Merge pull request 'ASTP 1.1.0 Merge Development in Master' (#441) from development into master

Reviewed-on: fsfw/fsfw#441

CHANGELOG

@@ -1,3 +1,16 @@
+## Changes from ASTP 1.0.0 to 1.1.0
+
+### PUS
+
+- Added PUS C support
+
+### Configuration
+
+- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
+  need to be specified in FSFWConfig.h
+
+
+
 ## Changes from ASTP 0.0.1 to 1.0.0
 
 ### Host OSAL
@@ -22,7 +35,9 @@ a C file without issues
 
 ### Local Pool
 
-- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
+- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
+bucket number of the pools per page and the number of pages are passed to the ctor instead of
+two ctor arguments and a template parameter
 
 ### Parameter Service
 
@@ -40,7 +55,8 @@ important use-case)
    
 ### File System Interface
 
-- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
+- A new interfaces specifies the functions for a software object which exposes the file system of
+a given hardware to use message based file handling (e.g. PUS commanding)
 
 ### Internal Error Reporter
 
@@ -52,7 +68,8 @@ ID for now.
 ### Device Handler Base
 
 - There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
-that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
+that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
+a clear distinction between operation and communication steps
 - setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
 - getTransitionDelayMs is now an abstract method
 
@@ -69,7 +86,8 @@ now
 
 ### Commanding Service Base
 
-- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file
+- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
+CSB instance. This variable has to be set in the FSFWConfig.h file
 
 ### Service Interface
 
@@ -81,4 +99,13 @@ now
   For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
   For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
   If this is not the case, everything should work as usual.
-- 
+
+### ActionHelper and ActionMessage
+
+- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
+information whether to report a success or failure message instead of deriving it implicitely 
+from returnvalue
+
+### PUS Parameter Service 20
+
+Added PUS parameter service 20 (only custom subservices available).

CMakeLists.txt

@@ -1,5 +1,13 @@
 cmake_minimum_required(VERSION 3.13)
 
+option(FSFW_GENERATE_SECTIONS
+    "Generate function and data sections. Required to remove unused code" ON
+)
+
+if(FSFW_GENERATE_SECTIONS)
+    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+endif()
+
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_USE_RMAP "Compile with RMAP" ON)
@@ -10,6 +18,13 @@ add_library(${LIB_FSFW_NAME})
 
 set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
 
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 11)
+    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
+endif()
+
 if(NOT OS_FSFW)
 	message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
 	# Assume host OS and autodetermine from OS_FSFW
@@ -26,15 +41,22 @@ if(NOT OS_FSFW)
 
 endif()
 
+set(FSFW_OSAL_DEFINITION FSFW_HOST)
+
 if(${OS_FSFW} STREQUAL host)
 	set(OS_FSFW_NAME "Host")
 elseif(${OS_FSFW} STREQUAL linux)
 	set(OS_FSFW_NAME "Linux")
+	set(FSFW_OSAL_DEFINITION FSFW_LINUX)
 elseif(${OS_FSFW} STREQUAL  freertos)
 	set(OS_FSFW_NAME "FreeRTOS")
-	target_link_libraries(${LIB_FSFW_NAME} ${LIB_OS_NAME})
+	set(FSFW_OSAL_DEFINITION FSFW_FREERTOS)
+	target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_OS_NAME}
+	)
 elseif(${OS_FSFW} STREQUAL rtems)
 	set(OS_FSFW_NAME "RTEMS")
+    set(FSFW_OSAL_DEFINITION FSFW_RTEMS)
 else()
 	message(WARNING 
 		"Invalid operating system for FSFW specified! Setting to host.."
@@ -43,10 +65,16 @@ else()
 	set(OS_FSFW "host")
 endif()
 
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_OSAL_DEFINITION}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
+    ${FSFW_OSAL_DEFINITION}
+)
+
 message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
 
-
-
 add_subdirectory(action)
 add_subdirectory(container)
 add_subdirectory(controller)
@@ -90,6 +118,7 @@ add_subdirectory(timemanager)
 add_subdirectory(tmstorage)
 add_subdirectory(tmtcpacket)
 add_subdirectory(tmtcservices)
+add_subdirectory(unittest)
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
 # If this is not given, we include the default configuration and emit a warning.
@@ -109,20 +138,48 @@ else()
 	)
 endif()
 
+foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
+
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
+
+    list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+endforeach()
+
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     if(NOT DEFINED FSFW_WARNING_FLAGS)
 	   set(FSFW_WARNING_FLAGS
 		  -Wall
 		  -Wextra
-		  -Wshadow=local
 		  -Wimplicit-fallthrough=1
 		  -Wno-unused-parameter
 		  -Wno-psabi
         )
-	
-	if(FSFW_WARNING_SHADOW_LOCAL_GCC)
-		list(APPEND WARNING_FLAGS "-Wshadow=local")
-	endif()
+    endif()
+
+    if(FSFW_GENERATE_SECTIONS)
+        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+            "-ffunction-sections"
+            "-fdata-sections"
+        )
+    endif()
+
+    if(FSFW_REMOVE_UNUSED_CODE)
+        target_link_options(${LIB_FSFW_NAME} PRIVATE
+            "Wl,--gc-sections"
+        )
+    endif()
+  
+    if(FSFW_WARNING_SHADOW_LOCAL_GCC)
+        list(APPEND WARNING_FLAGS "-Wshadow=local")
+    endif()
 	
 endif()
 
@@ -134,6 +191,7 @@ endif()
 target_include_directories(${LIB_FSFW_NAME} INTERFACE 
 	${CMAKE_SOURCE_DIR}
 	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_ADD_INC_PATHS_ABS}
 )
 
 # Includes path required to compile FSFW itself as well
@@ -142,9 +200,14 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
 target_include_directories(${LIB_FSFW_NAME} PRIVATE 
 	${CMAKE_SOURCE_DIR}
 	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_ADD_INC_PATHS_ABS}
 )
 
 target_compile_options(${LIB_FSFW_NAME} PRIVATE 
 	${FSFW_WARNING_FLAGS}
 	${COMPILER_FLAGS}
 )
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_ADDITIONAL_LINK_LIBS}
+)

FSFW.h

@@ -0,0 +1,7 @@
+#ifndef FSFW_FSFW_H_
+#define FSFW_FSFW_H_
+
+#include "FSFWConfig.h"
+
+
+#endif /* FSFW_FSFW_H_ */

FSFWVersion.h

@@ -3,9 +3,9 @@
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION 		0
-#define	FSFW_SUBVERSION 	0
-#define	FSFW_REVISION 	1
+#define FSFW_VERSION        1
+#define	FSFW_SUBVERSION     0
+#define	FSFW_REVISION       0
 
 
 

README.md

@@ -38,11 +38,12 @@ a starting point. The [configuration section](doc/README-config.md#top) provides
 
 [1. High-level overview](doc/README-highlevel.md#top) <br>
 [2. Core components](doc/README-core.md#top) <br>
-[3. OSAL overview](doc/README-osal.md#top) <br>
-[4. PUS services](doc/README-pus.md#top) <br>
-[5. Device Handler overview](doc/README-devicehandlers.md#top) <br>
-[6. Controller overview](doc/README-controllers.md#top) <br>
-[7. Local Data Pools](doc/README-localpools.md#top) <br>
+[3. Configuration](doc/README-config.md#top) <br>
+[4. OSAL overview](doc/README-osal.md#top) <br>
+[5. PUS services](doc/README-pus.md#top) <br>
+[6. Device Handler overview](doc/README-devicehandlers.md#top) <br>
+[7. Controller overview](doc/README-controllers.md#top) <br>
+[8. Local Data Pools](doc/README-localpools.md#top) <br>
 
 
 

action/ActionHelper.cpp

@@ -2,152 +2,120 @@
 #include "HasActionsIF.h"
 
 #include "../ipc/MessageQueueSenderIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner,
         MessageQueueIF* useThisQueue) :
-		owner(setOwner), queueToUse(useThisQueue) {
+        owner(setOwner), queueToUse(useThisQueue) {
 }
 
 ActionHelper::~ActionHelper() {
 }
 
 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
-	if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
-		ActionId_t currentAction = ActionMessage::getActionId(command);
-		prepareExecution(command->getSender(), currentAction,
-				ActionMessage::getStoreId(command));
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return CommandMessage::UNKNOWN_COMMAND;
-	}
+    if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
+        ActionId_t currentAction = ActionMessage::getActionId(command);
+        prepareExecution(command->getSender(), currentAction,
+                ActionMessage::getStoreId(command));
+        return HasReturnvaluesIF::RETURN_OK;
+    } else {
+        return CommandMessage::UNKNOWN_COMMAND;
+    }
 }
 
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(queueToUse_ != nullptr) {
-		setQueueToUse(queueToUse_);
-	}
+    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+    if (ipcStore == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if(queueToUse_ != nullptr) {
+        setQueueToUse(queueToUse_);
+    }
 
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
         ActionId_t commandId, ReturnValue_t result) {
-	CommandMessage reply;
-	ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
-	queueToUse->sendMessage(reportTo, &reply);
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
+    queueToUse->sendMessage(reportTo, &reply);
 }
 
-void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
+void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
         ReturnValue_t result) {
-	CommandMessage reply;
-	ActionMessage::setCompletionReply(&reply, commandId, result);
-	queueToUse->sendMessage(reportTo, &reply);
+    CommandMessage reply;
+    ActionMessage::setCompletionReply(&reply, commandId, success, result);
+    queueToUse->sendMessage(reportTo, &reply);
 }
 
 void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
-	queueToUse = queue;
+    queueToUse = queue;
 }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
         ActionId_t actionId, store_address_t dataAddress) {
-	const uint8_t* dataPtr = NULL;
-	size_t size = 0;
-	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		CommandMessage reply;
-		ActionMessage::setStepReply(&reply, actionId, 0, result);
-		queueToUse->sendMessage(commandedBy, &reply);
-		return;
-	}
-	result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-	ipcStore->deleteData(dataAddress);
-	if(result == HasActionsIF::EXECUTION_FINISHED) {
-		CommandMessage reply;
-		ActionMessage::setCompletionReply(&reply, actionId, result);
-		queueToUse->sendMessage(commandedBy, &reply);
-	}
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		CommandMessage reply;
-		ActionMessage::setStepReply(&reply, actionId, 0, result);
-		queueToUse->sendMessage(commandedBy, &reply);
-		return;
-	}
+    const uint8_t* dataPtr = NULL;
+    size_t size = 0;
+    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        CommandMessage reply;
+        ActionMessage::setStepReply(&reply, actionId, 0, result);
+        queueToUse->sendMessage(commandedBy, &reply);
+        return;
+    }
+    result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+    ipcStore->deleteData(dataAddress);
+    if(result == HasActionsIF::EXECUTION_FINISHED) {
+        CommandMessage reply;
+        ActionMessage::setCompletionReply(&reply, actionId, true, result);
+        queueToUse->sendMessage(commandedBy, &reply);
+    }
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        CommandMessage reply;
+        ActionMessage::setStepReply(&reply, actionId, 0, result);
+        queueToUse->sendMessage(commandedBy, &reply);
+        return;
+    }
 }
 
 ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
-		ActionId_t replyId, SerializeIF* data, bool hideSender) {
-	CommandMessage reply;
-	store_address_t storeAddress;
-	uint8_t *dataPtr;
-	size_t maxSize = data->getSerializedSize();
-	if (maxSize == 0) {
-		//No error, there's simply nothing to report.
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	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,
-	        SerializeIF::Endianness::BIG);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		ipcStore->deleteData(storeAddress);
-		return result;
-	}
-	// We don't need to report the objectId, as we receive REQUESTED data
-	// before the completion success message.
-	// True aperiodic replies need to be reported with
-	// another dedicated message.
-	ActionMessage::setDataReply(&reply, replyId, storeAddress);
-
-    // If the sender needs to be hidden, for example to handle packet
-    // as unrequested reply, this will be done here.
-	if (hideSender) {
-		result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
-	}
-	else {
-		result = queueToUse->sendMessage(reportTo, &reply);
-	}
-
-	if (result != HasReturnvaluesIF::RETURN_OK){
-		ipcStore->deleteData(storeAddress);
-	}
-	return result;
-}
-
-void ActionHelper::resetHelper() {
-}
-
-ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
-        ActionId_t replyId, const uint8_t *data, size_t dataSize,
-        bool hideSender) {
+        ActionId_t replyId, SerializeIF* data, bool hideSender) {
     CommandMessage reply;
     store_address_t storeAddress;
-    ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
+    uint8_t *dataPtr;
+    size_t maxSize = data->getSerializedSize();
+    if (maxSize == 0) {
+        /* No error, there's simply nothing to report. */
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    size_t size = 0;
+    ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
+            &dataPtr);
     if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!" <<
+                std::endl;
+#else
+        sif::printWarning("ActionHelper::reportData: Getting free element from IPC "
+                "store failed!\n");
+#endif
         return result;
     }
-
+    result = data->serialize(&dataPtr, &size, maxSize,
+            SerializeIF::Endianness::BIG);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         ipcStore->deleteData(storeAddress);
         return result;
     }
 
-    // We don't need to report the objectId, as we receive REQUESTED data
-    // before the completion success message.
-    // True aperiodic replies need to be reported with
-    // another dedicated message.
+    /* We don't need to report the objectId, as we receive REQUESTED data before the completion
+    success message. True aperiodic replies need to be reported with another dedicated message. */
     ActionMessage::setDataReply(&reply, replyId, storeAddress);
 
-    // If the sender needs to be hidden, for example to handle packet
-    // as unrequested reply, this will be done here.
+    /* If the sender needs to be hidden, for example to handle packet
+    as unrequested reply, this will be done here. */
     if (hideSender) {
         result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
     }
@@ -160,3 +128,40 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
     }
     return result;
 }
+
+void ActionHelper::resetHelper() {
+}
+
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+        ActionId_t replyId, const uint8_t *data, size_t dataSize,
+        bool hideSender) {
+    CommandMessage reply;
+    store_address_t storeAddress;
+    ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
+#else
+        sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
+#endif
+        return result;
+    }
+
+    /* We don't need to report the objectId, as we receive REQUESTED data before the completion
+    success message. True aperiodic replies need to be reported with another dedicated message. */
+    ActionMessage::setDataReply(&reply, replyId, storeAddress);
+
+    /* If the sender needs to be hidden, for example to handle packet
+    as unrequested reply, this will be done here. */
+    if (hideSender) {
+        result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
+    }
+    else {
+        result = queueToUse->sendMessage(reportTo, &reply);
+    }
+
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        ipcStore->deleteData(storeAddress);
+    }
+    return result;
+}

action/ActionHelper.h

@@ -18,68 +18,68 @@ class HasActionsIF;
 
 class ActionHelper {
 public:
-	/**
-	 * Constructor of the action helper
-	 * @param setOwner Pointer to the owner of the interface
-	 * @param useThisQueue  messageQueue to be used, can be set during
-	 *                      initialize function as well.
-	 */
-	ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
+    /**
+     * Constructor of the action helper
+     * @param setOwner Pointer to the owner of the interface
+     * @param useThisQueue  messageQueue to be used, can be set during
+     *                      initialize function as well.
+     */
+    ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
 
-	virtual ~ActionHelper();
-	/**
-	 * Function to be called from the owner with a new command message
-	 *
-	 * If the message is a valid action message the helper will use the
-	 * executeAction function from HasActionsIF.
-	 * If the message is invalid or the callback fails a message reply will be
-	 * send to the sender of the message automatically.
-	 *
-	 * @param command Pointer to a command message received by the owner
-	 * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
-	 *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
-	 */
-	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, optional
-	 *                      if queue was set in constructor
-	 * @return Returns RETURN_OK if successful
-	 */
-	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.
-	 *
-	 * @param step Number of steps already done
-	 * @param reportTo The messageQueueId to report the step message to
-	 * @param commandId ID of the executed command
-	 * @param result Result of the execution
-	 */
-	void step(uint8_t step, MessageQueueId_t reportTo,
-			ActionId_t commandId,
-			ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-	/**
-	 * Function to be called by the owner to send a action completion message
-	 *
-	 * @param reportTo MessageQueueId_t to report the action completion message to
-	 * @param commandId ID of the executed command
-	 * @param result Result of the execution
-	 */
-	void finish(MessageQueueId_t reportTo, ActionId_t commandId,
-	        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-	/**
-	 * Function to be called by the owner if an action does report data.
-	 * Takes a SerializeIF* pointer and serializes it into the IPC store.
-	 * @param reportTo  MessageQueueId_t to report the action completion
-	 *                  message to
-	 * @param replyId ID of the executed command
-	 * @param data Pointer to the data
-	 * @return Returns RETURN_OK if successful, otherwise failure code
-	 */
-	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
-	        SerializeIF* data, bool hideSender = false);
+    virtual ~ActionHelper();
+    /**
+     * Function to be called from the owner with a new command message
+     *
+     * If the message is a valid action message the helper will use the
+     * executeAction function from HasActionsIF.
+     * If the message is invalid or the callback fails a message reply will be
+     * send to the sender of the message automatically.
+     *
+     * @param command Pointer to a command message received by the owner
+     * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
+     *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
+     */
+    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, optional
+     *                      if queue was set in constructor
+     * @return Returns RETURN_OK if successful
+     */
+    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.
+     *
+     * @param step Number of steps already done
+     * @param reportTo The messageQueueId to report the step message to
+     * @param commandId ID of the executed command
+     * @param result Result of the execution
+     */
+    void step(uint8_t step, MessageQueueId_t reportTo,
+            ActionId_t commandId,
+            ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+    /**
+     * Function to be called by the owner to send a action completion message
+     * @param success   Specify whether action was completed successfully or not.
+     * @param reportTo MessageQueueId_t to report the action completion message to
+     * @param commandId ID of the executed command
+     * @param result Result of the execution
+     */
+    void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
+            ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+    /**
+     * Function to be called by the owner if an action does report data.
+     * Takes a SerializeIF* pointer and serializes it into the IPC store.
+     * @param reportTo  MessageQueueId_t to report the action completion
+     *                  message to
+     * @param replyId ID of the executed command
+     * @param data Pointer to the data
+     * @return Returns RETURN_OK if successful, otherwise failure code
+     */
+    ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+            SerializeIF* data, bool hideSender = false);
     /**
      * Function to be called by the owner if an action does report data.
      * Takes the raw data and writes it into the IPC store.
@@ -91,35 +91,36 @@ public:
      */
     ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
             const uint8_t* data, size_t dataSize, bool hideSender = false);
-	/**
-	 * Function to setup the MessageQueueIF* of the helper. Can be used to
-	 * set the MessageQueueIF* if message queue is unavailable at construction
-	 * and initialize but must be setup before first call of other functions.
-	 * @param queue Queue to be used by the helper
-	 */
-	void setQueueToUse(MessageQueueIF *queue);
+    /**
+     * Function to setup the MessageQueueIF* of the helper. Can be used to
+     * set the MessageQueueIF* if message queue is unavailable at construction
+     * and initialize but must be setup before first call of other functions.
+     * @param queue Queue to be used by the helper
+     */
+    void setQueueToUse(MessageQueueIF *queue);
 protected:
-	//!< Increase of value of this per step
-	static const uint8_t STEP_OFFSET = 1;
-	HasActionsIF* owner;//!< Pointer to the owner
-	//! Queue to be used as response sender, has to be set in ctor or with
-	//! setQueueToUse
-	MessageQueueIF* queueToUse;
-	//! Pointer to an IPC Store, initialized during construction or
-	StorageManagerIF* ipcStore = nullptr;
+    //! Increase of value of this per step
+    static const uint8_t STEP_OFFSET = 1;
+    //! Pointer to the owner
+    HasActionsIF* owner;
+    //! Queue to be used as response sender, has to be set in ctor or with
+    //! setQueueToUse
+    MessageQueueIF* queueToUse;
+    //! Pointer to an IPC Store, initialized during construction or
+    StorageManagerIF* ipcStore = nullptr;
 
-	/**
-	 * Internal function called by handleActionMessage
-	 * @param commandedBy MessageQueueID of Commander
-	 * @param actionId ID of action to be done
-	 * @param dataAddress Address of additional data in IPC Store
-	 */
-	virtual void prepareExecution(MessageQueueId_t commandedBy,
-	        ActionId_t actionId, store_address_t dataAddress);
-	/**
-	 * @brief Default implementation is empty.
-	 */
-	virtual void resetHelper();
+    /**
+     * Internal function called by handleActionMessage
+     * @param commandedBy MessageQueueID of Commander
+     * @param actionId ID of action to be done
+     * @param dataAddress Address of additional data in IPC Store
+     */
+    virtual void prepareExecution(MessageQueueId_t commandedBy,
+            ActionId_t actionId, store_address_t dataAddress);
+    /**
+     * @brief Default implementation is empty.
+     */
+    virtual void resetHelper();
 };
 
 #endif /* FSFW_ACTION_ACTIONHELPER_H_ */

action/ActionMessage.cpp

@@ -1,7 +1,7 @@
 #include "ActionMessage.h"
 #include "HasActionsIF.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 
 ActionMessage::ActionMessage() {
@@ -11,71 +11,72 @@ ActionMessage::~ActionMessage() {
 }
 
 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
-		store_address_t parameters) {
-	message->setCommand(EXECUTE_ACTION);
-	message->setParameter(fid);
-	message->setParameter2(parameters.raw);
+        store_address_t parameters) {
+    message->setCommand(EXECUTE_ACTION);
+    message->setParameter(fid);
+    message->setParameter2(parameters.raw);
 }
 
 ActionId_t ActionMessage::getActionId(const CommandMessage* message) {
-	return ActionId_t(message->getParameter());
+    return ActionId_t(message->getParameter());
 }
 
 store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
-	store_address_t temp;
-	temp.raw = message->getParameter2();
-	return temp;
+    store_address_t temp;
+    temp.raw = message->getParameter2();
+    return temp;
 }
 
 void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
-		ReturnValue_t result) {
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		message->setCommand(STEP_SUCCESS);
-	} else {
-		message->setCommand(STEP_FAILED);
-	}
-	message->setParameter(fid);
-	message->setParameter2((step << 16) + result);
+        ReturnValue_t result) {
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        message->setCommand(STEP_SUCCESS);
+    } else {
+        message->setCommand(STEP_FAILED);
+    }
+    message->setParameter(fid);
+    message->setParameter2((step << 16) + result);
 }
 
 uint8_t ActionMessage::getStep(const CommandMessage* message) {
-	return uint8_t((message->getParameter2() >> 16) & 0xFF);
+    return uint8_t((message->getParameter2() >> 16) & 0xFF);
 }
 
 ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) {
-	return message->getParameter2() & 0xFFFF;
+    return message->getParameter2() & 0xFFFF;
 }
 
 void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
-		store_address_t data) {
-	message->setCommand(DATA_REPLY);
-	message->setParameter(actionId);
-	message->setParameter2(data.raw);
+        store_address_t data) {
+    message->setCommand(DATA_REPLY);
+    message->setParameter(actionId);
+    message->setParameter2(data.raw);
 }
 
 void ActionMessage::setCompletionReply(CommandMessage* message,
-		ActionId_t fid, ReturnValue_t result) {
-	if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) {
-		message->setCommand(COMPLETION_SUCCESS);
-	} else {
-		message->setCommand(COMPLETION_FAILED);
-	}
-	message->setParameter(fid);
-	message->setParameter2(result);
+        ActionId_t fid, bool success, ReturnValue_t result) {
+    if (success) {
+        message->setCommand(COMPLETION_SUCCESS);
+    }
+    else {
+        message->setCommand(COMPLETION_FAILED);
+    }
+    message->setParameter(fid);
+    message->setParameter2(result);
 }
 
 void ActionMessage::clear(CommandMessage* message) {
-	switch(message->getCommand()) {
-	case EXECUTE_ACTION:
-	case DATA_REPLY: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
-				objects::IPC_STORE);
-		if (ipcStore != NULL) {
-			ipcStore->deleteData(getStoreId(message));
-		}
-		break;
-	}
-	default:
-		break;
-	}
+    switch(message->getCommand()) {
+    case EXECUTE_ACTION:
+    case DATA_REPLY: {
+        StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
+                objects::IPC_STORE);
+        if (ipcStore != NULL) {
+            ipcStore->deleteData(getStoreId(message));
+        }
+        break;
+    }
+    default:
+        break;
+    }
 }

action/ActionMessage.h

@@ -15,29 +15,33 @@ using ActionId_t = uint32_t;
  */
 class ActionMessage {
 private:
-	ActionMessage();
+    ActionMessage();
 public:
-	static const uint8_t MESSAGE_ID = messagetypes::ACTION;
-	static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
-	static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
-	static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
-	static const Command_t DATA_REPLY =  MAKE_COMMAND_ID(4);
-	static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
-	static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
-	virtual ~ActionMessage();
-	static void setCommand(CommandMessage* message, ActionId_t fid,
-			store_address_t parameters);
-	static ActionId_t getActionId(const CommandMessage* message );
-	static store_address_t getStoreId(const CommandMessage* message );
-	static void setStepReply(CommandMessage* message, ActionId_t fid,
-			uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-	static uint8_t getStep(const CommandMessage* message );
-	static ReturnValue_t getReturnCode(const CommandMessage* message );
-	static void setDataReply(CommandMessage* message, ActionId_t actionId,
-			store_address_t data);
-	static void setCompletionReply(CommandMessage* message, ActionId_t fid,
-			ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-	static void clear(CommandMessage* message);
+    static const uint8_t MESSAGE_ID = messagetypes::ACTION;
+    static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
+    static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
+    static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
+    static const Command_t DATA_REPLY =  MAKE_COMMAND_ID(4);
+    static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
+    static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
+
+    virtual ~ActionMessage();
+    static void setCommand(CommandMessage* message, ActionId_t fid,
+            store_address_t parameters);
+
+    static ActionId_t getActionId(const CommandMessage* message );
+    static store_address_t getStoreId(const CommandMessage* message);
+
+    static void setStepReply(CommandMessage* message, ActionId_t fid,
+            uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+    static uint8_t getStep(const CommandMessage* message );
+    static ReturnValue_t getReturnCode(const CommandMessage* message );
+    static void setDataReply(CommandMessage* message, ActionId_t actionId,
+            store_address_t data);
+    static void setCompletionReply(CommandMessage* message, ActionId_t fid,
+            bool success, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+
+    static void clear(CommandMessage* message);
 };
 
 #endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */

action/CMakeLists.txt

@@ -1,7 +1,7 @@
 target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		ActionHelper.cpp
-		ActionMessage.cpp
-		CommandActionHelper.cpp
-		SimpleActionHelper.cpp
+    PRIVATE 
+        ActionHelper.cpp
+        ActionMessage.cpp
+        CommandActionHelper.cpp
+        SimpleActionHelper.cpp
 )

action/CommandActionHelper.cpp

@@ -2,126 +2,127 @@
 #include "CommandActionHelper.h"
 #include "CommandsActionsIF.h"
 #include "HasActionsIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+
+#include "../objectmanager/ObjectManager.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
-		owner(setOwner), queueToUse(NULL), ipcStore(
-		NULL), commandCount(0), lastTarget(0) {
+        owner(setOwner), queueToUse(NULL), ipcStore(
+        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);
-	if (receiver == NULL) {
-		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
-	}
-	store_address_t storeId;
-	uint8_t *storePointer;
-	size_t maxSize = data->getSerializedSize();
-	ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
-			&storePointer);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	size_t size = 0;
-	result = data->serialize(&storePointer, &size, maxSize,
-			SerializeIF::Endianness::BIG);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	return sendCommand(receiver->getCommandQueue(), actionId, storeId);
+        ActionId_t actionId, SerializeIF *data) {
+    HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+    if (receiver == NULL) {
+        return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
+    }
+    store_address_t storeId;
+    uint8_t *storePointer;
+    size_t maxSize = data->getSerializedSize();
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
+            &storePointer);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    size_t size = 0;
+    result = data->serialize(&storePointer, &size, maxSize,
+            SerializeIF::Endianness::BIG);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return sendCommand(receiver->getCommandQueue(), actionId, storeId);
 }
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
-		ActionId_t actionId, const uint8_t *data, uint32_t size) {
-//	if (commandCount != 0) {
-//		return CommandsFunctionsIF::ALREADY_COMMANDING;
-//	}
-	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
-	if (receiver == NULL) {
-		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
-	}
-	store_address_t storeId;
-	ReturnValue_t result = ipcStore->addData(&storeId, data, size);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	return sendCommand(receiver->getCommandQueue(), actionId, storeId);
+        ActionId_t actionId, const uint8_t *data, uint32_t size) {
+//    if (commandCount != 0) {
+//        return CommandsFunctionsIF::ALREADY_COMMANDING;
+//    }
+    HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+    if (receiver == NULL) {
+        return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
+    }
+    store_address_t storeId;
+    ReturnValue_t result = ipcStore->addData(&storeId, data, size);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return sendCommand(receiver->getCommandQueue(), actionId, storeId);
 }
 
 ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
-		ActionId_t actionId, store_address_t storeId) {
-	CommandMessage command;
-	ActionMessage::setCommand(&command, actionId, storeId);
-	ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		ipcStore->deleteData(storeId);
-	}
-	lastTarget = queueId;
-	commandCount++;
-	return result;
+        ActionId_t actionId, store_address_t storeId) {
+    CommandMessage command;
+    ActionMessage::setCommand(&command, actionId, storeId);
+    ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        ipcStore->deleteData(storeId);
+    }
+    lastTarget = queueId;
+    commandCount++;
+    return result;
 }
 
 ReturnValue_t CommandActionHelper::initialize() {
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+    if (ipcStore == NULL) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 
-	queueToUse = owner->getCommandQueuePtr();
-	if (queueToUse == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    queueToUse = owner->getCommandQueuePtr();
+    if (queueToUse == NULL) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
-	if (reply->getSender() != lastTarget) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	switch (reply->getCommand()) {
-	case ActionMessage::COMPLETION_SUCCESS:
-		commandCount--;
-		owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
-		return HasReturnvaluesIF::RETURN_OK;
-	case ActionMessage::COMPLETION_FAILED:
-		commandCount--;
-		owner->completionFailedReceived(ActionMessage::getActionId(reply),
-				ActionMessage::getReturnCode(reply));
-		return HasReturnvaluesIF::RETURN_OK;
-	case ActionMessage::STEP_SUCCESS:
-		owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
-				ActionMessage::getStep(reply));
-		return HasReturnvaluesIF::RETURN_OK;
-	case ActionMessage::STEP_FAILED:
-		commandCount--;
-		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));
-		return HasReturnvaluesIF::RETURN_OK;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+    if (reply->getSender() != lastTarget) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    switch (reply->getCommand()) {
+    case ActionMessage::COMPLETION_SUCCESS:
+        commandCount--;
+        owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
+        return HasReturnvaluesIF::RETURN_OK;
+    case ActionMessage::COMPLETION_FAILED:
+        commandCount--;
+        owner->completionFailedReceived(ActionMessage::getActionId(reply),
+                ActionMessage::getReturnCode(reply));
+        return HasReturnvaluesIF::RETURN_OK;
+    case ActionMessage::STEP_SUCCESS:
+        owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
+                ActionMessage::getStep(reply));
+        return HasReturnvaluesIF::RETURN_OK;
+    case ActionMessage::STEP_FAILED:
+        commandCount--;
+        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));
+        return HasReturnvaluesIF::RETURN_OK;
+    default:
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 }
 
 uint8_t CommandActionHelper::getCommandCount() const {
-	return commandCount;
+    return commandCount;
 }
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-	const uint8_t * data = NULL;
-	size_t size = 0;
-	ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return;
-	}
-	owner->dataReceived(actionId, data, size);
-	ipcStore->deleteData(storeId);
+    const uint8_t * data = NULL;
+    size_t size = 0;
+    ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return;
+    }
+    owner->dataReceived(actionId, data, size);
+    ipcStore->deleteData(storeId);
 }

action/CommandActionHelper.h

@@ -11,26 +11,26 @@
 class CommandsActionsIF;
 
 class CommandActionHelper {
-	friend class CommandsActionsIF;
+    friend class CommandsActionsIF;
 public:
-	CommandActionHelper(CommandsActionsIF* owner);
-	virtual ~CommandActionHelper();
-	ReturnValue_t commandAction(object_id_t commandTo,
-			ActionId_t actionId, const uint8_t* data, uint32_t size);
-	ReturnValue_t commandAction(object_id_t commandTo,
-			ActionId_t actionId, SerializeIF* data);
-	ReturnValue_t initialize();
-	ReturnValue_t handleReply(CommandMessage* reply);
-	uint8_t getCommandCount() const;
+    CommandActionHelper(CommandsActionsIF* owner);
+    virtual ~CommandActionHelper();
+    ReturnValue_t commandAction(object_id_t commandTo,
+            ActionId_t actionId, const uint8_t* data, uint32_t size);
+    ReturnValue_t commandAction(object_id_t commandTo,
+            ActionId_t actionId, SerializeIF* data);
+    ReturnValue_t initialize();
+    ReturnValue_t handleReply(CommandMessage* reply);
+    uint8_t getCommandCount() const;
 private:
-	CommandsActionsIF* owner;
-	MessageQueueIF* queueToUse;
-	StorageManagerIF* ipcStore;
-	uint8_t commandCount;
-	MessageQueueId_t lastTarget;
-	void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
-	ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
-			store_address_t storeId);
+    CommandsActionsIF* owner;
+    MessageQueueIF* queueToUse;
+    StorageManagerIF* ipcStore;
+    uint8_t commandCount;
+    MessageQueueId_t lastTarget;
+    void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
+    ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
+            store_address_t storeId);
 };
 
 #endif /* COMMANDACTIONHELPER_H_ */

action/CommandsActionsIF.h

@@ -15,22 +15,22 @@
  * - replyReceived(id, step, cause) (if cause == OK, it's a success).
  */
 class CommandsActionsIF {
-	friend class CommandActionHelper;
+    friend class CommandActionHelper;
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
-	static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
-	static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
-	virtual ~CommandsActionsIF() {}
-	virtual MessageQueueIF* getCommandQueuePtr() = 0;
+    static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
+    static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
+    static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
+    virtual ~CommandsActionsIF() {}
+    virtual MessageQueueIF* getCommandQueuePtr() = 0;
 protected:
-	virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
-	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
-			ReturnValue_t returnCode) = 0;
-	virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
-			uint32_t size) = 0;
-	virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
-	virtual void completionFailedReceived(ActionId_t actionId,
-			ReturnValue_t returnCode) = 0;
+    virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
+    virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
+            ReturnValue_t returnCode) = 0;
+    virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
+            uint32_t size) = 0;
+    virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
+    virtual void completionFailedReceived(ActionId_t actionId,
+            ReturnValue_t returnCode) = 0;
 };
 
 

action/HasActionsIF.h

@@ -35,28 +35,28 @@
  */
 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 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);
-	virtual ~HasActionsIF() { }
-	/**
-	 * Function to get the MessageQueueId_t of the implementing object
-	 * @return MessageQueueId_t of the object
-	 */
-	virtual MessageQueueId_t getCommandQueue() const = 0;
-	/**
-	 * Execute or initialize the execution of a certain function.
-	 * The ActionHelpers will execute this function and behave differently
-	 * depending on the returnvalue.
-	 *
-	 * @return
-	 * -@c EXECUTION_FINISHED Finish reply will be generated
-	 * -@c Not RETURN_OK Step failure reply will be generated
-	 */
-	virtual ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
+    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 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);
+    virtual ~HasActionsIF() { }
+    /**
+     * Function to get the MessageQueueId_t of the implementing object
+     * @return MessageQueueId_t of the object
+     */
+    virtual MessageQueueId_t getCommandQueue() const = 0;
+    /**
+     * Execute or initialize the execution of a certain function.
+     * The ActionHelpers will execute this function and behave differently
+     * depending on the returnvalue.
+     *
+     * @return
+     * -@c EXECUTION_FINISHED Finish reply will be generated
+     * -@c Not RETURN_OK Step failure reply will be generated
+     */
+    virtual ReturnValue_t executeAction(ActionId_t actionId,
+            MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
 };
 
 

action/SimpleActionHelper.cpp

@@ -2,74 +2,74 @@
 #include "SimpleActionHelper.h"
 
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
-		MessageQueueIF* useThisQueue) :
-		ActionHelper(setOwner, useThisQueue), isExecuting(false) {
+        MessageQueueIF* useThisQueue) :
+        ActionHelper(setOwner, useThisQueue), isExecuting(false) {
 }
 
 SimpleActionHelper::~SimpleActionHelper() {
 }
 
 void SimpleActionHelper::step(ReturnValue_t result) {
-	// STEP_OFFESET is subtracted to compensate for adding offset in base
-	// method, which is not necessary here.
-	ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
-			result);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		resetHelper();
-	}
+    // STEP_OFFESET is subtracted to compensate for adding offset in base
+    // method, which is not necessary here.
+    ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
+            result);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        resetHelper();
+    }
 }
 
 void SimpleActionHelper::finish(ReturnValue_t result) {
-	ActionHelper::finish(lastCommander, lastAction, result);
-	resetHelper();
+    ActionHelper::finish(lastCommander, lastAction, result);
+    resetHelper();
 }
 
 ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) {
-	return ActionHelper::reportData(lastCommander, lastAction, data);
+    return ActionHelper::reportData(lastCommander, lastAction, data);
 }
 
 void SimpleActionHelper::resetHelper() {
-	stepCount = 0;
-	isExecuting = false;
-	lastAction = 0;
-	lastCommander = 0;
+    stepCount = 0;
+    isExecuting = false;
+    lastAction = 0;
+    lastCommander = 0;
 }
 
 void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
-		ActionId_t actionId, store_address_t dataAddress) {
-	CommandMessage reply;
-	if (isExecuting) {
-		ipcStore->deleteData(dataAddress);
-		ActionMessage::setStepReply(&reply, actionId, 0,
-				HasActionsIF::IS_BUSY);
-		queueToUse->sendMessage(commandedBy, &reply);
-	}
-	const uint8_t* dataPtr = NULL;
-	size_t size = 0;
-	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		ActionMessage::setStepReply(&reply, actionId, 0, result);
-		queueToUse->sendMessage(commandedBy, &reply);
-		return;
-	}
-	lastCommander = commandedBy;
-	lastAction = actionId;
-	result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-	ipcStore->deleteData(dataAddress);
-	switch (result) {
-	case HasReturnvaluesIF::RETURN_OK:
-		isExecuting = true;
-		stepCount++;
-		break;
-	case HasActionsIF::EXECUTION_FINISHED:
-		ActionMessage::setCompletionReply(&reply, actionId,
-				HasReturnvaluesIF::RETURN_OK);
-		queueToUse->sendMessage(commandedBy, &reply);
-		break;
-	default:
-		ActionMessage::setStepReply(&reply, actionId, 0, result);
-		queueToUse->sendMessage(commandedBy, &reply);
-		break;
-	}
+        ActionId_t actionId, store_address_t dataAddress) {
+    CommandMessage reply;
+    if (isExecuting) {
+        ipcStore->deleteData(dataAddress);
+        ActionMessage::setStepReply(&reply, actionId, 0,
+                HasActionsIF::IS_BUSY);
+        queueToUse->sendMessage(commandedBy, &reply);
+    }
+    const uint8_t* dataPtr = NULL;
+    size_t size = 0;
+    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        ActionMessage::setStepReply(&reply, actionId, 0, result);
+        queueToUse->sendMessage(commandedBy, &reply);
+        return;
+    }
+    lastCommander = commandedBy;
+    lastAction = actionId;
+    result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+    ipcStore->deleteData(dataAddress);
+    switch (result) {
+    case HasReturnvaluesIF::RETURN_OK:
+        isExecuting = true;
+        stepCount++;
+        break;
+    case HasActionsIF::EXECUTION_FINISHED:
+        ActionMessage::setCompletionReply(&reply, actionId,
+                true, HasReturnvaluesIF::RETURN_OK);
+        queueToUse->sendMessage(commandedBy, &reply);
+        break;
+    default:
+        ActionMessage::setStepReply(&reply, actionId, 0, result);
+        queueToUse->sendMessage(commandedBy, &reply);
+        break;
+    }
 
 }

action/SimpleActionHelper.h

@@ -4,27 +4,27 @@
 #include "ActionHelper.h"
 
 /**
- * @brief	This is an action helper which is only able to service one action
- * 			at a time but remembers last commander and last action which
- * 			simplifies usage
+ * @brief    This is an action helper which is only able to service one action
+ *             at a time but remembers last commander and last action which
+ *             simplifies usage
  */
 class SimpleActionHelper: public ActionHelper {
 public:
-	SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
-	virtual ~SimpleActionHelper();
-	void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-	void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-	ReturnValue_t reportData(SerializeIF* data);
+    SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
+    virtual ~SimpleActionHelper();
+    void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+    void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+    ReturnValue_t reportData(SerializeIF* data);
 
 protected:
-	void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-			store_address_t dataAddress);
-	virtual void resetHelper();
+    void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
+            store_address_t dataAddress);
+    virtual void resetHelper();
 private:
-	bool isExecuting;
-	MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
-	ActionId_t lastAction = 0;
-	uint8_t stepCount = 0;
+    bool isExecuting;
+    MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
+    ActionId_t lastAction = 0;
+    uint8_t stepCount = 0;
 };
 
 #endif /* SIMPLEACTIONHELPER_H_ */

container/ArrayList.h

@@ -6,7 +6,7 @@
 #include "../serialize/SerializeIF.h"
 
 /**
- * @brief 	A List that stores its values in an array.
+ * @brief     A List that stores its values in an array.
  * @details
  * The underlying storage is an array that can be allocated by the class
  * itself or supplied via ctor.
@@ -15,237 +15,237 @@
  */
 template<typename T, typename count_t = uint8_t>
 class ArrayList {
-	template<typename U, typename count> friend class SerialArrayListAdapter;
+    template<typename U, typename count> friend class SerialArrayListAdapter;
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
-	static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
+    static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
+    static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
 
-	/**
-	 * This is the allocating constructor.
-	 * It allocates an array of the specified size.
-	 * @param maxSize
-	 */
-	ArrayList(count_t maxSize) :
-		size(0), maxSize_(maxSize), allocated(true) {
-		entries = new T[maxSize];
-	}
+    /**
+     * This is the allocating constructor.
+     * It allocates an array of the specified size.
+     * @param maxSize
+     */
+    ArrayList(count_t maxSize) :
+        size(0), maxSize_(maxSize), allocated(true) {
+        entries = new T[maxSize];
+    }
 
-	/**
-	 * This is the non-allocating constructor
-	 *
-	 * It expects a pointer to an array of a certain size and initializes
-	 * itself to it.
-	 *
-	 * @param storage the array to use as backend
-	 * @param maxSize size of storage
-	 * @param size size of data already present in storage
-	 */
-	ArrayList(T *storage, count_t maxSize, count_t size = 0) :
-		size(size), entries(storage), maxSize_(maxSize), allocated(false) {
-	}
+    /**
+     * This is the non-allocating constructor
+     *
+     * It expects a pointer to an array of a certain size and initializes
+     * itself to it.
+     *
+     * @param storage the array to use as backend
+     * @param maxSize size of storage
+     * @param size size of data already present in storage
+     */
+    ArrayList(T *storage, count_t maxSize, count_t size = 0) :
+        size(size), entries(storage), maxSize_(maxSize), allocated(false) {
+    }
 
-	/**
-	 * Copying is forbiden by declaring copy ctor and copy assignment deleted
-	 * It is too ambigous in this case.
-	 * (Allocate a new backend? Use the same? What to do in an modifying call?)
-	 */
-	ArrayList(const ArrayList& other) = delete;
-	const ArrayList& operator=(const ArrayList& other) = delete;
+    /**
+     * Copying is forbiden by declaring copy ctor and copy assignment deleted
+     * It is too ambigous in this case.
+     * (Allocate a new backend? Use the same? What to do in an modifying call?)
+     */
+    ArrayList(const ArrayList& other) = delete;
+    const ArrayList& operator=(const ArrayList& other) = delete;
 
-	/**
-	 * Number of Elements stored in this List
-	 */
-	count_t size;
+    /**
+     * Number of Elements stored in this List
+     */
+    count_t size;
 
 
-	/**
-	 * Destructor, if the allocating constructor was used, it deletes the array.
-	 */
-	virtual ~ArrayList() {
-		if (allocated) {
-			delete[] entries;
-		}
-	}
+    /**
+     * Destructor, if the allocating constructor was used, it deletes the array.
+     */
+    virtual ~ArrayList() {
+        if (allocated) {
+            delete[] entries;
+        }
+    }
 
-	/**
-	 * An Iterator to go trough an ArrayList
-	 *
-	 * It stores a pointer to an element and increments the
-	 * pointer when incremented itself.
-	 */
-	class Iterator {
-	public:
-		/**
-		 * Empty ctor, points to NULL
-		 */
-		Iterator(): value(0) {}
+    /**
+     * An Iterator to go trough an ArrayList
+     *
+     * It stores a pointer to an element and increments the
+     * pointer when incremented itself.
+     */
+    class Iterator {
+    public:
+        /**
+         * Empty ctor, points to NULL
+         */
+        Iterator(): value(0) {}
 
-		/**
-		 * Initializes the Iterator to point to an element
-		 *
-		 * @param initialize
-		 */
-		Iterator(T *initialize) {
-			value = initialize;
-		}
+        /**
+         * Initializes the Iterator to point to an element
+         *
+         * @param initialize
+         */
+        Iterator(T *initialize) {
+            value = initialize;
+        }
 
-		/**
-		 * The current element the iterator points to
-		 */
-		T *value;
+        /**
+         * The current element the iterator points to
+         */
+        T *value;
 
-		Iterator& operator++() {
-			value++;
-			return *this;
-		}
+        Iterator& operator++() {
+            value++;
+            return *this;
+        }
 
-		Iterator operator++(int) {
-			Iterator tmp(*this);
-			operator++();
-			return tmp;
-		}
+        Iterator operator++(int) {
+            Iterator tmp(*this);
+            operator++();
+            return tmp;
+        }
 
-		Iterator& operator--() {
-			value--;
-			return *this;
-		}
+        Iterator& operator--() {
+            value--;
+            return *this;
+        }
 
-		Iterator operator--(int) {
-			Iterator tmp(*this);
-			operator--();
-			return tmp;
-		}
+        Iterator operator--(int) {
+            Iterator tmp(*this);
+            operator--();
+            return tmp;
+        }
 
-		T& operator*() {
-			return *value;
-		}
+        T& operator*() {
+            return *value;
+        }
 
-		const T& operator*() const {
-			return *value;
-		}
+        const T& operator*() const {
+            return *value;
+        }
 
-		T *operator->() {
-			return value;
-		}
+        T *operator->() {
+            return value;
+        }
 
-		const T *operator->() const {
-			return value;
-		}
-	};
+        const T *operator->() const {
+            return value;
+        }
+    };
 
-	friend bool operator==(const ArrayList::Iterator& lhs,
-			const ArrayList::Iterator& rhs) {
-		return (lhs.value == rhs.value);
-	}
+    friend bool operator==(const ArrayList::Iterator& lhs,
+            const ArrayList::Iterator& rhs) {
+        return (lhs.value == rhs.value);
+    }
 
-	friend bool operator!=(const ArrayList::Iterator& lhs,
-			const ArrayList::Iterator& rhs) {
-		return not (lhs.value == rhs.value);
-	}
+    friend bool operator!=(const ArrayList::Iterator& lhs,
+            const ArrayList::Iterator& rhs) {
+        return not (lhs.value == rhs.value);
+    }
 
-	/**
-	 * Iterator pointing to the first stored elmement
-	 *
-	 * @return Iterator to the first element
-	 */
-	Iterator begin() const {
-		return Iterator(&entries[0]);
-	}
+    /**
+     * Iterator pointing to the first stored elmement
+     *
+     * @return Iterator to the first element
+     */
+    Iterator begin() const {
+        return Iterator(&entries[0]);
+    }
 
-	/**
-	 * returns an Iterator pointing to the element after the last stored entry
-	 *
-	 * @return Iterator to the element after the last entry
-	 */
-	Iterator end() const {
-		return Iterator(&entries[size]);
-	}
+    /**
+     * returns an Iterator pointing to the element after the last stored entry
+     *
+     * @return Iterator to the element after the last entry
+     */
+    Iterator end() const {
+        return Iterator(&entries[size]);
+    }
 
-	T & operator[](count_t i) const {
-		return entries[i];
-	}
+    T & operator[](count_t i) const {
+        return entries[i];
+    }
 
-	/**
-	 * The first element
-	 *
-	 * @return pointer to the first stored element
-	 */
-	T *front() {
-		return entries;
-	}
+    /**
+     * The first element
+     *
+     * @return pointer to the first stored element
+     */
+    T *front() {
+        return entries;
+    }
 
-	/**
-	 * The last element
-	 *
-	 * does not return a valid pointer if called on an empty list.
-	 *
-	 * @return pointer to the last stored element
-	 */
-	T *back() {
-		return &entries[size - 1];
-		//Alternative solution
-		//return const_cast<T*>(static_cast<const T*>(*this).back());
-	}
+    /**
+     * The last element
+     *
+     * does not return a valid pointer if called on an empty list.
+     *
+     * @return pointer to the last stored element
+     */
+    T *back() {
+        return &entries[size - 1];
+        //Alternative solution
+        //return const_cast<T*>(static_cast<const T*>(*this).back());
+    }
 
-	const T* back() const{
-		return &entries[size-1];
-	}
+    const T* back() const{
+        return &entries[size-1];
+    }
 
-	/**
-	 * The maximum number of elements this List can contain
-	 *
-	 * @return maximum number of elements
-	 */
-	size_t maxSize() const {
-		return this->maxSize_;
-	}
+    /**
+     * The maximum number of elements this List can contain
+     *
+     * @return maximum number of elements
+     */
+    size_t maxSize() const {
+        return this->maxSize_;
+    }
 
-	/**
-	 * Insert a new element into the list.
-	 *
-	 * The new element is inserted after the last stored element.
-	 *
-	 * @param entry
-	 * @return
-	 *          -@c FULL if the List is full
-	 *          -@c RETURN_OK else
-	 */
-	ReturnValue_t insert(T entry) {
-		if (size >= maxSize_) {
-			return FULL;
-		}
-		entries[size] = entry;
-		++size;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    /**
+     * Insert a new element into the list.
+     *
+     * The new element is inserted after the last stored element.
+     *
+     * @param entry
+     * @return
+     *          -@c FULL if the List is full
+     *          -@c RETURN_OK else
+     */
+    ReturnValue_t insert(T entry) {
+        if (size >= maxSize_) {
+            return FULL;
+        }
+        entries[size] = entry;
+        ++size;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
 
-	/**
-	 * clear the List
-	 *
-	 * This does not actually clear all entries, it only sets the size to 0.
-	 */
-	void clear() {
-		size = 0;
-	}
+    /**
+     * clear the List
+     *
+     * This does not actually clear all entries, it only sets the size to 0.
+     */
+    void clear() {
+        size = 0;
+    }
 
-	count_t remaining() {
-		return (maxSize_ - size);
-	}
+    count_t remaining() {
+        return (maxSize_ - size);
+    }
 
 protected:
-	/**
-	 * pointer to the array in which the entries are stored
-	 */
-	T *entries;
-	/**
-	 * remembering the maximum size
-	 */
-	size_t maxSize_;
+    /**
+     * pointer to the array in which the entries are stored
+     */
+    T *entries;
+    /**
+     * remembering the maximum size
+     */
+    size_t maxSize_;
 
-	/**
-	 * true if the array was allocated and needs to be deleted in the destructor.
-	 */
-	bool allocated;
+    /**
+     * true if the array was allocated and needs to be deleted in the destructor.
+     */
+    bool allocated;
 };
 
 

container/BinaryTree.h

@@ -7,65 +7,65 @@
 template<typename Tp>
 class BinaryNode {
 public:
-	BinaryNode(Tp* setValue) :
-			value(setValue), left(NULL), right(NULL), parent(NULL) {
-	}
-	Tp *value;
-	BinaryNode* left;
-	BinaryNode* right;
-	BinaryNode* parent;
+    BinaryNode(Tp* setValue) :
+            value(setValue), left(NULL), right(NULL), parent(NULL) {
+    }
+    Tp *value;
+    BinaryNode* left;
+    BinaryNode* right;
+    BinaryNode* parent;
 };
 
 template<typename Tp>
 class ExplicitNodeIterator {
 public:
-	typedef ExplicitNodeIterator<Tp> _Self;
-	typedef BinaryNode<Tp> _Node;
-	typedef Tp value_type;
-	typedef Tp* pointer;
-	typedef Tp& reference;
-	ExplicitNodeIterator() :
-			element(NULL) {
-	}
-	ExplicitNodeIterator(_Node* node) :
-			element(node) {
-	}
-	BinaryNode<Tp>* element;
-	_Self up() {
-		return _Self(element->parent);
-	}
-	_Self left() {
-		if (element != NULL) {
-			return _Self(element->left);
-		} else {
-			return _Self(NULL);
-		}
+    typedef ExplicitNodeIterator<Tp> _Self;
+    typedef BinaryNode<Tp> _Node;
+    typedef Tp value_type;
+    typedef Tp* pointer;
+    typedef Tp& reference;
+    ExplicitNodeIterator() :
+            element(NULL) {
+    }
+    ExplicitNodeIterator(_Node* node) :
+            element(node) {
+    }
+    BinaryNode<Tp>* element;
+    _Self up() {
+        return _Self(element->parent);
+    }
+    _Self left() {
+        if (element != NULL) {
+            return _Self(element->left);
+        } else {
+            return _Self(NULL);
+        }
 
-	}
-	_Self right() {
-		if (element != NULL) {
-			return _Self(element->right);
-		} else {
-			return _Self(NULL);
-		}
+    }
+    _Self right() {
+        if (element != NULL) {
+            return _Self(element->right);
+        } else {
+            return _Self(NULL);
+        }
 
-	}
-	bool operator==(const _Self& __x) const {
-		return element == __x.element;
-	}
-	bool operator!=(const _Self& __x) const {
-		return element != __x.element;
-	}
+    }
+    bool operator==(const _Self& __x) const {
+        return element == __x.element;
+    }
+    bool operator!=(const _Self& __x) const {
+        return element != __x.element;
+    }
     pointer
     operator->() const {
-    	if (element != NULL) {
-    		return element->value;
-    	} else {
-    		return NULL;
-    	}
+        if (element != NULL) {
+            return element->value;
+        } else {
+            return NULL;
+        }
     }
     pointer operator*() const {
-    	return this->operator->();
+        return this->operator->();
     }
 };
 
@@ -75,77 +75,77 @@ public:
 template<typename Tp>
 class BinaryTree {
 public:
-	typedef ExplicitNodeIterator<Tp> iterator;
-	typedef BinaryNode<Tp> Node;
-	typedef std::pair<iterator, iterator> children;
-	BinaryTree() :
-			rootNode(NULL) {
-	}
-	BinaryTree(Node* rootNode) :
-			rootNode(rootNode) {
-	}
-	iterator begin() const {
-		return iterator(rootNode);
-	}
-	static iterator end() {
-		return iterator(NULL);
-	}
-	iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) {
-		newNode->parent = parentNode.element;
-		if (parentNode.element != NULL) {
-			if (insertLeft) {
-				parentNode.element->left = newNode;
-			} else {
-				parentNode.element->right = newNode;
-			}
-		} else {
-			//Insert first element.
-			rootNode = newNode;
-		}
-		return iterator(newNode);
-	}
-	//No recursion to children. Needs to be done externally.
-	children erase(iterator node) {
-		if (node.element == rootNode) {
-			//We're root node
-			rootNode = NULL;
-		} else {
-			//Delete parent's reference
-			if (node.up().left() == node) {
-				node.up().element->left = NULL;
-			} else {
-				node.up().element->right = NULL;
-			}
-		}
-		return children(node.element->left, node.element->right);
-	}
-	static uint32_t countLeft(iterator start) {
-		if (start == end()) {
-			return 0;
-		}
-		//We also count the start node itself.
-		uint32_t count = 1;
-		while (start.left() != end()) {
-			count++;
-			start = start.left();
-		}
-		return count;
-	}
-	static uint32_t countRight(iterator start) {
-		if (start == end()) {
-			return 0;
-		}
-		//We also count the start node itself.
-		uint32_t count = 1;
-		while (start.right() != end()) {
-			count++;
-			start = start.right();
-		}
-		return count;
-	}
+    typedef ExplicitNodeIterator<Tp> iterator;
+    typedef BinaryNode<Tp> Node;
+    typedef std::pair<iterator, iterator> children;
+    BinaryTree() :
+            rootNode(NULL) {
+    }
+    BinaryTree(Node* rootNode) :
+            rootNode(rootNode) {
+    }
+    iterator begin() const {
+        return iterator(rootNode);
+    }
+    static iterator end() {
+        return iterator(NULL);
+    }
+    iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) {
+        newNode->parent = parentNode.element;
+        if (parentNode.element != NULL) {
+            if (insertLeft) {
+                parentNode.element->left = newNode;
+            } else {
+                parentNode.element->right = newNode;
+            }
+        } else {
+            //Insert first element.
+            rootNode = newNode;
+        }
+        return iterator(newNode);
+    }
+    //No recursion to children. Needs to be done externally.
+    children erase(iterator node) {
+        if (node.element == rootNode) {
+            //We're root node
+            rootNode = NULL;
+        } else {
+            //Delete parent's reference
+            if (node.up().left() == node) {
+                node.up().element->left = NULL;
+            } else {
+                node.up().element->right = NULL;
+            }
+        }
+        return children(node.element->left, node.element->right);
+    }
+    static uint32_t countLeft(iterator start) {
+        if (start == end()) {
+            return 0;
+        }
+        //We also count the start node itself.
+        uint32_t count = 1;
+        while (start.left() != end()) {
+            count++;
+            start = start.left();
+        }
+        return count;
+    }
+    static uint32_t countRight(iterator start) {
+        if (start == end()) {
+            return 0;
+        }
+        //We also count the start node itself.
+        uint32_t count = 1;
+        while (start.right() != end()) {
+            count++;
+            start = start.right();
+        }
+        return count;
+    }
 
 protected:
-	Node* rootNode;
+    Node* rootNode;
 };
 
 

container/CMakeLists.txt

@@ -1,5 +1,5 @@
 target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		SharedRingBuffer.cpp
-		SimpleRingBuffer.cpp
+    PRIVATE 
+        SharedRingBuffer.cpp
+        SimpleRingBuffer.cpp
 )

container/DynamicFIFO.h

@@ -5,8 +5,8 @@
 #include <vector>
 
 /**
- * @brief 	Simple First-In-First-Out data structure. The maximum size
- * 			can be set in the constructor.
+ * @brief     Simple First-In-First-Out data structure. The maximum size
+ *             can be set in the constructor.
  * @details
  * The maximum capacity can be determined at run-time, so this container
  * performs dynamic memory allocation!
@@ -17,39 +17,39 @@
 template<typename T>
 class DynamicFIFO: public FIFOBase<T> {
 public:
-	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
-			fifoVector(maxCapacity)  {
-		// trying to pass the pointer of the uninitialized vector
-		// to the FIFOBase constructor directly lead to a super evil bug.
-		// So we do it like this now.
-		this->setContainer(fifoVector.data());
-	};
+    DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
+            fifoVector(maxCapacity)  {
+        // trying to pass the pointer of the uninitialized vector
+        // to the FIFOBase constructor directly lead to a super evil bug.
+        // So we do it like this now.
+        this->setContainer(fifoVector.data());
+    };
 
-	/**
-	 * @brief	Custom copy constructor which prevents setting the
-	 * 	        underlying pointer wrong. This function allocates memory!
-	 * @details This is a very heavy operation so try to avoid this!
-	 *
-	 */
-	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
-			fifoVector(other.maxCapacity) {
-		this->fifoVector = other.fifoVector;
-		this->setContainer(fifoVector.data());
-	}
+    /**
+     * @brief    Custom copy constructor which prevents setting the
+     *             underlying pointer wrong. This function allocates memory!
+     * @details This is a very heavy operation so try to avoid this!
+     *
+     */
+    DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
+            fifoVector(other.maxCapacity) {
+        this->fifoVector = other.fifoVector;
+        this->setContainer(fifoVector.data());
+    }
 
-	/**
-	 * @brief Custom assignment operator
-	 * @details This is a very heavy operation so try to avoid this!
-	 * @param other DyamicFIFO to copy from
-	 */
-	DynamicFIFO& operator=(const DynamicFIFO& other){
-		FIFOBase<T>::operator=(other);
-		this->fifoVector = other.fifoVector;
-		this->setContainer(fifoVector.data());
-		return *this;
-	}
+    /**
+     * @brief Custom assignment operator
+     * @details This is a very heavy operation so try to avoid this!
+     * @param other DyamicFIFO to copy from
+     */
+    DynamicFIFO& operator=(const DynamicFIFO& other){
+        FIFOBase<T>::operator=(other);
+        this->fifoVector = other.fifoVector;
+        this->setContainer(fifoVector.data());
+        return *this;
+    }
 private:
-	std::vector<T> fifoVector;
+    std::vector<T> fifoVector;
 };
 
 #endif /* FSFW_CONTAINER_DYNAMICFIFO_H_ */

container/FIFO.h

@@ -5,8 +5,8 @@
 #include <array>
 
 /**
- * @brief 	Simple First-In-First-Out data structure with size fixed at
- * 			compile time
+ * @brief     Simple First-In-First-Out data structure with size fixed at
+ *             compile time
  * @details
  * Performs no dynamic memory allocation.
  * The public interface of FIFOBase exposes the user interface for the FIFO.
@@ -16,32 +16,32 @@
 template<typename T, size_t capacity>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(): FIFOBase<T>(nullptr, capacity) {
-		this->setContainer(fifoArray.data());
-	};
+    FIFO(): FIFOBase<T>(nullptr, capacity) {
+        this->setContainer(fifoArray.data());
+    };
 
-	/**
-	 * @brief 	Custom copy constructor to set pointer correctly.
-	 * @param other
-	 */
-	FIFO(const FIFO& other): FIFOBase<T>(other) {
-		this->fifoArray = other.fifoArray;
-		this->setContainer(fifoArray.data());
-	}
+    /**
+     * @brief     Custom copy constructor to set pointer correctly.
+     * @param other
+     */
+    FIFO(const FIFO& other): FIFOBase<T>(other) {
+        this->fifoArray = other.fifoArray;
+        this->setContainer(fifoArray.data());
+    }
 
-	/**
-	 * @brief Custom assignment operator
-	 * @param other
-	 */
-	FIFO& operator=(const FIFO& other){
-		FIFOBase<T>::operator=(other);
-		this->fifoArray = other.fifoArray;
-		this->setContainer(fifoArray.data());
-		return *this;
-	}
+    /**
+     * @brief Custom assignment operator
+     * @param other
+     */
+    FIFO& operator=(const FIFO& other){
+        FIFOBase<T>::operator=(other);
+        this->fifoArray = other.fifoArray;
+        this->setContainer(fifoArray.data());
+        return *this;
+    }
 
 private:
-	std::array<T, capacity> fifoArray;
+    std::array<T, capacity> fifoArray;
 };
 
 #endif /* FSFW_CONTAINER_FIFO_H_ */

container/FIFOBase.h

@@ -8,70 +8,70 @@
 template <typename T>
 class FIFOBase {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
-	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
-	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
+    static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
+    static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
+    static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
 
-	/** Default ctor, takes pointer to first entry of underlying container
-	 *  and maximum capacity */
-	FIFOBase(T* values, const size_t maxCapacity);
+    /** Default ctor, takes pointer to first entry of underlying container
+     *  and maximum capacity */
+    FIFOBase(T* values, const size_t maxCapacity);
 
-	/**
-	 * Insert value into FIFO
-	 * @param value
-	 * @return RETURN_OK on success, FULL if full
-	 */
-	ReturnValue_t insert(T value);
-	/**
-	 * Retrieve item from FIFO. This removes the item from the FIFO.
-	 * @param value Must point to a valid T
-	 * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
-	 */
-	ReturnValue_t retrieve(T *value);
-	/**
-	 * Retrieve item from FIFO without removing it from FIFO.
-	 * @param value Must point to a valid T
-	 * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
-	 */
-	ReturnValue_t peek(T * value);
-	/**
-	 * Remove item from FIFO.
-	 * @return RETURN_OK on success, EMPTY if empty
-	 */
-	ReturnValue_t pop();
+    /**
+     * Insert value into FIFO
+     * @param value
+     * @return RETURN_OK on success, FULL if full
+     */
+    ReturnValue_t insert(T value);
+    /**
+     * Retrieve item from FIFO. This removes the item from the FIFO.
+     * @param value Must point to a valid T
+     * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
+     */
+    ReturnValue_t retrieve(T *value);
+    /**
+     * Retrieve item from FIFO without removing it from FIFO.
+     * @param value Must point to a valid T
+     * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
+     */
+    ReturnValue_t peek(T * value);
+    /**
+     * Remove item from FIFO.
+     * @return RETURN_OK on success, EMPTY if empty
+     */
+    ReturnValue_t pop();
 
-	/***
-	 * Check if FIFO is empty
-	 * @return True if empty, False if not
-	 */
-	bool empty();
-	/***
-	 * Check if FIFO is Full
-	 * @return True if full, False if not
-	 */
-	bool full();
-	/***
-	 *  Current used size (elements) used
-	 * @return size_t in elements
-	 */
-	size_t size();
-	/***
-	 * Get maximal capacity of fifo
-	 * @return size_t with max capacity of this fifo
-	 */
-	size_t getMaxCapacity() const;
+    /***
+     * Check if FIFO is empty
+     * @return True if empty, False if not
+     */
+    bool empty();
+    /***
+     * Check if FIFO is Full
+     * @return True if full, False if not
+     */
+    bool full();
+    /***
+     *  Current used size (elements) used
+     * @return size_t in elements
+     */
+    size_t size();
+    /***
+     * Get maximal capacity of fifo
+     * @return size_t with max capacity of this fifo
+     */
+    size_t getMaxCapacity() const;
 
 protected:
-	void setContainer(T* data);
-	size_t maxCapacity = 0;
+    void setContainer(T* data);
+    size_t maxCapacity = 0;
 
-	T* values;
+    T* values;
 
-	size_t readIndex = 0;
-	size_t writeIndex = 0;
-	size_t currentSize = 0;
+    size_t readIndex = 0;
+    size_t writeIndex = 0;
+    size_t currentSize = 0;
 
-	size_t next(size_t current);
+    size_t next(size_t current);
 };
 
 #include "FIFOBase.tpp"

container/FIFOBase.tpp

@@ -7,87 +7,87 @@
 
 template<typename T>
 inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
-		maxCapacity(maxCapacity), values(values){};
+        maxCapacity(maxCapacity), values(values){};
 
 template<typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
-	if (full()) {
-		return FULL;
-	} else {
-		values[writeIndex] = value;
-		writeIndex = next(writeIndex);
-		++currentSize;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    if (full()) {
+        return FULL;
+    } else {
+        values[writeIndex] = value;
+        writeIndex = next(writeIndex);
+        ++currentSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
 };
 
 template<typename T>
 inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
-	if (empty()) {
-		return EMPTY;
-	} else {
-		if (value == nullptr){
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		*value = values[readIndex];
-		readIndex = next(readIndex);
-		--currentSize;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    if (empty()) {
+        return EMPTY;
+    } else {
+        if (value == nullptr){
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        *value = values[readIndex];
+        readIndex = next(readIndex);
+        --currentSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
 };
 
 template<typename T>
 inline ReturnValue_t FIFOBase<T>::peek(T* value) {
-	if(empty()) {
-		return EMPTY;
-	} else {
-		if (value == nullptr){
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		*value = values[readIndex];
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    if(empty()) {
+        return EMPTY;
+    } else {
+        if (value == nullptr){
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        *value = values[readIndex];
+        return HasReturnvaluesIF::RETURN_OK;
+    }
 };
 
 template<typename T>
 inline ReturnValue_t FIFOBase<T>::pop() {
-	T value;
-	return this->retrieve(&value);
+    T value;
+    return this->retrieve(&value);
 };
 
 template<typename T>
 inline bool FIFOBase<T>::empty() {
-	return (currentSize == 0);
+    return (currentSize == 0);
 };
 
 template<typename T>
 inline bool FIFOBase<T>::full() {
-	return (currentSize == maxCapacity);
+    return (currentSize == maxCapacity);
 }
 
 template<typename T>
 inline size_t FIFOBase<T>::size() {
-	return currentSize;
+    return currentSize;
 }
 
 template<typename T>
 inline size_t FIFOBase<T>::next(size_t current) {
-	++current;
-	if (current == maxCapacity) {
-		current = 0;
-	}
-	return current;
+    ++current;
+    if (current == maxCapacity) {
+        current = 0;
+    }
+    return current;
 }
 
 template<typename T>
 inline size_t FIFOBase<T>::getMaxCapacity() const {
-	return maxCapacity;
+    return maxCapacity;
 }
 
 
 template<typename T>
 inline void FIFOBase<T>::setContainer(T *data) {
-	this->values = data;
+    this->values = data;
 }
 
 #endif

container/FixedArrayList.h

@@ -8,30 +8,32 @@
  */
 template<typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList: public ArrayList<T, count_t> {
-	static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
+#if !defined(_MSC_VER)
+    static_assert(MAX_SIZE <= (std::pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
+#endif
 private:
-	T data[MAX_SIZE];
+    T data[MAX_SIZE];
 public:
-	FixedArrayList() :
-			ArrayList<T, count_t>(data, MAX_SIZE) {
-	}
+    FixedArrayList() :
+            ArrayList<T, count_t>(data, MAX_SIZE) {
+    }
 
-	FixedArrayList(const FixedArrayList& other) :
-			ArrayList<T, count_t>(data, MAX_SIZE) {
-		memcpy(this->data, other.data, sizeof(this->data));
-		this->entries = data;
-		this->size = other.size;
-	}
+    FixedArrayList(const FixedArrayList& other) :
+            ArrayList<T, count_t>(data, MAX_SIZE) {
+        memcpy(this->data, other.data, sizeof(this->data));
+        this->entries = data;
+        this->size = other.size;
+    }
 
-	FixedArrayList& operator=(FixedArrayList other) {
-		memcpy(this->data, other.data, sizeof(this->data));
-		this->entries = data;
-		this->size = other.size;
-		return *this;
-	}
+    FixedArrayList& operator=(FixedArrayList other) {
+        memcpy(this->data, other.data, sizeof(this->data));
+        this->entries = data;
+        this->size = other.size;
+        return *this;
+    }
 
-	virtual ~FixedArrayList() {
-	}
+    virtual ~FixedArrayList() {
+    }
 
 };
 

container/FixedMap.h

@@ -18,212 +18,212 @@
  */
 template<typename key_t, typename T>
 class FixedMap: public SerializeIF {
-	static_assert (std::is_trivially_copyable<T>::value or
-	        std::is_base_of<SerializeIF, T>::value,
-			"Types used in FixedMap must either be trivial copy-able or a "
-			"derived class from SerializeIF to be serialize-able");
+    static_assert (std::is_trivially_copyable<T>::value or
+            std::is_base_of<SerializeIF, T>::value,
+            "Types used in FixedMap must either be trivial copy-able or a "
+            "derived class from SerializeIF to be serialize-able");
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
-	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+    static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
+    static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+    static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
+    static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
 
 private:
-	static const key_t EMPTY_SLOT = -1;
-	ArrayList<std::pair<key_t, T>, uint32_t> theMap;
-	uint32_t _size;
+    static const key_t EMPTY_SLOT = -1;
+    ArrayList<std::pair<key_t, T>, uint32_t> theMap;
+    uint32_t _size;
 
-	uint32_t findIndex(key_t key) const {
-		if (_size == 0) {
-			return 1;
-		}
-		uint32_t i = 0;
-		for (i = 0; i < _size; ++i) {
-			if (theMap[i].first == key) {
-				return i;
-			}
-		}
-		return i;
-	}
+    uint32_t findIndex(key_t key) const {
+        if (_size == 0) {
+            return 1;
+        }
+        uint32_t i = 0;
+        for (i = 0; i < _size; ++i) {
+            if (theMap[i].first == key) {
+                return i;
+            }
+        }
+        return i;
+    }
 public:
-	FixedMap(uint32_t maxSize) :
-			theMap(maxSize), _size(0) {
-	}
+    FixedMap(uint32_t maxSize) :
+            theMap(maxSize), _size(0) {
+    }
 
-	class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
-	public:
-		Iterator() :
-				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
-		}
+    class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
+    public:
+        Iterator() :
+                ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
+        }
 
-		Iterator(std::pair<key_t, T> *pair) :
-				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
-		}
-	};
+        Iterator(std::pair<key_t, T> *pair) :
+                ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
+        }
+    };
 
-	friend bool operator==(const typename FixedMap::Iterator& lhs,
-			const typename FixedMap::Iterator& rhs) {
-		return (lhs.value == rhs.value);
-	}
+    friend bool operator==(const typename FixedMap::Iterator& lhs,
+            const typename FixedMap::Iterator& rhs) {
+        return (lhs.value == rhs.value);
+    }
 
-	friend bool operator!=(const typename FixedMap::Iterator& lhs,
-			const typename FixedMap::Iterator& rhs) {
-		return not (lhs.value == rhs.value);
-	}
+    friend bool operator!=(const typename FixedMap::Iterator& lhs,
+            const typename FixedMap::Iterator& rhs) {
+        return not (lhs.value == rhs.value);
+    }
 
-	Iterator begin() const {
-		return Iterator(&theMap[0]);
-	}
+    Iterator begin() const {
+        return Iterator(&theMap[0]);
+    }
 
-	Iterator end() const {
-		return Iterator(&theMap[_size]);
-	}
+    Iterator end() const {
+        return Iterator(&theMap[_size]);
+    }
 
-	uint32_t size() const {
-		return _size;
-	}
+    uint32_t size() const {
+        return _size;
+    }
 
-	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
-		if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
-			return KEY_ALREADY_EXISTS;
-		}
-		if (_size == theMap.maxSize()) {
-			return MAP_FULL;
-		}
-		theMap[_size].first = key;
-		theMap[_size].second = value;
-		if (storedValue != nullptr) {
-			*storedValue = Iterator(&theMap[_size]);
-		}
-		++_size;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
+        if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
+            return KEY_ALREADY_EXISTS;
+        }
+        if (_size == theMap.maxSize()) {
+            return MAP_FULL;
+        }
+        theMap[_size].first = key;
+        theMap[_size].second = value;
+        if (storedValue != nullptr) {
+            *storedValue = Iterator(&theMap[_size]);
+        }
+        ++_size;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
 
-	ReturnValue_t insert(std::pair<key_t, T> pair) {
-		return insert(pair.first, pair.second);
-	}
+    ReturnValue_t insert(std::pair<key_t, T> pair) {
+        return insert(pair.first, pair.second);
+    }
 
-	ReturnValue_t exists(key_t key) const {
-		ReturnValue_t result = KEY_DOES_NOT_EXIST;
-		if (findIndex(key) < _size) {
-			result = HasReturnvaluesIF::RETURN_OK;
-		}
-		return result;
-	}
+    ReturnValue_t exists(key_t key) const {
+        ReturnValue_t result = KEY_DOES_NOT_EXIST;
+        if (findIndex(key) < _size) {
+            result = HasReturnvaluesIF::RETURN_OK;
+        }
+        return result;
+    }
 
-	ReturnValue_t erase(Iterator *iter) {
-		uint32_t i;
-		if ((i = findIndex((*iter).value->first)) >= _size) {
-			return KEY_DOES_NOT_EXIST;
-		}
-		theMap[i] = theMap[_size - 1];
-		--_size;
-		--((*iter).value);
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    ReturnValue_t erase(Iterator *iter) {
+        uint32_t i;
+        if ((i = findIndex((*iter).value->first)) >= _size) {
+            return KEY_DOES_NOT_EXIST;
+        }
+        theMap[i] = theMap[_size - 1];
+        --_size;
+        --((*iter).value);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
 
-	ReturnValue_t erase(key_t key) {
-		uint32_t i;
-		if ((i = findIndex(key)) >= _size) {
-			return KEY_DOES_NOT_EXIST;
-		}
-		theMap[i] = theMap[_size - 1];
-		--_size;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    ReturnValue_t erase(key_t key) {
+        uint32_t i;
+        if ((i = findIndex(key)) >= _size) {
+            return KEY_DOES_NOT_EXIST;
+        }
+        theMap[i] = theMap[_size - 1];
+        --_size;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
 
-	T *findValue(key_t key) const {
-		return &theMap[findIndex(key)].second;
-	}
+    T *findValue(key_t key) const {
+        return &theMap[findIndex(key)].second;
+    }
 
-	Iterator find(key_t key) const {
-		ReturnValue_t result = exists(key);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return end();
-		}
-		return Iterator(&theMap[findIndex(key)]);
-	}
+    Iterator find(key_t key) const {
+        ReturnValue_t result = exists(key);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return end();
+        }
+        return Iterator(&theMap[findIndex(key)]);
+    }
 
-	ReturnValue_t find(key_t key, T **value) const {
-		ReturnValue_t result = exists(key);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-		*value = &theMap[findIndex(key)].second;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    ReturnValue_t find(key_t key, T **value) const {
+        ReturnValue_t result = exists(key);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+        *value = &theMap[findIndex(key)].second;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
 
-	bool empty() {
-	    if(_size == 0) {
-	        return true;
-	    }
-	    else {
-	        return false;
-	    }
-	}
+    bool empty() {
+        if(_size == 0) {
+            return true;
+        }
+        else {
+            return false;
+        }
+    }
 
-	bool full() {
-	    if(_size >= theMap.maxSize()) {
-	        return true;
-	    }
-	    else {
-	        return false;
-	    }
-	}
+    bool full() {
+        if(_size >= theMap.maxSize()) {
+            return true;
+        }
+        else {
+            return false;
+        }
+    }
 
-	void clear() {
-		_size = 0;
-	}
+    void clear() {
+        _size = 0;
+    }
 
-	uint32_t maxSize() const {
-		return theMap.maxSize();
-	}
+    uint32_t maxSize() const {
+        return theMap.maxSize();
+    }
 
-	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, maxSize, streamEndianness);
-		uint32_t i = 0;
-		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
-			result = SerializeAdapter::serialize(&theMap[i].first, buffer,
-					size, maxSize, streamEndianness);
-			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
-					maxSize, streamEndianness);
-			++i;
-		}
-		return result;
-	}
+    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, maxSize, streamEndianness);
+        uint32_t i = 0;
+        while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
+            result = SerializeAdapter::serialize(&theMap[i].first, buffer,
+                    size, maxSize, streamEndianness);
+            result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
+                    maxSize, streamEndianness);
+            ++i;
+        }
+        return result;
+    }
 
-	virtual size_t getSerializedSize() const {
-		uint32_t printSize = sizeof(_size);
-		uint32_t i = 0;
+    virtual size_t getSerializedSize() const {
+        uint32_t printSize = sizeof(_size);
+        uint32_t i = 0;
 
-		for (i = 0; i < _size; ++i) {
-			printSize += SerializeAdapter::getSerializedSize(
-					&theMap[i].first);
-			printSize += SerializeAdapter::getSerializedSize(&theMap[i].second);
-		}
+        for (i = 0; i < _size; ++i) {
+            printSize += SerializeAdapter::getSerializedSize(
+                    &theMap[i].first);
+            printSize += SerializeAdapter::getSerializedSize(&theMap[i].second);
+        }
 
-		return printSize;
-	}
+        return printSize;
+    }
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) {
-		ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
-				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, streamEndianness);
-			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
-					streamEndianness);
-			++i;
-		}
-		return result;
-	}
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            Endianness streamEndianness) {
+        ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
+                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, streamEndianness);
+            result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
+                    streamEndianness);
+            ++i;
+        }
+        return result;
+    }
 
 };
 

container/FixedOrderedMultimap.h

@@ -34,172 +34,172 @@
 template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
 class FixedOrderedMultimap {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
-	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
+    static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
+    static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
+    static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
 
-	/***
-	 * Constructor which needs a size_t for the maximum allowed size
-	 *
-	 * Can not be resized during runtime
-	 *
-	 * Allocates memory at construction
-	 * @param maxSize size_t of Maximum allowed size
-	 */
+    /***
+     * Constructor which needs a size_t for the maximum allowed size
+     *
+     * Can not be resized during runtime
+     *
+     * Allocates memory at construction
+     * @param maxSize size_t of Maximum allowed size
+     */
     FixedOrderedMultimap(size_t maxSize):theMap(maxSize), _size(0){
     }
 
-	/***
-	 * Virtual destructor frees Memory by deleting its member
-	 */
-	virtual ~FixedOrderedMultimap() {
-	}
+    /***
+     * Virtual destructor frees Memory by deleting its member
+     */
+    virtual ~FixedOrderedMultimap() {
+    }
 
-	/***
-	 * Special iterator for FixedOrderedMultimap
-	 */
-	class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
-	public:
-		Iterator() :
-			ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
-		}
+    /***
+     * Special iterator for FixedOrderedMultimap
+     */
+    class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
+    public:
+        Iterator() :
+            ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
+        }
 
-		Iterator(std::pair<key_t, T> *pair) :
-			ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
-		}
-	};
+        Iterator(std::pair<key_t, T> *pair) :
+            ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
+        }
+    };
 
-	/***
-	 * Returns an iterator pointing to the first element
-	 * @return Iterator pointing to first element
-	 */
-	Iterator begin() const {
-		return Iterator(&theMap[0]);
-	}
+    /***
+     * Returns an iterator pointing to the first element
+     * @return Iterator pointing to first element
+     */
+    Iterator begin() const {
+        return Iterator(&theMap[0]);
+    }
 
-	/**
-	 * Returns an iterator pointing to one element past the end
-	 * @return Iterator pointing to one element past the end
-	 */
-	Iterator end() const {
-		return Iterator(&theMap[_size]);
-	}
+    /**
+     * Returns an iterator pointing to one element past the end
+     * @return Iterator pointing to one element past the end
+     */
+    Iterator end() const {
+        return Iterator(&theMap[_size]);
+    }
 
-	/***
-	 * Returns the current size of the map (not maximum size!)
-	 * @return Current size
-	 */
-	size_t size() const{
-		return _size;
-	}
+    /***
+     * Returns the current size of the map (not maximum size!)
+     * @return Current size
+     */
+    size_t size() const{
+        return _size;
+    }
 
-	/**
-	 * Clears the map, does not deallocate any memory
-	 */
-	void clear(){
-		_size = 0;
-	}
+    /**
+     * Clears the map, does not deallocate any memory
+     */
+    void clear(){
+        _size = 0;
+    }
 
-	/**
-	 * Returns the maximum size of the map
-	 * @return Maximum size of the map
-	 */
-	size_t maxSize() const{
-		return theMap.maxSize();
-	}
+    /**
+     * Returns the maximum size of the map
+     * @return Maximum size of the map
+     */
+    size_t maxSize() const{
+        return theMap.maxSize();
+    }
 
-	/***
-	 * Used to insert a key and value separately.
-	 *
-	 * @param[in] key Key of the new element
-	 * @param[in] value Value of the new element
-	 * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr
-	 * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
-	 */
-	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr);
+    /***
+     * Used to insert a key and value separately.
+     *
+     * @param[in] key Key of the new element
+     * @param[in] value Value of the new element
+     * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr
+     * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
+     */
+    ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr);
 
-	/***
-	 * Used to insert new pair instead of single values
-	 *
-	 * @param pair Pair to be inserted
-	 * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
-	 */
-	ReturnValue_t insert(std::pair<key_t, T> pair);
+    /***
+     * Used to insert new pair instead of single values
+     *
+     * @param pair Pair to be inserted
+     * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
+     */
+    ReturnValue_t insert(std::pair<key_t, T> pair);
 
-	/***
-	 * Can be used to check if a certain key is in the map
-	 * @param key Key to be checked
-	 * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
-	 */
-	ReturnValue_t exists(key_t key) const;
+    /***
+     * Can be used to check if a certain key is in the map
+     * @param key Key to be checked
+     * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
+     */
+    ReturnValue_t exists(key_t key) const;
 
-	/***
-	 * Used to delete the element in the iterator
-	 *
-	 * The iterator will point to the element before or begin(),
-	 *  but never to one element in front of the map.
-	 *
-	 * @warning The iterator needs to be valid and dereferenceable
-	 * @param[in/out] iter Pointer to iterator to the element that needs to be ereased
-	 * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
-	 */
-	ReturnValue_t erase(Iterator *iter);
+    /***
+     * Used to delete the element in the iterator
+     *
+     * The iterator will point to the element before or begin(),
+     *  but never to one element in front of the map.
+     *
+     * @warning The iterator needs to be valid and dereferenceable
+     * @param[in/out] iter Pointer to iterator to the element that needs to be ereased
+     * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
+     */
+    ReturnValue_t erase(Iterator *iter);
 
-	/***
-	 * Used to erase by key
-	 * @param key Key to be erased
-	 * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
-	 */
-	ReturnValue_t erase(key_t key);
+    /***
+     * Used to erase by key
+     * @param key Key to be erased
+     * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
+     */
+    ReturnValue_t erase(key_t key);
 
-	/***
-	 * Find returns the first appearance of the key
-	 *
-	 * If the key does not exist, it points to end()
-	 *
-	 * @param key Key to search for
-	 * @return Iterator pointing to the first entry of key
-	 */
-	Iterator find(key_t key) const{
-		ReturnValue_t result = exists(key);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return end();
-		}
-		return Iterator(&theMap[findFirstIndex(key)]);
-	};
+    /***
+     * Find returns the first appearance of the key
+     *
+     * If the key does not exist, it points to end()
+     *
+     * @param key Key to search for
+     * @return Iterator pointing to the first entry of key
+     */
+    Iterator find(key_t key) const{
+        ReturnValue_t result = exists(key);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return end();
+        }
+        return Iterator(&theMap[findFirstIndex(key)]);
+    };
 
-	/***
-	 * Finds first entry of the given key and returns a
-	 * pointer to the value
-	 *
-	 * @param key Key to search for
-	 * @param value Found value
-	 * @return RETURN_OK if it points to the value,
-	 * KEY_DOES_NOT_EXIST if the key is not in the map
-	 */
-	ReturnValue_t find(key_t key, T **value) const;
+    /***
+     * Finds first entry of the given key and returns a
+     * pointer to the value
+     *
+     * @param key Key to search for
+     * @param value Found value
+     * @return RETURN_OK if it points to the value,
+     * KEY_DOES_NOT_EXIST if the key is not in the map
+     */
+    ReturnValue_t find(key_t key, T **value) const;
 
-	friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
-			const typename FixedOrderedMultimap::Iterator& rhs) {
-		return (lhs.value == rhs.value);
-	}
+    friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
+            const typename FixedOrderedMultimap::Iterator& rhs) {
+        return (lhs.value == rhs.value);
+    }
 
-	friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
-			const typename FixedOrderedMultimap::Iterator& rhs) {
-		return not (lhs.value == rhs.value);
-	}
+    friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
+            const typename FixedOrderedMultimap::Iterator& rhs) {
+        return not (lhs.value == rhs.value);
+    }
 
 private:
-	typedef KEY_COMPARE compare;
-	compare myComp;
-	ArrayList<std::pair<key_t, T>, size_t> theMap;
-	size_t _size;
+    typedef KEY_COMPARE compare;
+    compare myComp;
+    ArrayList<std::pair<key_t, T>, size_t> theMap;
+    size_t _size;
 
-	size_t findFirstIndex(key_t key, size_t startAt = 0) const;
+    size_t findFirstIndex(key_t key, size_t startAt = 0) const;
 
-	size_t findNicePlace(key_t key) const;
+    size_t findNicePlace(key_t key) const;
 
-	void removeFromPosition(size_t position);
+    void removeFromPosition(size_t position);
 };
 
 #include "FixedOrderedMultimap.tpp"

container/FixedOrderedMultimap.tpp

@@ -4,105 +4,105 @@
 
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
-	if (_size == theMap.maxSize()) {
-		return MAP_FULL;
-	}
-	size_t position = findNicePlace(key);
-	memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
-			(_size - position) * sizeof(std::pair<key_t,T>));
-	theMap[position].first = key;
-	theMap[position].second = value;
-	++_size;
-	if (storedValue != nullptr) {
-		*storedValue = Iterator(&theMap[position]);
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    if (_size == theMap.maxSize()) {
+        return MAP_FULL;
+    }
+    size_t position = findNicePlace(key);
+    memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
+            (_size - position) * sizeof(std::pair<key_t,T>));
+    theMap[position].first = key;
+    theMap[position].second = value;
+    ++_size;
+    if (storedValue != nullptr) {
+        *storedValue = Iterator(&theMap[position]);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
-	return insert(pair.first, pair.second);
+    return insert(pair.first, pair.second);
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
-	ReturnValue_t result = KEY_DOES_NOT_EXIST;
-	if (findFirstIndex(key) < _size) {
-		result = HasReturnvaluesIF::RETURN_OK;
-	}
-	return result;
+    ReturnValue_t result = KEY_DOES_NOT_EXIST;
+    if (findFirstIndex(key) < _size) {
+        result = HasReturnvaluesIF::RETURN_OK;
+    }
+    return result;
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
-	size_t i;
-	if ((i = findFirstIndex((*iter).value->first)) >= _size) {
-		return KEY_DOES_NOT_EXIST;
-	}
-	removeFromPosition(i);
-	if (*iter != begin()) {
-		(*iter)--;
-	} else {
-		*iter = begin();
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    size_t i;
+    if ((i = findFirstIndex((*iter).value->first)) >= _size) {
+        return KEY_DOES_NOT_EXIST;
+    }
+    removeFromPosition(i);
+    if (*iter != begin()) {
+        (*iter)--;
+    } else {
+        *iter = begin();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
-	size_t i;
-	if ((i = findFirstIndex(key)) >= _size) {
-		return KEY_DOES_NOT_EXIST;
-	}
-	do {
-		removeFromPosition(i);
-		i = findFirstIndex(key, i);
-	} while (i < _size);
-	return HasReturnvaluesIF::RETURN_OK;
+    size_t i;
+    if ((i = findFirstIndex(key)) >= _size) {
+        return KEY_DOES_NOT_EXIST;
+    }
+    do {
+        removeFromPosition(i);
+        i = findFirstIndex(key, i);
+    } while (i < _size);
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
-	ReturnValue_t result = exists(key);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	*value = &theMap[findFirstIndex(key)].second;
-	return HasReturnvaluesIF::RETURN_OK;
+    ReturnValue_t result = exists(key);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    *value = &theMap[findFirstIndex(key)].second;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
-	if (startAt >= _size) {
-		return startAt + 1;
-	}
-	size_t i = startAt;
-	for (i = startAt; i < _size; ++i) {
-		if (theMap[i].first == key) {
-			return i;
-		}
-	}
-	return i;
+    if (startAt >= _size) {
+        return startAt + 1;
+    }
+    size_t i = startAt;
+    for (i = startAt; i < _size; ++i) {
+        if (theMap[i].first == key) {
+            return i;
+        }
+    }
+    return i;
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
-	size_t i = 0;
-	for (i = 0; i < _size; ++i) {
-		if (myComp(key, theMap[i].first)) {
-			return i;
-		}
-	}
-	return i;
+    size_t i = 0;
+    for (i = 0; i < _size; ++i) {
+        if (myComp(key, theMap[i].first)) {
+            return i;
+        }
+    }
+    return i;
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
 inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
-	if (_size <= position) {
-		return;
-	}
-	memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
-			(_size - position - 1) * sizeof(std::pair<key_t,T>));
-	--_size;
+    if (_size <= position) {
+        return;
+    }
+    memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
+            (_size - position - 1) * sizeof(std::pair<key_t,T>));
+    --_size;
 }
 
 

container/HybridIterator.h

@@ -6,85 +6,85 @@
 
 template<typename T, typename count_t = uint8_t>
 class HybridIterator: public LinkedElement<T>::Iterator,
-		public ArrayList<T, count_t>::Iterator {
+        public ArrayList<T, count_t>::Iterator {
 public:
-	HybridIterator() {}
+    HybridIterator() {}
 
-	HybridIterator(typename LinkedElement<T>::Iterator *iter) :
-		LinkedElement<T>::Iterator(*iter), value(iter->value),
-		linked(true) {
+    HybridIterator(typename LinkedElement<T>::Iterator *iter) :
+        LinkedElement<T>::Iterator(*iter), value(iter->value),
+        linked(true) {
 
-	}
+    }
 
-	HybridIterator(LinkedElement<T> *start) :
-		LinkedElement<T>::Iterator(start), value(start->value),
-		linked(true) {
+    HybridIterator(LinkedElement<T> *start) :
+        LinkedElement<T>::Iterator(start), value(start->value),
+        linked(true) {
 
-	}
+    }
 
-	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) {
-		if (value == this->end) {
-			value = NULL;
-		}
-	}
+    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) {
+        if (value == this->end) {
+            value = NULL;
+        }
+    }
 
-	HybridIterator(T *firstElement, T *lastElement) :
-			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
-			linked(false), end(++lastElement) {
-		if (value == end) {
-			value = NULL;
-		}
-	}
+    HybridIterator(T *firstElement, T *lastElement) :
+            ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
+            linked(false), end(++lastElement) {
+        if (value == end) {
+            value = NULL;
+        }
+    }
 
-	HybridIterator& operator++() {
-		if (linked) {
-			LinkedElement<T>::Iterator::operator++();
-			if (LinkedElement<T>::Iterator::value != nullptr) {
-				value = LinkedElement<T>::Iterator::value->value;
-			} else {
-				value = nullptr;
-			}
-		} else {
-			ArrayList<T, count_t>::Iterator::operator++();
-			value = ArrayList<T, count_t>::Iterator::value;
+    HybridIterator& operator++() {
+        if (linked) {
+            LinkedElement<T>::Iterator::operator++();
+            if (LinkedElement<T>::Iterator::value != nullptr) {
+                value = LinkedElement<T>::Iterator::value->value;
+            } else {
+                value = nullptr;
+            }
+        } else {
+            ArrayList<T, count_t>::Iterator::operator++();
+            value = ArrayList<T, count_t>::Iterator::value;
 
-			if (value == end) {
-				value = nullptr;
-			}
-		}
-		return *this;
-	}
+            if (value == end) {
+                value = nullptr;
+            }
+        }
+        return *this;
+    }
 
-	HybridIterator operator++(int) {
-		HybridIterator tmp(*this);
-		operator++();
-		return tmp;
-	}
+    HybridIterator operator++(int) {
+        HybridIterator tmp(*this);
+        operator++();
+        return tmp;
+    }
 
-	bool operator==(const HybridIterator& other) const {
-		return value == other.value;
-	}
+    bool operator==(const HybridIterator& other) const {
+        return value == other.value;
+    }
 
-	bool operator!=(const HybridIterator& other) const {
-		return !(*this == other);
-	}
+    bool operator!=(const HybridIterator& other) const {
+        return !(*this == other);
+    }
 
-	T operator*() {
-		return *value;
-	}
+    T operator*() {
+        return *value;
+    }
 
-	T *operator->() {
-		return value;
-	}
+    T *operator->() {
+        return value;
+    }
 
-	T* value = nullptr;
+    T* value = nullptr;
 
 private:
-	bool linked = false;
-	T *end = nullptr;
+    bool linked = false;
+    T *end = nullptr;
 };
 
 #endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */

container/PlacementFactory.h

@@ -22,50 +22,50 @@
  */
 class PlacementFactory {
 public:
-	PlacementFactory(StorageManagerIF* backend) :
-			dataBackend(backend) {
-	}
+    PlacementFactory(StorageManagerIF* backend) :
+            dataBackend(backend) {
+    }
 
-	/***
-	 * Generates an object of type T in the backend storage.
-	 *
-	 * @warning Do not use with any Type that allocates memory internally!
-	 *
-	 * @tparam T Type of Object
-	 * @param args Constructor Arguments to be passed
-	 * @return A pointer to the new object or a nullptr in case of failure
-	 */
-	template<typename T, typename ... Args>
-	T* generate(Args&&... args) {
-		store_address_t tempId;
-		uint8_t* pData = nullptr;
-		ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T),
-				&pData);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return nullptr;
-		}
-		T* temp = new (pData) T(std::forward<Args>(args)...);
-		return temp;
-	}
-	/***
-	 * Function to destroy the object allocated with generate and free space in backend.
-	 * This must be called by the user.
-	 *
-	 * @param thisElement Element to be destroyed
-	 * @return RETURN_OK if the element was destroyed, different errors on failure
-	 */
-	template<typename T>
-	ReturnValue_t destroy(T* thisElement) {
-		if (thisElement == nullptr){
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		//Need to call destructor first, in case something was allocated by the object (shouldn't do that, however).
-		thisElement->~T();
-		uint8_t* pointer = (uint8_t*) (thisElement);
-		return dataBackend->deleteData(pointer, sizeof(T));
-	}
+    /***
+     * Generates an object of type T in the backend storage.
+     *
+     * @warning Do not use with any Type that allocates memory internally!
+     *
+     * @tparam T Type of Object
+     * @param args Constructor Arguments to be passed
+     * @return A pointer to the new object or a nullptr in case of failure
+     */
+    template<typename T, typename ... Args>
+    T* generate(Args&&... args) {
+        store_address_t tempId;
+        uint8_t* pData = nullptr;
+        ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T),
+                &pData);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return nullptr;
+        }
+        T* temp = new (pData) T(std::forward<Args>(args)...);
+        return temp;
+    }
+    /***
+     * Function to destroy the object allocated with generate and free space in backend.
+     * This must be called by the user.
+     *
+     * @param thisElement Element to be destroyed
+     * @return RETURN_OK if the element was destroyed, different errors on failure
+     */
+    template<typename T>
+    ReturnValue_t destroy(T* thisElement) {
+        if (thisElement == nullptr){
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        //Need to call destructor first, in case something was allocated by the object (shouldn't do that, however).
+        thisElement->~T();
+        uint8_t* pointer = (uint8_t*) (thisElement);
+        return dataBackend->deleteData(pointer, sizeof(T));
+    }
 private:
-	StorageManagerIF* dataBackend;
+    StorageManagerIF* dataBackend;
 };
 
 #endif /* FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_ */

container/RingBufferBase.h

@@ -7,107 +7,107 @@
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
 public:
-	RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
-			start(startAddress), write(startAddress), size(size),
-			overwriteOld(overwriteOld) {
-		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
-			read[count] = startAddress;
-		}
-	}
+    RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
+            start(startAddress), write(startAddress), size(size),
+            overwriteOld(overwriteOld) {
+        for (uint8_t count = 0; count < N_READ_PTRS; count++) {
+            read[count] = startAddress;
+        }
+    }
 
-	virtual ~RingBufferBase() {}
+    virtual ~RingBufferBase() {}
 
-	bool isFull(uint8_t n = 0) {
-		return (availableWriteSpace(n) == 0);
-	}
-	bool isEmpty(uint8_t n = 0) {
-		return (getAvailableReadData(n) == 0);
-	}
+    bool isFull(uint8_t n = 0) {
+        return (availableWriteSpace(n) == 0);
+    }
+    bool isEmpty(uint8_t n = 0) {
+        return (getAvailableReadData(n) == 0);
+    }
 
-	size_t getAvailableReadData(uint8_t n = 0) const {
-		return ((write + size) - read[n]) % size;
-	}
-	size_t availableWriteSpace(uint8_t n = 0) const  {
-		//One less to avoid ambiguous full/empty problem.
-		return (((read[n] + size) - write - 1) % size);
-	}
+    size_t getAvailableReadData(uint8_t n = 0) const {
+        return ((write + size) - read[n]) % size;
+    }
+    size_t availableWriteSpace(uint8_t n = 0) const  {
+        //One less to avoid ambiguous full/empty problem.
+        return (((read[n] + size) - write - 1) % size);
+    }
 
-	bool overwritesOld() const {
-		return overwriteOld;
-	}
+    bool overwritesOld() const {
+        return overwriteOld;
+    }
 
-	size_t getMaxSize() const {
-		return size - 1;
-	}
+    size_t getMaxSize() const {
+        return size - 1;
+    }
 
-	void clear() {
-		write = start;
-		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
-			read[count] = start;
-		}
-	}
+    void clear() {
+        write = start;
+        for (uint8_t count = 0; count < N_READ_PTRS; count++) {
+            read[count] = start;
+        }
+    }
 
-	size_t writeTillWrap() {
-		return (start + size) - write;
-	}
+    size_t writeTillWrap() {
+        return (start + size) - write;
+    }
 
-	size_t readTillWrap(uint8_t n = 0) {
-		return (start + size) - read[n];
-	}
+    size_t readTillWrap(uint8_t n = 0) {
+        return (start + size) - read[n];
+    }
 
-	size_t getStart() const {
-		return start;
-	}
+    size_t getStart() const {
+        return start;
+    }
 
 protected:
-	const size_t start;
-	size_t write;
-	size_t read[N_READ_PTRS];
-	const size_t size;
-	const bool overwriteOld;
+    const size_t start;
+    size_t write;
+    size_t read[N_READ_PTRS];
+    const size_t size;
+    const bool overwriteOld;
 
-	void incrementWrite(uint32_t amount) {
-		write = ((write + amount - start) % size) + start;
-	}
-	void incrementRead(uint32_t amount, uint8_t n = 0) {
-		read[n] = ((read[n] + amount - start) % size) + start;
-	}
+    void incrementWrite(uint32_t amount) {
+        write = ((write + amount - start) % size) + start;
+    }
+    void incrementRead(uint32_t amount, uint8_t n = 0) {
+        read[n] = ((read[n] + amount - start) % size) + start;
+    }
 
-	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
-		if (getAvailableReadData(n) >= amount) {
-			incrementRead(amount, n);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
+    ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
+        if (getAvailableReadData(n) >= amount) {
+            incrementRead(amount, n);
+            return HasReturnvaluesIF::RETURN_OK;
+        } else {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
 
-	ReturnValue_t writeData(uint32_t amount) {
-		if (availableWriteSpace() >= amount or overwriteOld) {
-			incrementWrite(amount);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
+    ReturnValue_t writeData(uint32_t amount) {
+        if (availableWriteSpace() >= amount or overwriteOld) {
+            incrementWrite(amount);
+            return HasReturnvaluesIF::RETURN_OK;
+        } else {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
 
-	size_t getRead(uint8_t n = 0) const {
-		return read[n];
-	}
+    size_t getRead(uint8_t n = 0) const {
+        return read[n];
+    }
 
-	void setRead(uint32_t read, uint8_t n = 0) {
-		if (read >= start && read < (start+size)) {
-			this->read[n] = read;
-		}
-	}
+    void setRead(uint32_t read, uint8_t n = 0) {
+        if (read >= start && read < (start+size)) {
+            this->read[n] = read;
+        }
+    }
 
-	uint32_t getWrite() const {
-		return write;
-	}
+    uint32_t getWrite() const {
+        return write;
+    }
 
-	void setWrite(uint32_t write) {
-		this->write = write;
-	}
+    void setWrite(uint32_t write) {
+        this->write = write;
+    }
 };
 
 #endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */

container/SharedRingBuffer.cpp

@@ -1,25 +1,28 @@
 #include "SharedRingBuffer.h"
 #include "../ipc/MutexFactory.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexGuard.h"
 
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
-		bool overwriteOld, size_t maxExcessBytes):
-		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
-		maxExcessBytes) {
-	mutex = MutexFactory::instance()->createMutex();
+        bool overwriteOld, size_t maxExcessBytes):
+        SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
+        maxExcessBytes) {
+    mutex = MutexFactory::instance()->createMutex();
 }
 
 
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
-		const size_t size, bool overwriteOld, size_t maxExcessBytes):
-		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
-		maxExcessBytes) {
-	mutex = MutexFactory::instance()->createMutex();
+        const size_t size, bool overwriteOld, size_t maxExcessBytes):
+        SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
+        maxExcessBytes) {
+    mutex = MutexFactory::instance()->createMutex();
 }
 
+SharedRingBuffer::~SharedRingBuffer() {
+    MutexFactory::instance()->deleteMutex(mutex);
+}
 
 void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
-	this->fifoDepth = fifoDepth;
+    this->fifoDepth = fifoDepth;
 }
 
 ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
@@ -38,20 +41,20 @@ MutexIF* SharedRingBuffer::getMutexHandle() const {
 }
 
 ReturnValue_t SharedRingBuffer::initialize() {
-	if(fifoDepth > 0) {
-		receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
-	}
-	return SystemObject::initialize();
+    if(fifoDepth > 0) {
+        receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
+    }
+    return SystemObject::initialize();
 }
 
 DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
-	if(receiveSizesFIFO == nullptr) {
-		// Configuration error.
+    if(receiveSizesFIFO == nullptr) {
+        // Configuration error.
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
-				<< " was not configured to have sizes FIFO, returning nullptr!"
-				<< std::endl;
+        sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
+                << " was not configured to have sizes FIFO, returning nullptr!"
+                << std::endl;
 #endif
-	}
-	return receiveSizesFIFO;
+    }
+    return receiveSizesFIFO;
 }

container/SharedRingBuffer.h

@@ -15,76 +15,79 @@
  * and unlock operations.
  */
 class SharedRingBuffer: public SystemObject,
-		public SimpleRingBuffer {
+        public SimpleRingBuffer {
 public:
-	/**
-	 * This constructor allocates a new internal buffer with the supplied size.
-	 * @param size
-	 * @param overwriteOld
-	 * If the ring buffer is overflowing at a write operartion, the oldest data
-	 * will be overwritten.
-	 */
-	SharedRingBuffer(object_id_t objectId, const size_t size,
-			bool overwriteOld, size_t maxExcessBytes);
+    /**
+     * This constructor allocates a new internal buffer with the supplied size.
+     * @param size
+     * @param overwriteOld
+     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+     */
+    SharedRingBuffer(object_id_t objectId, const size_t size,
+            bool overwriteOld, size_t maxExcessBytes);
+    /**
+     * This constructor takes an external buffer with the specified size.
+     * @param buffer
+     * @param size
+     * @param overwriteOld
+     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+     */
+    SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
+            bool overwriteOld, size_t maxExcessBytes);
 
-	/**
-	 * @brief	This function can be used to add an optional FIFO to the class
-	 * @details 
-	 * This FIFO will be allocated in the initialize function (and will
-	 * have a fixed maximum size after that). It can be used to store
-	 * values like packet sizes, for example for a shared ring buffer
-	 * used by producer/consumer tasks.
-	 */
-	void setToUseReceiveSizeFIFO(size_t fifoDepth);
+    virtual~ SharedRingBuffer();
 
-	/**
-	 * This constructor takes an external buffer with the specified size.
-	 * @param buffer
-	 * @param size
-	 * @param overwriteOld
-	 * If the ring buffer is overflowing at a write operartion, the oldest data
-	 * will be overwritten.
-	 */
-	SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
-			bool overwriteOld, size_t maxExcessBytes);
+    /**
+     * @brief    This function can be used to add an optional FIFO to the class
+     * @details 
+     * This FIFO will be allocated in the initialize function (and will
+     * have a fixed maximum size after that). It can be used to store
+     * values like packet sizes, for example for a shared ring buffer
+     * used by producer/consumer tasks.
+     */
+    void setToUseReceiveSizeFIFO(size_t fifoDepth);
 
-	/**
-	 * Unless a read-only constant value is read, all operations on the
-	 * shared ring buffer should be protected by calling this function.
-	 * @param timeoutType
-	 * @param timeout
-	 * @return
-	 */
-	virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
-	        dur_millis_t timeout);
-	/**
-	 * Any locked mutex also has to be unlocked, otherwise, access to the
-	 * shared ring buffer will be blocked.
-	 * @return
-	 */
-	virtual ReturnValue_t unlockRingBufferMutex();
 
-	/**
-	 * The mutex handle can be accessed directly, for example to perform
-	 * the lock with the #MutexHelper for a RAII compliant lock operation.
-	 * @return
-	 */
-	MutexIF* getMutexHandle() const;
 
-	ReturnValue_t initialize() override;
+    /**
+     * Unless a read-only constant value is read, all operations on the
+     * shared ring buffer should be protected by calling this function.
+     * @param timeoutType
+     * @param timeout
+     * @return
+     */
+    virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
+            dur_millis_t timeout);
+    /**
+     * Any locked mutex also has to be unlocked, otherwise, access to the
+     * shared ring buffer will be blocked.
+     * @return
+     */
+    virtual ReturnValue_t unlockRingBufferMutex();
 
-	/**
-	 * If the shared ring buffer was configured to have a sizes FIFO, a handle
-	 * to that FIFO can be retrieved with this function.
-	 * Do not forget to protect access with a lock if required!
-	 * @return
-	 */
-	DynamicFIFO<size_t>* getReceiveSizesFIFO();
+    /**
+     * The mutex handle can be accessed directly, for example to perform
+     * the lock with the #MutexGuard for a RAII compliant lock operation.
+     * @return
+     */
+    MutexIF* getMutexHandle() const;
+
+    ReturnValue_t initialize() override;
+
+    /**
+     * If the shared ring buffer was configured to have a sizes FIFO, a handle
+     * to that FIFO can be retrieved with this function.
+     * Do not forget to protect access with a lock if required!
+     * @return
+     */
+    DynamicFIFO<size_t>* getReceiveSizesFIFO();
 private:
-	MutexIF* mutex = nullptr;
+    MutexIF* mutex = nullptr;
 
-	size_t fifoDepth = 0;
-	DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
+    size_t fifoDepth = 0;
+    DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
 };
 
 

container/SimpleRingBuffer.cpp

@@ -2,31 +2,31 @@
 #include <cstring>
 
 SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
-		size_t maxExcessBytes) :
-		RingBufferBase<>(0, size, overwriteOld),
-		maxExcessBytes(maxExcessBytes) {
-	if(maxExcessBytes > size) {
-		this->maxExcessBytes = size;
-	}
-	else {
-		this->maxExcessBytes = maxExcessBytes;
-	}
-	buffer = new uint8_t[size + maxExcessBytes];
+        size_t maxExcessBytes) :
+        RingBufferBase<>(0, size, overwriteOld),
+        maxExcessBytes(maxExcessBytes) {
+    if(maxExcessBytes > size) {
+        this->maxExcessBytes = size;
+    }
+    else {
+        this->maxExcessBytes = maxExcessBytes;
+    }
+    buffer = new uint8_t[size + maxExcessBytes];
 }
 
 SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
-		bool overwriteOld, size_t maxExcessBytes):
+        bool overwriteOld, size_t maxExcessBytes):
         RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
-	if(maxExcessBytes > size) {
-		this->maxExcessBytes = size;
-	}
-	else {
-		this->maxExcessBytes = maxExcessBytes;
-	}
+    if(maxExcessBytes > size) {
+        this->maxExcessBytes = size;
+    }
+    else {
+        this->maxExcessBytes = maxExcessBytes;
+    }
 }
 
 SimpleRingBuffer::~SimpleRingBuffer() {
-	delete[] buffer;
+    delete[] buffer;
 }
 
 ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
@@ -48,58 +48,58 @@ ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
 }
 
 void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
-	if(getExcessBytes() > 0) {
-		moveExcessBytesToStart();
-	}
-	incrementWrite(amount);
+    if(getExcessBytes() > 0) {
+        moveExcessBytesToStart();
+    }
+    incrementWrite(amount);
 
 }
 
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
-		size_t amount) {
-	if (availableWriteSpace() >= amount or overwriteOld) {
-		size_t amountTillWrap = writeTillWrap();
-		if (amountTillWrap >= amount) {
-			// remaining size in buffer is sufficient to fit full amount.
-			memcpy(&buffer[write], data, amount);
-		}
-		else {
-			memcpy(&buffer[write], data, amountTillWrap);
-			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
-		}
-		incrementWrite(amount);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+        size_t amount) {
+    if (availableWriteSpace() >= amount or overwriteOld) {
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap >= amount) {
+            // remaining size in buffer is sufficient to fit full amount.
+            memcpy(&buffer[write], data, amount);
+        }
+        else {
+            memcpy(&buffer[write], data, amountTillWrap);
+            memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
+        }
+        incrementWrite(amount);
+        return HasReturnvaluesIF::RETURN_OK;
+    } else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 }
 
 ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
-		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
-	size_t availableData = getAvailableReadData(READ_PTR);
-	size_t amountTillWrap = readTillWrap(READ_PTR);
-	if (availableData < amount) {
-		if (readRemaining) {
-			// more data available than amount specified.
-			amount = availableData;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	if (trueAmount != nullptr) {
-		*trueAmount = amount;
-	}
-	if (amountTillWrap >= amount) {
-		memcpy(data, &buffer[read[READ_PTR]], amount);
-	} else {
-		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
-		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
-	}
+        bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
+    size_t availableData = getAvailableReadData(READ_PTR);
+    size_t amountTillWrap = readTillWrap(READ_PTR);
+    if (availableData < amount) {
+        if (readRemaining) {
+            // more data available than amount specified.
+            amount = availableData;
+        } else {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+    if (trueAmount != nullptr) {
+        *trueAmount = amount;
+    }
+    if (amountTillWrap >= amount) {
+        memcpy(data, &buffer[read[READ_PTR]], amount);
+    } else {
+        memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
+        memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
+    }
 
-	if(incrementReadPtr) {
-		deleteData(amount, readRemaining);
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    if(incrementReadPtr) {
+        deleteData(amount, readRemaining);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 size_t SimpleRingBuffer::getExcessBytes() const {
@@ -114,18 +114,18 @@ void SimpleRingBuffer::moveExcessBytesToStart() {
 }
 
 ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
-		bool deleteRemaining, size_t* trueAmount) {
-	size_t availableData = getAvailableReadData(READ_PTR);
-	if (availableData < amount) {
-		if (deleteRemaining) {
-			amount = availableData;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	if (trueAmount != nullptr) {
-		*trueAmount = amount;
-	}
-	incrementRead(amount, READ_PTR);
-	return HasReturnvaluesIF::RETURN_OK;
+        bool deleteRemaining, size_t* trueAmount) {
+    size_t availableData = getAvailableReadData(READ_PTR);
+    if (availableData < amount) {
+        if (deleteRemaining) {
+            amount = availableData;
+        } else {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+    if (trueAmount != nullptr) {
+        *trueAmount = amount;
+    }
+    incrementRead(amount, READ_PTR);
+    return HasReturnvaluesIF::RETURN_OK;
 }

container/SimpleRingBuffer.h

@@ -5,7 +5,7 @@
 #include <cstddef>
 
 /**
- * @brief 	Circular buffer implementation, useful for buffering
+ * @brief     Circular buffer implementation, useful for buffering
  *          into data streams.
  * @details
  * Note that the deleteData() has to be called to increment the read pointer.
@@ -25,104 +25,104 @@ public:
      * with getFreeElement.
      *
      */
-	SimpleRingBuffer(const size_t size, bool overwriteOld,
-	        size_t maxExcessBytes = 0);
-	/**
-	 * This constructor takes an external buffer with the specified size.
-	 * @param buffer
-	 * @param size
-	 * @param overwriteOld
-	 * If the ring buffer is overflowing at a write operartion, the oldest data
+    SimpleRingBuffer(const size_t size, bool overwriteOld,
+            size_t maxExcessBytes = 0);
+    /**
+     * This constructor takes an external buffer with the specified size.
+     * @param buffer
+     * @param size
+     * @param overwriteOld
+     * If the ring buffer is overflowing at a write operartion, the oldest data
      * will be overwritten.
-	 * @param maxExcessBytes
-	 * If the buffer can accomodate additional bytes for contigous write
-	 * operations with getFreeElement, this is the maximum allowed additional
-	 * size
-	 */
-	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
-	        size_t maxExcessBytes = 0);
+     * @param maxExcessBytes
+     * If the buffer can accomodate additional bytes for contigous write
+     * operations with getFreeElement, this is the maximum allowed additional
+     * size
+     */
+    SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+            size_t maxExcessBytes = 0);
 
-	virtual ~SimpleRingBuffer();
+    virtual ~SimpleRingBuffer();
 
-	/**
-	 * Write to circular buffer and increment write pointer by amount.
-	 * @param data
-	 * @param amount
-	 * @return -@c RETURN_OK if write operation was successfull
-	 * -@c RETURN_FAILED if
-	 */
-	ReturnValue_t writeData(const uint8_t* data, size_t amount);
+    /**
+     * Write to circular buffer and increment write pointer by amount.
+     * @param data
+     * @param amount
+     * @return -@c RETURN_OK if write operation was successfull
+     * -@c RETURN_FAILED if
+     */
+    ReturnValue_t writeData(const uint8_t* data, size_t amount);
 
-	/**
-	 * Returns a pointer to a free element. If the remaining buffer is
-	 * not large enough, the data will be written past the actual size
-	 * and the amount of excess bytes will be cached. This function
-	 * does not increment the write pointer!
-	 * @param writePointer Pointer to a pointer which can be used to write
-	 * contiguous blocks into the ring buffer
-	 * @param amount
-	 * @return
-	 */
-	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
+    /**
+     * Returns a pointer to a free element. If the remaining buffer is
+     * not large enough, the data will be written past the actual size
+     * and the amount of excess bytes will be cached. This function
+     * does not increment the write pointer!
+     * @param writePointer Pointer to a pointer which can be used to write
+     * contiguous blocks into the ring buffer
+     * @param amount
+     * @return
+     */
+    ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
 
-	/**
-	 * This increments the write pointer and also copies the excess bytes
-	 * to the beginning. It should be called if the write operation
-	 * conducted after calling getFreeElement() was performed.
-	 * @return
-	 */
-	void confirmBytesWritten(size_t amount);
+    /**
+     * This increments the write pointer and also copies the excess bytes
+     * to the beginning. It should be called if the write operation
+     * conducted after calling getFreeElement() was performed.
+     * @return
+     */
+    void confirmBytesWritten(size_t amount);
 
-	virtual size_t getExcessBytes() const;
-	/**
-	 * Helper functions which moves any excess bytes to the start
-	 * of the ring buffer.
-	 * @return
-	 */
-	virtual void moveExcessBytesToStart();
+    virtual size_t getExcessBytes() const;
+    /**
+     * Helper functions which moves any excess bytes to the start
+     * of the ring buffer.
+     * @return
+     */
+    virtual void moveExcessBytesToStart();
 
-	/**
-	 * Read from circular buffer at read pointer.
-	 * @param data
-	 * @param amount
-	 * @param incrementReadPtr
-	 * If this is set to true, the read pointer will be incremented.
-	 * If readRemaining is set to true, the read pointer will be incremented
-	 * accordingly.
-	 * @param readRemaining
-	 * If this is set to true, the data will be read even if the amount
-	 * specified exceeds the read data available.
-	 * @param trueAmount [out]
-	 * If readRemaining was set to true, the true amount read will be assigned
-	 * to the passed value.
-	 * @return
-	 * - @c RETURN_OK if data was read successfully
-	 * - @c RETURN_FAILED if not enough data was available and readRemaining
-	 *      was set to false.
-	 */
-	ReturnValue_t readData(uint8_t* data, size_t amount,
-			bool incrementReadPtr = false, bool readRemaining = false,
-			size_t* trueAmount = nullptr);
+    /**
+     * Read from circular buffer at read pointer.
+     * @param data
+     * @param amount
+     * @param incrementReadPtr
+     * If this is set to true, the read pointer will be incremented.
+     * If readRemaining is set to true, the read pointer will be incremented
+     * accordingly.
+     * @param readRemaining
+     * If this is set to true, the data will be read even if the amount
+     * specified exceeds the read data available.
+     * @param trueAmount [out]
+     * If readRemaining was set to true, the true amount read will be assigned
+     * to the passed value.
+     * @return
+     * - @c RETURN_OK if data was read successfully
+     * - @c RETURN_FAILED if not enough data was available and readRemaining
+     *      was set to false.
+     */
+    ReturnValue_t readData(uint8_t* data, size_t amount,
+            bool incrementReadPtr = false, bool readRemaining = false,
+            size_t* trueAmount = nullptr);
 
-	/**
-	 * Delete data by incrementing read pointer.
-	 * @param amount
-	 * @param deleteRemaining
-	 * If the amount specified is larger than the remaing size to read and this
-	 * is set to true, the remaining amount will be deleted as well
-	 * @param trueAmount [out]
-	 * If deleteRemaining was set to true, the amount deleted will be assigned
-	 * to the passed value.
-	 * @return
-	 */
-	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
-	        size_t* trueAmount = nullptr);
+    /**
+     * Delete data by incrementing read pointer.
+     * @param amount
+     * @param deleteRemaining
+     * If the amount specified is larger than the remaing size to read and this
+     * is set to true, the remaining amount will be deleted as well
+     * @param trueAmount [out]
+     * If deleteRemaining was set to true, the amount deleted will be assigned
+     * to the passed value.
+     * @return
+     */
+    ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
+            size_t* trueAmount = nullptr);
 
 private:
-	static const uint8_t READ_PTR = 0;
-	uint8_t* buffer = nullptr;
-	size_t maxExcessBytes;
-	size_t excessBytes = 0;
+    static const uint8_t READ_PTR = 0;
+    uint8_t* buffer = nullptr;
+    size_t maxExcessBytes;
+    size_t excessBytes = 0;
 };
 
 #endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */

container/SinglyLinkedList.h

@@ -5,71 +5,71 @@
 #include <cstdint>
 
 /**
- * @brief	Linked list data structure,
- * 			each entry has a pointer to the next entry (singly)
+ * @brief    Linked list data structure,
+ *             each entry has a pointer to the next entry (singly)
  * @ingroup container
  */
 template<typename T>
 class LinkedElement {
 public:
-	T *value;
-	class Iterator {
-	public:
-		LinkedElement<T> *value = nullptr;
-		Iterator() {}
+    T *value;
+    class Iterator {
+    public:
+        LinkedElement<T> *value = nullptr;
+        Iterator() {}
 
-		Iterator(LinkedElement<T> *element) :
-				value(element) {
-		}
+        Iterator(LinkedElement<T> *element) :
+                value(element) {
+        }
 
-		Iterator& operator++() {
-			value = value->getNext();
-			return *this;
-		}
+        Iterator& operator++() {
+            value = value->getNext();
+            return *this;
+        }
 
-		Iterator operator++(int) {
-			Iterator tmp(*this);
-			operator++();
-			return tmp;
-		}
+        Iterator operator++(int) {
+            Iterator tmp(*this);
+            operator++();
+            return tmp;
+        }
 
-		bool operator==(Iterator other) {
-			return value == other.value;
-		}
+        bool operator==(Iterator other) {
+            return value == other.value;
+        }
 
-		bool operator!=(Iterator other) {
-			return !(*this == other);
-		}
-		T *operator->() {
-			return value->value;
-		}
-	};
+        bool operator!=(Iterator other) {
+            return !(*this == other);
+        }
+        T *operator->() {
+            return value->value;
+        }
+    };
 
-	LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
-	       value(setElement), next(setNext) {}
+    LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
+           value(setElement), next(setNext) {}
 
-	virtual ~LinkedElement(){}
+    virtual ~LinkedElement(){}
 
-	virtual LinkedElement* getNext() const {
-		return next;
-	}
+    virtual LinkedElement* getNext() const {
+        return next;
+    }
 
-	virtual void setNext(LinkedElement* next) {
-		this->next = next;
-	}
+    virtual void setNext(LinkedElement* next) {
+        this->next = next;
+    }
 
-	virtual void setEnd() {
-	    this->next = nullptr;
-	}
+    virtual void setEnd() {
+        this->next = nullptr;
+    }
 
-	LinkedElement* begin() {
-		return this;
-	}
-	LinkedElement* end() {
-		return nullptr;
-	}
+    LinkedElement* begin() {
+        return this;
+    }
+    LinkedElement* end() {
+        return nullptr;
+    }
 private:
-	LinkedElement *next;
+    LinkedElement *next;
 };
 
 template<typename T>
@@ -77,52 +77,52 @@ class SinglyLinkedList {
 public:
     using ElementIterator = typename LinkedElement<T>::Iterator;
 
-	SinglyLinkedList() {}
+    SinglyLinkedList() {}
 
-	SinglyLinkedList(ElementIterator start) :
-			start(start.value) {}
+    SinglyLinkedList(ElementIterator start) :
+            start(start.value) {}
 
-	SinglyLinkedList(LinkedElement<T>* startElement) :
-			start(startElement) {}
+    SinglyLinkedList(LinkedElement<T>* startElement) :
+            start(startElement) {}
 
-	ElementIterator begin() const {
-		return ElementIterator::Iterator(start);
-	}
+    ElementIterator begin() const {
+        return ElementIterator::Iterator(start);
+    }
 
-	/** Returns iterator to nulltr */
-	ElementIterator end() const {
-		return ElementIterator::Iterator();
-	}
+    /** 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->getNext() != nullptr) {
-	        element = element->getNext();
-	    }
-	    return ElementIterator::Iterator(element);
-	}
+    /**
+     * Returns last element in singly linked list.
+     * @return
+     */
+    ElementIterator back() const {
+        LinkedElement<T> *element = start;
+        while (element->getNext() != nullptr) {
+            element = element->getNext();
+        }
+        return ElementIterator::Iterator(element);
+    }
 
-	size_t getSize() const {
-		size_t size = 0;
-		LinkedElement<T> *element = start;
-		while (element != nullptr) {
-			size++;
-			element = element->getNext();
-		}
-		return size;
-	}
-	void setStart(LinkedElement<T>* firstElement) {
-		start = firstElement;
-	}
+    size_t getSize() const {
+        size_t size = 0;
+        LinkedElement<T> *element = start;
+        while (element != nullptr) {
+            size++;
+            element = element->getNext();
+        }
+        return size;
+    }
+    void setStart(LinkedElement<T>* firstElement) {
+        start = firstElement;
+    }
 
-	void setNext(LinkedElement<T>* currentElement,
-	        LinkedElement<T>* nextElement) {
-	    currentElement->setNext(nextElement);
-	}
+    void setNext(LinkedElement<T>* currentElement,
+            LinkedElement<T>* nextElement) {
+        currentElement->setNext(nextElement);
+    }
 
     void setLast(LinkedElement<T>* lastElement) {
         lastElement->setEnd();
@@ -148,7 +148,7 @@ public:
     }
 
 protected:
-	LinkedElement<T> *start = nullptr;
+    LinkedElement<T> *start = nullptr;
 };
 
 #endif /* SINGLYLINKEDLIST_H_ */

controller/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		ControllerBase.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE 
+    ControllerBase.cpp
+    ExtendedControllerBase.cpp
 )

controller/ControllerBase.cpp

@@ -3,130 +3,131 @@
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 #include "../action/HasActionsIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
-		size_t commandQueueDepth) :
-		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
-		submode(SUBMODE_NONE), modeHelper(this),
-		healthHelper(this, setObjectId) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(
-	        commandQueueDepth);
+        size_t commandQueueDepth) :
+        SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
+        submode(SUBMODE_NONE), modeHelper(this),
+        healthHelper(this, setObjectId) {
+    commandQueue = QueueFactory::instance()->createMessageQueue(
+            commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() {
-	QueueFactory::instance()->deleteMessageQueue(commandQueue);
+    QueueFactory::instance()->deleteMessageQueue(commandQueue);
 }
 
 ReturnValue_t ControllerBase::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
+    ReturnValue_t result = SystemObject::initialize();
+    if (result != RETURN_OK) {
+        return result;
+    }
 
-	MessageQueueId_t parentQueue = 0;
-	if (parentId != objects::NO_OBJECT) {
-		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == nullptr) {
-			return RETURN_FAILED;
-		}
-		parentQueue = parent->getCommandQueue();
+    MessageQueueId_t parentQueue = 0;
+    if (parentId != objects::NO_OBJECT) {
+        SubsystemBase *parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+        if (parent == nullptr) {
+            return RETURN_FAILED;
+        }
+        parentQueue = parent->getCommandQueue();
 
-		parent->registerChild(getObjectId());
-	}
+        parent->registerChild(getObjectId());
+    }
 
-	result = healthHelper.initialize(parentQueue);
-	if (result != RETURN_OK) {
-		return result;
-	}
+    result = healthHelper.initialize(parentQueue);
+    if (result != RETURN_OK) {
+        return result;
+    }
 
-	result = modeHelper.initialize(parentQueue);
-	if (result != RETURN_OK) {
-		return result;
-	}
+    result = modeHelper.initialize(parentQueue);
+    if (result != RETURN_OK) {
+        return result;
+    }
 
-	return RETURN_OK;
+    return RETURN_OK;
 }
 
 MessageQueueId_t ControllerBase::getCommandQueue() const {
-	return commandQueue->getId();
+    return commandQueue->getId();
 }
 
 void ControllerBase::handleQueue() {
-	CommandMessage command;
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	for (result = commandQueue->receiveMessage(&command);
-	        result == RETURN_OK;
-			result = commandQueue->receiveMessage(&command)) {
+    CommandMessage command;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    for (result = commandQueue->receiveMessage(&command);
+            result == RETURN_OK;
+            result = commandQueue->receiveMessage(&command)) {
 
-		result = modeHelper.handleModeCommand(&command);
-		if (result == RETURN_OK) {
-			continue;
-		}
+        result = modeHelper.handleModeCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
 
-		result = healthHelper.handleHealthCommand(&command);
-		if (result == RETURN_OK) {
-			continue;
-		}
-		result = handleCommandMessage(&command);
-		if (result == RETURN_OK) {
-			continue;
-		}
-		command.setToUnknownCommand();
-		commandQueue->reply(&command);
-	}
+        result = healthHelper.handleHealthCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+        result = handleCommandMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+        command.setToUnknownCommand();
+        commandQueue->reply(&command);
+    }
 
 }
 
 void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
-	changeHK(this->mode, this->submode, false);
-	triggerEvent(CHANGING_MODE, mode, submode);
-	this->mode = mode;
-	this->submode = submode;
-	modeHelper.modeChanged(mode, submode);
-	modeChanged(mode, submode);
-	announceMode(false);
-	changeHK(this->mode, this->submode, true);
+    changeHK(this->mode, this->submode, false);
+    triggerEvent(CHANGING_MODE, mode, submode);
+    this->mode = mode;
+    this->submode = submode;
+    modeHelper.modeChanged(mode, submode);
+    modeChanged(mode, submode);
+    announceMode(false);
+    changeHK(this->mode, this->submode, true);
 }
 
 void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
-	*mode = this->mode;
-	*submode = this->submode;
+    *mode = this->mode;
+    *submode = this->submode;
 }
 
 void ControllerBase::setToExternalControl() {
-	healthHelper.setHealth(EXTERNAL_CONTROL);
+    healthHelper.setHealth(EXTERNAL_CONTROL);
 }
 
 void ControllerBase::announceMode(bool recursive) {
-	triggerEvent(MODE_INFO, mode, submode);
+    triggerEvent(MODE_INFO, mode, submode);
 }
 
 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
-	handleQueue();
-	performControlOperation();
-	return RETURN_OK;
+    handleQueue();
+    performControlOperation();
+    return RETURN_OK;
 }
 
 void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) {
-	return;
+    return;
 }
 
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
-	switch (health) {
-	case HEALTHY:
-	case EXTERNAL_CONTROL:
-		healthHelper.setHealth(health);
-		return RETURN_OK;
-	default:
-		return INVALID_HEALTH_STATE;
-	}
+    switch (health) {
+    case HEALTHY:
+    case EXTERNAL_CONTROL:
+        healthHelper.setHealth(health);
+        return RETURN_OK;
+    default:
+        return INVALID_HEALTH_STATE;
+    }
 }
 
 HasHealthIF::HealthState ControllerBase::getHealth() {
-	return healthHelper.getHealth();
+    return healthHelper.getHealth();
 }
 void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
-			executingTask = task_;
+            executingTask = task_;
 }
 
 void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {

controller/ControllerBase.h

@@ -17,39 +17,39 @@
  * a mode and a health state. This avoids boilerplate code.
  */
 class ControllerBase: public HasModesIF,
-		public HasHealthIF,
-		public ExecutableObjectIF,
-		public SystemObject,
-		public HasReturnvaluesIF {
+        public HasHealthIF,
+        public ExecutableObjectIF,
+        public SystemObject,
+        public HasReturnvaluesIF {
 public:
-	static const Mode_t MODE_NORMAL = 2;
+    static const Mode_t MODE_NORMAL = 2;
 
-	ControllerBase(object_id_t setObjectId, object_id_t parentId,
-			size_t commandQueueDepth = 3);
-	virtual ~ControllerBase();
+    ControllerBase(object_id_t setObjectId, object_id_t parentId,
+            size_t commandQueueDepth = 3);
+    virtual ~ControllerBase();
 
-	/** SystemObject override */
-	virtual ReturnValue_t initialize() override;
+    /** SystemObject override */
+    virtual ReturnValue_t initialize() override;
 
-	virtual MessageQueueId_t getCommandQueue() const override;
+    virtual MessageQueueId_t getCommandQueue() const override;
 
-	/** HasHealthIF overrides */
-	virtual ReturnValue_t setHealth(HealthState health) override;
-	virtual HasHealthIF::HealthState getHealth() override;
+    /** HasHealthIF overrides */
+    virtual ReturnValue_t setHealth(HealthState health) override;
+    virtual HasHealthIF::HealthState getHealth() override;
 
-	/** ExecutableObjectIF overrides */
-	virtual ReturnValue_t performOperation(uint8_t opCode) override;
-	virtual void setTaskIF(PeriodicTaskIF* task) override;
-	virtual ReturnValue_t initializeAfterTaskCreation() override;
+    /** ExecutableObjectIF overrides */
+    virtual ReturnValue_t performOperation(uint8_t opCode) override;
+    virtual void setTaskIF(PeriodicTaskIF* task) override;
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
 
 protected:
 
-	/**
-	 * Implemented by child class. Handle command messages which are not
-	 * mode or health messages.
-	 * @param message
-	 * @return
-	 */
+    /**
+     * Implemented by child class. Handle command messages which are not
+     * mode or health messages.
+     * @param message
+     * @return
+     */
     virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
 
     /**
@@ -60,35 +60,35 @@ protected:
     virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
             uint32_t *msToReachTheMode) = 0;
 
-	const object_id_t parentId;
+    const object_id_t parentId;
 
-	Mode_t mode;
+    Mode_t mode;
 
-	Submode_t submode;
+    Submode_t submode;
 
-	MessageQueueIF* commandQueue = nullptr;
+    MessageQueueIF* commandQueue = nullptr;
 
-	ModeHelper modeHelper;
+    ModeHelper modeHelper;
 
-	HealthHelper healthHelper;
+    HealthHelper healthHelper;
 
-	/**
-	 * Pointer to the task which executes this component,
-	 * is invalid before setTaskIF was called.
-	 */
-	PeriodicTaskIF* executingTask = nullptr;
+    /**
+     * Pointer to the task which executes this component,
+     * is invalid before setTaskIF was called.
+     */
+    PeriodicTaskIF* executingTask = nullptr;
 
-	/** Handle mode and health messages */
-	virtual void handleQueue();
+    /** Handle mode and health messages */
+    virtual void handleQueue();
 
-	/** Mode helpers */
-	virtual void modeChanged(Mode_t mode, Submode_t submode);
-	virtual void startTransition(Mode_t mode, Submode_t submode);
-	virtual void getMode(Mode_t *mode, Submode_t *submode);
-	virtual void setToExternalControl();
-	virtual void announceMode(bool recursive);
-	/** HK helpers */
-	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
+    /** Mode helpers */
+    virtual void modeChanged(Mode_t mode, Submode_t submode);
+    virtual void startTransition(Mode_t mode, Submode_t submode);
+    virtual void getMode(Mode_t *mode, Submode_t *submode);
+    virtual void setToExternalControl();
+    virtual void announceMode(bool recursive);
+    /** HK helpers */
+    virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };
 
 #endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

controller/ExtendedControllerBase.cpp

@@ -8,17 +8,12 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
         actionHelper(this, commandQueue) {
 }
 
-ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
-        MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
-    // needs to be overriden and implemented by child class.
-    return HasReturnvaluesIF::RETURN_OK;
+ExtendedControllerBase::~ExtendedControllerBase() {
 }
 
-
-
-ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    // needs to be overriden and implemented by child class.
+ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
+        MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
+    /* Needs to be overriden and implemented by child class. */
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -93,8 +88,10 @@ ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
 
 ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
     handleQueue();
-    poolManager.performHkOperation();
     performControlOperation();
+    /* We do this after performing control operation because variables will be set changed
+    in this function. */
+    poolManager.performHkOperation();
     return RETURN_OK;
 }
 
@@ -102,14 +99,6 @@ MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
     return commandQueue->getId();
 }
 
-LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
-            << " implementation provided, returning nullptr!" << std::endl;
-#endif
-    return nullptr;
-}
-
 LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
     return &poolManager;
 }

controller/ExtendedControllerBase.h

@@ -22,13 +22,14 @@ class ExtendedControllerBase: public ControllerBase,
 public:
     ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
             size_t commandQueueDepth = 3);
+    virtual ~ExtendedControllerBase();
 
-    /** SystemObjectIF overrides */
+    /* SystemObjectIF overrides */
     virtual ReturnValue_t initialize() override;
 
     virtual MessageQueueId_t getCommandQueue() const override;
 
-    /** ExecutableObjectIF overrides */
+    /* ExecutableObjectIF overrides */
     virtual ReturnValue_t performOperation(uint8_t opCode) override;
     virtual ReturnValue_t initializeAfterTaskCreation() override;
 
@@ -49,22 +50,26 @@ protected:
      */
     virtual void performControlOperation() = 0;
 
-    /** Handle the four messages mentioned above */
+    /* Handle the four messages mentioned above */
     void handleQueue() override;
 
-    /** HasActionsIF overrides */
+    /* HasActionsIF overrides */
     virtual ReturnValue_t executeAction(ActionId_t actionId,
             MessageQueueId_t commandedBy, const uint8_t* data,
             size_t size) override;
 
-    /** HasLocalDatapoolIF overrides */
+    /* HasLocalDatapoolIF overrides */
     virtual LocalDataPoolManager* getHkManagerHandle() override;
     virtual object_id_t getObjectId() const override;
-    virtual ReturnValue_t initializeLocalDataPool(
-            localpool::DataPool& localDataPoolMap,
-            LocalDataPoolManager& poolManager) override;
     virtual uint32_t getPeriodicOperationFrequency() const override;
-    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+
+    virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override = 0;
+    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
+
+    // Mode abstract functions
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) override = 0;
 };
 
 

datalinklayer/DataLinkLayer.h

@@ -19,7 +19,8 @@ class VirtualChannelReception;
 class DataLinkLayer : public CCSDSReturnValuesIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
-	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
+	//! [EXPORT] : [COMMENT] A RF available signal was detected. P1: raw RFA state, P2: 0
+	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO);
 	static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
 	static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
 	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0

datalinklayer/MapPacketExtraction.cpp

@@ -1,10 +1,13 @@
 #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 "../objectmanager/ObjectManager.h"
+
 #include <cstring>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
@@ -131,9 +134,9 @@ void MapPacketExtraction::clearBuffers() {
 }
 
 ReturnValue_t MapPacketExtraction::initialize() {
-	packetStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
-	AcceptsTelecommandsIF* distributor = objectManager->get<
-			AcceptsTelecommandsIF>(packetDestination);
+	packetStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+	AcceptsTelecommandsIF* distributor = ObjectManager::instance()->
+	        get<AcceptsTelecommandsIF>(packetDestination);
 	if ((packetStore != NULL) && (distributor != NULL)) {
 		tcQueueId = distributor->getRequestQueue();
 		return RETURN_OK;

datapool/DataSetIF.h

@@ -18,15 +18,13 @@ class PoolVariableIF;
 class DataSetIF {
 public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
-	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
-			MAKE_RETURN_CODE( 0x01 );
-	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
-	static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
-			MAKE_RETURN_CODE(0x03);
+	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION = MAKE_RETURN_CODE(1);
+	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t COMMITING_WITHOUT_READING = MAKE_RETURN_CODE(3);
 
-	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE( 0x04 );
-	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
-	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
+	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE(4);
+	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE(5);
+	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE(6);
 
 	/**
 	 * @brief	This is an empty virtual destructor,

datapool/HkSwitchHelper.cpp

@@ -7,7 +7,7 @@ HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
 }
 
 HkSwitchHelper::~HkSwitchHelper() {
-	// TODO Auto-generated destructor stub
+    QueueFactory::instance()->deleteMessageQueue(actionQueue);
 }
 
 ReturnValue_t HkSwitchHelper::initialize() {

datapool/PoolDataSetBase.cpp

@@ -1,71 +1,82 @@
 #include "PoolDataSetBase.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "ReadCommitIFAttorney.h"
+
+#include "../serviceinterface/ServiceInterface.h"
+
+#include <cstring>
 
 PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
         const size_t maxFillCount):
         registeredVariables(registeredVariablesArray),
-        maxFillCount(maxFillCount) {
-}
+        maxFillCount(maxFillCount) {}
 
 PoolDataSetBase::~PoolDataSetBase() {}
 
 
-ReturnValue_t PoolDataSetBase::registerVariable(
-		PoolVariableIF *variable) {
-	if (state != States::STATE_SET_UNINITIALISED) {
+ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF *variable) {
+    if(registeredVariables == nullptr) {
+        /* Underlying container invalid */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if (state != States::STATE_SET_UNINITIALISED) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "DataSet::registerVariable: "
-				"Call made in wrong position." << std::endl;
+        sif::error << "DataSet::registerVariable: Call made in wrong position." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: Call made in wrong position.");
 #endif
-		return DataSetIF::DATA_SET_UNINITIALISED;
-	}
-	if (variable == nullptr) {
+        return DataSetIF::DATA_SET_UNINITIALISED;
+    }
+    if (variable == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "DataSet::registerVariable: "
-				"Pool variable is nullptr." << std::endl;
+        sif::error << "DataSet::registerVariable: Pool variable is nullptr." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: Pool variable is nullptr.\n");
 #endif
-		return DataSetIF::POOL_VAR_NULL;
-	}
-	if (fillCount >= maxFillCount) {
+        return DataSetIF::POOL_VAR_NULL;
+    }
+    if (fillCount >= maxFillCount) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "DataSet::registerVariable: "
-				"DataSet is full." << std::endl;
+        sif::error << "DataSet::registerVariable: DataSet is full." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: DataSet is full.\n");
 #endif
-		return DataSetIF::DATA_SET_FULL;
-	}
-	registeredVariables[fillCount] = variable;
-	fillCount++;
-	return HasReturnvaluesIF::RETURN_OK;
+        return DataSetIF::DATA_SET_FULL;
+    }
+    registeredVariables[fillCount] = variable;
+    fillCount++;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PoolDataSetBase::read(MutexIF::TimeoutType timeoutType,
-		uint32_t lockTimeout) {
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	ReturnValue_t error = result;
-	if (state == States::STATE_SET_UNINITIALISED) {
-		lockDataPool(timeoutType, lockTimeout);
-		for (uint16_t count = 0; count < fillCount; count++) {
-			result = readVariable(count);
-			if(result != RETURN_OK) {
-				error = result;
-			}
-		}
-		state = States::STATE_SET_WAS_READ;
-		unlockDataPool();
-	}
-	else {
+        uint32_t lockTimeout) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    ReturnValue_t error = result;
+    if (state == States::STATE_SET_UNINITIALISED) {
+        lockDataPool(timeoutType, lockTimeout);
+        for (uint16_t count = 0; count < fillCount; count++) {
+            result = readVariable(count);
+            if(result != RETURN_OK) {
+                error = result;
+            }
+        }
+        state = States::STATE_SET_WAS_READ;
+        unlockDataPool();
+    }
+    else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "DataSet::read(): "
-				"Call made in wrong position. Don't forget to commit"
-				" member datasets!" << std::endl;
-#endif
-		result = SET_WAS_ALREADY_READ;
-	}
+        sif::warning << "PoolDataSetBase::read: Call made in wrong position. Don't forget to "
+                "commit member datasets!" << std::endl;
+#else
+        sif::printWarning("PoolDataSetBase::read: Call made in wrong position. Don't forget to "
+                "commit member datasets!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+        result = SET_WAS_ALREADY_READ;
+    }
 
-	if(error != HasReturnvaluesIF::RETURN_OK) {
-		result = error;
-	}
-	return result;
+    if(error != HasReturnvaluesIF::RETURN_OK) {
+        result = error;
+    }
+    return result;
 }
 
 uint16_t PoolDataSetBase::getFillCount() const {
@@ -73,144 +84,136 @@ uint16_t PoolDataSetBase::getFillCount() const {
 }
 
 ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	if(registeredVariables[count] == nullptr) {
-	    // configuration error.
-	    return HasReturnvaluesIF::RETURN_FAILED;
-	}
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    if(registeredVariables[count] == nullptr) {
+        /* Configuration error. */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 
-	// These checks are often performed by the respective
-	// variable implementation too, but I guess a double check does not hurt.
-	if (registeredVariables[count]->getReadWriteMode() !=
-				PoolVariableIF::VAR_WRITE and
-		registeredVariables[count]->getDataPoolId()
-				!= PoolVariableIF::NO_PARAMETER)
-	{
-		if(protectEveryReadCommitCall) {
-			result = registeredVariables[count]->read(
-					timeoutTypeForSingleVars,
-					mutexTimeoutForSingleVars);
-		}
-		else {
-			result = registeredVariables[count]->readWithoutLock();
-		}
+    /* These checks are often performed by the respective variable implementation too, but I guess
+    a double check does not hurt. */
+    if (registeredVariables[count]->getReadWriteMode() != PoolVariableIF::VAR_WRITE and
+            registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER) {
+        if(protectEveryReadCommitCall) {
+            result = registeredVariables[count]->read(timeoutTypeForSingleVars,
+                    mutexTimeoutForSingleVars);
+        }
+        else {
+            /* The readWithoutLock function is protected, so we use the attorney here */
+            result = ReadCommitIFAttorney::readWithoutLock(registeredVariables[count]);
+        }
 
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-			result = INVALID_PARAMETER_DEFINITION;
-		}
-	}
-	return result;
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            result = INVALID_PARAMETER_DEFINITION;
+        }
+    }
+    return result;
 }
 
 ReturnValue_t PoolDataSetBase::commit(MutexIF::TimeoutType timeoutType,
-		uint32_t lockTimeout) {
-	if (state == States::STATE_SET_WAS_READ) {
-		handleAlreadyReadDatasetCommit(timeoutType, lockTimeout);
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return handleUnreadDatasetCommit(timeoutType, lockTimeout);
-	}
+        uint32_t lockTimeout) {
+    if (state == States::STATE_SET_WAS_READ) {
+        handleAlreadyReadDatasetCommit(timeoutType, lockTimeout);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return handleUnreadDatasetCommit(timeoutType, lockTimeout);
+    }
 }
 
 void PoolDataSetBase::handleAlreadyReadDatasetCommit(
-		MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
-	lockDataPool(timeoutType, lockTimeout);
-	for (uint16_t count = 0; count < fillCount; count++) {
-		if (registeredVariables[count]->getReadWriteMode()
-				!= PoolVariableIF::VAR_READ
-				&& registeredVariables[count]->getDataPoolId()
-				!= PoolVariableIF::NO_PARAMETER) {
-			if(protectEveryReadCommitCall) {
-				registeredVariables[count]->commit(
-						timeoutTypeForSingleVars,
-						mutexTimeoutForSingleVars);
-			}
-			else {
-				registeredVariables[count]->commitWithoutLock();
-			}
-		}
-	}
-	state = States::STATE_SET_UNINITIALISED;
-	unlockDataPool();
+        MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
+    lockDataPool(timeoutType, lockTimeout);
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if ((registeredVariables[count]->getReadWriteMode() != PoolVariableIF::VAR_READ) and
+                (registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER)) {
+            if(protectEveryReadCommitCall) {
+                registeredVariables[count]->commit(timeoutTypeForSingleVars,
+                        mutexTimeoutForSingleVars);
+            }
+            else {
+                /* The commitWithoutLock function is protected, so we use the attorney here */
+                ReadCommitIFAttorney::commitWithoutLock(registeredVariables[count]);
+            }
+        }
+    }
+    state = States::STATE_SET_UNINITIALISED;
+    unlockDataPool();
 }
 
 ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(
-		MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	lockDataPool(timeoutType, lockTimeout);
-	for (uint16_t count = 0; count < fillCount; count++) {
-		if (registeredVariables[count]->getReadWriteMode()
-				== PoolVariableIF::VAR_WRITE
-				&& registeredVariables[count]->getDataPoolId()
-				!= PoolVariableIF::NO_PARAMETER) {
-			if(protectEveryReadCommitCall) {
-				result = registeredVariables[count]->commit(
-						timeoutTypeForSingleVars,
-						mutexTimeoutForSingleVars);
-			}
-			else {
-				result = registeredVariables[count]->commitWithoutLock();
-			}
+        MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    lockDataPool(timeoutType, lockTimeout);
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if ((registeredVariables[count]->getReadWriteMode() == PoolVariableIF::VAR_WRITE) and
+                (registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER)) {
+            if(protectEveryReadCommitCall) {
+                result = registeredVariables[count]->commit(timeoutTypeForSingleVars,
+                        mutexTimeoutForSingleVars);
+            }
+            else {
+                /* The commitWithoutLock function is protected, so we use the attorney here */
+                ReadCommitIFAttorney::commitWithoutLock(registeredVariables[count]);
+            }
 
-		} else if (registeredVariables[count]->getDataPoolId()
-				!= PoolVariableIF::NO_PARAMETER) {
-			if (result != COMMITING_WITHOUT_READING) {
+        } else if (registeredVariables[count]->getDataPoolId()
+                != PoolVariableIF::NO_PARAMETER) {
+            if (result != COMMITING_WITHOUT_READING) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-				sif::error << "DataSet::commit(): commit-without-read call made "
-						"with non write-only variable." << std::endl;
+                sif::error << "DataSet::commit(): commit-without-read call made "
+                        "with non write-only variable." << std::endl;
 #endif
-				result = COMMITING_WITHOUT_READING;
-			}
-		}
-	}
-	state = States::STATE_SET_UNINITIALISED;
-	unlockDataPool();
-	return result;
+                result = COMMITING_WITHOUT_READING;
+            }
+        }
+    }
+    state = States::STATE_SET_UNINITIALISED;
+    unlockDataPool();
+    return result;
 }
 
 
 ReturnValue_t PoolDataSetBase::lockDataPool(MutexIF::TimeoutType timeoutType,
-		uint32_t lockTimeout) {
-	return HasReturnvaluesIF::RETURN_OK;
+        uint32_t lockTimeout) {
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PoolDataSetBase::unlockDataPool() {
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size,
-		const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	for (uint16_t count = 0; count < fillCount; count++) {
-		result = registeredVariables[count]->serialize(buffer, size, maxSize,
-		        streamEndianness);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-	}
-	return result;
+        const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        result = registeredVariables[count]->serialize(buffer, size, maxSize, streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    return result;
 }
 
 ReturnValue_t PoolDataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
         SerializeIF::Endianness streamEndianness) {
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	for (uint16_t count = 0; count < fillCount; count++) {
-		result = registeredVariables[count]->deSerialize(buffer, size,
-				streamEndianness);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-	}
-	return result;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        result = registeredVariables[count]->deSerialize(buffer, size,
+                streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    return result;
 }
 
 size_t PoolDataSetBase::getSerializedSize() const {
-	uint32_t size = 0;
-	for (uint16_t count = 0; count < fillCount; count++) {
-		size += registeredVariables[count]->getSerializedSize();
-	}
-	return size;
+    uint32_t size = 0;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        size += registeredVariables[count]->getSerializedSize();
+    }
+    return size;
 }
 
 void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
@@ -218,13 +221,13 @@ void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
 }
 
 PoolVariableIF** PoolDataSetBase::getContainer() const {
-	return registeredVariables;
+    return registeredVariables;
 }
 
 void PoolDataSetBase::setReadCommitProtectionBehaviour(
-		bool protectEveryReadCommit, MutexIF::TimeoutType timeoutType,
-		uint32_t mutexTimeout) {
-	this->protectEveryReadCommitCall = protectEveryReadCommit;
-	this->timeoutTypeForSingleVars = timeoutType;
-	this->mutexTimeoutForSingleVars = mutexTimeout;
+        bool protectEveryReadCommit, MutexIF::TimeoutType timeoutType,
+        uint32_t mutexTimeout) {
+    this->protectEveryReadCommitCall = protectEveryReadCommit;
+    this->timeoutTypeForSingleVars = timeoutType;
+    this->mutexTimeoutForSingleVars = mutexTimeout;
 }

datapool/PoolDataSetBase.h

@@ -29,96 +29,99 @@
  * @author	Bastian Baetz
  * @ingroup data_pool
  */
-class PoolDataSetBase: public PoolDataSetIF,
-		public SerializeIF,
-		public HasReturnvaluesIF {
+class PoolDataSetBase:
+        public PoolDataSetIF,
+        public SerializeIF,
+        public HasReturnvaluesIF {
 public:
 
-	/**
-	 * @brief	Creates an empty dataset. Use registerVariable or
-	 * 			supply a pointer to this dataset to PoolVariable
-	 * 			initializations to register pool variables.
-	 */
-	PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
-	        const size_t maxFillCount);
-	virtual~ PoolDataSetBase();
+    /**
+     * @brief	Creates an empty dataset. Use registerVariable or
+     * 			supply a pointer to this dataset to PoolVariable
+     * 			initializations to register pool variables.
+     */
+    PoolDataSetBase(PoolVariableIF** registeredVariablesArray, const size_t maxFillCount);
 
-	/**
-	 * @brief	The read call initializes reading out all registered variables.
-	 * 			It is mandatory to call commit after every read call!
-	 * @details
-	 * It iterates through the list of registered variables and calls all read()
-	 * functions of the registered pool variables (which read out their values
-	 * from the data pool) which are not write-only.
-	 * In case of an error (e.g. a wrong data type, or an invalid data pool id),
-	 * the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
-	 *
-	 * The data pool is locked during the whole read operation and
-	 * freed afterwards. It is mandatory to call commit after a read call,
-	 * even if the read operation is not successful!
-	 * @return
-	 * - @c RETURN_OK if all variables were read successfully.
-	 * - @c INVALID_PARAMETER_DEFINITION if a pool entry does not exist or there
-	 *      is a type conflict.
-	 * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
-	 *      commit() in between
-	 */
-	virtual ReturnValue_t read(
-			MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-			uint32_t lockTimeout = 20) override;
-	/**
-	 * @brief	The commit call initializes writing back the registered variables.
-	 * @details
-	 * It iterates through the list of registered variables and calls the
-	 * commit() method of the remaining registered variables (which write back
-	 * their values to the pool).
-	 *
-	 * The data pool is locked during the whole commit operation and
-	 * freed afterwards. The state changes to "was committed" after this operation.
-	 *
-	 * If the set does contain at least one variable which is not write-only
-	 * commit() can only be called after read(). If the set only contains
-	 * variables which are write only, commit() can be called without a
-	 * preceding read() call. Every read call must be followed by a commit call!
-	 * @return	- @c RETURN_OK if all variables were read successfully.
-	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
-	 * 			  contains non write-only variables
-	 */
-	virtual ReturnValue_t commit(
-			MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-			uint32_t lockTimeout = 20) override;
+    /* Forbidden for now */
+    PoolDataSetBase(const PoolDataSetBase& otherSet) = delete;
+    const PoolDataSetBase& operator=(const PoolDataSetBase& otherSet) = delete;
 
-	/**
-	 * Register the passed pool variable instance into the data set.
-	 * @param variable
-	 * @return
-	 */
-	virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
+    virtual~ PoolDataSetBase();
 
-	/**
-	 * Provides the means to lock the underlying data structure to ensure
-	 * thread-safety. Default implementation is empty
-	 * @return Always returns -@c RETURN_OK
-	 */
-	virtual ReturnValue_t lockDataPool(
-			MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-			uint32_t timeoutMs = 20) override;
-	/**
-	 * Provides the means to unlock the underlying data structure to ensure
-	 * thread-safety. Default implementation is empty
-	 * @return Always returns -@c RETURN_OK
-	 */
-	virtual ReturnValue_t unlockDataPool() override;
+    /**
+     * @brief	The read call initializes reading out all registered variables.
+     * 			It is mandatory to call commit after every read call!
+     * @details
+     * It iterates through the list of registered variables and calls all read()
+     * functions of the registered pool variables (which read out their values
+     * from the data pool) which are not write-only.
+     * In case of an error (e.g. a wrong data type, or an invalid data pool id),
+     * the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
+     *
+     * The data pool is locked during the whole read operation and
+     * freed afterwards. It is mandatory to call commit after a read call,
+     * even if the read operation is not successful!
+     * @return
+     * - @c RETURN_OK if all variables were read successfully.
+     * - @c INVALID_PARAMETER_DEFINITION if a pool entry does not exist or there
+     *      is a type conflict.
+     * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
+     *      commit() in between
+     */
+    virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t lockTimeout = 20) override;
+    /**
+     * @brief	The commit call initializes writing back the registered variables.
+     * @details
+     * It iterates through the list of registered variables and calls the
+     * commit() method of the remaining registered variables (which write back
+     * their values to the pool).
+     *
+     * The data pool is locked during the whole commit operation and
+     * freed afterwards. The state changes to "was committed" after this operation.
+     *
+     * If the set does contain at least one variable which is not write-only
+     * commit() can only be called after read(). If the set only contains
+     * variables which are write only, commit() can be called without a
+     * preceding read() call. Every read call must be followed by a commit call!
+     * @return	- @c RETURN_OK if all variables were read successfully.
+     * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
+     * 			  contains non write-only variables
+     */
+    virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t lockTimeout = 20) override;
 
-	virtual uint16_t getFillCount() const;
+    /**
+     * Register the passed pool variable instance into the data set.
+     * @param variable
+     * @return
+     */
+    virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
 
-	/* SerializeIF implementations */
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-				const size_t maxSize,
-				SerializeIF::Endianness streamEndianness) const override;
-	virtual size_t getSerializedSize() const override;
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-	        SerializeIF::Endianness streamEndianness) override;
+    /**
+     * Provides the means to lock the underlying data structure to ensure
+     * thread-safety. Default implementation is empty
+     * @return Always returns -@c RETURN_OK
+     */
+    virtual ReturnValue_t lockDataPool(
+            MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t timeoutMs = 20) override;
+    /**
+     * Provides the means to unlock the underlying data structure to ensure
+     * thread-safety. Default implementation is empty
+     * @return Always returns -@c RETURN_OK
+     */
+    virtual ReturnValue_t unlockDataPool() override;
+
+    virtual uint16_t getFillCount() const;
+
+    /* SerializeIF implementations */
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            const size_t maxSize,
+            SerializeIF::Endianness streamEndianness) const override;
+    virtual size_t getSerializedSize() const override;
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            SerializeIF::Endianness streamEndianness) override;
 
     /**
      * Can be used to individually protect every read and commit call.
@@ -130,48 +133,48 @@ public:
             uint32_t mutexTimeout = 20);
 protected:
 
-	/**
-	 * @brief	The fill_count attribute ensures that the variables
-	 * 			register in the correct array position and that the maximum
-	 * 			number of variables is not exceeded.
-	 */
-	uint16_t fillCount = 0;
-	/**
-	 * States of the seet.
-	 */
-	enum class States {
-		STATE_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
-		STATE_SET_WAS_READ     //!< DATA_SET_WAS_READ
-	};
-	/**
-	 * @brief	state manages the internal state of the data set,
-	 *          which is important e.g. for the behavior on destruction.
-	 */
-	States state = States::STATE_SET_UNINITIALISED;
+    /**
+     * @brief	The fill_count attribute ensures that the variables
+     * 			register in the correct array position and that the maximum
+     * 			number of variables is not exceeded.
+     */
+    uint16_t fillCount = 0;
+    /**
+     * States of the seet.
+     */
+    enum class States {
+        STATE_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
+        STATE_SET_WAS_READ     //!< DATA_SET_WAS_READ
+    };
+    /**
+     * @brief	state manages the internal state of the data set,
+     *          which is important e.g. for the behavior on destruction.
+     */
+    States state = States::STATE_SET_UNINITIALISED;
 
-	/**
-	 * @brief	This array represents all pool variables registered in this set.
-	 * Child classes can use a static or dynamic container to create
-	 * an array of registered variables and assign the first entry here.
-	 */
-	PoolVariableIF** registeredVariables = nullptr;
-	const size_t maxFillCount = 0;
+    /**
+     * @brief	This array represents all pool variables registered in this set.
+     * Child classes can use a static or dynamic container to create
+     * an array of registered variables and assign the first entry here.
+     */
+    PoolVariableIF** registeredVariables = nullptr;
+    const size_t maxFillCount = 0;
 
-	void setContainer(PoolVariableIF** variablesContainer);
-	PoolVariableIF** getContainer() const;
+    void setContainer(PoolVariableIF** variablesContainer);
+    PoolVariableIF** getContainer() const;
 
 private:
-	bool protectEveryReadCommitCall = false;
-	MutexIF::TimeoutType timeoutTypeForSingleVars = MutexIF::TimeoutType::WAITING;
-	uint32_t mutexTimeoutForSingleVars = 20;
+    bool protectEveryReadCommitCall = false;
+    MutexIF::TimeoutType timeoutTypeForSingleVars = MutexIF::TimeoutType::WAITING;
+    uint32_t mutexTimeoutForSingleVars = 20;
 
-	ReturnValue_t readVariable(uint16_t count);
-	void handleAlreadyReadDatasetCommit(
-			MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-			uint32_t timeoutMs = 20);
-	ReturnValue_t handleUnreadDatasetCommit(
-			MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
-			uint32_t timeoutMs = 20);
+    ReturnValue_t readVariable(uint16_t count);
+    void handleAlreadyReadDatasetCommit(
+            MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t timeoutMs = 20);
+    ReturnValue_t handleUnreadDatasetCommit(
+            MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            uint32_t timeoutMs = 20);
 };
 
 #endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */

datapool/PoolDataSetIF.h

@@ -8,7 +8,9 @@
  * @brief   Extendes the DataSetIF by adding abstract functions to lock
  *          and unlock a data pool and read/commit semantics.
  */
-class PoolDataSetIF: public DataSetIF, public ReadCommitIF {
+class PoolDataSetIF:
+        virtual public DataSetIF,
+        virtual public ReadCommitIF {
 public:
     virtual~ PoolDataSetIF() {};
 

datapool/PoolEntry.cpp

@@ -7,7 +7,7 @@
 
 template <typename T>
 PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid ):
-		length(initValue.size()), valid(setValid) {
+		length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
 	this->address = new T[this->length];
 	if(initValue.size() == 0) {
 		std::memset(this->address, 0, this->getByteSize());

datapool/PoolReadGuard.h

@@ -8,9 +8,9 @@
 /**
  * @brief 	Helper class to read data sets or pool variables
  */
-class PoolReadHelper {
+class PoolReadGuard {
 public:
-    PoolReadHelper(ReadCommitIF* readObject,
+    PoolReadGuard(ReadCommitIF* readObject,
             MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
             uint32_t mutexTimeout = 20):
                 readObject(readObject), mutexTimeout(mutexTimeout) {
@@ -32,8 +32,18 @@ public:
         return readResult;
     }
 
-    ~PoolReadHelper() {
-        if(readObject != nullptr) {
+    /**
+     * @brief   Can be used to suppress commit on destruction.
+     */
+    void setNoCommitMode(bool commit) {
+        this->noCommit = commit;
+    }
+
+    /**
+     * @brief   Default destructor which will take care of commiting changed values.
+     */
+    ~PoolReadGuard() {
+        if(readObject != nullptr and not noCommit) {
             readObject->commit(timeoutType, mutexTimeout);
         }
 
@@ -42,6 +52,7 @@ public:
 private:
     ReadCommitIF* readObject = nullptr;
     ReturnValue_t readResult = HasReturnvaluesIF::RETURN_OK;
+    bool noCommit = false;
     MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
     uint32_t mutexTimeout = 20;
 };

datapool/PoolVariableIF.h

@@ -1,9 +1,10 @@
 #ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
 #define FSFW_DATAPOOL_POOLVARIABLEIF_H_
 
+#include "ReadCommitIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
-#include "ReadCommitIF.h"
+
 
 /**
  * @brief	This interface is used to control data pool
@@ -18,47 +19,48 @@
  * @author 	Bastian Baetz
  * @ingroup data_pool
  */
-class PoolVariableIF : public SerializeIF,
-		public ReadCommitIF {
-	friend class PoolDataSetBase;
-	friend class LocalPoolDataSetBase;
+class PoolVariableIF :
+        public SerializeIF,
+        public ReadCommitIF {
+
 public:
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
-	static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
-	static constexpr ReturnValue_t INVALID_POOL_ENTRY = MAKE_RETURN_CODE(0xA1);
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
+    static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
+    static constexpr ReturnValue_t INVALID_POOL_ENTRY = MAKE_RETURN_CODE(0xA1);
 
-	static constexpr bool VALID = 1;
-	static constexpr bool INVALID = 0;
-	static constexpr uint32_t NO_PARAMETER = 0xffffffff;
+    static constexpr bool VALID = 1;
+    static constexpr bool INVALID = 0;
+    static constexpr uint32_t NO_PARAMETER = 0xffffffff;
 
-	enum ReadWriteMode_t {
-		VAR_READ, VAR_WRITE, VAR_READ_WRITE
-	};
+    enum ReadWriteMode_t {
+        VAR_READ, VAR_WRITE, VAR_READ_WRITE
+    };
 
-	/**
-	 * @brief	This is an empty virtual destructor,
-	 * 			as it is proposed for C++ interfaces.
-	 */
-	virtual ~PoolVariableIF() {}
-	/**
-	 * @brief	This method returns if the variable is write-only,
-	 * 			read-write or read-only.
-	 */
-	virtual ReadWriteMode_t getReadWriteMode() const = 0;
-	/**
-	 * @brief	This operation shall return the data pool id of the variable.
-	 */
-	virtual uint32_t getDataPoolId() const = 0;
-	/**
-	 * @brief	With this call, the valid information of the
-	 * 			variable is returned.
-	 */
-	virtual bool isValid() const = 0;
-	/**
-	 * @brief	With this call, the valid information of the variable is set.
-	 */
-	virtual void setValid(bool validity) = 0;
+    /**
+     * @brief	This is an empty virtual destructor,
+     * 			as it is proposed for C++ interfaces.
+     */
+    virtual ~PoolVariableIF() {}
+    /**
+     * @brief	This method returns if the variable is write-only,
+     * 			read-write or read-only.
+     */
+    virtual ReadWriteMode_t getReadWriteMode() const = 0;
+    virtual void setReadWriteMode(ReadWriteMode_t newMode) = 0;
 
+    /**
+     * @brief	This operation shall return the data pool id of the variable.
+     */
+    virtual uint32_t getDataPoolId() const = 0;
+    /**
+     * @brief	With this call, the valid information of the
+     * 			variable is returned.
+     */
+    virtual bool isValid() const = 0;
+    /**
+     * @brief	With this call, the valid information of the variable is set.
+     */
+    virtual void setValid(bool validity) = 0;
 };
 
 using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;

datapool/ReadCommitIF.h

@@ -9,6 +9,7 @@
  * 			semantics.
  */
 class ReadCommitIF {
+    friend class ReadCommitIFAttorney;
 public:
 	virtual ~ReadCommitIF() {}
 	virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType,
@@ -18,9 +19,8 @@ public:
 
 protected:
 
-	//! Optional and protected because this is interesting for classes grouping
-	//! members with commit and read semantics where the lock is only necessary
-	//! once.
+	/* Optional and protected because this is interesting for classes grouping members with commit
+	and read semantics where the lock is only necessary once. */
 	virtual ReturnValue_t readWithoutLock()  {
 		return read(MutexIF::TimeoutType::WAITING, 20);
 	}

datapool/ReadCommitIFAttorney.h

@@ -0,0 +1,32 @@
+#ifndef FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_
+#define FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_
+
+#include <fsfw/datapool/ReadCommitIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+/**
+ * @brief   This class determines which members are allowed to access protected members
+ *          of the ReadCommitIF.
+ */
+class ReadCommitIFAttorney {
+private:
+    static ReturnValue_t readWithoutLock(ReadCommitIF* readCommitIF) {
+        if(readCommitIF == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return readCommitIF->readWithoutLock();
+    }
+
+    static ReturnValue_t commitWithoutLock(ReadCommitIF* readCommitIF) {
+        if(readCommitIF == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return readCommitIF->commitWithoutLock();
+    }
+
+    friend class PoolDataSetBase;
+};
+
+
+
+#endif /* FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_ */

datapool/SharedDataSetIF.h

@@ -1,13 +1,15 @@
 #ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
 #define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
+
 #include "PoolDataSetIF.h"
 
-class SharedDataSetIF: public PoolDataSetIF {
+class SharedDataSetIF {
 public:
     virtual ~SharedDataSetIF() {};
 
 private:
-    virtual ReturnValue_t lockDataset(dur_millis_t mutexTimeout) = 0;
+    virtual ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType,
+            dur_millis_t mutexTimeout) = 0;
     virtual ReturnValue_t unlockDataset() = 0;
 };
 

datapoollocal/AccessLocalPoolF.h

@@ -18,7 +18,7 @@ public:
      * This function is protected because it should only be used by the
      * class imlementing the interface.
      */
-    virtual LocalDataPoolManager* getHkManagerHandle() = 0;
+    virtual LocalDataPoolManager* getPoolManagerHandle() = 0;
 
 protected:
 

datapoollocal/HasLocalDataPoolIF.h

@@ -23,11 +23,22 @@ class LocalPoolObjectBase;
  * @details
  * Any class implementing this interface shall also have a LocalDataPoolManager member class which
  * contains the actual pool data structure and exposes the public interface for it.
+ *
  * The local data pool can be accessed using helper classes by using the
  * LocalPoolVariable, LocalPoolVector or LocalDataSet classes. Every local pool variable can
  * be uniquely identified by a global pool ID (gp_id_t) and every dataset tied
  * to a pool manager can be uniqely identified by a global structure ID (sid_t).
  *
+ * All software objects which want to use the local pool of another object shall also use this
+ * interface, for example to get a handle to the subscription interface. The interface
+ * can be retrieved using the object manager, provided the target object is a SystemObject.
+ * For example, the following line of code can be used to retrieve the interface
+ *
+ *    HasLocalDataPoolIF* poolIF = ObjectManager::instance()->
+ *             get<HasLocalDataPoolIF>(objects::SOME_OBJECT);
+ *    if(poolIF != nullptr) {
+ *        doSomething()
+ *    }
  */
 class HasLocalDataPoolIF {
     friend class HasLocalDpIFManagerAttorney;
@@ -55,34 +66,45 @@ public:
      * usually be the period the pool owner performs its periodic operation.
      * @return
      */
-    virtual uint32_t getPeriodicOperationFrequency() const = 0;
+    virtual dur_millis_t getPeriodicOperationFrequency() const = 0;
 
     /**
      * @brief   This function will be called by the manager if an update
      *          notification is received.
      * @details  HasLocalDataPoolIF
      * Can be overriden by the child class to handle changed datasets.
-     * @param sid
-     * @param storeId If a snapshot was requested, data will be located inside
+     * @param sid           SID of the updated set
+     * @param storeId       If a snapshot was requested, data will be located inside
      * the IPC store with this store ID.
+     * @param clearMessage  If this is set to true, the pool manager will take care of
+     *                      clearing the store automatically
      */
     virtual void handleChangedDataset(sid_t sid,
-            store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
-        return;
+            store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
+            bool* clearMessage = nullptr) {
+        if(clearMessage != nullptr) {
+            *clearMessage = true;
+        }
     }
 
     /**
      * @brief   This function will be called by the manager if an update
      *          notification is received.
      * @details
-     * Can be overriden by the child class to handle changed pool IDs.
-     * @param sid
-     * @param storeId If a snapshot was requested, data will be located inside
+     * Can be overriden by the child class to handle changed pool variables.
+     * @param gpid          GPID of the updated variable.
+     * @param storeId       If a snapshot was requested, data will be located inside
      * the IPC store with this store ID.
+     * @param clearMessage  Relevant for snapshots. If the boolean this points to is set to true,
+     *                      the pool manager will take care of clearing the store automatically
+     *                      after the callback.
      */
-    virtual void handleChangedPoolVariable(lp_id_t poolId,
-            store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
-        return;
+    virtual void handleChangedPoolVariable(gp_id_t gpid,
+            store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
+            bool* clearMessage = nullptr) {
+        if(clearMessage != nullptr) {
+            *clearMessage = true;
+        }
     }
 
     /**
@@ -152,8 +174,8 @@ protected:
      */
     virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
-                << ". Returning nullptr!" << std::endl;
+        sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden. "
+                "Returning nullptr!" << std::endl;
 #else
         sif::printWarning("HasLocalDataPoolIF::getPoolObjectHandle: "
                 "Not overriden. Returning nullptr!\n");

datapoollocal/LocalDataPoolManager.h

@@ -14,7 +14,7 @@
 #include "../ipc/MutexIF.h"
 #include "../ipc/CommandMessage.h"
 #include "../ipc/MessageQueueIF.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexGuard.h"
 
 #include <map>
 #include <vector>
@@ -24,7 +24,7 @@ void setStaticFrameworkObjectIds();
 }
 
 class LocalPoolDataSetBase;
-class HousekeepingPacketUpdate;
+class HousekeepingSnapshot;
 class HasLocalDataPoolIF;
 class LocalDataPool;
 
@@ -52,17 +52,17 @@ class LocalDataPool;
  * Each pool entry has a valid state too.
  * @author 		R. Mueller
  */
-class LocalDataPoolManager: public ProvidesDataPoolSubscriptionIF,
-		public AccessPoolManagerIF {
-	friend void (Factory::setStaticFrameworkObjectIds)();
-	//! Some classes using the pool manager directly need to access class internals of the
-	//! manager. The attorney provides granular control of access to these internals.
-	friend class LocalDpManagerAttorney;
+class LocalDataPoolManager:
+        public ProvidesDataPoolSubscriptionIF,
+        public AccessPoolManagerIF {
+    friend void (Factory::setStaticFrameworkObjectIds)();
+    //! Some classes using the pool manager directly need to access class internals of the
+    //! manager. The attorney provides granular control of access to these internals.
+    friend class LocalDpManagerAttorney;
 public:
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
 
     static constexpr ReturnValue_t QUEUE_OR_DESTINATION_INVALID = MAKE_RETURN_CODE(0);
-
     static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(1);
     static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(2);
     static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(3);
@@ -81,29 +81,29 @@ public:
      * @param appendValidityBuffer Specify whether a buffer containing the
      * validity state is generated  when serializing or deserializing packets.
      */
-	LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
-	        bool appendValidityBuffer = true);
-	virtual~ LocalDataPoolManager();
+    LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
+            bool appendValidityBuffer = true);
+    virtual~ LocalDataPoolManager();
 
-	/**
-	 * Assigns the queue to use. Make sure to call this in the #initialize
-	 * function of the owner.
-	 * @param queueToUse
-	 * @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
-	 * @return
-	 */
-	ReturnValue_t initialize(MessageQueueIF* queueToUse);
+    /**
+     * Assigns the queue to use. Make sure to call this in the #initialize
+     * function of the owner.
+     * @param queueToUse
+     * @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
+     * @return
+     */
+    ReturnValue_t initialize(MessageQueueIF* queueToUse);
 
-	/**
-	 * Initializes the map by calling the map initialization function and
-	 * setting the periodic factor for non-diagnostic packets.
-	 * Don't forget to call this in the #initializeAfterTaskCreation call of
-	 * the owner, otherwise the map will be invalid!
-	 * @param nonDiagInvlFactor
-	 * @return
-	 */
-	ReturnValue_t initializeAfterTaskCreation(
-	        uint8_t nonDiagInvlFactor = 5);
+    /**
+     * Initializes the map by calling the map initialization function and
+     * setting the periodic factor for non-diagnostic packets.
+     * Don't forget to call this in the #initializeAfterTaskCreation call of
+     * the owner, otherwise the map will be invalid!
+     * @param nonDiagInvlFactor
+     * @return
+     */
+    ReturnValue_t initializeAfterTaskCreation(
+            uint8_t nonDiagInvlFactor = 5);
 
     /**
      * @brief   This should be called in the periodic handler of the owner.
@@ -116,49 +116,49 @@ public:
      */
     virtual ReturnValue_t performHkOperation();
 
-	/**
-	 * @brief   Subscribe for the generation of periodic packets.
-	 * @details
+    /**
+     * @brief   Subscribe for the generation of periodic packets.
+     * @details
      * This subscription mechanism will generally be used by the data creator
      * to generate housekeeping packets which are downlinked directly.
-	 * @return
-	 */
-	ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
-			float collectionInterval, bool isDiagnostics,
-			object_id_t packetDestination = defaultHkDestination) override;
+     * @return
+     */
+    ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
+            float collectionInterval, bool isDiagnostics,
+            object_id_t packetDestination = defaultHkDestination) override;
 
-	/**
-	 * @brief   Subscribe for the  generation of packets if the dataset
-	 *          is marked as changed.
-	 * @details
-	 * This subscription mechanism will generally be used by the data creator.
-	 * @param sid
-	 * @param isDiagnostics
-	 * @param packetDestination
-	 * @return
-	 */
-    ReturnValue_t subscribeForUpdatePackets(sid_t sid, bool reportingEnabled,
+    /**
+     * @brief   Subscribe for the  generation of packets if the dataset
+     *          is marked as changed.
+     * @details
+     * This subscription mechanism will generally be used by the data creator.
+     * @param sid
+     * @param isDiagnostics
+     * @param packetDestination
+     * @return
+     */
+    ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
             bool isDiagnostics,
             object_id_t packetDestination = defaultHkDestination) override;
 
-	/**
-	 * @brief   Subscribe for a notification message which will be sent
-	 *          if a dataset has changed.
-	 * @details
-	 * This subscription mechanism will generally be used internally by
-	 * other software components.
-	 * @param setId     Set ID of the set to receive update messages from.
-	 * @param destinationObject
-	 * @param targetQueueId
-	 * @param generateSnapshot If this is set to true, a copy of the current
-	 * data with a timestamp will be generated and sent via message.
-	 * Otherwise, only an notification message is sent.
-	 * @return
-	 */
-	ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
-	        object_id_t destinationObject,
-	        MessageQueueId_t targetQueueId,
-	        bool generateSnapshot) override;
+    /**
+     * @brief   Subscribe for a notification message which will be sent
+     *          if a dataset has changed.
+     * @details
+     * This subscription mechanism will generally be used internally by
+     * other software components.
+     * @param setId     Set ID of the set to receive update messages from.
+     * @param destinationObject
+     * @param targetQueueId
+     * @param generateSnapshot If this is set to true, a copy of the current
+     * data with a timestamp will be generated and sent via message.
+     * Otherwise, only an notification message is sent.
+     * @return
+     */
+    ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
+            object_id_t destinationObject,
+            MessageQueueId_t targetQueueId,
+            bool generateSnapshot) override;
 
     /**
      * @brief   Subscribe for an notification message which will be sent if a
@@ -174,23 +174,21 @@ public:
      * Otherwise, only an notification message is sent.
      * @return
      */
-    ReturnValue_t subscribeForVariableUpdateMessages(const lp_id_t localPoolId,
+    ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
             object_id_t destinationObject,
             MessageQueueId_t targetQueueId,
             bool generateSnapshot) override;
 
-    MutexIF* getLocalPoolMutex() override;
-
-	/**
-	 * Non-Diagnostics packets usually have a lower minimum sampling frequency
-	 * than diagnostic packets.
-	 * A factor can be specified to determine the minimum sampling frequency
-	 * for non-diagnostic packets. The minimum sampling frequency of the
-	 * diagnostics packets,which is usually jusst the period of the
-	 * performOperation calls, is multiplied with that factor.
-	 * @param factor
-	 */
-	void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
+    /**
+     * Non-Diagnostics packets usually have a lower minimum sampling frequency
+     * than diagnostic packets.
+     * A factor can be specified to determine the minimum sampling frequency
+     * for non-diagnostic packets. The minimum sampling frequency of the
+     * diagnostics packets,which is usually jusst the period of the
+     * performOperation calls, is multiplied with that factor.
+     * @param factor
+     */
+    void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
 
     /**
      * @brief   The manager is also able to handle housekeeping messages.
@@ -206,18 +204,18 @@ public:
      */
     virtual ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
 
-	/**
-	 * Generate a housekeeping packet with a given SID.
-	 * @param sid
-	 * @return
-	 */
-	ReturnValue_t generateHousekeepingPacket(sid_t sid,
-			LocalPoolDataSetBase* dataSet, bool forDownlink,
-			MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
+    /**
+     * Generate a housekeeping packet with a given SID.
+     * @param sid
+     * @return
+     */
+    ReturnValue_t generateHousekeepingPacket(sid_t sid,
+            LocalPoolDataSetBase* dataSet, bool forDownlink,
+            MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
 
-	HasLocalDataPoolIF* getOwner();
+    HasLocalDataPoolIF* getOwner();
 
-	ReturnValue_t printPoolEntry(lp_id_t localPoolId);
+    ReturnValue_t printPoolEntry(lp_id_t localPoolId);
 
     /**
      * Different types of housekeeping reporting are possible.
@@ -236,22 +234,19 @@ public:
         PERIODIC,
         //! Housekeeping packet will be generated if values have changed.
         UPDATE_HK,
-		//! Update notification will be sent out as message.
-		UPDATE_NOTIFICATION,
+        //! Update notification will be sent out as message.
+        UPDATE_NOTIFICATION,
         //! Notification will be sent out as message and a snapshot of the
         //! current data will be generated.
         UPDATE_SNAPSHOT,
     };
 
-    /**
-     * Different data types are possible in the HK receiver map.
-     * For example, updates can be requested for full datasets or
-     * for single pool variables. Periodic reporting is only possible for
-     * data sets.
-     */
+    /** Different data types are possible in the HK receiver map. For example, updates can be
+    requested for full datasets or for single pool variables. Periodic reporting is only possible
+    for data sets. */
     enum class DataType: uint8_t {
-    	LOCAL_POOL_VARIABLE,
-		DATA_SET
+        LOCAL_POOL_VARIABLE,
+        DATA_SET
     };
 
     /* Copying forbidden */
@@ -267,11 +262,22 @@ public:
 
     object_id_t getCreatorObjectId() const;
 
-    virtual LocalDataPoolManager* getHkManagerHandle() override;
-private:
+    /**
+     * Get the pointer to the mutex. Can be used to lock the data pool
+     * externally. Use with care and don't forget to unlock locked mutexes!
+     * For now, only friend classes can accss this function.
+     * @return
+     */
+    MutexIF* getMutexHandle();
+
+    virtual LocalDataPoolManager* getPoolManagerHandle() override;
+
+protected:
+
+    /** Core data structure for the actual pool data */
     localpool::DataPool localPoolMap;
-    //! Every housekeeping data manager has a mutex to protect access
-    //! to it's data pool.
+    /** Every housekeeping data manager has a mutex to protect access
+    to it's data pool. */
     MutexIF* mutex = nullptr;
 
     /** The class which actually owns the manager (and its datapool). */
@@ -279,9 +285,9 @@ private:
 
     uint8_t nonDiagnosticIntervalFactor = 0;
 
-	/** Default receiver for periodic HK packets */
-	static object_id_t defaultHkDestination;
-	MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
+    /** Default receiver for periodic HK packets */
+    static object_id_t defaultHkDestination;
+    MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
 
     union DataId {
         DataId(): sid() {};
@@ -291,10 +297,10 @@ private:
 
     /** The data pool manager will keep an internal map of HK receivers. */
     struct HkReceiver {
-		/** Object ID of receiver */
-		object_id_t objectId = objects::NO_OBJECT;
+        /** Object ID of receiver */
+        object_id_t objectId = objects::NO_OBJECT;
 
-		DataType dataType = DataType::DATA_SET;
+        DataType dataType = DataType::DATA_SET;
         DataId dataId;
 
         ReportingType reportingType = ReportingType::PERIODIC;
@@ -304,7 +310,7 @@ private:
     /** This vector will contain the list of HK receivers. */
     using HkReceivers = std::vector<struct HkReceiver>;
 
-    HkReceivers hkReceiversMap;
+    HkReceivers hkReceivers;
 
     struct HkUpdateResetHelper {
         DataType dataType = DataType::DATA_SET;
@@ -314,7 +320,8 @@ private:
     };
 
     using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
-    // Will only be created when needed.
+    /** This list is used to manage creating multiple update packets and only resetting
+    the update flag if all of them were created. Will only be created when needed. */
     HkUpdateResetList* hkUpdateResetList = nullptr;
 
     /** This is the map holding the actual data. Should only be initialized
@@ -324,37 +331,28 @@ private:
      * of generated housekeeping packets. */
     bool appendValidityBuffer = true;
 
-	/**
-	 * @brief Queue used for communication, for example commands.
-	 * Is also used to send messages. Can be set either in the constructor
+    /**
+     * @brief Queue used for communication, for example commands.
+     * Is also used to send messages. Can be set either in the constructor
      * or in the initialize() function.
-	 */
-	MessageQueueIF* hkQueue = nullptr;
+     */
+    MessageQueueIF* hkQueue = nullptr;
 
-	/** Global IPC store is used to store all packets. */
-	StorageManagerIF* ipcStore = nullptr;
-	/**
-	 * Get the pointer to the mutex. Can be used to lock the data pool
-	 * externally. Use with care and don't forget to unlock locked mutexes!
-	 * For now, only friend classes can accss this function.
-	 * @return
-	 */
-	MutexIF* getMutexHandle();
+    /** Global IPC store is used to store all packets. */
+    StorageManagerIF* ipcStore = nullptr;
 
-	/**
-	 * Read a variable by supplying its local pool ID and assign the pool
-	 * entry to the supplied PoolEntry pointer. The type of the pool entry
-	 * is deduced automatically. This call is not thread-safe!
-	 * For now, only friend classes like LocalPoolVar may access this
-	 * function.
-	 * @tparam T Type of the pool entry
-	 * @param localPoolId Pool ID of the variable to read
-	 * @param poolVar [out] Corresponding pool entry will be assigned to the
-	 * 						supplied pointer.
-	 * @return
-	 */
-	template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
-			PoolEntry<T> **poolEntry);
+    /**
+     * Read a variable by supplying its local pool ID and assign the pool
+     * entry to the supplied PoolEntry pointer. The type of the pool entry
+     * is deduced automatically. This call is not thread-safe!
+     * For now, only classes designated by the LocalDpManagerAttorney may use this function.
+     * @tparam T Type of the pool entry
+     * @param localPoolId Pool ID of the variable to read
+     * @param poolVar [out] Corresponding pool entry will be assigned to the
+     * 						supplied pointer.
+     * @return
+     */
+    template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry);
 
     /**
      * This function is used to fill the local data pool map with pool
@@ -364,55 +362,53 @@ private:
      */
     ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
-	ReturnValue_t serializeHkPacketIntoStore(
-	        HousekeepingPacketDownlink& hkPacket,
-	        store_address_t& storeId, bool forDownlink, size_t* serializedSize);
+    MutexIF* getLocalPoolMutex() override;
 
-	void performPeriodicHkGeneration(HkReceiver& hkReceiver);
-	ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
-			bool isDiagnostics);
-	ReturnValue_t changeCollectionInterval(sid_t sid,
-			float newCollectionInterval, bool isDiagnostics);
-	ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
+    ReturnValue_t serializeHkPacketIntoStore(HousekeepingPacketDownlink& hkPacket,
+            store_address_t& storeId, bool forDownlink, size_t* serializedSize);
 
-	void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
-	void handleChangeResetLogic(DataType type,
-	        DataId dataId, MarkChangedIF* toReset);
-	void resetHkUpdateResetHelper();
+    void performPeriodicHkGeneration(HkReceiver& hkReceiver);
+    ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics);
+    ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval,
+            bool isDiagnostics);
+    ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
 
-	ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver,
-            ReturnValue_t& status);
-	ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver,
-	        ReturnValue_t& status);
-	ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
-            ReturnValue_t& status);
-	ReturnValue_t addUpdateToStore(HousekeepingPacketUpdate& updatePacket,
-	        store_address_t& storeId);
+    void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
+    void handleChangeResetLogic(DataType type,
+            DataId dataId, MarkChangedIF* toReset);
+    void resetHkUpdateResetHelper();
 
-	void printWarningOrError(sif::OutputTypes outputType,
-			const char* functionName,
-			ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
-			const char* errorPrint = nullptr);
+    ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver, ReturnValue_t& status);
+    ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver, ReturnValue_t& status);
+    ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver, ReturnValue_t& status);
+    ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket, store_address_t& storeId);
+
+    void printWarningOrError(sif::OutputTypes outputType, const char* functionName,
+            ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
+            const char* errorPrint = nullptr);
 };
 
 
 template<class T> inline
-ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
-		PoolEntry<T> **poolEntry) {
-	auto poolIter = localPoolMap.find(localPoolId);
-	if (poolIter == localPoolMap.end()) {
-    	printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry",
-    			localpool::POOL_ENTRY_NOT_FOUND);
-		return localpool::POOL_ENTRY_NOT_FOUND;
-	}
+ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry) {
+    if(poolEntry == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 
-	*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
-	if(*poolEntry == nullptr) {
-    	printWarningOrError(sif::OutputTypes::OUT_ERROR, "fetchPoolEntry",
-    			localpool::POOL_ENTRY_TYPE_CONFLICT);
-		return localpool::POOL_ENTRY_TYPE_CONFLICT;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    auto poolIter = localPoolMap.find(localPoolId);
+    if (poolIter == localPoolMap.end()) {
+        printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
+                localpool::POOL_ENTRY_NOT_FOUND);
+        return localpool::POOL_ENTRY_NOT_FOUND;
+    }
+
+    *poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
+    if(*poolEntry == nullptr) {
+        printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",
+                localpool::POOL_ENTRY_TYPE_CONFLICT);
+        return localpool::POOL_ENTRY_TYPE_CONFLICT;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 

datapoollocal/LocalDataSet.h

@@ -4,11 +4,26 @@
 #include "LocalPoolDataSetBase.h"
 #include <vector>
 
+/**
+ * @brief   This dataset type can be used to group related pool variables if the number of
+ *          variables should not be fixed.
+ * @details
+ * This will is the primary data structure to organize pool variables into
+ * sets which can be accessed via the housekeeping service interface or
+ * which can be sent to other software objects.
+ *
+ * It is recommended to read the documentation of the LocalPoolDataSetBase
+ * class for more information on how this class works and how to use it.
+ * @tparam capacity Capacity of the static dataset, which is usually known
+ * beforehand.
+ */
 class LocalDataSet: public LocalPoolDataSetBase {
 public:
     LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId,
             const size_t maxSize);
+
     LocalDataSet(sid_t sid, const size_t maxSize);
+
     virtual~ LocalDataSet();
 
     //! Copying forbidden for now.

datapoollocal/LocalPoolDataSetBase.cpp

@@ -3,6 +3,8 @@
 #include "internal/HasLocalDpIFUserAttorney.h"
 
 #include "../serviceinterface/ServiceInterface.h"
+#include "../objectmanager/ObjectManager.h"
+#include "../globalfunctions/bitutility.h"
 #include "../datapoollocal/LocalDataPoolManager.h"
 #include "../housekeeping/PeriodicHousekeepingHelper.h"
 #include "../serialize/SerializeAdapter.h"
@@ -28,37 +30,36 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
     AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
 
     if(accessor != nullptr) {
-        poolManager = accessor->getHkManagerHandle();
+        poolManager = accessor->getPoolManagerHandle();
         mutexIfSingleDataCreator = accessor->getLocalPoolMutex();
     }
 
     this->sid.objectId = hkOwner->getObjectId();
     this->sid.ownerSetId = setId;
 
-    // Data creators get a periodic helper for periodic HK data generation.
+    /* Data creators get a periodic helper for periodic HK data generation. */
     if(periodicHandling) {
         periodicHelper = new PeriodicHousekeepingHelper(this);
     }
 }
 
-LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
-        PoolVariableIF** registeredVariablesArray,
+LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
         const size_t maxNumberOfVariables):
-                PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables)  {
-    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
+        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables)  {
+    HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(
             sid.objectId);
     if(hkOwner != nullptr) {
         AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
         if(accessor != nullptr) {
             mutexIfSingleDataCreator = accessor->getLocalPoolMutex();
+            poolManager = accessor->getPoolManagerHandle();
         }
     }
 
     this->sid = sid;
 }
 
-LocalPoolDataSetBase::LocalPoolDataSetBase(
-        PoolVariableIF **registeredVariablesArray,
+LocalPoolDataSetBase::LocalPoolDataSetBase(PoolVariableIF **registeredVariablesArray,
         const size_t maxNumberOfVariables, bool protectEveryReadCommitCall):
 		        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
     this->setReadCommitProtectionBehaviour(protectEveryReadCommitCall);
@@ -66,9 +67,19 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(
 
 
 LocalPoolDataSetBase::~LocalPoolDataSetBase() {
+    /* We only delete objects which were created in the class constructor */
     if(periodicHelper != nullptr) {
         delete periodicHelper;
     }
+    /* In case set was read but not comitted, we commit all variables with an invalid state */
+    if(state == States::STATE_SET_WAS_READ) {
+        for (uint16_t count = 0; count < fillCount; count++) {
+            if(registeredVariables[count] != nullptr) {
+                registeredVariables[count]->setValid(false);
+                registeredVariables[count]->commit(MutexIF::TimeoutType::WAITING, 20);
+            }
+        }
+    }
 }
 
 ReturnValue_t LocalPoolDataSetBase::lockDataPool(
@@ -83,24 +94,33 @@ ReturnValue_t LocalPoolDataSetBase::lockDataPool(
 ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer,
         size_t *size, size_t maxSize,
         SerializeIF::Endianness streamEndianness) const {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
-    uint8_t validityMask[validityMaskSize];
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+    uint8_t* validityPtr = nullptr;
+#ifdef _MSC_VER
+    /* Use a std::vector here because MSVC will (rightly) not create a fixed size array
+    with a non constant size specifier */
+    std::vector<uint8_t> validityMask(validityMaskSize);
+    validityPtr = validityMask.data();
+#else
+    uint8_t validityMask[validityMaskSize] = {0};
+    validityPtr = validityMask;
+#endif
     uint8_t validBufferIndex = 0;
     uint8_t validBufferIndexBit = 0;
     for (uint16_t count = 0; count < fillCount; count++) {
         if(registeredVariables[count]->isValid()) {
-            // set validity buffer here.
-            this->bitSetter(validityMask + validBufferIndex,
-                    validBufferIndexBit);
-            if(validBufferIndexBit == 7) {
-                validBufferIndex ++;
-                validBufferIndexBit = 0;
-            }
-            else {
-                validBufferIndexBit ++;
-            }
+            /* Set bit at correct position */
+            bitutil::bitSet(validityPtr + validBufferIndex, validBufferIndexBit);
         }
+        if(validBufferIndexBit == 7) {
+            validBufferIndex ++;
+            validBufferIndexBit = 0;
+        }
+        else {
+            validBufferIndexBit ++;
+        }
+
         result = registeredVariables[count]->serialize(buffer, size, maxSize,
                 streamEndianness);
         if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -112,7 +132,7 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
         return SerializeIF::BUFFER_TOO_SHORT;
     }
     // copy validity buffer to end
-    std::memcpy(*buffer, validityMask, validityMaskSize);
+    std::memcpy(*buffer, validityPtr, validityMaskSize);
     *size += validityMaskSize;
     return result;
 }
@@ -137,7 +157,7 @@ ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
     uint8_t validBufferIndexBit = 0;
     for (uint16_t count = 0; count < fillCount; count++) {
         // set validity buffer here.
-        bool nextVarValid = this->bitGetter(*buffer +
+        bool nextVarValid = bitutil::bitGet(*buffer +
                 validBufferIndex, validBufferIndexBit);
         registeredVariables[count]->setValid(nextVarValid);
 
@@ -162,7 +182,7 @@ ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
 ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
         size_t* size, size_t maxSize,SerializeIF::Endianness streamEndianness,
         bool serializeFillCount) const {
-    // Serialize as uint8_t
+    /* Serialize fill count as uint8_t */
     uint8_t fillCount = this->fillCount;
     if(serializeFillCount) {
         SerializeAdapter::serialize(&fillCount, buffer, size, maxSize,
@@ -235,21 +255,6 @@ ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
     }
 }
 
-void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
-    if(position > 7) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LocalPoolDataSetBase::bitSetter: Invalid position!"
-                << std::endl;
-#else
-        sif::printWarning("LocalPoolDataSetBase::bitSetter: "
-                "Invalid position!\n\r");
-#endif
-        return;
-    }
-    uint8_t shiftNumber = position + (7 - 2 * position);
-    *byte |= 1 << shiftNumber;
-}
-
 void LocalPoolDataSetBase::setDiagnostic(bool isDiagnostics) {
     this->diagnostic = isDiagnostics;
 }
@@ -266,11 +271,9 @@ bool LocalPoolDataSetBase::getReportingEnabled() const {
     return reportingEnabled;
 }
 
-void LocalPoolDataSetBase::initializePeriodicHelper(
-        float collectionInterval, dur_millis_t minimumPeriodicInterval,
-        bool isDiagnostics, uint8_t nonDiagIntervalFactor) {
-    periodicHelper->initialize(collectionInterval, minimumPeriodicInterval,
-            isDiagnostics, nonDiagIntervalFactor);
+void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval,
+        dur_millis_t minimumPeriodicInterval, uint8_t nonDiagIntervalFactor) {
+    periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor);
 }
 
 void LocalPoolDataSetBase::setChanged(bool changed) {
@@ -285,19 +288,6 @@ sid_t LocalPoolDataSetBase::getSid() const {
     return sid;
 }
 
-bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
-        uint8_t position) const {
-    if(position > 7) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "Pool Raw Access: Bit setting invalid position"
-                << std::endl;
-#endif
-        return false;
-    }
-    uint8_t shiftNumber = position + (7 - 2 * position);
-    return *byte & (1 << shiftNumber);
-}
-
 bool LocalPoolDataSetBase::isValid() const {
     return this->valid;
 }
@@ -305,7 +295,7 @@ bool LocalPoolDataSetBase::isValid() const {
 void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
     if(setEntriesRecursively) {
         for(size_t idx = 0; idx < this->getFillCount(); idx++) {
-            registeredVariables[idx] -> setValid(valid);
+            registeredVariables[idx]->setValid(valid);
         }
     }
     this->valid = valid;
@@ -317,3 +307,18 @@ object_id_t LocalPoolDataSetBase::getCreatorObjectId() {
     }
     return objects::NO_OBJECT;
 }
+
+void LocalPoolDataSetBase::setAllVariablesReadOnly() {
+    for(size_t idx = 0; idx < this->getFillCount(); idx++) {
+        registeredVariables[idx]->setReadWriteMode(pool_rwm_t::VAR_READ);
+    }
+}
+
+float LocalPoolDataSetBase::getCollectionInterval() const {
+    if(periodicHelper != nullptr) {
+        return periodicHelper->getCollectionIntervalInSeconds();
+    }
+    else {
+        return 0.0;
+    }
+}

datapoollocal/LocalPoolDataSetBase.h

@@ -59,7 +59,7 @@ public:
 
     /**
      * @brief	Constructor for users of the local pool data, which need
-     *          to access data created by one (!) HK manager.
+     *          to access data created by one HK manager.
      * @details
      * Unlike the first constructor, no component for periodic handling
      * will be initiated.
@@ -97,12 +97,24 @@ public:
      * @brief	The destructor automatically manages writing the valid
      * 			information of variables.
      * @details
-     * In case the data set was read out, but not committed(indicated by state),
+     * In case the data set was read out, but not committed (indicated by state),
      * the destructor parses all variables that are still registered to the set.
      * For each, the valid flag in the data pool is set to "invalid".
      */
     ~LocalPoolDataSetBase();
 
+    /* The copy constructor and assingment constructor are forbidden for now.
+    The use-cases are limited and the first step would be to implement them properly for the
+    base class */
+    LocalPoolDataSetBase(const LocalPoolDataSetBase& otherSet) = delete;
+    const LocalPoolDataSetBase& operator=(const LocalPoolDataSetBase& otherSet) = delete;
+
+    /**
+     * Helper functions used to set all currently contained variables to read-only.
+     * It is recommended to call this in set constructors intended to be used
+     * by data consumers to prevent accidentally changing pool data.
+     */
+    void setAllVariablesReadOnly();
     void setValidityBufferGeneration(bool withValidityBuffer);
 
     sid_t getSid() const;
@@ -153,6 +165,17 @@ public:
     bool hasChanged() const override;
 
     object_id_t getCreatorObjectId();
+
+    bool getReportingEnabled() const;
+
+    /**
+     * Returns the current periodic HK generation interval this set
+     * belongs to a HK manager and the interval is not 0. Otherwise,
+     * returns 0.0
+     * @return
+     */
+    float getCollectionInterval() const;
+
 protected:
     sid_t sid;
     //! This mutex is used if the data is created by one object only.
@@ -167,11 +190,9 @@ protected:
      */
     bool reportingEnabled = false;
     void setReportingEnabled(bool enabled);
-    bool getReportingEnabled() const;
 
-    void initializePeriodicHelper(float collectionInterval,
-            dur_millis_t minimumPeriodicInterval,
-            bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5);
+    void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+            uint8_t nonDiagIntervalFactor = 5);
 
     /**
      * If the valid state of a dataset is always relevant to the whole
@@ -211,13 +232,6 @@ protected:
      */
     ReturnValue_t unlockDataPool() override;
 
-    /**
-     * Set n-th bit of a byte, with n being the position from 0
-     * (most significant bit) to 7 (least significant bit)
-     */
-    void bitSetter(uint8_t* byte, uint8_t position) const;
-    bool bitGetter(const uint8_t* byte, uint8_t position) const;
-
     PeriodicHousekeepingHelper* periodicHelper = nullptr;
     LocalDataPoolManager* poolManager = nullptr;
 

datapoollocal/LocalPoolObjectBase.cpp

@@ -1,9 +1,11 @@
 #include "LocalPoolObjectBase.h"
 #include "LocalDataPoolManager.h"
-#include "internal/HasLocalDpIFUserAttorney.h"
+#include "AccessLocalPoolF.h"
 #include "HasLocalDataPoolIF.h"
+#include "internal/HasLocalDpIFUserAttorney.h"
+
+#include "../objectmanager/ObjectManager.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
 
 LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
         DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
@@ -22,7 +24,7 @@ LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkO
         return;
     }
     AccessPoolManagerIF* poolManAccessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
-    hkManager = poolManAccessor->getHkManagerHandle();
+    hkManager = poolManAccessor->getPoolManagerHandle();
 
     if (dataSet != nullptr) {
         dataSet->registerVariable(this);
@@ -35,22 +37,27 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
     if(poolId == PoolVariableIF::NO_PARAMETER) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-                << "which is the NO_PARAMETER value!" << std::endl;
+                "which is the NO_PARAMETER value!" << std::endl;
+#else
+        sif::printWarning("LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
+                "which is the NO_PARAMETER value!\n");
 #endif
     }
-    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(poolOwner);
+    HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
     if(hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "LocalPoolVariable: The supplied pool owner did not "
-                << "implement the correct interface"
-                << " HasLocalDataPoolIF!" << std::endl;
+        sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
+                "interface HasLocalDataPoolIF!" << std::endl;
+#else
+        sif::printError( "LocalPoolVariable: The supplied pool owner did not implement the correct "
+                "interface HasLocalDataPoolIF!\n");
 #endif
         return;
     }
 
     AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
     if(accessor != nullptr) {
-        hkManager = accessor->getHkManagerHandle();
+        hkManager = accessor->getPoolManagerHandle();
     }
 
     if(dataSet != nullptr) {
@@ -93,6 +100,10 @@ void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
 void LocalPoolObjectBase::reportReadCommitError(const char* variableType,
         ReturnValue_t error, bool read, object_id_t objectId, lp_id_t lpId) {
 #if FSFW_DISABLE_PRINTOUT == 0
+    const char* variablePrintout = variableType;
+    if(variablePrintout == nullptr) {
+        variablePrintout = "Unknown Type";
+    }
     const char* type = nullptr;
     if(read) {
         type = "read";
@@ -119,12 +130,12 @@ void LocalPoolObjectBase::reportReadCommitError(const char* variableType,
     }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << variableType << ": " << type << " call | " << errMsg << " | Owner: 0x"
+    sif::warning << variablePrintout << ": " << type << " call | " << errMsg << " | Owner: 0x"
             << std::hex << std::setw(8) << std::setfill('0') << objectId << std::dec
             << " LPID: " << lpId << std::endl;
 #else
     sif::printWarning("%s: %s call | %s | Owner: 0x%08x LPID: %lu\n",
-            variableType, type, errMsg, objectId, lpId);
+            variablePrintout, type, errMsg, objectId, lpId);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_DISABLE_PRINTOUT == 0 */
 }

datapoollocal/LocalPoolObjectBase.h

@@ -20,12 +20,10 @@ class LocalPoolObjectBase: public PoolVariableIF,
         public HasReturnvaluesIF,
         public MarkChangedIF {
 public:
-    LocalPoolObjectBase(lp_id_t poolId,
-            HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
+    LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
             pool_rwm_t setReadWriteMode);
 
-    LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
-            DataSetIF* dataSet = nullptr,
+    LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr,
             pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
     void setReadWriteMode(pool_rwm_t newReadWriteMode);

datapoollocal/LocalPoolVariable.tpp

@@ -26,8 +26,17 @@ inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
 template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::read(
         MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-    return readWithoutLock();
+    if(hkManager == nullptr) {
+        return readWithoutLock();
+    }
+    MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
+    ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    result = readWithoutLock();
+    mutex->unlockMutex();
+    return result;
 }
 
 template<typename T>
@@ -43,7 +52,6 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
     PoolEntry<T>* poolEntry = nullptr;
     ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
             &poolEntry);
-    //ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
     if(result != RETURN_OK) {
         object_id_t ownerObjectId = hkManager->getCreatorObjectId();
         reportReadCommitError("LocalPoolVariable", result,
@@ -51,15 +59,6 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
         return result;
     }
 
-    // Actually this should never happen..
-    //	if(poolEntry->address == nullptr) {
-    //		result = PoolVariableIF::INVALID_POOL_ENTRY;
-    //		object_id_t ownerObjectId = hkManager->getOwner()->getObjectId();
-    //		reportReadCommitError("LocalPoolVariable", result,
-    //				false, ownerObjectId, localPoolId);
-    //		return result;
-    //	}
-
     this->value = *(poolEntry->getDataPtr());
     this->valid = poolEntry->getValid();
     return RETURN_OK;
@@ -75,8 +74,17 @@ inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
 template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commit(
         MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
-    return commitWithoutLock();
+    if(hkManager == nullptr) {
+        return commitWithoutLock();
+    }
+    MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
+    ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    result = commitWithoutLock();
+    mutex->unlockMutex();
+    return result;
 }
 
 template<typename T>
@@ -90,7 +98,6 @@ inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
     }
 
     PoolEntry<T>* poolEntry = nullptr;
-    //ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
     ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
             &poolEntry);
     if(result != RETURN_OK) {

datapoollocal/LocalPoolVector.h

@@ -77,8 +77,7 @@ public:
      * @param dataSet
      * @param setReadWriteMode
      */
-    LocalPoolVector(gp_id_t globalPoolId,
-            DataSetIF* dataSet = nullptr,
+    LocalPoolVector(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
             pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
     /**
@@ -87,7 +86,7 @@ public:
      * The user can work on this attribute just like he would on a local
      * array of this type.
      */
-    T value[vectorSize];
+    T value[vectorSize]= {};
     /**
      * @brief	The classes destructor is empty.
      * @details	If commit() was not called, the local value is

datapoollocal/LocalPoolVector.tpp

@@ -16,7 +16,6 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
         lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
         LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
-
 template<typename T, uint16_t vectorSize>
 inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
         DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
@@ -26,7 +25,7 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
         MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
     return readWithoutLock();
 }
 template<typename T, uint16_t vectorSize>
@@ -65,7 +64,7 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
         MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
     return commitWithoutLock();
 }
 

datapoollocal/ProvidesDataPoolSubscriptionIF.h

@@ -17,12 +17,8 @@ public:
      * to generate housekeeping packets which are downlinked directly.
      * @return
      */
-    virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid,
-            bool enableReporting,
-            float collectionInterval, bool isDiagnostics,
-            object_id_t packetDestination) = 0;
-
-
+    virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
+            float collectionInterval, bool isDiagnostics, object_id_t packetDestination) = 0;
     /**
      * @brief   Subscribe for the  generation of packets if the dataset
      *          is marked as changed.
@@ -33,51 +29,42 @@ public:
      * @param packetDestination
      * @return
      */
-    virtual ReturnValue_t subscribeForUpdatePackets(sid_t sid,
-            bool reportingEnabled,
-            bool isDiagnostics,
-            object_id_t packetDestination) = 0;
-
-
+    virtual ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
+            bool isDiagnostics, object_id_t packetDestination) = 0;
     /**
      * @brief   Subscribe for a notification message which will be sent
      *          if a dataset has changed.
      * @details
      * This subscription mechanism will generally be used internally by
      * other software components.
-     * @param setId     Set ID of the set to receive update messages from.
-     * @param destinationObject
-     * @param targetQueueId
-     * @param generateSnapshot If this is set to true, a copy of the current
-     * data with a timestamp will be generated and sent via message.
-     * Otherwise, only an notification message is sent.
+     * @param setId                 Set ID of the set to receive update messages from.
+     * @param destinationObject     Object ID of the receiver.
+     * @param targetQueueId         Receiver queue ID
+     * @param generateSnapshot      If this is set to true, a copy of the current data with a
+     *                              timestamp will be generated and sent via message.
+     *                              Otherwise, only an notification message is sent.
      * @return
      */
-    virtual ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
-            object_id_t destinationObject,
-            MessageQueueId_t targetQueueId,
+    virtual ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
+            object_id_t destinationObject, MessageQueueId_t targetQueueId,
             bool generateSnapshot) = 0;
-
     /**
      * @brief   Subscribe for an notification message which will be sent if a
      *          pool variable has changed.
      * @details
      * This subscription mechanism will generally be used internally by
      * other software components.
-     * @param localPoolId Pool ID of the pool variable
-     * @param destinationObject
-     * @param targetQueueId
-     * @param generateSnapshot If this is set to true, a copy of the current
-     * data with a timestamp will be generated and sent via message.
-     * Otherwise, only an notification message is sent.
+     * @param localPoolId           Pool ID of the pool variable
+     * @param destinationObject     Object ID of the receiver
+     * @param targetQueueId         Receiver queue ID
+     * @param generateSnapshot      If this is set to true, a copy of the current data with a
+     *                              timestamp will be generated and sent via message. Otherwise,
+     *                              only an notification message is sent.
      * @return
      */
-    virtual ReturnValue_t subscribeForVariableUpdateMessages(
-            const lp_id_t localPoolId,
-            object_id_t destinationObject,
-            MessageQueueId_t targetQueueId,
+    virtual ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
+            object_id_t destinationObject, MessageQueueId_t targetQueueId,
             bool generateSnapshot) = 0;
-
 };
 
 #endif /* FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_ */

datapoollocal/SharedLocalDataSet.cpp

@@ -1,16 +1,37 @@
 #include "SharedLocalDataSet.h"
 
+
 SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, sid_t sid,
         const size_t maxSize): SystemObject(objectId),
-        LocalPoolDataSetBase(sid, nullptr, maxSize) {
+        LocalPoolDataSetBase(sid, nullptr, maxSize), poolVarVector(maxSize) {
     this->setContainer(poolVarVector.data());
     datasetLock = MutexFactory::instance()->createMutex();
 }
 
-ReturnValue_t SharedLocalDataSet::lockDataset(dur_millis_t mutexTimeout) {
-    return datasetLock->lockMutex(MutexIF::TimeoutType::WAITING, mutexTimeout);
+SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId,
+        HasLocalDataPoolIF *owner, uint32_t setId,
+        const size_t maxSize): SystemObject(objectId),
+        LocalPoolDataSetBase(owner, setId, nullptr, maxSize), poolVarVector(maxSize)  {
+    this->setContainer(poolVarVector.data());
+    datasetLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedLocalDataSet::lockDataset(MutexIF::TimeoutType timeoutType,
+        dur_millis_t mutexTimeout) {
+    if(datasetLock != nullptr) {
+        return datasetLock->lockMutex(timeoutType, mutexTimeout);
+    }
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+
+SharedLocalDataSet::~SharedLocalDataSet() {
+    MutexFactory::instance()->deleteMutex(datasetLock);
 }
 
 ReturnValue_t SharedLocalDataSet::unlockDataset() {
-    return datasetLock->unlockMutex();
+    if(datasetLock != nullptr) {
+        return datasetLock->unlockMutex();
+    }
+    return HasReturnvaluesIF::RETURN_FAILED;
 }

datapoollocal/SharedLocalDataSet.h

@@ -11,16 +11,22 @@
  * multiple threads. It provides a lock in addition to all other functionalities provided
  * by the LocalPoolDataSetBase class.
  *
- * TODO: override and protect read, commit and some other calls used by pool manager.
+ * The user is completely responsible for lockingand unlocking the dataset when using the
+ * shared dataset.
  */
 class SharedLocalDataSet:
         public SystemObject,
         public LocalPoolDataSetBase,
         public SharedDataSetIF {
 public:
-    SharedLocalDataSet(object_id_t objectId, sid_t sid,
+    SharedLocalDataSet(object_id_t objectId, HasLocalDataPoolIF* owner, uint32_t setId,
             const size_t maxSize);
-    ReturnValue_t lockDataset(dur_millis_t mutexTimeout) override;
+    SharedLocalDataSet(object_id_t objectId, sid_t sid, const size_t maxSize);
+
+    virtual~ SharedLocalDataSet();
+
+    ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            dur_millis_t mutexTimeout = 20) override;
     ReturnValue_t unlockDataset() override;
 private:
 

datapoollocal/StaticLocalDataSet.h

@@ -2,11 +2,15 @@
 #define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
 
 #include "LocalPoolDataSetBase.h"
+#include "LocalPoolVariable.h"
+#include "LocalPoolVector.h"
+
 #include "../objectmanager/SystemObjectIF.h"
 #include <array>
 
 /**
- * @brief   This local dataset type is created on the stack.
+ * @brief   This dataset type can be used to group related pool variables if the number of
+ *          variables is fixed.
  * @details
  * This will is the primary data structure to organize pool variables into
  * sets which can be accessed via the housekeeping service interface or

datapoollocal/datapoollocal.h

@@ -0,0 +1,12 @@
+#ifndef FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
+#define FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
+
+/* Collected related headers */
+#include "LocalPoolVariable.h"
+#include "LocalPoolVector.h"
+#include "StaticLocalDataSet.h"
+#include "LocalDataSet.h"
+#include "SharedLocalDataSet.h"
+
+
+#endif /* FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_ */

datapoollocal/internal/LocalDpManagerAttorney.h

@@ -24,7 +24,6 @@ private:
         return manager.getMutexHandle();
     }
 
-
     template<typename T> friend class LocalPoolVariable;
     template<typename T, uint16_t vecSize> friend class LocalPoolVector;
 };

datapoollocal/internal/LocalPoolDataSetAttorney.h

@@ -14,9 +14,8 @@ private:
     }
 
     static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval,
-            uint32_t minimumPeriodicIntervalMs,
-            bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5) {
-        set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs, isDiagnostics,
+            uint32_t minimumPeriodicIntervalMs, uint8_t nonDiagIntervalFactor = 5) {
+        set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs,
                 nonDiagIntervalFactor);
     }
 

datapoollocal/localPoolDefinitions.h

@@ -21,8 +21,8 @@ static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
 static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
 static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
 
-//! This is the core data structure of the local data pools. Users should insert all desired
-//! pool variables, using the std::map interface.
+/** This is the core data structure of the local data pools. Users should insert all desired
+pool variables, using the std::map interface. */
 using DataPool =  std::map<lp_id_t, PoolEntryIF*>;
 using DataPoolMapIter = DataPool::iterator;
 
@@ -96,11 +96,11 @@ union gp_id_t {
         return raw == INVALID_GPID;
     }
 
-    bool operator==(const sid_t& other) const {
+    bool operator==(const gp_id_t& other) const {
         return raw == other.raw;
     }
 
-    bool operator!=(const sid_t& other) const {
+    bool operator!=(const gp_id_t& other) const {
         return not (raw == other.raw);
     }
 };

defaultcfg/fsfwconfig/CMakeLists.txt

@@ -1,15 +1,23 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	ipc/missionMessageTypes.cpp
-	objects/FsfwFactory.cpp
-	pollingsequence/PollingSequenceFactory.cpp
-)
-
-# Should be added to include path
 target_include_directories(${TARGET_NAME} PRIVATE
-	${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-if(NOT FSFW_CONFIG_PATH)
-	set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+target_sources(${TARGET_NAME} PRIVATE
+    ipc/missionMessageTypes.cpp
+    pollingsequence/PollingSequenceFactory.cpp
+    objects/FsfwFactory.cpp
+)
+
+# If a special translation file for object IDs exists, compile it.
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+    target_sources(${TARGET_NAME} PRIVATE
+        objects/translateObjects.cpp
+    )
 endif()
 
+# If a special translation file for events exists, compile it.
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+    target_sources(${TARGET_NAME} PRIVATE
+        events/translateEvents.cpp
+    )
+endif()

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -7,27 +7,30 @@
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
-#define FSFW_CPP_OSTREAM_ENABLED 	1
+#define FSFW_CPP_OSTREAM_ENABLED 	    1
 
 //! More FSFW related printouts depending on level. Useful for development.
-#define FSFW_VERBOSE_LEVEL			1
+#define FSFW_VERBOSE_LEVEL			    1
 
 //! Can be used to completely disable printouts, even the C stdio ones.
 #if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
-	#define FSFW_DISABLE_PRINTOUT 	0
+	#define FSFW_DISABLE_PRINTOUT 	    0
 #endif
 
+#define FSFW_USE_PUS_C_TELEMETRY        1
+#define FSFW_USE_PUS_C_TELECOMMANDS     1
+
 //! Can be used to disable the ANSI color sequences for C stdio.
-#define FSFW_COLORED_OUTPUT 		1
+#define FSFW_COLORED_OUTPUT 		    1
 
 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiled source files)
-#define FSFW_OBJ_EVENT_TRANSLATION	0
+#define FSFW_OBJ_EVENT_TRANSLATION	    0
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
+#define FSFW_DEBUG_INFO				    1
 #include "objects/translateObjects.h"
 #include "events/translateEvents.h"
 #else
@@ -35,15 +38,22 @@
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	            1
+#define FSFW_NO_C99_IO 	                1
 
 //! Specify whether a special mode store is used for Subsystem components.
-#define FSFW_USE_MODESTORE          0
+#define FSFW_USE_MODESTORE              0
+
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX     1
 
 namespace fsfwconfig {
-//! Default timestamp size. The default timestamp will be an eight byte CDC
-//! short timestamp.
-static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+
+//! Default timestamp size. The default timestamp will be an seven byte CDC short timestamp.
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;
 
 //! Configure the allocated pool sizes for the event manager.
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
@@ -52,11 +62,14 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
+//! simultaneously. This will increase the required RAM for
 //! each CSB service !
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
+static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
+
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

devicehandlers/AssemblyBase.h

@@ -24,6 +24,13 @@
  * 1. check logic when active-> checkChildrenStateOn
  * 2. transition logic to change the mode -> commandChildren
  *
+ * Important:
+ *
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
+ * The implementation must call the initialization function of the base class.
+ * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase: public SubsystemBase {
 public:
@@ -41,9 +48,6 @@ public:
 	virtual ~AssemblyBase();
 
 protected:
-
-    // SHOULDDO: Change that OVERWRITE_HEALTH may be returned
-    // (or return internalState directly?)
     /**
      * Command children to reach [mode,submode] combination
      * Can be done by setting #commandsOutstanding correctly,
@@ -68,6 +72,18 @@ protected:
     virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
             Submode_t wantedSubmode) = 0;
 
+    /**
+     * Check whether a combination of mode and submode is valid.
+     *
+     * Ground Controller like precise return values from HasModesIF.
+     * So, please return any of them.
+     *
+     * @param mode The targeted mode
+     * @param submode The targeted submmode
+     * @return Any information why this combination is invalid from HasModesIF
+     * 			like HasModesIF::INVALID_SUBMODE.
+     * 			On success return HasReturnvaluesIF::RETURN_OK
+     */
     virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
             Submode_t submode) = 0;
 

devicehandlers/ChildHandlerBase.cpp

@@ -1,6 +1,5 @@
 #include "ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
-#include "../subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
@@ -30,7 +29,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 	MessageQueueId_t parentQueue = 0;
 
 	if (parentId != objects::NO_OBJECT) {
-		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+		SubsystemBase *parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
 		if (parent == NULL) {
 			return RETURN_FAILED;
 		}

devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -1,6 +1,7 @@
 #include "DeviceHandlerFailureIsolation.h"
 
 #include "../devicehandlers/DeviceHandlerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../modes/HasModesIF.h"
 #include "../health/HealthTableIF.h"
 #include "../power/Fuse.h"
@@ -175,7 +176,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 #endif
 		return result;
 	}
-	ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
+	ConfirmsFailuresIF* power = ObjectManager::instance()->get<ConfirmsFailuresIF>(
 			powerConfirmationId);
 	if (power != nullptr) {
 		powerConfirmation = power->getEventReceptionQueue();
@@ -209,20 +210,20 @@ void DeviceHandlerFailureIsolation::startRecovery(Event reason) {
 }
 
 ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId,
-		uint16_t parameterId, ParameterWrapper* parameterWrapper,
+		uint8_t uniqueId, ParameterWrapper* parameterWrapper,
 		const ParameterWrapper* newValues, uint16_t startAtIndex) {
-	ReturnValue_t result = strangeReplyCount.getParameter(domainId, parameterId,
+	ReturnValue_t result = strangeReplyCount.getParameter(domainId, uniqueId,
 			parameterWrapper, newValues, startAtIndex);
 	if (result != INVALID_DOMAIN_ID) {
 		return result;
 	}
-	result = missedReplyCount.getParameter(domainId, parameterId,
-			parameterWrapper, newValues, startAtIndex);
+	result = missedReplyCount.getParameter(domainId, uniqueId, parameterWrapper, newValues,
+	        startAtIndex);
 	if (result != INVALID_DOMAIN_ID) {
 		return result;
 	}
-	result = recoveryCounter.getParameter(domainId, parameterId,
-			parameterWrapper, newValues, startAtIndex);
+	result = recoveryCounter.getParameter(domainId, uniqueId, parameterWrapper, newValues,
+	        startAtIndex);
 	if (result != INVALID_DOMAIN_ID) {
 		return result;
 	}

devicehandlers/DeviceHandlerFailureIsolation.h

@@ -17,9 +17,9 @@ public:
 	ReturnValue_t initialize();
 	void triggerEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0);bool isFdirActionInProgress();
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
+	virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
+			ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
+			uint16_t startAtIndex);
 
 protected:
 	FaultCounter strangeReplyCount;

devicehandlers/DeviceHandlerMessage.cpp

@@ -1,5 +1,5 @@
 #include "DeviceHandlerMessage.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 store_address_t DeviceHandlerMessage::getStoreAddress(
 		const CommandMessage* message) {
@@ -70,7 +70,7 @@ void DeviceHandlerMessage::clear(CommandMessage* message) {
 	case REPLY_RAW_COMMAND:
 	case REPLY_RAW_REPLY:
 	case REPLY_DIRECT_COMMAND_DATA: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
 				objects::IPC_STORE);
 		if (ipcStore != nullptr) {
 			ipcStore->deleteData(getStoreAddress(message));

devicehandlers/HealthDevice.cpp

@@ -16,9 +16,9 @@ ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
 	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&command);
+		result = healthHelper.handleHealthCommand(&command);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+	return result;
 }
 
 ReturnValue_t HealthDevice::initialize() {

doc/README-config.md

@@ -1,12 +1,30 @@
-
-## Configuring the FSFW
+Configuring the FSFW
+======
 
 The FSFW can be configured via the `fsfwconfig` folder. A template folder has
 been provided to have a starting point for this. The folder should be added
-to the include path.
+to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
+of the available options will be explained in more detail here.
 
+# Auto-Translation of Events
 
-### Configuring the Event Manager
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the 
+   [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
+3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
+   and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
+4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
+   `translateEvents.h` and should be copied to the `fsfwconfig/events` folder
+   
+An example implementations of these translation file generators can be found as part
+of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
+or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
+
+## Configuring the Event Manager
 
 The number of allowed subscriptions can be modified with the following
 parameters:
@@ -18,4 +36,5 @@ static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
 static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
 static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 }
-```
+```
+

doc/README-core.md

@@ -19,8 +19,9 @@ A nullptr check of the returning Pointer must be done. This function is based on
 ```cpp
 template <typename T> T* ObjectManagerIF::get( object_id_t id )
 ```
-* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
-By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
+* A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling objectManager->initialize() the produce function will be
+  called and all SystemObjects will be initialized afterwards.
 
 ### Event Manager
 
@@ -36,14 +37,19 @@ By calling objectManager->initialize() the produce function will be called and a
 
 ### Stores
 
-* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can 
-  be exchanged with Stores. With this, only the store address must be exchanged in the message.
-* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
+* The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
 * All of them should use the Thread Safe Class storagemanager/PoolManager
 
 ### Tasks
 
 There are two different types of tasks:
- * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
- * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
+ * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+   insertion to the Tasks.
+ * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+   DeviceHandlers, where polling should be in a defined order. An example can be found in 
+   `defaultcfg/fsfwconfig/pollingSequence` folder
 

doc/README-highlevel.md

@@ -1,99 +1,135 @@
-# High-level overview
+High-level overview
+======
 
-## Structure
+# Structure
 
 The general structure is driven by the usage of interfaces provided by objects. 
-The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
 The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
 This simplifies the instantiation of objects and allows the usage of some standard containers. 
-Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
-The fsfw uses run-time type information but exceptions are not allowed.
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
 
-### Failure Handling
+# Failure Handling
 
-Functions should return a defined ReturnValue_t to signal to the caller that something has gone wrong. 
-Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
-The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
+Functions should return a defined `ReturnValue_t` to signal to the caller that something has
+gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
+or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
+See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
+`fsfwconfig` folder.
 
-### OSAL
+# OSAL
 
 The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
 The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
-The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components and how to use them.
+The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
+and how to use them.
 
-### Core Components 
+# Core Components 
 
 The FSFW has following core components. More detailed informations can be found in the
 [core component section](doc/README-core.md#top):
 
-1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks with fixed timeslots
-2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID to the object handles.
-3. Static Stores: Different stores are provided to store data of variable size (like telecommands or small telemetry) in a pool structure without
-   using dynamic memory allocation. These pools are allocated up front.
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks 
+   with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands 
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
 3. Clock: This module provided common time related functions
 4. EventManager: This module allows routing of events generated by `SystemObjects`
 5. HealthTable: A component which stores the health states of objects
 
-### Static IDs in the framework
+# Static IDs in the framework
 
 Some parts of the framework use a static routing address for communication. 
-An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()".
+An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
+ inside the function `Factory::setStaticFrameworkObjectIds()`.
 
-### Events
+# Events
 
-Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues.
-Every object that needs own EventIds has to get a unique SUBSYSTEM_ID. 
-Every SystemObject can call triggerEvent from the parent class.
-Therefore, event messages contain the specific EventId and the objectId of the object that has triggered.
+Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
+This works analog to the returnvalues. Every object that needs own EventIds has to get a
+unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
 
-### Internal Communication
+# Internal Communication
 
-Components communicate mostly over Message through Queues. 
-Those queues are created by calling the singleton QueueFactory::instance()->create(). 
+Components communicate mostly via Messages through Queues. 
+Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
+will create `MessageQueue` instances for the used OSAL.
 
-### External Communication
+# External Communication
 
 The external communication with the mission control system is mostly up to the user implementation.
 The FSFW provides PUS Services which can be used to but don't need to be used. 
 The services can be seen as a conversion from a TC to a message based communication and back.
 
-#### CCSDS Frames, CCSDS Space Packets and PUS
+## TMTC Communication
 
-If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution. 
-If Space Packets are used, a timestamper must be created. 
-An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
+files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
+and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in 
+the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
+while the `fsfw_example` application is running.
 
-#### Device Handlers
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the `TmTcBridge` implementation.
+
+## CCSDS Frames, CCSDS Space Packets and PUS
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in `tcdistribution`. 
+If Space Packets are used, a timestamper has to be provided by the user. 
+An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
+
+# Device Handlers
 
 DeviceHandlers are another important component of the FSFW. 
-The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
-By separating the underlying Communication Interface with DeviceCommunicationIF, a device handler (DH) can be tested on different hardware.
-The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction. 
-Device Handlers can be created by overriding `DeviceHandlerBase`. 
-A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
-More information on DeviceHandlers can be found in the related [documentation section](doc/README-devicehandlers.md#top).
+The idea is, to have a software counterpart of every physical device to provide a simple mode,
+health and commanding interface. By separating the underlying Communication Interface with 
+`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow
+for FDIR reaction.  Device Handlers can be created by implementing `DeviceHandlerBase`. 
+A standard FDIR component for the DH will be created automatically but can
+be overwritten by the user. More information on DeviceHandlers can be found in the
+related [documentation section](doc/README-devicehandlers.md#top).
 
-#### Modes, Health
+# Modes and Health
 
-The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
-On-board Mode Management is implement in hierarchy system. 
+The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
+of components. On-board Mode Management is implement in hierarchy system. 
 DeviceHandlers and Controllers are the lowest part of the hierarchy. 
-The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers. 
-Assemblies share a common core with the next level which are the Subsystems. 
+The next layer are Assemblies. Those assemblies act as a component which handle
+redundancies of handlers. Assemblies share a common core with the next level which
+are the Subsystems. 
 
-Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes. 
-The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
-Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component. 
+Those Assemblies are intended to act as auto-generated components from a database which describes
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component. 
 The target table is used to describe the state that is checked continuously by the subsystem. 
 All of this allows System Modes to be generated as Subsystem object as well from the same database. 
 This System contains list of subsystem modes in the transition and target tables. 
-Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded.
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
 
 The health state represents if the component is able to perform its tasks. 
 This can be used to signal the system to avoid using this component instead of a redundant one.
 The on-board FDIR uses the health state for isolation and recovery. 
 
-## Unit Tests
+# Unit Tests
 
-Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself. More information on how to run these tests can be found in the separate
+Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
+catch2 itself. More information on how to run these tests can be found in the separate
 [`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)

doc/README-localpools.md

@@ -1,3 +1,172 @@
-## Local Data Pools
+## Local Data Pools Developer Information
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be 
+used by other software objects like controllers as well. If a custom class should have a local 
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a `LocalDataPoolManager` member object in the custom class
+2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
+and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change 
+detected by the data creator instead of checking the data manually each cycle. Two important 
+framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
+shown above so the steps required are altered slightly.
+
+### Storing and Accessing pool data 
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
+The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all 
+cohesive pool variables. These sets simply iterator over the list of variables and call the 
+`read` and `commit` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+```cpp
+class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+public:
+    /**
+     * Constructor for data users
+     * @param gyroId
+     */
+    GyroPrimaryDataset(object_id_t gyroId):
+            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+        setAllVariablesReadOnly();
+    }
+
+    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_X, this);
+    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Y, this);
+    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Z, this);
+private:
+
+    friend class GyroHandler;
+    /**
+     * Constructor for data creator
+     * @param hkOwner
+     */
+    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+};
+```
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
+as a friend class. Both the atittude controller and the `GyroHandler` can now
+use the same class definition to access the pool variables with `read` and `commit` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+### Using the local data pools in a `DeviceHandlerBase` subclass
+
+It is very common to store data generated by devices like a sensor into a pool which can 
+then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
+local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
+as a member:
+
+```cpp
+class GyroHandler: ... {
+
+public:
+	...
+private:
+	...
+	GyroPrimaryDataset gyroData;
+	...
+};
+```
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+```cpp
+GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+        CookieIF *comCookie, uint8_t switchId):
+        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+		gyroData(this) {}
+```
+
+We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
+The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
+`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local 
+pool manager can access the custom data sets as well.
+By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
+`DeviceHandlerBase` subclass will use the internal command map to retrieve 
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the `fillCommandAndReplyMap` function:
+
+```cpp
+void GyroHandler::fillCommandAndReplyMap() {
+	...
+	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+	...
+}
+```
+
+Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
+function. Here, we also immediately subscribe for periodic housekeeping packets 
+with an interval of 4 seconds. They are still disabled in this example and can be enabled 
+with a housekeeping service command.
+
+```cpp
+ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+		LocalDataPoolManager &poolManager) {
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+			new PoolEntry<uint8_t>({0}));
+	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+			new PoolEntry<uint8_t>({0}));
+
+	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+```
+
+Now, if we receive some sensor data and converted them into the right format, 
+we can write it into the pool like this, using a guard class to ensure the set is commited back 
+in any case:
+
+```cpp
+PoolReadGuard readHelper(&gyroData);
+if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+	if(not gyroData.isValid()) {
+		gyroData.setValidity(true, true);
+	}
+
+	gyroData.angVelocityX = angularVelocityX;
+	gyroData.angVelocityY = angularVelocityY;
+	gyroData.angVelocityZ = angularVelocityZ;
+}
+```
+
+The guard class will commit the changed data on destruction automatically.
+
+### Using the local data pools in a `ExtendedControllerBase` subclass
+
+Coming soon
 
 

doc/doxy/.gitignore

@@ -0,0 +1,3 @@
+html
+latex
+rtf

events/EventManager.cpp

@@ -1,11 +1,10 @@
 #include "EventManager.h"
 #include "EventMessage.h"
 
-#include <FSFWConfig.h>
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
 
+MessageQueueId_t EventManagerIF::eventmanagerQueue = MessageQueueIF::NO_QUEUE;
 
 // If one checks registerListener calls, there are around 40 (to max 50)
 // objects registering for certain events.
@@ -114,53 +113,6 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 	return result;
 }
 
-#if FSFW_OBJ_EVENT_TRANSLATION == 1
-
-void EventManager::printEvent(EventMessage* message) {
-	const char *string = 0;
-	switch (message->getSeverity()) {
-	case severity::INFO:
-#if DEBUG_INFO_EVENT == 1
-		string = translateObject(message->getReporter());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::info << "EVENT: ";
-		if (string != 0) {
-			sif::info << string;
-		} else {
-			sif::info << "0x" << std::hex << message->getReporter() << std::dec;
-		}
-		sif::info << " reported " << translateEvents(message->getEvent()) << " ("
-				<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
-				<< message->getParameter1() << " P2: 0x"
-				<< message->getParameter2() << std::dec << std::endl;
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* DEBUG_INFO_EVENT == 1 */
-		break;
-	default:
-		string = translateObject(message->getReporter());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::debug << "EventManager: ";
-		if (string != 0) {
-			sif::debug << string;
-		}
-		else {
-			sif::debug << "0x" << std::hex << message->getReporter() << std::dec;
-		}
-		sif::debug << " reported " << translateEvents(message->getEvent())
-				<< " (" << std::dec << message->getEventId() << ") "
-				<< std::endl;
-		sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
-				<< ", P1 Dec: " << std::dec << message->getParameter1()
-				<< std::endl;
-		sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
-				<< ", P2 Dec: " <<  std::dec << message->getParameter2()
-				<< std::endl;
-#endif
-		break;
-	}
-}
-#endif
-
 void EventManager::lockMutex() {
 	mutex->lockMutex(timeoutType, timeoutMs);
 }
@@ -174,3 +126,85 @@ void EventManager::setMutexTimeout(MutexIF::TimeoutType timeoutType,
 	this->timeoutType = timeoutType;
 	this->timeoutMs = timeoutMs;
 }
+
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
+
+void EventManager::printEvent(EventMessage* message) {
+    switch (message->getSeverity()) {
+    case severity::INFO: {
+#if FSFW_DEBUG_INFO == 1
+        printUtility(sif::OutputTypes::OUT_INFO, message);
+#endif /* DEBUG_INFO_EVENT == 1 */
+        break;
+    }
+    default:
+        printUtility(sif::OutputTypes::OUT_DEBUG, message);
+        break;
+    }
+}
+
+void EventManager::printUtility(sif::OutputTypes printType, EventMessage *message) {
+    const char *string = 0;
+    if(printType == sif::OutputTypes::OUT_INFO) {
+        string = translateObject(message->getReporter());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "EventManager: ";
+        if (string != 0) {
+            sif::info << string;
+        }
+        else {
+            sif::info << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
+                    message->getReporter() << std::setfill(' ') << std::dec;
+        }
+        sif::info << " reported event with ID " << message->getEventId() << std::endl;
+        sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
+                message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
+                std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
+                std::dec << message->getParameter2() << std::endl;
+#else
+        if (string != 0) {
+            sif::printInfo("Event Manager: %s reported event with ID %d\n", string,
+                    message->getEventId());
+        }
+        else {
+            sif::printInfo("Event Manager: Reporter ID 0x%08x reported event with ID %d\n",
+                    message->getReporter(), message->getEventId());
+        }
+        sif::printInfo("P1 Hex: 0x%x | P1 Dec: %d | P2 Hex: 0x%x | P2 Dec: %d\n",
+                message->getParameter1(), message->getParameter1(),
+                message->getParameter2(), message->getParameter2());
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+    }
+    else {
+        string = translateObject(message->getReporter());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::debug << "EventManager: ";
+        if (string != 0) {
+            sif::debug << string;
+        }
+        else {
+            sif::debug << "0x" << std::hex << std::setw(8) << std::setfill('0') <<
+                    message->getReporter() << std::setfill(' ') << std::dec;
+        }
+        sif::debug << " reported event with ID " << message->getEventId() << std::endl;
+        sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
+                message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
+                std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
+                std::dec << message->getParameter2() << std::endl;
+#else
+        if (string != 0) {
+            sif::printDebug("Event Manager: %s reported event with ID %d\n", string,
+                    message->getEventId());
+        }
+        else {
+            sif::printDebug("Event Manager: Reporter ID 0x%08x reported event with ID %d\n",
+                    message->getReporter(), message->getEventId());
+        }
+        sif::printDebug("P1 Hex: 0x%x | P1 Dec: %d | P2 Hex: 0x%x | P2 Dec: %d\n",
+                message->getParameter1(), message->getParameter1(),
+                message->getParameter2(), message->getParameter2());
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+    }
+}
+
+#endif /* FSFW_OBJ_EVENT_TRANSLATION == 1 */

events/EventManager.h

@@ -3,9 +3,9 @@
 
 #include "EventManagerIF.h"
 #include "eventmatching/EventMatchTree.h"
+#include "FSFWConfig.h"
 
-#include <FSFWConfig.h>
-
+#include "../serviceinterface/ServiceInterface.h"
 #include "../objectmanager/SystemObject.h"
 #include "../storagemanager/LocalPool.h"
 #include "../tasks/ExecutableObjectIF.h"
@@ -67,6 +67,7 @@ protected:
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 	void printEvent(EventMessage *message);
+	void printUtility(sif::OutputTypes printType, EventMessage* message);
 #endif
 
 	void lockMutex();

events/EventManagerIF.h

@@ -1,11 +1,12 @@
-#ifndef EVENTMANAGERIF_H_
-#define EVENTMANAGERIF_H_
+#ifndef FSFW_EVENTS_EVENTMANAGERIF_H_
+#define FSFW_EVENTS_EVENTMANAGERIF_H_
 
 #include "EventMessage.h"
 #include "eventmatching/eventmatching.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../ipc/MessageQueueIF.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 class EventManagerIF {
 public:
@@ -41,11 +42,19 @@ public:
 
 	static void triggerEvent(EventMessage* message,
 	        MessageQueueId_t sentFrom = 0) {
-		static MessageQueueId_t eventmanagerQueue = MessageQueueIF::NO_QUEUE;
 		if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
-			EventManagerIF *eventmanager = objectManager->get<EventManagerIF>(
+			EventManagerIF *eventmanager = ObjectManager::instance()->get<EventManagerIF>(
 					objects::EVENT_MANAGER);
 			if (eventmanager == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+			    sif::warning << "EventManagerIF::triggerEvent: EventManager invalid or not found!"
+			            << std::endl;
+#else
+			    sif::printWarning("EventManagerIF::triggerEvent: "
+			            "EventManager invalid or not found!");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
 			    return;
 			}
 			eventmanagerQueue = eventmanager->getEventReportQueue();
@@ -53,6 +62,10 @@ public:
 		MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom);
 	}
 
+private:
+	//! Initialized by EventManager (C++11 does not allow header-only static member initialization).
+    static MessageQueueId_t eventmanagerQueue;
+
 };
 
-#endif /* EVENTMANAGERIF_H_ */
+#endif /* FSFW_EVENTS_EVENTMANAGERIF_H_ */

events/EventMessage.cpp

@@ -109,6 +109,6 @@ bool EventMessage::isClearedEventMessage() {
 	return getEvent() == INVALID_EVENT;
 }
 
-size_t EventMessage::getMinimumMessageSize() {
+size_t EventMessage::getMinimumMessageSize() const {
 	return EVENT_MESSAGE_SIZE;
 }

events/EventMessage.h

@@ -45,7 +45,7 @@ public:
 
 protected:
 	static const Event INVALID_EVENT = 0;
-	virtual size_t getMinimumMessageSize();
+	virtual size_t getMinimumMessageSize() const override;
 
 };
 

events/fwSubsystemIdRanges.h

@@ -1,30 +1,37 @@
 #ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 #define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 
+#include <cstdint>
+
 namespace SUBSYSTEM_ID {
-enum {
-	MEMORY = 22,
-	OBSW = 26,
-	CDH = 28,
-	TCS_1 = 59,
-	PCDU_1 = 42,
-	PCDU_2 = 43,
-	HEATER = 50,
-	T_SENSORS = 52,
-	FDIR = 70,
-	FDIR_1 = 71,
-	FDIR_2 = 72,
-	HK = 73,
-	SYSTEM_MANAGER = 74,
-	SYSTEM_MANAGER_1 = 75,
-	SYSTEM_1 = 79,
-	PUS_SERVICE_1 = 80,
-	PUS_SERVICE_9 = 89,
-	PUS_SERVICE_17 = 97,
-	FW_SUBSYSTEM_ID_RANGE
+enum: uint8_t {
+    MEMORY = 22,
+    OBSW = 26,
+    CDH = 28,
+    TCS_1 = 59,
+    PCDU_1 = 42,
+    PCDU_2 = 43,
+    HEATER = 50,
+    T_SENSORS = 52,
+    FDIR = 70,
+    FDIR_1 = 71,
+    FDIR_2 = 72,
+    HK = 73,
+    SYSTEM_MANAGER = 74,
+    SYSTEM_MANAGER_1 = 75,
+    SYSTEM_1 = 79,
+    PUS_SERVICE_1 = 80,
+    PUS_SERVICE_2 = 82,
+    PUS_SERVICE_3 = 83,
+    PUS_SERVICE_5 = 85,
+    PUS_SERVICE_6 = 86,
+    PUS_SERVICE_8 = 88,
+    PUS_SERVICE_9 = 89,
+    PUS_SERVICE_17 = 97,
+    PUS_SERVICE_23 = 103,
+
+    FW_SUBSYSTEM_ID_RANGE
 };
 }
 
-
-
 #endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */

fdir/FailureIsolationBase.cpp

@@ -3,7 +3,7 @@
 #include "../health/HasHealthIF.h"
 #include "../health/HealthMessage.h"
 #include "../ipc/QueueFactory.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 FailureIsolationBase::FailureIsolationBase(object_id_t owner,
 		object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
@@ -18,7 +18,7 @@ FailureIsolationBase::~FailureIsolationBase() {
 }
 
 ReturnValue_t FailureIsolationBase::initialize() {
-	EventManagerIF* manager = objectManager->get<EventManagerIF>(
+	EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
 			objects::EVENT_MANAGER);
 	if (manager == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -36,7 +36,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		owner = objectManager->get<HasHealthIF>(ownerId);
+		owner = ObjectManager::instance()->get<HasHealthIF>(ownerId);
 		if (owner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error << "FailureIsolationBase::intialize: Owner object "
@@ -46,7 +46,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
 		}
 	}
 	if (faultTreeParent != objects::NO_OBJECT) {
-		ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
+		ConfirmsFailuresIF* parentIF = ObjectManager::instance()->get<ConfirmsFailuresIF>(
 				faultTreeParent);
 		if (parentIF == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

fdir/FaultCounter.cpp

@@ -58,14 +58,14 @@ FaultCounter::FaultCounter() :
 		parameterDomain(0), timer(), faultCount(0), failureThreshold(0) {
 }
 
-ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint16_t parameterId,
+ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
 		ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
 		uint16_t startAtIndex) {
 	if (domainId != parameterDomain) {
 		return INVALID_DOMAIN_ID;
 	}
 
-	switch (parameterId) {
+	switch (uniqueId) {
 	case 0:
 		parameterWrapper->set(failureThreshold);
 		break;

fdir/FaultCounter.h

@@ -23,7 +23,7 @@ public:
 	void setFailureThreshold(uint32_t failureThreshold);
 	void setFaultDecrementTimeMs(uint32_t timeMs);
 
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+	virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex);