
-
-/**
- * @brief Subservice 129: Command packet to set wiretapping mode
- * @ingroup spacepackets
- */
-class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
-public:
-	static const size_t WIRETAPPING_COMMAND_SIZE = 5;
-	WiretappingToggle(){
-		setStart(&objectId);
-		objectId.setNext(&wiretappingMode);
-	}
-
-	uint8_t getWiretappingMode() const {
-		return wiretappingMode.entry;
-	}
-private:
-	SerializeElement<object_id_t> objectId;
-	SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
-};
-
-
-/**
- * @brief Subservices 130 and 131: TM packets
- * @ingroup spacepackets
- */
-class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
-public:
-	object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
-	const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
-	WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
-	    objectId(objectId), data(buffer) {
-	}
-};
-
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+
+#include "../../action/ActionMessage.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "../../serialize/SerialLinkedListAdapter.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+/**
+ * @brief Subservice 128
+ * @ingroup spacepackets
+ */
+class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	RawCommand(const uint8_t* buffer, size_t size) {
+		// Deserialize Adapter to get correct endianness
+		SerializeAdapter::deSerialize(&objectId, &buffer, &size,
+		        SerializeIF::Endianness::BIG);
+		commandBuffer = buffer;
+		// size is decremented by AutoSerializeAdapter,
+		// remaining size is data size
+		dataSize = size;
+	}
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getCommand() {
+		return commandBuffer;
+	}
+
+	size_t getCommandSize() const {
+		return dataSize;
+	}
+private:
+	object_id_t objectId = 0;
+	const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
+	size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
+};
+
+
+/**
+ * @brief Subservice 129: Command packet to set wiretapping mode
+ * @ingroup spacepackets
+ */
+class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
+public:
+	static const size_t WIRETAPPING_COMMAND_SIZE = 5;
+	WiretappingToggle(){
+		setStart(&objectId);
+		objectId.setNext(&wiretappingMode);
+	}
+
+	uint8_t getWiretappingMode() const {
+		return wiretappingMode.entry;
+	}
+private:
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
+};
+
+
+/**
+ * @brief Subservices 130 and 131: TM packets
+ * @ingroup spacepackets
+ */
+class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
+public:
+	object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
+	const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
+	WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
+	    objectId(objectId), data(buffer) {
+	}
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h
index 14219c93..9655608a 100644
--- a/pus/servicepackets/Service5Packets.h
+++ b/pus/servicepackets/Service5Packets.h
@@ -1,8 +1,8 @@
 #ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
 #define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
 
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcservices/VerificationCodes.h>
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcservices/VerificationCodes.h"
 
 
 /**
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 8ea0d108..14f8b6e6 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -1,121 +1,121 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
-
-#include <framework/action/ActionMessage.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/serialize/SerialBufferAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-
-
-/**
- * @brief Subservice 128
- * @ingroup spacepackets
- */
-class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
-public:
-
-	DirectCommand(const uint8_t* tcData, size_t size) {
-		SerializeAdapter::deSerialize(&objectId, &tcData, &size,
-		        SerializeIF::Endianness::BIG);
-		SerializeAdapter::deSerialize(&actionId, &tcData, &size,
-		        SerializeIF::Endianness::BIG);
-		parameterBuffer = tcData;
-		parametersSize = size;
-	}
-
-	ActionId_t getActionId() const {
-		return actionId;
-	}
-
-	object_id_t getObjectId() const {
-		return objectId;
-	}
-
-	const uint8_t*  getParameters() {
-		return parameterBuffer;
-	}
-
-	uint32_t getParametersSize() const {
-		return parametersSize;
-	}
-
-private:
-	DirectCommand(const DirectCommand &command);
-	object_id_t objectId;
-	ActionId_t actionId;
-	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
-	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
-
-};
-
-
-/**
- * @brief Subservice 130
- * Data reply (subservice 130) consists of
- *   1. Target Object ID
- *   2. Action ID
- *   3. Data
- * @ingroup spacepackets
- */
-class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
-public:
-	typedef uint16_t typeOfMaxDataSize;
-	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
-	DataReply(object_id_t objectId_, ActionId_t actionId_,
-		const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
-		objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
-		setLinks();
-	}
-
-private:
-	DataReply(const DataReply &reply);
-	void setLinks() {
-		setStart(&objectId);
-		objectId.setNext(&actionId);
-		actionId.setNext(&replyData);
-	}
-	SerializeElement<object_id_t> objectId;
-	SerializeElement<ActionId_t> actionId;
-	SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
-};
-
-
-/**
- * @brief Subservice 132
- * @details
- * Not used yet. Telecommand Verification takes care of this.
- * @ingroup spacepackets
- */
-class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
-public:
-	typedef uint16_t typeOfMaxDataSize;
-	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
-
-	DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
-			bool isStep_ = false, uint8_t step_ = 0):
-			isStep(isStep_), objectId(objectId_), actionId(actionId_),
-			returnCode(returnCode_),step(step_)  {
-		setLinks();
-	}
-private:
-
-	void setLinks() {
-		setStart(&objectId);
-		objectId.setNext(&actionId);
-		actionId.setNext(&returnCode);
-		if(isStep) {
-			returnCode.setNext(&step);
-		}
-	}
-
-	bool isStep; //!< [EXPORT] : [IGNORE]
-	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
-	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
-	SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
-	SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
-
-};
-
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+
+#include "../../action/ActionMessage.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "../../serialize/SerialBufferAdapter.h"
+#include "../../serialize/SerializeElement.h"
+#include "../../serialize/SerialLinkedListAdapter.h"
+#include "../../serialize/SerialFixedArrayListAdapter.h"
+
+
+/**
+ * @brief Subservice 128
+ * @ingroup spacepackets
+ */
+class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+
+	DirectCommand(const uint8_t* tcData, size_t size) {
+		SerializeAdapter::deSerialize(&objectId, &tcData, &size,
+		        SerializeIF::Endianness::BIG);
+		SerializeAdapter::deSerialize(&actionId, &tcData, &size,
+		        SerializeIF::Endianness::BIG);
+		parameterBuffer = tcData;
+		parametersSize = size;
+	}
+
+	ActionId_t getActionId() const {
+		return actionId;
+	}
+
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getParameters() {
+		return parameterBuffer;
+	}
+
+	uint32_t getParametersSize() const {
+		return parametersSize;
+	}
+
+private:
+	DirectCommand(const DirectCommand &command);
+	object_id_t objectId;
+	ActionId_t actionId;
+	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
+	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
+
+};
+
+
+/**
+ * @brief Subservice 130
+ * Data reply (subservice 130) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ * @ingroup spacepackets
+ */
+class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+	DataReply(object_id_t objectId_, ActionId_t actionId_,
+		const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
+		objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
+		setLinks();
+	}
+
+private:
+	DataReply(const DataReply &reply);
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&replyData);
+	}
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<ActionId_t> actionId;
+	SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
+};
+
+
+/**
+ * @brief Subservice 132
+ * @details
+ * Not used yet. Telecommand Verification takes care of this.
+ * @ingroup spacepackets
+ */
+class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+
+	DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
+			bool isStep_ = false, uint8_t step_ = 0):
+			isStep(isStep_), objectId(objectId_), actionId(actionId_),
+			returnCode(returnCode_),step(step_)  {
+		setLinks();
+	}
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&returnCode);
+		if(isStep) {
+			returnCode.setNext(&step);
+		}
+	}
+
+	bool isStep; //!< [EXPORT] : [IGNORE]
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
+	SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
+
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */
diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index d231f4ee..5fef91dd 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
 #define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
 
-#include <framework/returnvalues/FwClassIds.h>
+#include "FwClassIds.h"
 #include <config/returnvalues/classIds.h>
 #include <cstdint>
 
diff --git a/rmap/RMAP.cpp b/rmap/RMAP.cpp
index 4c95f6c9..4ab8b17b 100644
--- a/rmap/RMAP.cpp
+++ b/rmap/RMAP.cpp
@@ -1,7 +1,7 @@
-#include <framework/devicehandlers/DeviceCommunicationIF.h>
-#include <framework/rmap/rmapStructs.h>
-#include <framework/rmap/RMAP.h>
-#include <framework/rmap/RMAPChannelIF.h>
+#include "../devicehandlers/DeviceCommunicationIF.h"
+#include "rmapStructs.h"
+#include "RMAP.h"
+#include "RMAPChannelIF.h"
 #include <stddef.h>
 
 ReturnValue_t RMAP::reset(RMAPCookie* cookie) {
diff --git a/rmap/RMAP.h b/rmap/RMAP.h
index 195574f8..d14320cb 100644
--- a/rmap/RMAP.h
+++ b/rmap/RMAP.h
@@ -1,8 +1,8 @@
 #ifndef RMAPpp_H_
 #define RMAPpp_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/rmap/RMAPCookie.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "RMAPCookie.h"
 
 //SHOULDTODO: clean up includes for RMAP, should be enough to include RMAP.h but right now it's quite chaotic...
 
diff --git a/rmap/RMAPChannelIF.h b/rmap/RMAPChannelIF.h
index 6549c8ef..dac4a722 100644
--- a/rmap/RMAPChannelIF.h
+++ b/rmap/RMAPChannelIF.h
@@ -1,8 +1,8 @@
 #ifndef RMAPCHANNELIF_H_
 #define RMAPCHANNELIF_H_
 
-#include <framework/rmap/RMAPCookie.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "RMAPCookie.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class RMAPChannelIF {
 public:
diff --git a/rmap/RMAPCookie.cpp b/rmap/RMAPCookie.cpp
index 5bf2ba9f..597f066c 100644
--- a/rmap/RMAPCookie.cpp
+++ b/rmap/RMAPCookie.cpp
@@ -1,5 +1,5 @@
-#include <framework/rmap/RMAPChannelIF.h>
-#include <framework/rmap/RMAPCookie.h>
+#include "RMAPChannelIF.h"
+#include "RMAPCookie.h"
 #include <stddef.h>
 
 
diff --git a/rmap/RMAPCookie.h b/rmap/RMAPCookie.h
index 4890c516..4c6081bd 100644
--- a/rmap/RMAPCookie.h
+++ b/rmap/RMAPCookie.h
@@ -1,8 +1,8 @@
 #ifndef RMAPCOOKIE_H_
 #define RMAPCOOKIE_H_
 
-#include <framework/devicehandlers/CookieIF.h>
-#include <framework/rmap/rmapStructs.h>
+#include "../devicehandlers/CookieIF.h"
+#include "rmapStructs.h"
 
 class RMAPChannelIF;
 
diff --git a/rmap/RmapDeviceCommunicationIF.cpp b/rmap/RmapDeviceCommunicationIF.cpp
index 674d050d..db4a75b5 100644
--- a/rmap/RmapDeviceCommunicationIF.cpp
+++ b/rmap/RmapDeviceCommunicationIF.cpp
@@ -1,5 +1,5 @@
-#include <framework/rmap/RmapDeviceCommunicationIF.h>
-#include <framework/rmap/RMAP.h>
+#include "RmapDeviceCommunicationIF.h"
+#include "RMAP.h"
 
 //TODO Cast here are all potential bugs
 RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
diff --git a/rmap/RmapDeviceCommunicationIF.h b/rmap/RmapDeviceCommunicationIF.h
index 9d756ea2..dacc720b 100644
--- a/rmap/RmapDeviceCommunicationIF.h
+++ b/rmap/RmapDeviceCommunicationIF.h
@@ -1,7 +1,7 @@
 #ifndef MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
 #define MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
 
-#include <framework/devicehandlers/DeviceCommunicationIF.h>
+#include "../devicehandlers/DeviceCommunicationIF.h"
 
 /**
  * @brief	This class is a implementation of a DeviceCommunicationIF for RMAP calls. It expects RMAPCookies or a derived class of RMAPCookies
diff --git a/serialize/EndianConverter.h b/serialize/EndianConverter.h
index cd5d5497..7461576d 100644
--- a/serialize/EndianConverter.h
+++ b/serialize/EndianConverter.h
@@ -1,7 +1,7 @@
 #ifndef ENDIANSWAPPER_H_
 #define ENDIANSWAPPER_H_
 
-#include <framework/osal/Endiness.h>
+#include "../osal/Endiness.h"
 #include <cstring>
 #include <iostream>
 
diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index 21c6951d..7576505a 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 #define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 
-#include <framework/container/ArrayList.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../container/ArrayList.h"
+#include "SerializeIF.h"
 #include <utility>
 
 /**
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index d4d8d1c7..5dd01f54 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -1,4 +1,4 @@
-#include <framework/serialize/SerialBufferAdapter.h>
+#include "SerialBufferAdapter.h"
 #include <cstring>
 
 
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index 78d42b80..c27a5424 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -1,8 +1,8 @@
 #ifndef SERIALBUFFERADAPTER_H_
 #define SERIALBUFFERADAPTER_H_
 
-#include <framework/serialize/SerializeIF.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "SerializeIF.h"
+#include "SerializeAdapter.h"
 
 /**
  * \ingroup serialize
diff --git a/serialize/SerialFixedArrayListAdapter.h b/serialize/SerialFixedArrayListAdapter.h
index a2e683bf..38e0d438 100644
--- a/serialize/SerialFixedArrayListAdapter.h
+++ b/serialize/SerialFixedArrayListAdapter.h
@@ -1,8 +1,8 @@
 #ifndef SERIALFIXEDARRAYLISTADAPTER_H_
 #define SERIALFIXEDARRAYLISTADAPTER_H_
 
-#include <framework/container/FixedArrayList.h>
-#include <framework/serialize/SerialArrayListAdapter.h>
+#include "../container/FixedArrayList.h"
+#include "SerialArrayListAdapter.h"
 
 /**
  * \ingroup serialize
diff --git a/serialize/SerialLinkedListAdapter.h b/serialize/SerialLinkedListAdapter.h
index 7b10e331..5de8c242 100644
--- a/serialize/SerialLinkedListAdapter.h
+++ b/serialize/SerialLinkedListAdapter.h
@@ -7,10 +7,10 @@
 #ifndef SERIALLINKEDLISTADAPTER_H_
 #define SERIALLINKEDLISTADAPTER_H_
 
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../container/SinglyLinkedList.h"
+#include "SerializeAdapter.h"
+#include "SerializeElement.h"
+#include "SerializeIF.h"
 //This is where we need the SerializeAdapter!
 
 /**
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index ec727515..af5ec116 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -1,10 +1,10 @@
 #ifndef SERIALIZEADAPTER_H_
 #define SERIALIZEADAPTER_H_
 
-#include <framework/container/IsDerivedFrom.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/EndianConverter.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../container/IsDerivedFrom.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "EndianConverter.h"
+#include "SerializeIF.h"
 #include <string.h>
 
 /**
diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index 3941e9fb..ffedeff9 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -1,8 +1,8 @@
 #ifndef SERIALIZEELEMENT_H_
 #define SERIALIZEELEMENT_H_
 
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../container/SinglyLinkedList.h"
+#include "SerializeAdapter.h"
 #include <utility>
 
 /**
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 14244a7a..9ed52d29 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -1,7 +1,7 @@
 #ifndef SERIALIZEIF_H_
 #define SERIALIZEIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stddef.h>
 
 /**
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 8c510eac..68fc4dec 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -1,5 +1,5 @@
-#include <framework/timemanager/Clock.h>
-#include <framework/serviceinterface/ServiceInterfaceBuffer.h>
+#include "../timemanager/Clock.h"
+#include "ServiceInterfaceBuffer.h"
 #include <cstring>
 #include <inttypes.h>
 
@@ -127,7 +127,7 @@ std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 
 
 #ifdef UT699
-#include <framework/osal/rtems/Interrupt.h>
+#include "../osal/rtems/Interrupt.h"
 
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
 		uint16_t port) {
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 7a2ce2ee..c5d5b258 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <iostream>
 #include <sstream>
 #include <iomanip>
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 31bc7c73..5b7b9f00 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -1,4 +1,4 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "ServiceInterfaceStream.h"
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
 		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index dc111459..76fa1bf2 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
 
-#include <framework/serviceinterface/ServiceInterfaceBuffer.h>
+#include "ServiceInterfaceBuffer.h"
 #include <iostream>
 #include <cstdio>
 
diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index 3ddcc491..ad3deee1 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -7,11 +7,11 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 #define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
+#include "../objectmanager/SystemObject.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "StorageManagerIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../internalError/InternalErrorReporterIF.h"
 #include <string.h>
 
 /**
@@ -178,6 +178,6 @@ private:
 	ReturnValue_t findEmpty(uint16_t pool_index, uint16_t* element);
 };
 
-#include <framework/storagemanager/LocalPool.tpp>
+#include "LocalPool.tpp"
 
 #endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 67534cc5..0b101d66 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -2,8 +2,8 @@
 #define POOLMANAGER_H_
 
 
-#include <framework/storagemanager/LocalPool.h>
-#include <framework/ipc/MutexHelper.h>
+#include "LocalPool.h"
+#include "../ipc/MutexHelper.h"
 
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index 101e0dcd..7c194d72 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -1,8 +1,8 @@
 #ifndef STORAGEMANAGERIF_H_H
 #define STORAGEMANAGERIF_H_H
 
-#include <framework/events/Event.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/Event.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stddef.h>
 
 /**
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index fcf2e189..ff3ef634 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -1,10 +1,10 @@
-#include <framework/health/HealthMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/SerialArrayListAdapter.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/subsystem/Subsystem.h>
+#include "../health/HealthMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/SerialArrayListAdapter.h"
+#include "../serialize/SerialFixedArrayListAdapter.h"
+#include "../serialize/SerializeElement.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "Subsystem.h"
 #include <string>
 
 Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h
index ca1020b9..a40b8028 100644
--- a/subsystem/Subsystem.h
+++ b/subsystem/Subsystem.h
@@ -1,13 +1,13 @@
 #ifndef SUBSYSTEM_H_
 #define SUBSYSTEM_H_
 
-#include <framework/container/FixedArrayList.h>
-#include <framework/container/FixedMap.h>
-#include <framework/container/HybridIterator.h>
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/serialize/SerialArrayListAdapter.h>
-#include <framework/subsystem/modes/ModeDefinitions.h>
-#include <framework/subsystem/SubsystemBase.h>
+#include "../container/FixedArrayList.h"
+#include "../container/FixedMap.h"
+#include "../container/HybridIterator.h"
+#include "../container/SinglyLinkedList.h"
+#include "../serialize/SerialArrayListAdapter.h"
+#include "modes/ModeDefinitions.h"
+#include "SubsystemBase.h"
 
 class Subsystem: public SubsystemBase, public HasModeSequenceIF {
 public:
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index cceb2d41..56ae1062 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -1,7 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "SubsystemBase.h"
+#include "../ipc/QueueFactory.h"
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h
index 3294c46d..61a7eaef 100644
--- a/subsystem/SubsystemBase.h
+++ b/subsystem/SubsystemBase.h
@@ -1,15 +1,15 @@
 #ifndef SUBSYSTEMBASE_H_
 #define SUBSYSTEMBASE_H_
 
-#include <framework/container/HybridIterator.h>
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/subsystem/modes/HasModeSequenceIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../container/HybridIterator.h"
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../modes/HasModesIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "modes/HasModeSequenceIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
 #include <map>
 
 class SubsystemBase: public SystemObject,
diff --git a/subsystem/modes/HasModeSequenceIF.h b/subsystem/modes/HasModeSequenceIF.h
index e03de410..70b1667e 100644
--- a/subsystem/modes/HasModeSequenceIF.h
+++ b/subsystem/modes/HasModeSequenceIF.h
@@ -1,9 +1,9 @@
 #ifndef HASMODESEQUENCEIF_H_
 #define HASMODESEQUENCEIF_H_
 
-#include <framework/subsystem/modes/ModeDefinitions.h>
-#include <framework/subsystem/modes/ModeSequenceMessage.h>
-#include <framework/subsystem/modes/ModeStoreIF.h>
+#include "ModeDefinitions.h"
+#include "ModeSequenceMessage.h"
+#include "ModeStoreIF.h"
 
 
 class HasModeSequenceIF {
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index 153710af..a865ab0c 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -1,10 +1,10 @@
 #ifndef MODEDEFINITIONS_H_
 #define MODEDEFINITIONS_H_
 
-#include <framework/modes/HasModesIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/serialize/SerializeIF.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
+#include "../../modes/HasModesIF.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "../../serialize/SerializeIF.h"
+#include "../../serialize/SerialLinkedListAdapter.h"
 class ModeListEntry: public SerializeIF, public LinkedElement<ModeListEntry> {
 public:
 	ModeListEntry() :
diff --git a/subsystem/modes/ModeSequenceMessage.cpp b/subsystem/modes/ModeSequenceMessage.cpp
index 31661739..33019f58 100644
--- a/subsystem/modes/ModeSequenceMessage.cpp
+++ b/subsystem/modes/ModeSequenceMessage.cpp
@@ -1,8 +1,8 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/subsystem/modes/ModeSequenceMessage.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "ModeSequenceMessage.h"
 
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, Mode_t sequence, store_address_t storeAddress) {
diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h
index 830cf532..9f99cc99 100644
--- a/subsystem/modes/ModeSequenceMessage.h
+++ b/subsystem/modes/ModeSequenceMessage.h
@@ -1,9 +1,9 @@
 #ifndef MODESEQUENCEMESSAGE_H_
 #define MODESEQUENCEMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/subsystem/modes/ModeDefinitions.h>
+#include "../../ipc/CommandMessage.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "ModeDefinitions.h"
 
 class ModeSequenceMessage {
 public:
diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp
index 2aa02087..217e177c 100644
--- a/subsystem/modes/ModeStore.cpp
+++ b/subsystem/modes/ModeStore.cpp
@@ -1,4 +1,4 @@
-#include <framework/subsystem/modes/ModeStore.h>
+#include "ModeStore.h"
 
 #ifdef USE_MODESTORE
 
diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h
index cbc45b5a..0bf856a3 100644
--- a/subsystem/modes/ModeStore.h
+++ b/subsystem/modes/ModeStore.h
@@ -3,10 +3,10 @@
 
 #ifdef USE_MODESTORE
 
-#include <framework/container/ArrayList.h>
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/subsystem/modes/ModeStoreIF.h>
+#include "../../container/ArrayList.h"
+#include "../../container/SinglyLinkedList.h"
+#include "../../objectmanager/SystemObject.h"
+#include "ModeStoreIF.h"
 
 class ModeStore: public ModeStoreIF, public SystemObject {
 public:
diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h
index 7be7a5a7..e5cac3b2 100644
--- a/subsystem/modes/ModeStoreIF.h
+++ b/subsystem/modes/ModeStoreIF.h
@@ -3,10 +3,10 @@
 
 #ifdef USE_MODESTORE
 
-#include <framework/container/ArrayList.h>
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/subsystem/modes/ModeDefinitions.h>
+#include "../../container/ArrayList.h"
+#include "../../container/SinglyLinkedList.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "ModeDefinitions.h"
 
 class ModeStoreIF {
 public:
diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h
index d716cdfb..06b837db 100644
--- a/tasks/ExecutableObjectIF.h
+++ b/tasks/ExecutableObjectIF.h
@@ -3,7 +3,7 @@
 
 class PeriodicTaskIF;
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 #include <cstring>
 /**
diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h
index 3a3582fb..421978f0 100644
--- a/tasks/FixedTimeslotTaskIF.h
+++ b/tasks/FixedTimeslotTaskIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "PeriodicTaskIF.h"
 
 /**
  * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task
diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 6f490977..17a64b96 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
 #define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/timemanager/Clock.h>
+#include "../objectmanager/SystemObjectIF.h"
+#include "../timemanager/Clock.h"
 #include <cstddef>
 class ExecutableObjectIF;
 
diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h
index 8a59adf1..cbf2272c 100644
--- a/tasks/TaskFactory.h
+++ b/tasks/TaskFactory.h
@@ -2,8 +2,8 @@
 #define FRAMEWORK_TASKS_TASKFACTORY_H_
 
 #include <stdlib.h>
-#include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/tasks/Typedef.h>
+#include "FixedTimeslotTaskIF.h"
+#include "Typedef.h"
 
 /**
  * Singleton Class that produces Tasks.
diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp
index 878b8f7d..1ebb3185 100644
--- a/tcdistribution/CCSDSDistributor.cpp
+++ b/tcdistribution/CCSDSDistributor.cpp
@@ -1,6 +1,6 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tcdistribution/CCSDSDistributor.h>
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "CCSDSDistributor.h"
+#include "../tmtcpacket/SpacePacketBase.h"
 
 CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
 		TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
diff --git a/tcdistribution/CCSDSDistributor.h b/tcdistribution/CCSDSDistributor.h
index 9dce34f2..bff72092 100644
--- a/tcdistribution/CCSDSDistributor.h
+++ b/tcdistribution/CCSDSDistributor.h
@@ -1,11 +1,11 @@
 #ifndef CCSDSDISTRIBUTOR_H_
 #define CCSDSDISTRIBUTOR_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tcdistribution/CCSDSDistributorIF.h>
-#include <framework/tcdistribution/TcDistributor.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "CCSDSDistributorIF.h"
+#include "TcDistributor.h"
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
 /**
  * An instantiation of the CCSDSDistributorIF.
  * It receives Space Packets, and selects a destination depending on the APID of the telecommands.
diff --git a/tcdistribution/CCSDSDistributorIF.h b/tcdistribution/CCSDSDistributorIF.h
index dc1263a9..be3c2811 100644
--- a/tcdistribution/CCSDSDistributorIF.h
+++ b/tcdistribution/CCSDSDistributorIF.h
@@ -1,8 +1,8 @@
 #ifndef CCSDSDISTRIBUTORIF_H_
 #define CCSDSDISTRIBUTORIF_H_
 
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 /**
  * This is the Interface to a CCSDS Distributor.
  * On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves,
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index c214f674..f77eb99d 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -1,8 +1,8 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tcdistribution/CCSDSDistributorIF.h>
-#include <framework/tcdistribution/PUSDistributor.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "CCSDSDistributorIF.h"
+#include "PUSDistributor.h"
+#include "../tmtcpacket/pus/TcPacketStored.h"
+#include "../tmtcservices/PusVerificationReport.h"
 
 PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
 		TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
diff --git a/tcdistribution/PUSDistributor.h b/tcdistribution/PUSDistributor.h
index 8d774662..e9d4be8c 100644
--- a/tcdistribution/PUSDistributor.h
+++ b/tcdistribution/PUSDistributor.h
@@ -1,12 +1,12 @@
 #ifndef PUSDISTRIBUTOR_H_
 #define PUSDISTRIBUTOR_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tcdistribution/TcDistributor.h>
-#include <framework/tcdistribution/TcPacketCheck.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/VerificationReporter.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "PUSDistributorIF.h"
+#include "TcDistributor.h"
+#include "TcPacketCheck.h"
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../tmtcservices/VerificationReporter.h"
 
 /**
  * This class accepts PUS Telecommands and forwards them to Application services.
diff --git a/tcdistribution/PUSDistributorIF.h b/tcdistribution/PUSDistributorIF.h
index bb101137..5e27b35c 100644
--- a/tcdistribution/PUSDistributorIF.h
+++ b/tcdistribution/PUSDistributorIF.h
@@ -1,8 +1,8 @@
 #ifndef PUSDISTRIBUTORIF_H_
 #define PUSDISTRIBUTORIF_H_
 
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 /**
  * This interface allows PUS Services to register themselves at a PUS Distributor.
  * \ingroup tc_distribution
diff --git a/tcdistribution/TcDistributor.cpp b/tcdistribution/TcDistributor.cpp
index 57921459..49a996d9 100644
--- a/tcdistribution/TcDistributor.cpp
+++ b/tcdistribution/TcDistributor.cpp
@@ -1,8 +1,8 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tcdistribution/TcDistributor.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "TcDistributor.h"
+#include "../tmtcservices/TmTcMessage.h"
+#include "../ipc/QueueFactory.h"
 
 TcDistributor::TcDistributor(object_id_t set_object_id) :
 		SystemObject(set_object_id), tcQueue(NULL) {
diff --git a/tcdistribution/TcDistributor.h b/tcdistribution/TcDistributor.h
index b80f08e6..fed1cb3e 100644
--- a/tcdistribution/TcDistributor.h
+++ b/tcdistribution/TcDistributor.h
@@ -1,12 +1,12 @@
 #ifndef TCDISTRIBUTOR_H_
 #define TCDISTRIBUTOR_H_
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../tmtcservices/TmTcMessage.h"
+#include "../ipc/MessageQueueIF.h"
 #include <map>
 
 
diff --git a/tcdistribution/TcPacketCheck.cpp b/tcdistribution/TcPacketCheck.cpp
index 90a1167f..b5881083 100644
--- a/tcdistribution/TcPacketCheck.cpp
+++ b/tcdistribution/TcPacketCheck.cpp
@@ -1,8 +1,8 @@
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tcdistribution/TcPacketCheck.h>
-#include <framework/tmtcservices/VerificationCodes.h>
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "TcPacketCheck.h"
+#include "../tmtcservices/VerificationCodes.h"
 
 TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
 }
diff --git a/tcdistribution/TcPacketCheck.h b/tcdistribution/TcPacketCheck.h
index 88810ed7..4ba269f5 100644
--- a/tcdistribution/TcPacketCheck.h
+++ b/tcdistribution/TcPacketCheck.h
@@ -1,9 +1,9 @@
 #ifndef TCPACKETCHECK_H_
 #define TCPACKETCHECK_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../tmtcpacket/pus/TcPacketStored.h"
+#include "../tmtcservices/PusVerificationReport.h"
 /**
  * This class performs a formal packet check for incoming PUS Telecommand Packets.
  * Currently, it only checks if the APID and CRC are correct.
diff --git a/thermal/AbstractTemperatureSensor.cpp b/thermal/AbstractTemperatureSensor.cpp
index be143410..45ebe4a2 100644
--- a/thermal/AbstractTemperatureSensor.cpp
+++ b/thermal/AbstractTemperatureSensor.cpp
@@ -1,5 +1,5 @@
 #include "AbstractTemperatureSensor.h"
-#include <framework/ipc/QueueFactory.h>
+#include "../ipc/QueueFactory.h"
 
 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
 		ThermalModuleIF *thermalModule) :
diff --git a/thermal/AbstractTemperatureSensor.h b/thermal/AbstractTemperatureSensor.h
index 75437dca..726ab9f4 100644
--- a/thermal/AbstractTemperatureSensor.h
+++ b/thermal/AbstractTemperatureSensor.h
@@ -1,12 +1,12 @@
 #ifndef ABSTRACTSENSOR_H_
 #define ABSTRACTSENSOR_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../parameters/ParameterHelper.h"
+#include "../ipc/MessageQueueIF.h"
 #include "ThermalModuleIF.h"
 #include "tcsDefinitions.h"
 
diff --git a/thermal/CoreComponent.h b/thermal/CoreComponent.h
index f7e7aff8..48a49f7d 100644
--- a/thermal/CoreComponent.h
+++ b/thermal/CoreComponent.h
@@ -1,12 +1,12 @@
 #ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
 #define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/thermal/ThermalComponentIF.h>
-#include <framework/thermal/AbstractTemperatureSensor.h>
-#include <framework/thermal/ThermalModule.h>
-#include <framework/thermal/ThermalMonitor.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PoolVariable.h"
+#include "ThermalComponentIF.h"
+#include "AbstractTemperatureSensor.h"
+#include "ThermalModule.h"
+#include "ThermalMonitor.h"
 
 class CoreComponent: public ThermalComponentIF {
 public:
diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp
index 29daa15d..1301e2e0 100644
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@@ -1,8 +1,8 @@
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
+#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "Heater.h"
 
-#include <framework/power/Fuse.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../power/Fuse.h"
+#include "../ipc/QueueFactory.h"
 
 Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) :
 		HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher(
diff --git a/thermal/Heater.h b/thermal/Heater.h
index 41004e03..63fe2066 100644
--- a/thermal/Heater.h
+++ b/thermal/Heater.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_THERMAL_HEATER_H_
 #define FRAMEWORK_THERMAL_HEATER_H_
 
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/power/PowerSwitchIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/timemanager/Countdown.h>
+#include "../devicehandlers/HealthDevice.h"
+#include "../parameters/ParameterHelper.h"
+#include "../power/PowerSwitchIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Countdown.h"
 #include <stdint.h>
 //class RedundantHeater;
 
diff --git a/thermal/RedundantHeater.h b/thermal/RedundantHeater.h
index 29791a9a..ab745a69 100644
--- a/thermal/RedundantHeater.h
+++ b/thermal/RedundantHeater.h
@@ -1,7 +1,7 @@
 #ifndef REDUNDANTHEATER_H_
 #define REDUNDANTHEATER_H_
 
-#include <framework/thermal/Heater.h>
+#include "Heater.h"
 
 class RedundantHeater {
 public:
diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index de280d87..356ca722 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -1,9 +1,9 @@
 #ifndef TEMPERATURESENSOR_H_
 #define TEMPERATURESENSOR_H_
 
-#include <framework/datapool/DataSet.h>
+#include "../datapool/DataSet.h"
 #include "AbstractTemperatureSensor.h"
-#include <framework/monitoring/LimitMonitor.h>
+#include "../monitoring/LimitMonitor.h"
 
 template<typename T>
 class TemperatureSensor: public AbstractTemperatureSensor {
diff --git a/thermal/ThermalComponentIF.h b/thermal/ThermalComponentIF.h
index ad8dbd0a..522d4e44 100644
--- a/thermal/ThermalComponentIF.h
+++ b/thermal/ThermalComponentIF.h
@@ -1,10 +1,10 @@
 #ifndef THERMALCOMPONENTIF_H_
 #define THERMALCOMPONENTIF_H_
 
-#include <framework/events/Event.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "../events/Event.h"
+#include "../parameters/HasParametersIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../objectmanager/SystemObjectIF.h"
 
 class ThermalComponentIF : public HasParametersIF {
 public:
diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index 24a4c90d..c573008e 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -1,5 +1,5 @@
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringMessageContent.h>
+#include "../monitoring/LimitViolationReporter.h"
+#include "../monitoring/MonitoringMessageContent.h"
 #include "ThermalModule.h"
 
 #include "AbstractTemperatureSensor.h"
diff --git a/thermal/ThermalModule.h b/thermal/ThermalModule.h
index d8ac7d73..19ab9a54 100644
--- a/thermal/ThermalModule.h
+++ b/thermal/ThermalModule.h
@@ -1,10 +1,10 @@
 #ifndef THERMALMODULE_H_
 #define THERMALMODULE_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/events/EventReportingProxyIF.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PoolVariable.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../events/EventReportingProxyIF.h"
 #include "ThermalModuleIF.h"
 #include <list>
 #include "tcsDefinitions.h"
diff --git a/thermal/ThermalMonitor.cpp b/thermal/ThermalMonitor.cpp
index 773fa084..11abfbe5 100644
--- a/thermal/ThermalMonitor.cpp
+++ b/thermal/ThermalMonitor.cpp
@@ -1,6 +1,6 @@
-#include <framework/thermal/ThermalMonitor.h>
-#include <framework/thermal/ThermalComponentIF.h>
-#include <framework/monitoring/MonitoringIF.h>
+#include "ThermalMonitor.h"
+#include "ThermalComponentIF.h"
+#include "../monitoring/MonitoringIF.h"
 ThermalMonitor::~ThermalMonitor() {
 }
 
diff --git a/thermal/ThermalMonitor.h b/thermal/ThermalMonitor.h
index 6aca55ab..5c6806c1 100644
--- a/thermal/ThermalMonitor.h
+++ b/thermal/ThermalMonitor.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_THERMAL_THERMALMONITOR_H_
 #define FRAMEWORK_THERMAL_THERMALMONITOR_H_
 
-#include <framework/monitoring/MonitorReporter.h>
-#include <framework/thermal/ThermalComponentIF.h>
+#include "../monitoring/MonitorReporter.h"
+#include "ThermalComponentIF.h"
 
 class ThermalMonitor: public MonitorReporter<float> {
 public:
diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 71b2539d..eddbb97b 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -1,4 +1,4 @@
-#include <framework/timemanager/CCSDSTime.h>
+#include "CCSDSTime.h"
 #include <stdio.h>
 #include <inttypes.h>
 #include <math.h>
diff --git a/timemanager/CCSDSTime.h b/timemanager/CCSDSTime.h
index 92060d5d..8563cf0f 100644
--- a/timemanager/CCSDSTime.h
+++ b/timemanager/CCSDSTime.h
@@ -3,8 +3,8 @@
 
 // COULDDO: have calls in Clock.h which return time quality and use timespec accordingly
 
-#include <framework/timemanager/Clock.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "Clock.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
 bool operator<(const timeval& lhs, const timeval& rhs);
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 121c63df..6f6a97da 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_
 #define FRAMEWORK_TIMEMANAGER_CLOCK_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MutexFactory.h>
-#include <framework/globalfunctions/timevalOperations.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MutexFactory.h"
+#include "../globalfunctions/timevalOperations.h"
 
 #include <cstdint>
 #include <sys/time.h>
diff --git a/timemanager/Countdown.cpp b/timemanager/Countdown.cpp
index e6565914..d5695730 100644
--- a/timemanager/Countdown.cpp
+++ b/timemanager/Countdown.cpp
@@ -6,7 +6,7 @@
  */
 
 
-#include <framework/timemanager/Countdown.h>
+#include "Countdown.h"
 
 Countdown::Countdown(uint32_t initialTimeout) : startTime(0), timeout(initialTimeout) {
 }
diff --git a/timemanager/Countdown.h b/timemanager/Countdown.h
index 57a11f91..b86d9fe0 100644
--- a/timemanager/Countdown.h
+++ b/timemanager/Countdown.h
@@ -8,7 +8,7 @@
 #ifndef COUNTDOWN_H_
 #define COUNTDOWN_H_
 
-#include <framework/timemanager/Clock.h>
+#include "Clock.h"
 
 class Countdown {
 private:
diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 52118d58..00373bd7 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -1,57 +1,57 @@
-#include <framework/timemanager/Stopwatch.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <iomanip>
-
-Stopwatch::Stopwatch(bool displayOnDestruction,
-        StopwatchDisplayMode displayMode): displayOnDestruction(
-        displayOnDestruction), displayMode(displayMode) {
-    // Measures start time on initialization.
-    Clock::getClock_timeval(&startTime);
-}
-
-void Stopwatch::start() {
-    Clock::getClock_timeval(&startTime);
-}
-
-dur_millis_t Stopwatch::stop() {
-    stopInternal();
-    return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
-}
-
-dur_seconds_t Stopwatch::stopSeconds() {
-    stopInternal();
-    return timevalOperations::toDouble(elapsedTime);
-}
-
-void Stopwatch::display() {
-    if(displayMode == StopwatchDisplayMode::MILLIS) {
-        sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
-                elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
-    }
-    else if(displayMode == StopwatchDisplayMode::SECONDS) {
-        sif::info <<"Stopwatch: Operation took "  << std::setprecision(3)
-             << std::fixed << timevalOperations::toDouble(elapsedTime)
-             << " seconds" << std::endl;
-    }
-}
-
-Stopwatch::~Stopwatch() {
-    if(displayOnDestruction) {
-        stopInternal();
-        display();
-    }
-}
-
-void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) {
-    this->displayMode = displayMode;
-}
-
-StopwatchDisplayMode Stopwatch::getDisplayMode() const {
-    return displayMode;
-}
-
-void Stopwatch::stopInternal() {
-	timeval endTime;
-	Clock::getClock_timeval(&endTime);
-    elapsedTime = endTime - startTime;
-}
+#include "Stopwatch.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <iomanip>
+
+Stopwatch::Stopwatch(bool displayOnDestruction,
+        StopwatchDisplayMode displayMode): displayOnDestruction(
+        displayOnDestruction), displayMode(displayMode) {
+    // Measures start time on initialization.
+    Clock::getClock_timeval(&startTime);
+}
+
+void Stopwatch::start() {
+    Clock::getClock_timeval(&startTime);
+}
+
+dur_millis_t Stopwatch::stop() {
+    stopInternal();
+    return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
+}
+
+dur_seconds_t Stopwatch::stopSeconds() {
+    stopInternal();
+    return timevalOperations::toDouble(elapsedTime);
+}
+
+void Stopwatch::display() {
+    if(displayMode == StopwatchDisplayMode::MILLIS) {
+        sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
+                elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
+    }
+    else if(displayMode == StopwatchDisplayMode::SECONDS) {
+        sif::info <<"Stopwatch: Operation took "  << std::setprecision(3)
+             << std::fixed << timevalOperations::toDouble(elapsedTime)
+             << " seconds" << std::endl;
+    }
+}
+
+Stopwatch::~Stopwatch() {
+    if(displayOnDestruction) {
+        stopInternal();
+        display();
+    }
+}
+
+void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) {
+    this->displayMode = displayMode;
+}
+
+StopwatchDisplayMode Stopwatch::getDisplayMode() const {
+    return displayMode;
+}
+
+void Stopwatch::stopInternal() {
+	timeval endTime;
+	Clock::getClock_timeval(&endTime);
+    elapsedTime = endTime - startTime;
+}
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 630202cc..f216b7e1 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -1,71 +1,71 @@
-#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
-#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
-#include <framework/timemanager/Clock.h>
-
-enum class StopwatchDisplayMode {
-    MILLIS,
-    SECONDS
-};
-
-/**
- * @brief 	Simple Stopwatch implementation to measure elapsed time
- * @details
- * This class can be used to measure elapsed times. It also displays elapsed
- * times automatically on destruction if not explicitely deactivated in the
- * constructor. The default time format is the elapsed time in miliseconds
- * in seconds as a double.
- * @author 	R. Mueller
- */
-class Stopwatch {
-public:
-    /**
-     * Default constructor. Call "Stopwatch stopwatch" without brackets if
-     * no parameters are required!
-     * @param displayOnDestruction If set to true, displays measured time on
-     *        object destruction
-     * @param displayMode Display format is either MS rounded or MS as double
-     *        format
-     * @param outputPrecision If using double format, specify precision here.
-     */
-    Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode
-              = StopwatchDisplayMode::MILLIS);
-    virtual~ Stopwatch();
-
-    /**
-     * Caches the start time
-     */
-    void start();
-
-    /**
-     * Calculates the elapsed time since start and returns it
-     * @return elapsed time in milliseconds (rounded)
-     */
-    dur_millis_t stop();
-    /**
-     * Calculates the elapsed time since start and returns it
-     * @return elapsed time in seconds (double precision)
-     */
-    dur_seconds_t stopSeconds();
-
-    /**
-     * Displays the elapsed times on the osstream, depending on internal display
-     * mode.
-     */
-    void display();
-
-    StopwatchDisplayMode getDisplayMode() const;
-    void setDisplayMode(StopwatchDisplayMode displayMode);
-    bool displayOnDestruction = true;
-private:
-    timeval startTime {0, 0};
-    timeval elapsedTime {0, 0};
-
-    StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS;
-
-    void stopInternal();
-};
-
-
-
-
-#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */
+#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#include "Clock.h"
+
+enum class StopwatchDisplayMode {
+    MILLIS,
+    SECONDS
+};
+
+/**
+ * @brief 	Simple Stopwatch implementation to measure elapsed time
+ * @details
+ * This class can be used to measure elapsed times. It also displays elapsed
+ * times automatically on destruction if not explicitely deactivated in the
+ * constructor. The default time format is the elapsed time in miliseconds
+ * in seconds as a double.
+ * @author 	R. Mueller
+ */
+class Stopwatch {
+public:
+    /**
+     * Default constructor. Call "Stopwatch stopwatch" without brackets if
+     * no parameters are required!
+     * @param displayOnDestruction If set to true, displays measured time on
+     *        object destruction
+     * @param displayMode Display format is either MS rounded or MS as double
+     *        format
+     * @param outputPrecision If using double format, specify precision here.
+     */
+    Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode
+              = StopwatchDisplayMode::MILLIS);
+    virtual~ Stopwatch();
+
+    /**
+     * Caches the start time
+     */
+    void start();
+
+    /**
+     * Calculates the elapsed time since start and returns it
+     * @return elapsed time in milliseconds (rounded)
+     */
+    dur_millis_t stop();
+    /**
+     * Calculates the elapsed time since start and returns it
+     * @return elapsed time in seconds (double precision)
+     */
+    dur_seconds_t stopSeconds();
+
+    /**
+     * Displays the elapsed times on the osstream, depending on internal display
+     * mode.
+     */
+    void display();
+
+    StopwatchDisplayMode getDisplayMode() const;
+    void setDisplayMode(StopwatchDisplayMode displayMode);
+    bool displayOnDestruction = true;
+private:
+    timeval startTime {0, 0};
+    timeval elapsedTime {0, 0};
+
+    StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS;
+
+    void stopInternal();
+};
+
+
+
+
+#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */
diff --git a/timemanager/TimeMessage.cpp b/timemanager/TimeMessage.cpp
index bf514317..5a9a416b 100644
--- a/timemanager/TimeMessage.cpp
+++ b/timemanager/TimeMessage.cpp
@@ -5,7 +5,7 @@
  * @author	baetz
  */
 
-#include <framework/timemanager/TimeMessage.h>
+#include "TimeMessage.h"
 
 TimeMessage::TimeMessage() {
 	this->messageSize += sizeof(timeval) + sizeof(uint32_t);
diff --git a/timemanager/TimeMessage.h b/timemanager/TimeMessage.h
index 95685fec..116002e6 100644
--- a/timemanager/TimeMessage.h
+++ b/timemanager/TimeMessage.h
@@ -8,8 +8,8 @@
 #ifndef TIMEMESSAGE_H_
 #define TIMEMESSAGE_H_
 
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/timemanager/Clock.h>
+#include "../ipc/MessageQueueMessage.h"
+#include "Clock.h"
 #include <cstring>
 
 class TimeMessage : public MessageQueueMessage {
diff --git a/timemanager/TimeStamperIF.h b/timemanager/TimeStamperIF.h
index 7ed45371..bdc5e7e3 100644
--- a/timemanager/TimeStamperIF.h
+++ b/timemanager/TimeStamperIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_
 #define FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * A class implementing this IF provides facilities to add a time stamp to the
diff --git a/tmstorage/TmStoreBackendIF.h b/tmstorage/TmStoreBackendIF.h
index 162bd766..a441808e 100644
--- a/tmstorage/TmStoreBackendIF.h
+++ b/tmstorage/TmStoreBackendIF.h
@@ -1,11 +1,11 @@
 #ifndef PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_
 #define PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/timemanager/Clock.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../parameters/HasParametersIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../timemanager/Clock.h"
 class TmPacketInformation;
 class TmPacketMinimal;
 class SpacePacketBase;
diff --git a/tmstorage/TmStoreFrontendIF.h b/tmstorage/TmStoreFrontendIF.h
index 787c3597..e1bc3a14 100644
--- a/tmstorage/TmStoreFrontendIF.h
+++ b/tmstorage/TmStoreFrontendIF.h
@@ -1,9 +1,9 @@
 #ifndef PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_
 #define PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tmstorage/TmStorePackets.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "TmStorePackets.h"
+#include "../ipc/MessageQueueSenderIF.h"
 class TmPacketMinimal;
 class SpacePacketBase;
 class TmStoreBackendIF;
diff --git a/tmstorage/TmStoreMessage.cpp b/tmstorage/TmStoreMessage.cpp
index e908b923..d2efd403 100644
--- a/tmstorage/TmStoreMessage.cpp
+++ b/tmstorage/TmStoreMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tmstorage/TmStoreMessage.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "TmStoreMessage.h"
 
 TmStoreMessage::~TmStoreMessage() {
 	
diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h
index 0883063c..66fdefa5 100644
--- a/tmstorage/TmStoreMessage.h
+++ b/tmstorage/TmStoreMessage.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_
 #define FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmstorage/TmStorePackets.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "../ipc/CommandMessage.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "TmStorePackets.h"
+#include "../objectmanager/SystemObjectIF.h"
 class TmStoreMessage: public CommandMessage {
 public:
 	static ReturnValue_t setEnableStoringMessage(CommandMessage* cmd,
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index 16768e68..e88e741a 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -1,14 +1,14 @@
 #ifndef FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_
 #define FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_
 
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serialize/SerialBufferAdapter.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
-#include <framework/timemanager/TimeStamperIF.h>
-#include <framework/timemanager/CCSDSTime.h>
-#include <framework/globalfunctions/timevalOperations.h>
+#include "../serialize/SerialFixedArrayListAdapter.h"
+#include "../serialize/SerializeElement.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../serialize/SerialBufferAdapter.h"
+#include "../tmtcpacket/pus/TmPacketMinimal.h"
+#include "../timemanager/TimeStamperIF.h"
+#include "../timemanager/CCSDSTime.h"
+#include "../globalfunctions/timevalOperations.h"
 
 class ServiceSubservice: public SerialLinkedListAdapter<SerializeIF> {
 public:
diff --git a/tmtcpacket/SpacePacket.cpp b/tmtcpacket/SpacePacket.cpp
index d9bc08fa..b8ba27e9 100644
--- a/tmtcpacket/SpacePacket.cpp
+++ b/tmtcpacket/SpacePacket.cpp
@@ -1,6 +1,6 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/ccsds_header.h>
-#include <framework/tmtcpacket/SpacePacket.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "ccsds_header.h"
+#include "SpacePacket.h"
 #include <string.h>
 
 SpacePacket::SpacePacket( uint16_t packetDataLength, bool isTelecommand, uint16_t apid, uint16_t sequenceCount ):
diff --git a/tmtcpacket/SpacePacket.h b/tmtcpacket/SpacePacket.h
index f2d45752..49dd5ae5 100644
--- a/tmtcpacket/SpacePacket.h
+++ b/tmtcpacket/SpacePacket.h
@@ -1,7 +1,7 @@
 #ifndef SPACEPACKET_H_
 #define SPACEPACKET_H_
 
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "SpacePacketBase.h"
 
 /**
  * The SpacePacket class is a representation of a simple CCSDS Space Packet
diff --git a/tmtcpacket/SpacePacketBase.cpp b/tmtcpacket/SpacePacketBase.cpp
index 13c062d8..a37e024b 100644
--- a/tmtcpacket/SpacePacketBase.cpp
+++ b/tmtcpacket/SpacePacketBase.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "SpacePacketBase.h"
 #include <string.h>
 
 SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
diff --git a/tmtcpacket/SpacePacketBase.h b/tmtcpacket/SpacePacketBase.h
index cc68f714..ef3ad79d 100644
--- a/tmtcpacket/SpacePacketBase.h
+++ b/tmtcpacket/SpacePacketBase.h
@@ -1,7 +1,7 @@
 #ifndef SPACEPACKETBASE_H_
 #define SPACEPACKETBASE_H_
 
-#include <framework/tmtcpacket/ccsds_header.h>
+#include "ccsds_header.h"
 
 /**
  * \defgroup tmtcpackets Space Packets
diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h
index 3080ffef..4f196ac9 100644
--- a/tmtcpacket/packetmatcher/ApidMatcher.h
+++ b/tmtcpacket/packetmatcher/ApidMatcher.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_APIDMATCHER_H_
 #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_APIDMATCHER_H_
 
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcpacket/pus/TmPacketMinimal.h"
 
 class ApidMatcher: public SerializeableMatcherIF<TmPacketMinimal*> {
 private:
diff --git a/tmtcpacket/packetmatcher/PacketMatchTree.cpp b/tmtcpacket/packetmatcher/PacketMatchTree.cpp
index d8f61ffb..a4579657 100644
--- a/tmtcpacket/packetmatcher/PacketMatchTree.cpp
+++ b/tmtcpacket/packetmatcher/PacketMatchTree.cpp
@@ -1,7 +1,7 @@
-#include <framework/tmtcpacket/packetmatcher/ApidMatcher.h>
-#include <framework/tmtcpacket/packetmatcher/PacketMatchTree.h>
-#include <framework/tmtcpacket/packetmatcher/ServiceMatcher.h>
-#include <framework/tmtcpacket/packetmatcher/SubserviceMatcher.h>
+#include "ApidMatcher.h"
+#include "PacketMatchTree.h"
+#include "ServiceMatcher.h"
+#include "SubserviceMatcher.h"
 
 PacketMatchTree::PacketMatchTree(Node* root) :
 		MatchTree<TmPacketMinimal*>(root, 2), factoryBackend(0, POOL_SIZES,
diff --git a/tmtcpacket/packetmatcher/PacketMatchTree.h b/tmtcpacket/packetmatcher/PacketMatchTree.h
index a6c0c61e..86fb087e 100644
--- a/tmtcpacket/packetmatcher/PacketMatchTree.h
+++ b/tmtcpacket/packetmatcher/PacketMatchTree.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_PACKETMATCHTREE_H_
 #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_PACKETMATCHTREE_H_
 
-#include <framework/container/PlacementFactory.h>
-#include <framework/globalfunctions/matching/MatchTree.h>
-#include <framework/storagemanager/LocalPool.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "../../container/PlacementFactory.h"
+#include "../../globalfunctions/matching/MatchTree.h"
+#include "../../storagemanager/LocalPool.h"
+#include "../../tmtcpacket/pus/TmPacketMinimal.h"
 
 class PacketMatchTree: public MatchTree<TmPacketMinimal*>, public HasReturnvaluesIF {
 public:
diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h
index f6e9e360..eba23d75 100644
--- a/tmtcpacket/packetmatcher/ServiceMatcher.h
+++ b/tmtcpacket/packetmatcher/ServiceMatcher.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_SERVICEMATCHER_H_
 #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_SERVICEMATCHER_H_
 
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcpacket/pus/TmPacketMinimal.h"
 
 class ServiceMatcher: public SerializeableMatcherIF<TmPacketMinimal*> {
 private:
diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h
index 2e8b82b2..a9b6def8 100644
--- a/tmtcpacket/packetmatcher/SubserviceMatcher.h
+++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_SUBSERVICEMATCHER_H_
 #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_SUBSERVICEMATCHER_H_
 
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcpacket/pus/TmPacketMinimal.h"
 
 class SubServiceMatcher: public SerializeableMatcherIF<TmPacketMinimal*> {
 public:
diff --git a/tmtcpacket/pus/PacketTimestampInterpreterIF.h b/tmtcpacket/pus/PacketTimestampInterpreterIF.h
index 6e19381a..dd0c0328 100644
--- a/tmtcpacket/pus/PacketTimestampInterpreterIF.h
+++ b/tmtcpacket/pus/PacketTimestampInterpreterIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_TMTCPACKET_PUS_PACKETTIMESTAMPINTERPRETERIF_H_
 #define FRAMEWORK_TMTCPACKET_PUS_PACKETTIMESTAMPINTERPRETERIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 class TmPacketMinimal;
 
 class PacketTimestampInterpreterIF {
diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index 0f3bd52e..3815eb20 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -1,6 +1,6 @@
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/pus/TcPacketBase.h>
+#include "../../globalfunctions/CRC.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "TcPacketBase.h"
 #include <string.h>
 
 TcPacketBase::TcPacketBase(const uint8_t* set_data) :
diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index e6e6bdad..dd63d2be 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -1,7 +1,7 @@
 #ifndef TCPACKETBASE_H_
 #define TCPACKETBASE_H_
 
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "../../tmtcpacket/SpacePacketBase.h"
 
 /**
  * This struct defines a byte-wise structured PUS TC Data Field Header.
diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp
index 0187b08f..216f89c9 100644
--- a/tmtcpacket/pus/TcPacketStored.cpp
+++ b/tmtcpacket/pus/TcPacketStored.cpp
@@ -1,6 +1,6 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "TcPacketStored.h"
 #include <string.h>
 
 TcPacketStored::TcPacketStored(store_address_t setAddress) :
diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h
index c57f0e0f..2d86f89b 100644
--- a/tmtcpacket/pus/TcPacketStored.h
+++ b/tmtcpacket/pus/TcPacketStored.h
@@ -1,8 +1,8 @@
 #ifndef TCPACKETSTORED_H_
 #define TCPACKETSTORED_H_
 
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmtcpacket/pus/TcPacketBase.h>
+#include "../../storagemanager/StorageManagerIF.h"
+#include "TcPacketBase.h"
 
 /**
  *	This class generates a ECSS PUS Telecommand packet within a given
diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp
index a7bda5af..3c1a8ca4 100644
--- a/tmtcpacket/pus/TmPacketBase.cpp
+++ b/tmtcpacket/pus/TmPacketBase.cpp
@@ -1,8 +1,8 @@
-#include <framework/globalfunctions/CRC.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/pus/TmPacketBase.h>
-#include <framework/timemanager/CCSDSTime.h>
+#include "../../globalfunctions/CRC.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "TmPacketBase.h"
+#include "../../timemanager/CCSDSTime.h"
 #include <string.h>
 
 TmPacketBase::TmPacketBase(uint8_t* set_data) :
diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h
index d03beba5..85ae4dac 100644
--- a/tmtcpacket/pus/TmPacketBase.h
+++ b/tmtcpacket/pus/TmPacketBase.h
@@ -1,10 +1,10 @@
 #ifndef TMPACKETBASE_H_
 #define TMPACKETBASE_H_
 
-#include <framework/timemanager/TimeStamperIF.h>
-#include <framework/tmtcpacket/SpacePacketBase.h>
-#include <framework/timemanager/Clock.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "../../timemanager/TimeStamperIF.h"
+#include "../../tmtcpacket/SpacePacketBase.h"
+#include "../../timemanager/Clock.h"
+#include "../../objectmanager/SystemObjectIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
diff --git a/tmtcpacket/pus/TmPacketMinimal.cpp b/tmtcpacket/pus/TmPacketMinimal.cpp
index 9df0fe5d..18e9dda1 100644
--- a/tmtcpacket/pus/TmPacketMinimal.cpp
+++ b/tmtcpacket/pus/TmPacketMinimal.cpp
@@ -1,7 +1,7 @@
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "TmPacketMinimal.h"
 #include <stddef.h>
 #include <time.h>
-#include <framework/tmtcpacket/pus/PacketTimestampInterpreterIF.h>
+#include "PacketTimestampInterpreterIF.h"
 
 TmPacketMinimal::TmPacketMinimal(const uint8_t* set_data) : SpacePacketBase( set_data ) {
 	this->tm_data = (TmPacketMinimalPointer*)set_data;
diff --git a/tmtcpacket/pus/TmPacketMinimal.h b/tmtcpacket/pus/TmPacketMinimal.h
index 7bfe0883..728acb15 100644
--- a/tmtcpacket/pus/TmPacketMinimal.h
+++ b/tmtcpacket/pus/TmPacketMinimal.h
@@ -2,8 +2,8 @@
 #define FRAMEWORK_TMTCPACKET_PUS_TMPACKETMINIMAL_H_
 
 
-#include <framework/tmtcpacket/SpacePacketBase.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../tmtcpacket/SpacePacketBase.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 struct timeval;
 class PacketTimestampInterpreterIF;
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index 7c327581..4e4c9434 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -1,7 +1,7 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "TmPacketStored.h"
+#include "../../tmtcservices/TmTcMessage.h"
 #include <string.h>
 
 TmPacketStored::TmPacketStored(store_address_t setAddress) :
diff --git a/tmtcpacket/pus/TmPacketStored.h b/tmtcpacket/pus/TmPacketStored.h
index eaa26ce7..8962d343 100644
--- a/tmtcpacket/pus/TmPacketStored.h
+++ b/tmtcpacket/pus/TmPacketStored.h
@@ -1,11 +1,11 @@
 #ifndef TMPACKETSTORED_H_
 #define TMPACKETSTORED_H_
 
-#include <framework/serialize/SerializeIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmtcpacket/pus/TmPacketBase.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../../serialize/SerializeIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "TmPacketBase.h"
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueSenderIF.h"
 
 /**
  *	This class generates a ECSS PUS Telemetry packet within a given
diff --git a/tmtcservices/AcceptsTelecommandsIF.h b/tmtcservices/AcceptsTelecommandsIF.h
index 03a57aae..76d10a59 100644
--- a/tmtcservices/AcceptsTelecommandsIF.h
+++ b/tmtcservices/AcceptsTelecommandsIF.h
@@ -1,7 +1,7 @@
 #ifndef ACCEPTSTELECOMMANDSIF_H_
 #define ACCEPTSTELECOMMANDSIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 
 /**
  * @brief 	This interface is implemented by classes that are sinks for
diff --git a/tmtcservices/AcceptsTelemetryIF.h b/tmtcservices/AcceptsTelemetryIF.h
index 8c00b5c6..2325dbe0 100644
--- a/tmtcservices/AcceptsTelemetryIF.h
+++ b/tmtcservices/AcceptsTelemetryIF.h
@@ -1,7 +1,7 @@
 #ifndef ACCEPTSTELEMETRYIF_H_
 #define ACCEPTSTELEMETRYIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 /**
  * @brief 	This interface is implemented by classes that are sinks for
  * 			Telemetry.
diff --git a/tmtcservices/AcceptsVerifyMessageIF.h b/tmtcservices/AcceptsVerifyMessageIF.h
index fe8bb288..c9318ab0 100644
--- a/tmtcservices/AcceptsVerifyMessageIF.h
+++ b/tmtcservices/AcceptsVerifyMessageIF.h
@@ -1,7 +1,7 @@
 #ifndef ACCEPTSVERIFICATIONMESSAGEIF_H_
 #define ACCEPTSVERIFICATIONMESSAGEIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 
 class AcceptsVerifyMessageIF {
 public:
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 330fd00f..0b33e3aa 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,12 +1,12 @@
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../tcdistribution/PUSDistributorIF.h"
+#include "AcceptsTelemetryIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
-#include <framework/tmtcservices/CommandingServiceBase.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include "CommandingServiceBase.h"
+#include "TmTcMessage.h"
+#include "../ipc/QueueFactory.h"
+#include "../tmtcpacket/pus/TcPacketStored.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
 
 object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
 object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index b3a15985..c0453f2f 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,17 +1,17 @@
 #ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 #define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+#include "../objectmanager/SystemObject.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
+#include "AcceptsTelecommandsIF.h"
 
-#include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
-#include <framework/serialize/SerializeIF.h>
+#include "VerificationReporter.h"
+#include "../ipc/CommandMessage.h"
+#include "../container/FixedMap.h"
+#include "../container/FIFO.h"
+#include "../serialize/SerializeIF.h"
 
 class TcPacketStored;
 
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index 82e5ff5c..d35944a4 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -1,10 +1,10 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tmtcservices/PusServiceBase.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../tcdistribution/PUSDistributorIF.h"
+#include "AcceptsTelemetryIF.h"
+#include "PusServiceBase.h"
+#include "PusVerificationReport.h"
+#include "TmTcMessage.h"
+#include "../ipc/QueueFactory.h"
 
 object_id_t PusServiceBase::packetSource = 0;
 object_id_t PusServiceBase::packetDestination = 0;
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 6d3d9bac..98d65efb 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -1,15 +1,15 @@
 #ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
 #define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/VerificationCodes.h>
-#include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../tmtcpacket/pus/TcPacketStored.h"
+#include "AcceptsTelecommandsIF.h"
+#include "VerificationCodes.h"
+#include "VerificationReporter.h"
+#include "../ipc/MessageQueueIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index 07631801..b047576b 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -1,5 +1,5 @@
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
+#include "../serialize/SerializeAdapter.h"
+#include "PusVerificationReport.h"
 
 PusVerificationMessage::PusVerificationMessage() {
 }
diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h
index ee84f0c1..b4739577 100644
--- a/tmtcservices/PusVerificationReport.h
+++ b/tmtcservices/PusVerificationReport.h
@@ -1,9 +1,9 @@
 #ifndef PUSVERIFICATIONREPORT_H_
 #define PUSVERIFICATIONREPORT_H_
 
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/tmtcpacket/pus/TcPacketBase.h>
-#include <framework/tmtcservices/VerificationCodes.h>
+#include "../ipc/MessageQueueMessage.h"
+#include "../tmtcpacket/pus/TcPacketBase.h"
+#include "VerificationCodes.h"
 
 class PusVerificationMessage: public MessageQueueMessage {
 private:
diff --git a/tmtcservices/SourceSequenceCounter.h b/tmtcservices/SourceSequenceCounter.h
index b92a5c84..1cc58758 100644
--- a/tmtcservices/SourceSequenceCounter.h
+++ b/tmtcservices/SourceSequenceCounter.h
@@ -7,7 +7,7 @@
 
 #ifndef SOURCESEQUENCECOUNTER_H_
 #define SOURCESEQUENCECOUNTER_H_
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "../tmtcpacket/SpacePacketBase.h"
 
 class SourceSequenceCounter {
 private:
diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index b55803cb..021b0d7b 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -1,211 +1,211 @@
-#include <framework/tmtcservices/TmTcBridge.h>
-
-#include <framework/ipc/QueueFactory.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/globalfunctions/arrayprinter.h>
-
-TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
-		object_id_t tmStoreId, object_id_t tcStoreId):
-		SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
-		tcDestination(tcDestination)
-
-{
-    tmTcReceptionQueue = QueueFactory::instance()->
-            createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
-}
-
-TmTcBridge::~TmTcBridge() {}
-
-ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
-		uint8_t sentPacketsPerCycle) {
-	if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) {
-		this->sentPacketsPerCycle = sentPacketsPerCycle;
-		return RETURN_OK;
-	}
-	else {
-	    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
-	             << "packets sent per cycle exceeds limits. "
-	             << "Keeping default value." << std::endl;
-		return RETURN_FAILED;
-	}
-}
-
-ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
-        uint8_t maxNumberOfPacketsStored) {
-    if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
-        this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
-        return RETURN_OK;
-    }
-    else {
-        sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
-                << "packets stored exceeds limits. "
-                << "Keeping default value." << std::endl;
-        return RETURN_FAILED;
-    }
-}
-
-ReturnValue_t TmTcBridge::initialize() {
-	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
-	if (tcStore == nullptr) {
-		sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
-				"it is created and set up properly." << std::endl;
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-	tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
-	if (tmStore == nullptr) {
-		sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
-				"it is created and set up properly." << std::endl;
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-	AcceptsTelecommandsIF* tcDistributor =
-			objectManager->get<AcceptsTelecommandsIF>(tcDestination);
-	if (tcDistributor == nullptr) {
-		sif::error << "TmTcBridge::initialize: TC Distributor invalid"
-				<< std::endl;
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-
-	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
-	return RETURN_OK;
-}
-
-ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
-	ReturnValue_t result;
-	result = handleTc();
-	if(result != RETURN_OK) {
-		sif::debug << "TmTcBridge::performOperation: "
-		        << "Error handling TCs" << std::endl;
-	}
-	result = handleTm();
-	if (result != RETURN_OK) {
-	    sif::debug << "TmTcBridge::performOperation: "
-	                    << "Error handling TMs" << std::endl;
-	}
-	return result;
-}
-
-ReturnValue_t TmTcBridge::handleTc() {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t TmTcBridge::handleTm() {
-	ReturnValue_t result = handleTmQueue();
-	if(result != RETURN_OK) {
-		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
-		return RETURN_FAILED;
-	}
-
-	if(tmStored and communicationLinkUp) {
-		result = handleStoredTm();
-	}
-	return result;
-
-}
-
-ReturnValue_t TmTcBridge::handleTmQueue() {
-	TmTcMessage message;
+#include "TmTcBridge.h"
+
+#include "../ipc/QueueFactory.h"
+#include "AcceptsTelecommandsIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../globalfunctions/arrayprinter.h"
+
+TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+		object_id_t tmStoreId, object_id_t tcStoreId):
+		SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
+		tcDestination(tcDestination)
+
+{
+    tmTcReceptionQueue = QueueFactory::instance()->
+            createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+}
+
+TmTcBridge::~TmTcBridge() {}
+
+ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
+		uint8_t sentPacketsPerCycle) {
+	if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) {
+		this->sentPacketsPerCycle = sentPacketsPerCycle;
+		return RETURN_OK;
+	}
+	else {
+	    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
+	             << "packets sent per cycle exceeds limits. "
+	             << "Keeping default value." << std::endl;
+		return RETURN_FAILED;
+	}
+}
+
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
+        uint8_t maxNumberOfPacketsStored) {
+    if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
+        this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
+        return RETURN_OK;
+    }
+    else {
+        sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
+                << "packets stored exceeds limits. "
+                << "Keeping default value." << std::endl;
+        return RETURN_FAILED;
+    }
+}
+
+ReturnValue_t TmTcBridge::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
+	if (tcStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+	tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
+	if (tmStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+	AcceptsTelecommandsIF* tcDistributor =
+			objectManager->get<AcceptsTelecommandsIF>(tcDestination);
+	if (tcDistributor == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC Distributor invalid"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
+	ReturnValue_t result;
+	result = handleTc();
+	if(result != RETURN_OK) {
+		sif::debug << "TmTcBridge::performOperation: "
+		        << "Error handling TCs" << std::endl;
+	}
+	result = handleTm();
+	if (result != RETURN_OK) {
+	    sif::debug << "TmTcBridge::performOperation: "
+	                    << "Error handling TMs" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t TmTcBridge::handleTc() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::handleTm() {
+	ReturnValue_t result = handleTmQueue();
+	if(result != RETURN_OK) {
+		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
+		return RETURN_FAILED;
+	}
+
+	if(tmStored and communicationLinkUp) {
+		result = handleStoredTm();
+	}
+	return result;
+
+}
+
+ReturnValue_t TmTcBridge::handleTmQueue() {
+	TmTcMessage message;
 	const uint8_t* data = nullptr;
 	size_t size = 0;
-	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
-		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
-	{
-		if(communicationLinkUp == false) {
-			result = storeDownlinkData(&message);
-			return result;
-		}
-
-		result = tmStore->getData(message.getStorageId(), &data, &size);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			continue;
-		}
-
-		result = sendTm(data, size);
-		if (result != RETURN_OK) {
-			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
-			tmStore->deleteData(message.getStorageId());
-			return result;
-
-		}
-		tmStore->deleteData(message.getStorageId());
-	}
-	return RETURN_OK;
-}
-
-ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
-	store_address_t storeId = 0;
-
-	if(tmFifo.full()) {
-		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-		        << "of stored packet IDs reached! "
-		        << "Overwriting old data" << std::endl;
-		tmFifo.retrieve(&storeId);
-		tmStore->deleteData(storeId);
-	}
-	storeId = message->getStorageId();
-	tmFifo.insert(storeId);
-	tmStored = true;
-	return RETURN_OK;
-}
-
-ReturnValue_t TmTcBridge::handleStoredTm() {
-	uint8_t counter = 0;
-	ReturnValue_t result = RETURN_OK;
-	while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
-		//info << "TMTC Bridge: Sending stored TM data. There are "
-		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
-		store_address_t storeId;
+	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
+		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
+	{
+		if(communicationLinkUp == false) {
+			result = storeDownlinkData(&message);
+			return result;
+		}
+
+		result = tmStore->getData(message.getStorageId(), &data, &size);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			continue;
+		}
+
+		result = sendTm(data, size);
+		if (result != RETURN_OK) {
+			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
+			tmStore->deleteData(message.getStorageId());
+			return result;
+
+		}
+		tmStore->deleteData(message.getStorageId());
+	}
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
+	store_address_t storeId = 0;
+
+	if(tmFifo.full()) {
+		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+		        << "of stored packet IDs reached! "
+		        << "Overwriting old data" << std::endl;
+		tmFifo.retrieve(&storeId);
+		tmStore->deleteData(storeId);
+	}
+	storeId = message->getStorageId();
+	tmFifo.insert(storeId);
+	tmStored = true;
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::handleStoredTm() {
+	uint8_t counter = 0;
+	ReturnValue_t result = RETURN_OK;
+	while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
+		//info << "TMTC Bridge: Sending stored TM data. There are "
+		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
+		store_address_t storeId;
 		const uint8_t* data = nullptr;
 		size_t size = 0;
-		tmFifo.retrieve(&storeId);
-		result = tmStore->getData(storeId, &data, &size);
-
-		sendTm(data,size);
-
-		if(result != RETURN_OK) {
-			sif::error << "TMTC Bridge: Could not send stored downlink data"
-			      << std::endl;
-			result = RETURN_FAILED;
-		}
-		counter ++;
-
-		if(tmFifo.empty()) {
-			tmStored = false;
-		}
-		tmStore->deleteData(storeId);
-	}
-	return result;
-}
-
-void TmTcBridge::registerCommConnect() {
-	if(not communicationLinkUp) {
-		//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
-		communicationLinkUp = true;
-	}
-}
-
-void TmTcBridge::registerCommDisconnect() {
-	//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
-	if(communicationLinkUp) {
-		communicationLinkUp = false;
-	}
-}
-
-MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
-	return tmTcReceptionQueue->getId();
-}
-
-
-void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
-	arrayprinter::print(data, dataLen);
-}
-
-uint16_t TmTcBridge::getIdentifier() {
-	// This is no PUS service, so we just return 0
-	return 0;
-}
-
-MessageQueueId_t TmTcBridge::getRequestQueue() {
-	// Default implementation: Relay TC messages to TC distributor directly.
-	return tmTcReceptionQueue->getDefaultDestination();
-}
+		tmFifo.retrieve(&storeId);
+		result = tmStore->getData(storeId, &data, &size);
+
+		sendTm(data,size);
+
+		if(result != RETURN_OK) {
+			sif::error << "TMTC Bridge: Could not send stored downlink data"
+			      << std::endl;
+			result = RETURN_FAILED;
+		}
+		counter ++;
+
+		if(tmFifo.empty()) {
+			tmStored = false;
+		}
+		tmStore->deleteData(storeId);
+	}
+	return result;
+}
+
+void TmTcBridge::registerCommConnect() {
+	if(not communicationLinkUp) {
+		//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
+		communicationLinkUp = true;
+	}
+}
+
+void TmTcBridge::registerCommDisconnect() {
+	//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
+	if(communicationLinkUp) {
+		communicationLinkUp = false;
+	}
+}
+
+MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
+	return tmTcReceptionQueue->getId();
+}
+
+
+void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
+	arrayprinter::print(data, dataLen);
+}
+
+uint16_t TmTcBridge::getIdentifier() {
+	// This is no PUS service, so we just return 0
+	return 0;
+}
+
+MessageQueueId_t TmTcBridge::getRequestQueue() {
+	// Default implementation: Relay TC messages to TC distributor directly.
+	return tmTcReceptionQueue->getDefaultDestination();
+}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 993cd5b9..32eaf7f2 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,154 +1,154 @@
-#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
-#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
-
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-
-#include <framework/container/FIFO.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-
-class TmTcBridge : public AcceptsTelemetryIF,
-		public AcceptsTelecommandsIF,
-		public ExecutableObjectIF,
-		public HasReturnvaluesIF,
-		public SystemObject {
-public:
-	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
-	static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
-
-	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
-	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
-
-	TmTcBridge(object_id_t objectId, object_id_t tcDestination,
-			object_id_t tmStoreId, object_id_t tcStoreId);
-	virtual ~TmTcBridge();
-
-	/**
-	 * Set number of packets sent per performOperation().Please note that this
-	 * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
-	 * @param sentPacketsPerCycle
-	 * @return -@c RETURN_OK if value was set successfully
-	 * 		   -@c RETURN_FAILED otherwise, stored value stays the same
-	 */
-	ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
-
-	/**
-	 * Set number of packets sent per performOperation().Please note that this
-	 * value must be smaller than MAX_DOWNLINK_PACKETS_STORED
-	 * @param sentPacketsPerCycle
-	 * @return -@c RETURN_OK if value was set successfully
-	 *         -@c RETURN_FAILED otherwise, stored value stays the same
-	 */
-	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
-
-	virtual void registerCommConnect();
-	virtual void registerCommDisconnect();
-
-	/**
-	 * Initializes necessary FSFW components for the TMTC Bridge
-	 * @return
-	 */
-	virtual ReturnValue_t initialize() override;
-
-	/**
-	 * @brief	Handles TMTC reception
-	 */
-	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
-
-
-	/** AcceptsTelemetryIF override */
-	virtual MessageQueueId_t getReportReceptionQueue(
-			uint8_t virtualChannel = 0) override;
-
-	/** AcceptsTelecommandsIF override */
-	virtual uint16_t getIdentifier() override;
-	virtual MessageQueueId_t getRequestQueue() override;
-
-protected:
-	//! Cached for initialize function.
-	object_id_t tmStoreId = objects::NO_OBJECT;
-	object_id_t tcStoreId = objects::NO_OBJECT;
-	object_id_t tcDestination = objects::NO_OBJECT;
-
-	//! Used to send and receive TMTC messages.
-	//! The TmTcMessage class is used to transport messages between tasks.
-	MessageQueueIF* tmTcReceptionQueue = nullptr;
-
-	StorageManagerIF* tmStore = nullptr;
-	StorageManagerIF* tcStore = nullptr;
-
-	//! Used to specify whether communication link is up. Will be true
-	//! by default, so telemetry will be handled immediately.
-	bool communicationLinkUp = true;
-	bool tmStored = false;
-
-	/**
-	 * @brief 	Handle TC reception
-	 * @details
-	 * Default implementation provided, but is empty.
-	 * In most cases, TC reception will be handled in a separate task anyway.
-	 * @return
-	 */
-	virtual ReturnValue_t handleTc();
-
-	/**
-	 * Handle Telemetry. Default implementation provided.
-	 * Calls sendTm()
-	 * @return
-	 */
-	virtual ReturnValue_t handleTm();
-
-	/**
-	 * Read the TM Queue and send TM if necessary.
-	 * Default implementation provided
-	 * @return
-	 */
-	virtual ReturnValue_t handleTmQueue();
-
-	/**
-	 * Send stored data if communication link is active
-	 * @return
-	 */
-	virtual ReturnValue_t handleStoredTm();
-
-	/**
-	 * Implemented by child class. Perform sending of Telemetry by implementing
-	 * communication drivers or wrappers, e.g. serial communication or a socket
-	 * call.
-	 * @param data
-	 * @param dataLen
-	 * @return
-	 */
-	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0;
-
-	/**
-	 * Store data to be sent later if communication link is not up.
-	 * @param message
-	 * @return
-	 */
-	virtual ReturnValue_t storeDownlinkData(TmTcMessage * message);
-
-
-	/**
-	 * Print data as hexidecimal array
-	 * @param data
-	 * @param dataLen
-	 */
-	void printData(uint8_t * data, size_t dataLen);
-
-	/**
-	 * This fifo can be used to store downlink data
-	 * which can not be sent at the moment.
-	 */
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
-    uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-    uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
-};
-
-
-#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */
+#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+
+#include "../objectmanager/SystemObject.h"
+#include "AcceptsTelemetryIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "AcceptsTelecommandsIF.h"
+
+#include "../container/FIFO.h"
+#include "TmTcMessage.h"
+
+class TmTcBridge : public AcceptsTelemetryIF,
+		public AcceptsTelecommandsIF,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF,
+		public SystemObject {
+public:
+	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
+	static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
+	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
+
+	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
+	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
+
+	TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+			object_id_t tmStoreId, object_id_t tcStoreId);
+	virtual ~TmTcBridge();
+
+	/**
+	 * Set number of packets sent per performOperation().Please note that this
+	 * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
+	 * @param sentPacketsPerCycle
+	 * @return -@c RETURN_OK if value was set successfully
+	 * 		   -@c RETURN_FAILED otherwise, stored value stays the same
+	 */
+	ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
+
+	/**
+	 * Set number of packets sent per performOperation().Please note that this
+	 * value must be smaller than MAX_DOWNLINK_PACKETS_STORED
+	 * @param sentPacketsPerCycle
+	 * @return -@c RETURN_OK if value was set successfully
+	 *         -@c RETURN_FAILED otherwise, stored value stays the same
+	 */
+	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
+
+	virtual void registerCommConnect();
+	virtual void registerCommDisconnect();
+
+	/**
+	 * Initializes necessary FSFW components for the TMTC Bridge
+	 * @return
+	 */
+	virtual ReturnValue_t initialize() override;
+
+	/**
+	 * @brief	Handles TMTC reception
+	 */
+	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+
+	/** AcceptsTelemetryIF override */
+	virtual MessageQueueId_t getReportReceptionQueue(
+			uint8_t virtualChannel = 0) override;
+
+	/** AcceptsTelecommandsIF override */
+	virtual uint16_t getIdentifier() override;
+	virtual MessageQueueId_t getRequestQueue() override;
+
+protected:
+	//! Cached for initialize function.
+	object_id_t tmStoreId = objects::NO_OBJECT;
+	object_id_t tcStoreId = objects::NO_OBJECT;
+	object_id_t tcDestination = objects::NO_OBJECT;
+
+	//! Used to send and receive TMTC messages.
+	//! The TmTcMessage class is used to transport messages between tasks.
+	MessageQueueIF* tmTcReceptionQueue = nullptr;
+
+	StorageManagerIF* tmStore = nullptr;
+	StorageManagerIF* tcStore = nullptr;
+
+	//! Used to specify whether communication link is up. Will be true
+	//! by default, so telemetry will be handled immediately.
+	bool communicationLinkUp = true;
+	bool tmStored = false;
+
+	/**
+	 * @brief 	Handle TC reception
+	 * @details
+	 * Default implementation provided, but is empty.
+	 * In most cases, TC reception will be handled in a separate task anyway.
+	 * @return
+	 */
+	virtual ReturnValue_t handleTc();
+
+	/**
+	 * Handle Telemetry. Default implementation provided.
+	 * Calls sendTm()
+	 * @return
+	 */
+	virtual ReturnValue_t handleTm();
+
+	/**
+	 * Read the TM Queue and send TM if necessary.
+	 * Default implementation provided
+	 * @return
+	 */
+	virtual ReturnValue_t handleTmQueue();
+
+	/**
+	 * Send stored data if communication link is active
+	 * @return
+	 */
+	virtual ReturnValue_t handleStoredTm();
+
+	/**
+	 * Implemented by child class. Perform sending of Telemetry by implementing
+	 * communication drivers or wrappers, e.g. serial communication or a socket
+	 * call.
+	 * @param data
+	 * @param dataLen
+	 * @return
+	 */
+	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0;
+
+	/**
+	 * Store data to be sent later if communication link is not up.
+	 * @param message
+	 * @return
+	 */
+	virtual ReturnValue_t storeDownlinkData(TmTcMessage * message);
+
+
+	/**
+	 * Print data as hexidecimal array
+	 * @param data
+	 * @param dataLen
+	 */
+	void printData(uint8_t * data, size_t dataLen);
+
+	/**
+	 * This fifo can be used to store downlink data
+	 * which can not be sent at the moment.
+	 */
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+    uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
+    uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+};
+
+
+#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */
diff --git a/tmtcservices/TmTcMessage.cpp b/tmtcservices/TmTcMessage.cpp
index d437b41e..987bd232 100644
--- a/tmtcservices/TmTcMessage.cpp
+++ b/tmtcservices/TmTcMessage.cpp
@@ -1,4 +1,4 @@
-#include <framework/tmtcservices/TmTcMessage.h>
+#include "TmTcMessage.h"
 #include <string.h>
 
 
diff --git a/tmtcservices/TmTcMessage.h b/tmtcservices/TmTcMessage.h
index 73f741fb..b5e1ff8d 100644
--- a/tmtcservices/TmTcMessage.h
+++ b/tmtcservices/TmTcMessage.h
@@ -1,8 +1,8 @@
 #ifndef TMTCMESSAGE_H_
 #define TMTCMESSAGE_H_
 
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/MessageQueueMessage.h"
+#include "../storagemanager/StorageManagerIF.h"
 /**
  * @brief	This message class is used to pass Telecommand and Telemetry
  * 			packets between tasks.
diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp
index 4484fb9b..43e712a2 100644
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@@ -1,7 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
-#include <framework/tmtcservices/VerificationReporter.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "AcceptsVerifyMessageIF.h"
+#include "PusVerificationReport.h"
+#include "VerificationReporter.h"
 
 object_id_t VerificationReporter::messageReceiver = 0;
 
diff --git a/tmtcservices/VerificationReporter.h b/tmtcservices/VerificationReporter.h
index 370c44c8..29a273c5 100644
--- a/tmtcservices/VerificationReporter.h
+++ b/tmtcservices/VerificationReporter.h
@@ -1,8 +1,8 @@
 #ifndef VERIFICATIONREPORTER_H_
 #define VERIFICATIONREPORTER_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "PusVerificationReport.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();

From 9e0a90509629730ed1c5f316b6bdd4895dcba649 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 13 Aug 2020 20:58:49 +0200
Subject: [PATCH 144/154] Two paths gone wrong

---
 pus/Service1TelecommandVerification.cpp | 2 +-
 pus/Service5EventReporting.cpp          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
index 570005c5..578eb02d 100644
--- a/pus/Service1TelecommandVerification.cpp
+++ b/pus/Service1TelecommandVerification.cpp
@@ -3,7 +3,7 @@
 
 #include "../ipc/QueueFactory.h"
 #include "../tmtcservices/PusVerificationReport.h"
-#include "/tmtcpacketTmPacketStored.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tmtcservices/AcceptsTelemetryIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
index 831f92c1..829d04bd 100644
--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@@ -4,7 +4,7 @@
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../events/EventManagerIF.h"
 #include "../ipc/QueueFactory.h"
-#include "/tmtcpacketTmPacketStored.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
 
 
 Service5EventReporting::Service5EventReporting(object_id_t objectId,

From c63665c257984be89bd2cd19f83bc81b1adbd588 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 19 Aug 2020 13:13:57 +0200
Subject: [PATCH 145/154] renamed framework.mk to fsfw.mk

---
 fsfw.mk | 59 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 59 insertions(+)
 create mode 100644 fsfw.mk

diff --git a/fsfw.mk b/fsfw.mk
new file mode 100644
index 00000000..c025ba23
--- /dev/null
+++ b/fsfw.mk
@@ -0,0 +1,59 @@
+# This submake file needs to be included by the primary Makefile.
+# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
+# Valid API settings: rtems, linux, freeRTOS, host
+
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/contrib/sgp4/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/health/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/internalError/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/ipc/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/memory/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/modes/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/monitoring/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
+
+# select the OS
+ifeq ($(OS_FSFW),rtems)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
+else ifeq ($(OS_FSFW),linux)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
+else ifeq ($(OS_FSFW),freeRTOS)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS_FSFW),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
+else
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
+endif
+
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/power/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/returnvalues/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serialize/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serviceinterface/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/storagemanager/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/modes/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tasks/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tcdistribution/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/thermal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/timemanager/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmstorage/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)

From e59022dd432cdda2fc57ba8ee9ba350af33a1317 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 19 Aug 2020 13:15:14 +0200
Subject: [PATCH 146/154] old .mk file removed

---
 framework.mk | 58 ----------------------------------------------------
 1 file changed, 58 deletions(-)
 delete mode 100644 framework.mk

diff --git a/framework.mk b/framework.mk
deleted file mode 100644
index 136eff3a..00000000
--- a/framework.mk
+++ /dev/null
@@ -1,58 +0,0 @@
-# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
-# Valid API settings: rtems, linux, freeRTOS, host
-
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/contrib/sgp4/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/health/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/internalError/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/ipc/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/memory/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/modes/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/monitoring/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
-
-# select the OS
-ifeq ($(OS_FSFW),rtems)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
-else ifeq ($(OS_FSFW),linux)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
-else ifeq ($(OS_FSFW),freeRTOS)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
-else ifeq ($(OS_FSFW),host)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
-else
-$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
-endif
-
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/power/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/returnvalues/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serialize/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serviceinterface/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/storagemanager/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/modes/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tasks/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tcdistribution/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/thermal/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/timemanager/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmstorage/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)

From 31f398cec948bd232e40f29fc128e2596a20e6b7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 19 Aug 2020 13:16:08 +0200
Subject: [PATCH 147/154] small fix

---
 fsfw.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fsfw.mk b/fsfw.mk
index c025ba23..c2c6e747 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -35,7 +35,7 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
+$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)

From a4626aeac0682b07b5fee7ee2c4fa94d5322d1b8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:04:59 +0200
Subject: [PATCH 148/154] made rtems adaption

---
 osal/rtems/Mutex.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index 68514534..f1c88826 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -25,12 +25,13 @@ Mutex::~Mutex() {
 	}
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	if(timeoutMs == MutexIF::BLOCKING) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
+        TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, timeoutMs);
 	}
-	else if(timeoutMs == MutexIF::POLLING) {
+	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
 		timeoutMs = RTEMS_NO_TIMEOUT;
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
 				RTEMS_NO_WAIT, timeoutMs);

From 49a36d6fdc9d635946e6eb307ac771aa1ce01266 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:06:39 +0200
Subject: [PATCH 149/154] removed definitions

---
 osal/rtems/Mutex.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index f1c88826..31acdb3c 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,8 +1,6 @@
 #include "Mutex.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-const uint32_t MutexIF::BLOCKING = RTEMS_WAIT;
-const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT;
 uint8_t Mutex::count = 0;
 
 Mutex::Mutex() :

From ab4c65c87ae719143697de99d5a5b26c302d4e68 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:08:12 +0200
Subject: [PATCH 150/154] added header file changes

---
 osal/rtems/Mutex.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 624b556f..72368210 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -8,7 +8,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING);
+	ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
 	ReturnValue_t unlockMutex();
 private:
 	rtems_id mutexId;

From 74dea921e027f1ab6798a58b1b5e7e7cec6c7b01 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:10:28 +0200
Subject: [PATCH 151/154] made fixes

---
 osal/rtems/Mutex.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index 31acdb3c..9553ac79 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -27,16 +27,16 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
         TimeoutType::BLOCKING, uint32_t timeoutMs) {
 	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
-				RTEMS_WAIT, timeoutMs);
+				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
 	}
 	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
 		timeoutMs = RTEMS_NO_TIMEOUT;
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
-				RTEMS_NO_WAIT, timeoutMs);
+				RTEMS_NO_WAIT, 0);
 	}
 	else {
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
-				RTEMS_NO_WAIT, timeoutMs);
+				RTEMS_WAIT, timeoutMs);
 	}
 
 	switch(status){

From 1235e38556b4015b3b1edfc2079d55b172db9904 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:20:56 +0200
Subject: [PATCH 152/154] rtems adaption

---
 osal/rtems/MultiObjectTask.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index 3c4886a5..2342c24c 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -78,6 +78,8 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
+
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

From d0419467a7d9bdf111bd60cd5c642803bb38e69a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:23:46 +0200
Subject: [PATCH 153/154] include guard fix

---
 osal/rtems/MultiObjectTask.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 28d05fb1..d7c71422 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -4,8 +4,8 @@
  * @date	30.01.2014
  * @author	baetz
  */
-#ifndef MULTIOBJECTTASK_H_
-#define MULTIOBJECTTASK_H_
+#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
+#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -63,11 +63,11 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
 	/**
@@ -110,4 +110,4 @@ protected:
 	void taskFunctionality(void);
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */

From 7e0cf49723fd4443751afd63f62d2c6f40b81b9a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:24:37 +0200
Subject: [PATCH 154/154] author tag

---
 osal/rtems/MultiObjectTask.h | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index d7c71422..736e79dd 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -1,9 +1,3 @@
-/**
- * @file	MultiObjectTask.h
- * @brief	This file defines the MultiObjectTask class.
- * @date	30.01.2014
- * @author	baetz
- */
 #ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 #define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 
@@ -21,7 +15,7 @@ class ExecutableObjectIF;
  * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
  * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
  * 			added prior to starting the task.
- *
+ * @author  baetz
  * @ingroup task_handling
  */
 class MultiObjectTask: public TaskBase, public PeriodicTaskIF {