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
 
@@ -82,6 +100,12 @@ now
   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).
+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.."
@@ -43,6 +65,14 @@ 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)
@@ -88,6 +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.
@@ -107,6 +138,21 @@ 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 ${CURR_ABS_INC_PATH})
+endforeach()
+
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     if(NOT DEFINED FSFW_WARNING_FLAGS)
 	   set(FSFW_WARNING_FLAGS
@@ -117,7 +163,20 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 		  -Wno-psabi
         )
     endif()
-        
+
+    if(FSFW_GENERATE_SECTIONS)
+        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+            "-ffunction-sections"
+            "-fdata-sections"
+        )
+    endif()
+
+    if(FSFW_REMOVE_UNUSED_CODE)
+        target_link_options(${LIB_FSFW_NAME} PRIVATE
+            "Wl,--gc-sections"
+        )
+    endif()
+  
     if(FSFW_WARNING_SHADOW_LOCAL_GCC)
         list(APPEND WARNING_FLAGS "-Wshadow=local")
     endif()
@@ -132,6 +191,7 @@ endif()
 target_include_directories(${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
@@ -140,9 +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

@@ -2,7 +2,7 @@
 #include "HasActionsIF.h"
 
 #include "../ipc/MessageQueueSenderIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../serviceinterface/ServiceInterface.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner,
@@ -25,7 +25,7 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 }
 
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
-    ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if (ipcStore == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -43,10 +43,10 @@ void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
     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);
+    ActionMessage::setCompletionReply(&reply, commandId, success, result);
     queueToUse->sendMessage(reportTo, &reply);
 }
 
@@ -69,7 +69,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
     ipcStore->deleteData(dataAddress);
     if(result == HasActionsIF::EXECUTION_FINISHED) {
         CommandMessage reply;
-        ActionMessage::setCompletionReply(&reply, actionId, result);
+        ActionMessage::setCompletionReply(&reply, actionId, true, result);
         queueToUse->sendMessage(commandedBy, &reply);
     }
     if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -147,11 +147,6 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
         return result;
     }
 
-    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);

action/ActionHelper.h

@@ -62,12 +62,12 @@ public:
             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(MessageQueueId_t reportTo, ActionId_t commandId,
+    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.

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() {
@@ -54,10 +54,11 @@ void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
 }
 
 void ActionMessage::setCompletionReply(CommandMessage* message,
-        ActionId_t fid, ReturnValue_t result) {
-    if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) {
+        ActionId_t fid, bool success, ReturnValue_t result) {
+    if (success) {
         message->setCommand(COMPLETION_SUCCESS);
-    } else {
+    }
+    else {
         message->setCommand(COMPLETION_FAILED);
     }
     message->setParameter(fid);
@@ -68,7 +69,7 @@ void ActionMessage::clear(CommandMessage* message) {
     switch(message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-        StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+        StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
                 objects::IPC_STORE);
         if (ipcStore != NULL) {
             ipcStore->deleteData(getStoreId(message));

action/ActionMessage.h

@@ -24,11 +24,14 @@ public:
     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 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 );
@@ -36,7 +39,8 @@ public:
     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);
+            bool success, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+
     static void clear(CommandMessage* message);
 };
 

action/CommandActionHelper.cpp

@@ -2,7 +2,8 @@
 #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(
@@ -14,7 +15,7 @@ CommandActionHelper::~CommandActionHelper() {
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
         ActionId_t actionId, SerializeIF *data) {
-    HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
+    HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
     if (receiver == NULL) {
         return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
     }
@@ -40,7 +41,7 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
 //    if (commandCount != 0) {
 //        return CommandsFunctionsIF::ALREADY_COMMANDING;
 //    }
-    HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
+    HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
     if (receiver == NULL) {
         return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
     }
@@ -66,7 +67,7 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
 }
 
 ReturnValue_t CommandActionHelper::initialize() {
-    ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if (ipcStore == NULL) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }

action/SimpleActionHelper.cpp

@@ -63,7 +63,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
         break;
     case HasActionsIF::EXECUTION_FINISHED:
         ActionMessage::setCompletionReply(&reply, actionId,
-                HasReturnvaluesIF::RETURN_OK);
+                true, HasReturnvaluesIF::RETURN_OK);
         queueToUse->sendMessage(commandedBy, &reply);
         break;
     default:

container/FixedArrayList.h

@@ -8,7 +8,9 @@
  */
 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];
 public:

container/SharedRingBuffer.cpp

@@ -1,6 +1,6 @@
 #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):
@@ -17,6 +17,9 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
     mutex = MutexFactory::instance()->createMutex();
 }
 
+SharedRingBuffer::~SharedRingBuffer() {
+    MutexFactory::instance()->deleteMutex(mutex);
+}
 
 void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
     this->fifoDepth = fifoDepth;

container/SharedRingBuffer.h

@@ -26,6 +26,18 @@ public:
      */
     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);
+
+    virtual~ SharedRingBuffer();
 
     /**
      * @brief    This function can be used to add an optional FIFO to the class
@@ -37,16 +49,7 @@ public:
      */
     void setToUseReceiveSizeFIFO(size_t fifoDepth);
 
-    /**
-     * This constructor takes an external buffer with the specified size.
-     * @param buffer
-     * @param size
-     * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
-     * will be overwritten.
-     */
-    SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
-            bool overwriteOld, size_t maxExcessBytes);
+
 
     /**
      * Unless a read-only constant value is read, all operations on the
@@ -66,7 +69,7 @@ public:
 
     /**
      * The mutex handle can be accessed directly, for example to perform
-     * the lock with the #MutexHelper for a RAII compliant lock operation.
+     * the lock with the #MutexGuard for a RAII compliant lock operation.
      * @return
      */
     MutexIF* getMutexHandle() const;

controller/ControllerBase.cpp

@@ -3,6 +3,7 @@
 #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) :
@@ -25,7 +26,7 @@ ReturnValue_t ControllerBase::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 == nullptr) {
             return RETURN_FAILED;
         }

controller/ExtendedControllerBase.cpp

@@ -13,15 +13,7 @@ ExtendedControllerBase::~ExtendedControllerBase() {
 
 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;
-}
-
-
-
-ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    // needs to be overriden and implemented by child class.
+    /* Needs to be overriden and implemented by child class. */
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -96,8 +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;
 }
 
@@ -105,14 +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

@@ -61,11 +61,15 @@ protected:
     /* 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

@@ -1,72 +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 {
@@ -74,144 +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) {
@@ -219,13 +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

@@ -29,98 +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);
+    /**
+     * @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);
 
-	/* Forbidden for now */
-	PoolDataSetBase(const PoolDataSetBase& otherSet) = delete;
-	const PoolDataSetBase& operator=(const PoolDataSetBase& otherSet) = delete;
+    /* Forbidden for now */
+    PoolDataSetBase(const PoolDataSetBase& otherSet) = delete;
+    const PoolDataSetBase& operator=(const PoolDataSetBase& otherSet) = delete;
 
-	virtual~ PoolDataSetBase();
+    virtual~ PoolDataSetBase();
 
-	/**
-	 * @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;
+    /**
+     * @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;
 
-	/**
-	 * Register the passed pool variable instance into the data set.
-	 * @param variable
-	 * @return
-	 */
-	virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
+    /**
+     * Register the passed pool variable instance into the data set.
+     * @param variable
+     * @return
+     */
+    virtual ReturnValue_t registerVariable( PoolVariableIF* variable) 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;
+    /**
+     * 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;
+    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;
+    /* 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.
@@ -132,48 +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/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(gp_id_t globPoolId,
-            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>
@@ -137,7 +137,7 @@ public:
      * @param packetDestination
      * @return
      */
-    ReturnValue_t subscribeForUpdatePackets(sid_t sid, bool reportingEnabled,
+    ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
             bool isDiagnostics,
             object_id_t packetDestination = defaultHkDestination) override;
 
@@ -155,7 +155,7 @@ public:
      * Otherwise, only an notification message is sent.
      * @return
      */
-    ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
+    ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
             object_id_t destinationObject,
             MessageQueueId_t targetQueueId,
             bool generateSnapshot) override;
@@ -174,7 +174,7 @@ 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;
@@ -271,7 +271,10 @@ public:
     MutexIF* getMutexHandle();
 
     virtual LocalDataPoolManager* getPoolManagerHandle() override;
-private:
+
+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. */
@@ -307,7 +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;
@@ -317,7 +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
@@ -341,16 +345,14 @@ private:
      * 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.
+     * 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);
+    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
@@ -362,15 +364,13 @@ private:
 
     MutexIF* getLocalPoolMutex() override;
 
-    ReturnValue_t serializeHkPacketIntoStore(
-            HousekeepingPacketDownlink& hkPacket,
+    ReturnValue_t serializeHkPacketIntoStore(HousekeepingPacketDownlink& hkPacket,
             store_address_t& storeId, bool forDownlink, size_t* serializedSize);
 
     void performPeriodicHkGeneration(HkReceiver& hkReceiver);
-    ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
+    ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics);
+    ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval,
             bool isDiagnostics);
-    ReturnValue_t changeCollectionInterval(sid_t sid,
-            float newCollectionInterval, bool isDiagnostics);
     ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
 
     void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
@@ -378,25 +378,23 @@ private:
             DataId dataId, MarkChangedIF* toReset);
     void resetHkUpdateResetHelper();
 
-    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);
+    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,
+    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) {
+ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry) {
+    if(poolEntry == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
     auto poolIter = localPoolMap.find(localPoolId);
     if (poolIter == localPoolMap.end()) {
         printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",

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"
@@ -35,17 +37,16 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
     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);
@@ -58,8 +59,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
     this->sid = sid;
 }
 
-LocalPoolDataSetBase::LocalPoolDataSetBase(
-        PoolVariableIF **registeredVariablesArray,
+LocalPoolDataSetBase::LocalPoolDataSetBase(PoolVariableIF **registeredVariablesArray,
         const size_t maxNumberOfVariables, bool protectEveryReadCommitCall):
 		        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
     this->setReadCommitProtectionBehaviour(protectEveryReadCommitCall);
@@ -95,23 +95,32 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
         size_t *size, size_t maxSize,
         SerializeIF::Endianness streamEndianness) const {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
-    uint8_t validityMask[validityMaskSize];
+    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) {
@@ -123,7 +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;
 }
@@ -148,7 +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);
 
@@ -173,7 +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,
@@ -246,21 +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;
 }
@@ -277,11 +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) {
@@ -296,19 +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;
 }
@@ -316,7 +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;
@@ -328,3 +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.
@@ -109,6 +109,12 @@ public:
     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;
@@ -160,6 +166,16 @@ public:
 
     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.
@@ -174,11 +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
@@ -218,13 +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):
@@ -35,15 +37,20 @@ 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;
     }
@@ -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/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.tpp

@@ -25,7 +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>
@@ -64,7 +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.
@@ -33,11 +29,8 @@ 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.
@@ -52,10 +45,9 @@ public:
      *                              Otherwise, only an notification message is sent.
      * @return
      */
-    virtual ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
+    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.
@@ -70,12 +62,9 @@ public:
      *                              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/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/DeviceHandlerBase.cpp

@@ -119,7 +119,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
         return result;
     }
 
-    communicationInterface = objectManager->get<DeviceCommunicationIF>(
+    communicationInterface = ObjectManager::instance()->get<DeviceCommunicationIF>(
             deviceCommunicationId);
     if (communicationInterface == nullptr) {
         printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
@@ -136,7 +136,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
         return result;
     }
 
-    IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
     if (IPCStore == nullptr) {
         printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
                 ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up");
@@ -144,8 +144,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
     }
 
     if(rawDataReceiverId != objects::NO_OBJECT) {
-        AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-                AcceptsDeviceResponsesIF>(rawDataReceiverId);
+        AcceptsDeviceResponsesIF *rawReceiver = ObjectManager::instance()->
+                get<AcceptsDeviceResponsesIF>(rawDataReceiverId);
 
         if (rawReceiver == nullptr) {
             printWarningOrError(sif::OutputTypes::OUT_ERROR,
@@ -164,7 +164,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
     }
 
     if(powerSwitcherId != objects::NO_OBJECT) {
-        powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+        powerSwitcher = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitcherId);
         if (powerSwitcher == nullptr) {
             printWarningOrError(sif::OutputTypes::OUT_ERROR,
                     "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
@@ -226,16 +226,15 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
-    for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
-            deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
-        if (iter->second.delayCycles != 0) {
-            iter->second.delayCycles--;
-            if (iter->second.delayCycles == 0) {
-                if (iter->second.periodic) {
-                    iter->second.delayCycles = iter->second.maxDelayCycles;
+    for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair: deviceReplyMap) {
+        if (replyPair.second.delayCycles != 0) {
+            replyPair.second.delayCycles--;
+            if (replyPair.second.delayCycles == 0) {
+                if (replyPair.second.periodic) {
+                    replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
                 }
-                replyToReply(iter, TIMEOUT);
-                missedReply(iter->first);
+                replyToReply(replyPair.first, replyPair.second, TIMEOUT);
+                missedReply(replyPair.first);
             }
         }
     }
@@ -308,6 +307,14 @@ void DeviceHandlerBase::doStateMachine() {
         uint32_t currentUptime;
         Clock::getUptime(&currentUptime);
         if (currentUptime - timeoutStart >= childTransitionDelay) {
+#if FSFW_VERBOSE_LEVEL >= 1 && FSFW_OBJ_EVENT_TRANSLATION == 0
+            char printout[60];
+            sprintf(printout, "Transition timeout (%lu) occured !",
+                    static_cast<unsigned long>(childTransitionDelay));
+            /* Common configuration error for development, so print it */
+            printWarningOrError(sif::OutputTypes::OUT_WARNING, "doStateMachine",
+                    RETURN_FAILED, printout);
+#endif
             triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0);
             setMode(transitionSourceMode, transitionSourceSubMode);
             break;
@@ -448,6 +455,15 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
     }
 }
 
+size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){
+    DeviceReplyIter iter = deviceReplyMap.find(commandId);
+    if(iter != deviceReplyMap.end()) {
+        return iter->second.replyLen;
+    }else{
+        return 0;
+   }
+}
+
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
         uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
     auto replyIter = deviceReplyMap.find(deviceReply);
@@ -558,7 +574,7 @@ void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
     if (cookieInfo.pendingCommand->second.sendReplyTo != NO_COMMANDER) {
         MessageQueueId_t queueId = cookieInfo.pendingCommand->second.sendReplyTo;
         if (status == NO_REPLY_EXPECTED) {
-            actionHelper.finish(queueId, cookieInfo.pendingCommand->first,
+            actionHelper.finish(true, queueId, cookieInfo.pendingCommand->first,
                     RETURN_OK);
         } else {
             actionHelper.step(1, queueId, cookieInfo.pendingCommand->first,
@@ -567,21 +583,36 @@ void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
     }
 }
 
-void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
+void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceReplyInfo& replyInfo,
         ReturnValue_t status) {
     // No need to check if iter exists, as this is checked by callers.
     // If someone else uses the method, add check.
-    if (iter->second.command == deviceCommandMap.end()) {
+    if (replyInfo.command == deviceCommandMap.end()) {
         //Is most likely periodic reply. Silent return.
         return;
     }
+    DeviceCommandInfo* info = &replyInfo.command->second;
+    if (info == nullptr){
+    	printWarningOrError(sif::OutputTypes::OUT_ERROR,
+    	                        "replyToReply", HasReturnvaluesIF::RETURN_FAILED,
+    	                        "Command pointer not found");
+    	return;
+    }
+
+    if (info->expectedReplies > 0){
+    	// Check before to avoid underflow
+    	info->expectedReplies--;
+    }
     // Check if more replies are expected. If so, do nothing.
-    DeviceCommandInfo* info = &(iter->second.command->second);
-    if (--info->expectedReplies == 0) {
+    if (info->expectedReplies == 0) {
         // Check if it was transition or internal command.
         // Don't send any replies in that case.
         if (info->sendReplyTo != NO_COMMANDER) {
-            actionHelper.finish(info->sendReplyTo, iter->first, status);
+            bool success = false;
+            if(status == HasReturnvaluesIF::RETURN_OK) {
+                success = true;
+            }
+            actionHelper.finish(success, info->sendReplyTo, command, status);
         }
         info->isExecuting = false;
     }
@@ -634,16 +665,12 @@ void DeviceHandlerBase::doGetWrite() {
 void DeviceHandlerBase::doSendRead() {
     ReturnValue_t result;
 
-    size_t requestLen = 0;
+    size_t replyLen = 0;
     if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
-        DeviceReplyIter iter = deviceReplyMap.find(
-                cookieInfo.pendingCommand->first);
-        if(iter != deviceReplyMap.end()) {
-            requestLen = iter->second.replyLen;
-        }
+        replyLen = getNextReplyLength(cookieInfo.pendingCommand->first);
     }
 
-    result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
+    result = communicationInterface->requestReceiveMessage(comCookie, replyLen);
 
     if (result == RETURN_OK) {
         cookieInfo.state = COOKIE_READ_SENT;
@@ -784,7 +811,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
             replyRawReplyIfnotWiretapped(receivedData, foundLen);
             triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
         }
-        replyToReply(iter, result);
+        replyToReply(iter->first, iter->second, result);
     }
     else {
         /* Other completion failure messages are created by timeout.
@@ -1479,7 +1506,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
         if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) {
             errorPrint = "Initialization error";
         }
-        if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
+        else if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
             if(errorType == sif::OutputTypes::OUT_WARNING) {
                 errorPrint = "Generic Warning";
             }
@@ -1491,6 +1518,9 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
             errorPrint = "Unknown error";
         }
     }
+    if(functionName == nullptr) {
+        functionName = "unknown function";
+    }
 
     if(errorType == sif::OutputTypes::OUT_WARNING) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -1499,18 +1529,18 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
                 std::dec << std::setfill(' ') << std::endl;
 #else
         sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
-                this->getObjectId(), errorPrint);
+                functionName, this->getObjectId(), errorPrint);
 #endif
     }
     else if(errorType == sif::OutputTypes::OUT_ERROR) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "DeviceHandlerBase::" << functionName << ": Object ID "
+        sif::error << "DeviceHandlerBase::" << functionName << ": Object ID 0x"
                 << std::hex << std::setw(8) << std::setfill('0')
                 << this->getObjectId() << " | " << errorPrint << std::dec
                 << std::setfill(' ') << std::endl;
 #else
         sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
-                this->getObjectId(), errorPrint);
+                functionName, this->getObjectId(), errorPrint);
 #endif
     }
 

devicehandlers/DeviceHandlerBase.h

@@ -119,7 +119,7 @@ public:
             DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
             lp_id_t thermalRequestPoolId =
                     DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
-                    uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
+            uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
     /**
      * @brief   Helper function to ease device handler development.
      * This will instruct the transition to MODE_ON immediately
@@ -471,13 +471,27 @@ protected:
     ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
             uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
             size_t replyLen = 0, bool periodic = false);
+
     /**
-     * @brief 	A simple command to add a command to the commandList.
+     * @brief   A simple command to add a command to the commandList.
      * @param deviceCommand The command to add
      * @return - @c RETURN_OK when the command was successfully inserted,
      *         - @c RETURN_FAILED else.
      */
     ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
+
+    /**
+     * @brief   This function returns the reply length of the next reply to read.
+     *
+     * @param deviceCommand The command which triggered the device reply.
+     *
+     * @details The default implementation assumes only one reply is triggered by the command. In
+     *          case the command triggers multiple replies (e.g. one acknowledgment, one data,
+     *          and one execution status reply), this function can be overwritten to get the
+     *          reply length of the next reply to read.
+     */
+    virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand);
+
     /**
      * @brief 	This is a helper method to facilitate updating entries
      *        	in the reply map.
@@ -653,7 +667,7 @@ protected:
     static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0);
     static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1);
 
-    static const MessageQueueId_t NO_COMMANDER = 0;
+    static const MessageQueueId_t NO_COMMANDER = MessageQueueIF::NO_QUEUE;
 
     //! Pointer to the raw packet that will be sent.
     uint8_t *rawPacket = nullptr;
@@ -953,7 +967,7 @@ protected:
      * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an
      * 			  error case as many commands do not expect a reply.
      */
-    virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd,
+    virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
             uint8_t expectedReplies = 1, bool useAlternateId = false,
             DeviceCommandId_t alternateReplyID = 0);
 
@@ -1181,7 +1195,8 @@ private:
      * @foundLen the length of the packet
      */
     void handleReply(const uint8_t *data, DeviceCommandId_t id, uint32_t foundLen);
-    void replyToReply(DeviceReplyMap::iterator iter, ReturnValue_t status);
+    void replyToReply(const DeviceCommandId_t command, DeviceReplyInfo& replyInfo,
+            ReturnValue_t status);
 
     /**
      * Build and send a command to the device.

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();

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
 
 

events/EventManager.cpp

@@ -1,8 +1,6 @@
 #include "EventManager.h"
 #include "EventMessage.h"
 
-#include <FSFWConfig.h>
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
 
@@ -115,53 +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);
 }
@@ -175,3 +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

@@ -3,7 +3,7 @@
 
 #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"
@@ -43,7 +43,7 @@ public:
 	static void triggerEvent(EventMessage* message,
 	        MessageQueueId_t sentFrom = 0) {
 		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

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

globalfunctions/CMakeLists.txt

@@ -7,6 +7,7 @@ target_sources(${LIB_FSFW_NAME}
 		PeriodicOperationDivider.cpp
 		timevalOperations.cpp
 		Type.cpp
+		bitutility.cpp
 )
 
-add_subdirectory(math)
+add_subdirectory(math)

globalfunctions/arrayprinter.cpp

@@ -5,6 +5,15 @@
 
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
         bool printInfo, size_t maxCharPerLine) {
+    if(size == 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "Size is zero, nothing to print" << std::endl;
+#else
+        sif::printInfo("Size is zero, nothing to print\n");
+#endif
+        return;
+    }
+
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     if(printInfo) {
          sif::info << "Printing data with size " << size << ": " << std::endl;
@@ -51,7 +60,7 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
 #else
     // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
     // plus line break plus small safety margin.
-    char printBuffer[(size + 1) * 7 + 1];
+    char printBuffer[(size + 1) * 7 + 1] = {};
     size_t currentPos = 0;
     for(size_t i = 0; i < size; i++) {
         // To avoid buffer overflows.
@@ -67,7 +76,9 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
             }
         }
     }
+#if FSFW_DISABLE_PRINTOUT == 0
     printf("[%s]\n", printBuffer);
+#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 #endif
 }
 
@@ -92,7 +103,7 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
 #else
     // General format: 32, 243, -12 so it is number of chars times 5
     // plus line break plus small safety margin.
-    char printBuffer[(size + 1) * 5 + 1];
+    char printBuffer[(size + 1) * 5 + 1] = {};
     size_t currentPos = 0;
     for(size_t i = 0; i < size; i++) {
         // To avoid buffer overflows.
@@ -108,7 +119,9 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
             }
         }
     }
+#if FSFW_DISABLE_PRINTOUT == 0
     printf("[%s]\n", printBuffer);
+#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 #endif
 }
 

globalfunctions/bitutility.cpp

@@ -0,0 +1,33 @@
+#include "bitutility.h"
+
+void bitutil::bitSet(uint8_t *byte, uint8_t position) {
+    if(position > 7) {
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1 << shiftNumber;
+}
+
+void bitutil::bitToggle(uint8_t *byte, uint8_t position) {
+    if(position > 7) {
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte ^= 1 << shiftNumber;
+}
+
+void bitutil::bitClear(uint8_t *byte, uint8_t position) {
+    if(position > 7) {
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte &= ~(1 << shiftNumber);
+}
+
+bool bitutil::bitGet(const uint8_t *byte, uint8_t position) {
+    if(position > 7) {
+        return false;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    return *byte & (1 << shiftNumber);
+}

globalfunctions/bitutility.h

@@ -0,0 +1,18 @@
+#ifndef FSFW_GLOBALFUNCTIONS_BITUTIL_H_
+#define FSFW_GLOBALFUNCTIONS_BITUTIL_H_
+
+#include <cstdint>
+
+namespace bitutil {
+
+/* Helper functions for manipulating the individual bits of a byte.
+Position refers to n-th bit of a byte, going from 0 (most significant bit) to
+7 (least significant bit) */
+void bitSet(uint8_t* byte, uint8_t position);
+void bitToggle(uint8_t* byte, uint8_t position);
+void bitClear(uint8_t* byte, uint8_t position);
+bool bitGet(const uint8_t* byte, uint8_t position);
+
+}
+
+#endif /* FSFW_GLOBALFUNCTIONS_BITUTIL_H_ */

health/HealthHelper.cpp

@@ -1,5 +1,5 @@
 #include "HealthHelper.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
 		objectId(objectId), owner(owner) {
@@ -37,8 +37,8 @@ void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 }
 
 ReturnValue_t HealthHelper::initialize() {
-	healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
-	eventSender = objectManager->get<EventReportingProxyIF>(objectId);
+	healthTable = ObjectManager::instance()->get<HealthTableIF>(objects::HEALTH_TABLE);
+	eventSender = ObjectManager::instance()->get<EventReportingProxyIF>(objectId);
 
 	if (healthTable == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

health/HealthTable.cpp

@@ -1,5 +1,5 @@
 #include "HealthTable.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexGuard.h"
 #include "../ipc/MutexFactory.h"
 #include "../serialize/SerializeAdapter.h"
 
@@ -31,7 +31,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 
 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+    MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
@@ -40,7 +40,7 @@ void HealthTable::setHealth(object_id_t object,
 
 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+	MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
@@ -49,7 +49,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 }
 
 bool HealthTable::hasHealth(object_id_t object) {
-	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+	MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		return true;
@@ -58,35 +58,51 @@ bool HealthTable::hasHealth(object_id_t object) {
 }
 
 size_t HealthTable::getPrintSize() {
-    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+    MutexGuard(mutex, timeoutType, mutexTimeoutMs);
     uint32_t size = healthMap.size() * sizeof(object_id_t) +
             sizeof(HasHealthIF::HealthState) + sizeof(uint16_t);
     return size;
 }
 
 void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
-    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+    MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
-	SerializeAdapter::serialize(&count,
+	ReturnValue_t result = SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+	    sif::warning << "HealthTable::printAll: Serialization of health table failed" << std::endl;
+#else
+	    sif::printWarning("HealthTable::printAll: Serialization of health table failed\n");
+#endif
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+	    return;
+	}
 	for (const auto& health: healthMap) {
-		SerializeAdapter::serialize(&health.first,
+		result = SerializeAdapter::serialize(&health.first,
 				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return;
+		}
 		uint8_t healthValue = health.second;
-		SerializeAdapter::serialize(&healthValue, &pointer, &size,
+		result = SerializeAdapter::serialize(&healthValue, &pointer, &size,
 				maxSize, SerializeIF::Endianness::BIG);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
 	}
 }
 
 ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+	MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}
 	if (mapIterator == healthMap.end()) {
-		result = HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	*value = *mapIterator;
 	mapIterator++;

housekeeping/HousekeepingMessage.cpp

@@ -1,6 +1,6 @@
 #include "HousekeepingMessage.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include <cstring>
 
 HousekeepingMessage::~HousekeepingMessage() {}
@@ -84,15 +84,21 @@ void HousekeepingMessage::setCollectionIntervalModificationCommand(
 	else {
 		command->setCommand(MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL);
 	}
-	command->setParameter3(collectionInterval);
+
+	/* Raw storage of the float in the message. Do not use setParameter3, does
+	implicit conversion to integer type! */
+	std::memcpy(command->getData() + 2 * sizeof(uint32_t), &collectionInterval,
+	        sizeof(collectionInterval));
 
 	setSid(command, sid);
 }
 
 sid_t HousekeepingMessage::getCollectionIntervalModificationCommand(
 		const CommandMessage* command, float* newCollectionInterval) {
+
 	if(newCollectionInterval != nullptr) {
-		*newCollectionInterval = command->getParameter3();
+	    std::memcpy(newCollectionInterval, command->getData() + 2 * sizeof(uint32_t),
+	            sizeof(*newCollectionInterval));
 	}
 
 	return getSid(command);
@@ -151,10 +157,11 @@ void HousekeepingMessage::clear(CommandMessage* message) {
     case(DIAGNOSTICS_REPORT):
     case(HK_DEFINITIONS_REPORT):
     case(DIAGNOSTICS_DEFINITION_REPORT):
-    case(UPDATE_SNAPSHOT_SET): {
+    case(UPDATE_SNAPSHOT_SET):
+    case(UPDATE_SNAPSHOT_VARIABLE): {
         store_address_t storeId;
         getHkDataReply(message, &storeId);
-        StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+        StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
                 objects::IPC_STORE);
         if (ipcStore != nullptr) {
             ipcStore->deleteData(storeId);

housekeeping/HousekeepingPacketDownlink.h

@@ -10,7 +10,11 @@
  *          which are destined to be downlinked into the store.
  * @details
  * The housekeeping packets are stored into the IPC store and forwarded
- * to the designated housekeeping handler.
+ * to the designated housekeeping handler. The packet will consist of the following fields
+ *  - SID (8 byte): Structure ID, with the first 4 bytes being the object ID and the last four
+ *    bytes being the set ID
+ *  - Housekeeping Data: The rest of the packet will be the serialized housekeeping data. A validity
+ *    buffer might be appended at the end, depending on the set configuration.
  */
 class HousekeepingPacketDownlink: public SerialLinkedListAdapter<SerializeIF> {
 public:

housekeeping/HousekeepingSnapshot.h

@@ -11,7 +11,8 @@
  * @brief   This helper class will be used to serialize and deserialize update housekeeping packets
  *          into the store.
  */
-class HousekeepingSnapshot: public SerializeIF {
+class HousekeepingSnapshot:
+        public SerializeIF {
 public:
 
     /**
@@ -36,6 +37,17 @@ public:
                 timeStamp(timeStamp), timeStampSize(timeStampSize),
                 updateData(dataSetPtr) {};
 
+    /**
+     * Update packet constructor for pool variables.
+     * @param timeStamp
+     * @param timeStampSize
+     * @param dataSetPtr
+     */
+    HousekeepingSnapshot(CCSDSTime::CDS_short* cdsShort, LocalPoolObjectBase* dataSetPtr):
+            timeStamp(reinterpret_cast<uint8_t*>(cdsShort)),
+            timeStampSize(sizeof(CCSDSTime::CDS_short)), updateData(dataSetPtr) {};
+
+
     /**
      * Update packet constructor for pool variables.
      * @param timeStamp
@@ -47,8 +59,8 @@ public:
                 timeStamp(timeStamp), timeStampSize(timeStampSize),
                 updateData(dataSetPtr) {};
 
-    virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-            size_t maxSize, Endianness streamEndianness) const {
+    virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+            Endianness streamEndianness) const {
         if(timeStamp != nullptr) {
             /* Endianness will always be MACHINE, so we can simply use memcpy
             here. */

housekeeping/PeriodicHousekeepingHelper.cpp

@@ -4,46 +4,87 @@
 #include <cmath>
 
 PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(
-		LocalPoolDataSetBase* owner): owner(owner) {}
-
+        LocalPoolDataSetBase* owner): owner(owner) {}
 
 void PeriodicHousekeepingHelper::initialize(float collectionInterval,
-		dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
-		uint8_t nonDiagIntervalFactor) {
-	this->minimumPeriodicInterval = minimumPeriodicInterval;
-	if(not isDiagnostics) {
-		this->minimumPeriodicInterval = this->minimumPeriodicInterval *
-				nonDiagIntervalFactor;
-	}
-	collectionIntervalTicks = intervalSecondsToInterval(collectionInterval);
+        dur_millis_t minimumPeriodicInterval, uint8_t nonDiagIntervalFactor) {
+    this->minimumPeriodicInterval = minimumPeriodicInterval;
+    this->nonDiagIntervalFactor = nonDiagIntervalFactor;
+    collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval);
+    /* This will cause a checkOpNecessary call to be true immediately. I think it's okay
+	if a HK packet is generated immediately instead of waiting one generation cycle. */
+    internalTickCounter = collectionIntervalTicks;
 }
 
-float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() {
-	return intervalToIntervalSeconds(collectionIntervalTicks);
+float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() const {
+    return intervalTicksToSeconds(collectionIntervalTicks);
 }
 
 bool PeriodicHousekeepingHelper::checkOpNecessary() {
-	if(internalTickCounter >= collectionIntervalTicks) {
-		internalTickCounter = 1;
-		return true;
-	}
-	internalTickCounter++;
-	return false;
+    if(internalTickCounter >= collectionIntervalTicks) {
+        internalTickCounter = 1;
+        return true;
+    }
+    internalTickCounter++;
+    return false;
 }
 
-uint32_t PeriodicHousekeepingHelper::intervalSecondsToInterval(
-		float collectionIntervalSeconds) {
-        return std::ceil(collectionIntervalSeconds * 1000
-                / minimumPeriodicInterval);
+uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks(
+        float collectionIntervalSeconds) {
+    if(owner == nullptr) {
+        return 0;
+    }
+    bool isDiagnostics = owner->isDiagnostics();
+
+    /* Avoid division by zero */
+    if(minimumPeriodicInterval == 0) {
+        if(isDiagnostics) {
+            /* Perform operation each cycle */
+            return 1;
+        }
+        else {
+            return nonDiagIntervalFactor;
+        }
+    }
+    else {
+        dur_millis_t intervalInMs = collectionIntervalSeconds * 1000;
+        uint32_t divisor = minimumPeriodicInterval;
+        if(not isDiagnostics) {
+            /* We need to multiply the divisor because non-diagnostics only
+            allow a multiple of the minimum periodic interval */
+            divisor *= nonDiagIntervalFactor;
+        }
+        uint32_t ticks = std::ceil(static_cast<float>(intervalInMs) / divisor);
+        if(not isDiagnostics) {
+            /* Now we need to multiply the calculated ticks with the factor as as well
+            because the minimum tick count to generate a non-diagnostic is the factor itself.
+
+            Example calculation for non-diagnostic with
+            0.4 second interval and 0.2 second task interval.
+            Resultant tick count of 5 is equal to operation each second.
+
+            Examle calculation for non-diagnostic with  2.0 second interval and 0.2 second
+            task interval.
+            Resultant tick count of 10 is equal to operatin every 2 seconds.
+
+            Example calculation for diagnostic with 0.4 second interval and 0.3
+            second task interval. Resulting tick count of 2 is equal to operation
+            every 0.6 seconds. */
+            ticks *= nonDiagIntervalFactor;
+        }
+        return ticks;
+    }
 }
 
-float PeriodicHousekeepingHelper::intervalToIntervalSeconds(
-		uint32_t collectionInterval) {
-	return static_cast<float>(collectionInterval *
-			minimumPeriodicInterval);
+float PeriodicHousekeepingHelper::intervalTicksToSeconds(
+        uint32_t collectionInterval) const {
+    /* Number of ticks times the minimum interval is in milliseconds, so we divide by 1000 to get
+    the value in seconds */
+    return static_cast<float>(collectionInterval * minimumPeriodicInterval / 1000.0);
 }
 
 void PeriodicHousekeepingHelper::changeCollectionInterval(
-		float newIntervalSeconds) {
-	collectionIntervalTicks = intervalSecondsToInterval(newIntervalSeconds);
+        float newIntervalSeconds) {
+    collectionIntervalTicks = intervalSecondsToIntervalTicks(newIntervalSeconds);
 }
+

housekeeping/PeriodicHousekeepingHelper.h

@@ -10,18 +10,19 @@ class PeriodicHousekeepingHelper {
 public:
 	PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
 
-	void initialize(float collectionInterval,
-			dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
-			uint8_t nonDiagIntervalFactor);
+	void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+	        uint8_t nonDiagIntervalFactor);
 
 	void changeCollectionInterval(float newInterval);
-	float getCollectionIntervalInSeconds();
+	float getCollectionIntervalInSeconds() const;
 	bool checkOpNecessary();
+
 private:
 	LocalPoolDataSetBase* owner = nullptr;
+	uint8_t nonDiagIntervalFactor = 0;
 
-	uint32_t intervalSecondsToInterval(float collectionIntervalSeconds);
-	float intervalToIntervalSeconds(uint32_t collectionInterval);
+	uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds);
+	float intervalTicksToSeconds(uint32_t collectionInterval) const;
 
 	dur_millis_t minimumPeriodicInterval = 0;
 	uint32_t internalTickCounter = 1;

internalError/InternalErrorReporter.cpp

@@ -3,19 +3,20 @@
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
 #include "../serviceinterface/ServiceInterface.h"
+#include "../datapool/PoolReadGuard.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
         uint32_t messageQueueDepth): SystemObject(setObjectId),
-		commandQueue(QueueFactory::instance()->
-		        createMessageQueue(messageQueueDepth)),
-		poolManager(this, commandQueue),
-		internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
-		internalErrorDataset(this) {
-	mutex = MutexFactory::instance()->createMutex();
+        commandQueue(QueueFactory::instance()->
+                createMessageQueue(messageQueueDepth)),
+                poolManager(this, commandQueue),
+                internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
+                internalErrorDataset(this) {
+    mutex = MutexFactory::instance()->createMutex();
 }
 
 InternalErrorReporter::~InternalErrorReporter() {
-	MutexFactory::instance()->deleteMutex(mutex);
+    MutexFactory::instance()->deleteMutex(mutex);
 }
 
 void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
@@ -23,126 +24,128 @@ void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
 }
 
 ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
-    internalErrorDataset.read(timeoutType, timeoutMs);
+    CommandMessage message;
+    ReturnValue_t result = commandQueue->receiveMessage(&message);
+    if(result != MessageQueueIF::EMPTY) {
+        poolManager.handleHousekeepingMessage(&message);
+    }
 
-	uint32_t newQueueHits = getAndResetQueueHits();
-	uint32_t newTmHits = getAndResetTmHits();
-	uint32_t newStoreHits = getAndResetStoreHits();
+    uint32_t newQueueHits = getAndResetQueueHits();
+    uint32_t newTmHits = getAndResetTmHits();
+    uint32_t newStoreHits = getAndResetStoreHits();
 
-#if FSFW_VERBOSE_LEVEL == 1
-	if(diagnosticPrintout) {
-	    if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
+#if FSFW_VERBOSE_LEVEL >= 1
+    if(diagnosticPrintout) {
+        if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	        sif::debug << "InternalErrorReporter::performOperation: Errors "
-	                << "occured!" << std::endl;
-	        sif::debug << "Queue errors: " << newQueueHits << std::endl;
-	        sif::debug << "TM errors: " << newTmHits << std::endl;
-	        sif::debug << "Store errors: " << newStoreHits << std::endl;
+            sif::debug << "InternalErrorReporter::performOperation: Errors "
+                    << "occured!" << std::endl;
+            sif::debug << "Queue errors: " << newQueueHits << std::endl;
+            sif::debug << "TM errors: " << newTmHits << std::endl;
+            sif::debug << "Store errors: " << newStoreHits << std::endl;
 #else
-	        sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
-	        sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
-	        sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
-	        sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
+            sif::printDebug("InternalErrorReporter::performOperation: Errors occured!\n");
+            sif::printDebug("Queue errors: %lu\n", static_cast<unsigned int>(newQueueHits));
+            sif::printDebug("TM errors: %lu\n", static_cast<unsigned int>(newTmHits));
+            sif::printDebug("Store errors: %lu\n", static_cast<unsigned int>(newStoreHits));
 #endif
-	    }
-	}
+        }
+    }
 #endif
 
-	internalErrorDataset.queueHits.value += newQueueHits;
-	internalErrorDataset.storeHits.value += newStoreHits;
-	internalErrorDataset.tmHits.value += newTmHits;
-	internalErrorDataset.setValidity(true, true);
-	internalErrorDataset.commit(timeoutType, timeoutMs);
+    {
+        PoolReadGuard readGuard(&internalErrorDataset);
+        if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+            internalErrorDataset.queueHits.value += newQueueHits;
+            internalErrorDataset.storeHits.value += newStoreHits;
+            internalErrorDataset.tmHits.value += newTmHits;
+            internalErrorDataset.setValidity(true, true);
+        }
+    }
 
-	poolManager.performHkOperation();
-
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
-	if(result != MessageQueueIF::EMPTY) {
-	    poolManager.handleHousekeepingMessage(&message);
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    poolManager.performHkOperation();
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void InternalErrorReporter::queueMessageNotSent() {
-	incrementQueueHits();
+    incrementQueueHits();
 }
 
 void InternalErrorReporter::lostTm() {
-	incrementTmHits();
+    incrementTmHits();
 }
 
 uint32_t InternalErrorReporter::getAndResetQueueHits() {
-	uint32_t value;
-	mutex->lockMutex(timeoutType, timeoutMs);
-	value = queueHits;
-	queueHits = 0;
-	mutex->unlockMutex();
-	return value;
+    uint32_t value;
+    mutex->lockMutex(timeoutType, timeoutMs);
+    value = queueHits;
+    queueHits = 0;
+    mutex->unlockMutex();
+    return value;
 }
 
 uint32_t InternalErrorReporter::getQueueHits() {
-	uint32_t value;
-	mutex->lockMutex(timeoutType, timeoutMs);
-	value = queueHits;
-	mutex->unlockMutex();
-	return value;
+    uint32_t value;
+    mutex->lockMutex(timeoutType, timeoutMs);
+    value = queueHits;
+    mutex->unlockMutex();
+    return value;
 }
 
 void InternalErrorReporter::incrementQueueHits() {
-	mutex->lockMutex(timeoutType, timeoutMs);
-	queueHits++;
-	mutex->unlockMutex();
+    mutex->lockMutex(timeoutType, timeoutMs);
+    queueHits++;
+    mutex->unlockMutex();
 }
 
 uint32_t InternalErrorReporter::getAndResetTmHits() {
-	uint32_t value;
-	mutex->lockMutex(timeoutType, timeoutMs);
-	value = tmHits;
-	tmHits = 0;
-	mutex->unlockMutex();
-	return value;
+    uint32_t value;
+    mutex->lockMutex(timeoutType, timeoutMs);
+    value = tmHits;
+    tmHits = 0;
+    mutex->unlockMutex();
+    return value;
 }
 
 uint32_t InternalErrorReporter::getTmHits() {
-	uint32_t value;
-	mutex->lockMutex(timeoutType, timeoutMs);
-	value = tmHits;
-	mutex->unlockMutex();
-	return value;
+    uint32_t value;
+    mutex->lockMutex(timeoutType, timeoutMs);
+    value = tmHits;
+    mutex->unlockMutex();
+    return value;
 }
 
 void InternalErrorReporter::incrementTmHits() {
-	mutex->lockMutex(timeoutType, timeoutMs);
-	tmHits++;
-	mutex->unlockMutex();
+    mutex->lockMutex(timeoutType, timeoutMs);
+    tmHits++;
+    mutex->unlockMutex();
 }
 
 void InternalErrorReporter::storeFull() {
-	incrementStoreHits();
+    incrementStoreHits();
 }
 
 uint32_t InternalErrorReporter::getAndResetStoreHits() {
-	uint32_t value;
-	mutex->lockMutex(timeoutType, timeoutMs);
-	value = storeHits;
-	storeHits = 0;
-	mutex->unlockMutex();
-	return value;
+    uint32_t value;
+    mutex->lockMutex(timeoutType, timeoutMs);
+    value = storeHits;
+    storeHits = 0;
+    mutex->unlockMutex();
+    return value;
 }
 
 uint32_t InternalErrorReporter::getStoreHits() {
-	uint32_t value;
-	mutex->lockMutex(timeoutType, timeoutMs);
-	value = storeHits;
-	mutex->unlockMutex();
-	return value;
+    uint32_t value;
+    mutex->lockMutex(timeoutType, timeoutMs);
+    value = storeHits;
+    mutex->unlockMutex();
+    return value;
 }
 
 void InternalErrorReporter::incrementStoreHits() {
-	mutex->lockMutex(timeoutType, timeoutMs);
-	storeHits++;
-	mutex->unlockMutex();
+    mutex->lockMutex(timeoutType, timeoutMs);
+    storeHits++;
+    mutex->unlockMutex();
 }
 
 object_id_t InternalErrorReporter::getObjectId() const {
@@ -155,14 +158,11 @@ MessageQueueId_t InternalErrorReporter::getCommandQueue() const {
 
 ReturnValue_t InternalErrorReporter::initializeLocalDataPool(
         localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(errorPoolIds::TM_HITS,
-            new PoolEntry<uint32_t>());
-    localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS,
-            new PoolEntry<uint32_t>());
-    localDataPoolMap.emplace(errorPoolIds::STORE_HITS,
-            new PoolEntry<uint32_t>());
-    poolManager.subscribeForPeriodicPacket(internalErrorSid, false,
-            getPeriodicOperationFrequency(), true);
+    localDataPoolMap.emplace(errorPoolIds::TM_HITS, new PoolEntry<uint32_t>());
+    localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, new PoolEntry<uint32_t>());
+    localDataPoolMap.emplace(errorPoolIds::STORE_HITS, new PoolEntry<uint32_t>());
+    poolManager.subscribeForPeriodicPacket(internalErrorSid, false, getPeriodicOperationFrequency(),
+            true);
     internalErrorDataset.setValidity(true, true);
     return HasReturnvaluesIF::RETURN_OK;
 }
@@ -192,9 +192,9 @@ ReturnValue_t InternalErrorReporter::initializeAfterTaskCreation() {
 }
 
 void InternalErrorReporter::setMutexTimeout(MutexIF::TimeoutType timeoutType,
-		uint32_t timeoutMs) {
-	this->timeoutType = timeoutType;
-	this->timeoutMs = timeoutMs;
+        uint32_t timeoutMs) {
+    this->timeoutType = timeoutType;
+    this->timeoutMs = timeoutMs;
 }
 
 LocalDataPoolManager* InternalErrorReporter::getHkManagerHandle() {

internalError/InternalErrorReporter.h

@@ -17,77 +17,78 @@
  * All functions were kept virtual so this class can be extended easily
  * to store custom internal errors (e.g. communication interface errors).
  */
-class InternalErrorReporter: public SystemObject,
-		public ExecutableObjectIF,
-		public InternalErrorReporterIF,
-		public HasLocalDataPoolIF {
+class InternalErrorReporter:
+        public SystemObject,
+        public ExecutableObjectIF,
+        public InternalErrorReporterIF,
+        public HasLocalDataPoolIF {
 public:
 
-	InternalErrorReporter(object_id_t setObjectId,
-	        uint32_t messageQueueDepth = 5);
+    InternalErrorReporter(object_id_t setObjectId,
+            uint32_t messageQueueDepth = 5);
 
-	/**
-	 * Enable diagnostic printout. Please note that this feature will
-	 * only work if DEBUG has been supplied to the build defines.
-	 * @param enable
-	 */
-	void setDiagnosticPrintout(bool enable);
+    /**
+     * Enable diagnostic printout. Please note that this feature will
+     * only work if DEBUG has been supplied to the build defines.
+     * @param enable
+     */
+    void setDiagnosticPrintout(bool enable);
 
-	void setMutexTimeout(MutexIF::TimeoutType timeoutType,
-			uint32_t timeoutMs);
+    void setMutexTimeout(MutexIF::TimeoutType timeoutType,
+            uint32_t timeoutMs);
 
-	virtual ~InternalErrorReporter();
+    virtual ~InternalErrorReporter();
 
     virtual object_id_t getObjectId() const override;
     virtual MessageQueueId_t getCommandQueue() const override;
     virtual ReturnValue_t initializeLocalDataPool(
-    		localpool::DataPool& localDataPoolMap,
+            localpool::DataPool& localDataPoolMap,
             LocalDataPoolManager& poolManager) override;
     virtual dur_millis_t getPeriodicOperationFrequency() const override;
     virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-	LocalDataPoolManager* getHkManagerHandle() override;
+    LocalDataPoolManager* getHkManagerHandle() override;
 
     virtual ReturnValue_t initialize() override;
     virtual ReturnValue_t initializeAfterTaskCreation() override;
-	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+    virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
-	virtual void queueMessageNotSent();
+    virtual void queueMessageNotSent();
 
-	virtual void lostTm();
+    virtual void lostTm();
 
-	virtual void storeFull();
+    virtual void storeFull();
 
-	virtual void setTaskIF(PeriodicTaskIF* task) override;
+    virtual void setTaskIF(PeriodicTaskIF* task) override;
 protected:
-	MessageQueueIF* commandQueue;
-	LocalDataPoolManager poolManager;
+    MessageQueueIF* commandQueue;
+    LocalDataPoolManager poolManager;
 
-	PeriodicTaskIF* executingTask = nullptr;
+    PeriodicTaskIF* executingTask = nullptr;
 
-	MutexIF* mutex = nullptr;
-	MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-	uint32_t timeoutMs = 20;
+    MutexIF* mutex = nullptr;
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    uint32_t timeoutMs = 20;
 
-	sid_t internalErrorSid;
-	InternalErrorDataset internalErrorDataset;
+    sid_t internalErrorSid;
+    InternalErrorDataset internalErrorDataset;
 
-	bool diagnosticPrintout = true;
+    bool diagnosticPrintout = true;
 
-	uint32_t queueHits = 0;
-	uint32_t tmHits = 0;
-	uint32_t storeHits = 0;
+    uint32_t queueHits = 0;
+    uint32_t tmHits = 0;
+    uint32_t storeHits = 0;
 
-	uint32_t getAndResetQueueHits();
-	uint32_t getQueueHits();
-	void incrementQueueHits();
+    uint32_t getAndResetQueueHits();
+    uint32_t getQueueHits();
+    void incrementQueueHits();
 
-	uint32_t getAndResetTmHits();
-	uint32_t getTmHits();
-	void incrementTmHits();
+    uint32_t getAndResetTmHits();
+    uint32_t getTmHits();
+    void incrementTmHits();
 
-	uint32_t getAndResetStoreHits();
-	uint32_t getStoreHits();
-	void incrementStoreHits();
+    uint32_t getAndResetStoreHits();
+    uint32_t getStoreHits();
+    void incrementStoreHits();
 
 };
 

ipc/CommandMessageCleaner.cpp

@@ -1,5 +1,6 @@
 #include "CommandMessageCleaner.h"
 
+#include "../memory/GenericFileSystemMessage.h"
 #include "../devicehandlers/DeviceHandlerMessage.h"
 #include "../health/HealthMessage.h"
 #include "../memory/MemoryMessage.h"
@@ -42,6 +43,9 @@ void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
 	case messagetypes::HOUSEKEEPING:
 	    HousekeepingMessage::clear(message);
 	    break;
+	case messagetypes::FILE_SYSTEM_MESSAGE:
+	    GenericFileSystemMessage::clear(message);
+	    break;
 	default:
 		messagetypes::clearMissionMessage(message);
 		break;

ipc/CommandMessageIF.h

@@ -13,60 +13,62 @@ public:
     /**
      * Header consists of sender ID and command ID.
      */
-	static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
-			sizeof(Command_t);
-	/**
-	 * This minimum size is derived from the interface requirement to be able
+    static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE + sizeof(Command_t);
+    /**
+     * This minimum size is derived from the interface requirement to be able
      * to set a rejected reply, which contains a returnvalue and the initial
      * command.
-	 */
-	static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
-	        CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
-	        sizeof(Command_t);
+     */
+    static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE = CommandMessageIF::HEADER_SIZE +
+            sizeof(ReturnValue_t) + sizeof(Command_t);
 
-	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
+    static constexpr Command_t makeCommandId(uint8_t messageId, uint8_t uniqueId) {
+        return ((messageId << 8) | uniqueId);
+    }
 
-	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
-	//! Used internally, shall be ignored
-	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
-	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
-	//! Reply indicating that the current command was rejected,
-	//! par1 should contain the error code
-	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
+    static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
+    static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(1);
 
-	virtual ~CommandMessageIF() {};
+    static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
+    //! Used internally, shall be ignored
+    static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
+    static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
+    //! Reply indicating that the current command was rejected,
+    //! par1 should contain the error code
+    static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
 
-	/**
-	 * A command message shall have a uint16_t command ID field.
-	 * @return
-	 */
-	virtual Command_t getCommand() const = 0;
-	/**
-	 * A command message shall have a uint8_t message type ID field.
-	 * @return
-	 */
-	virtual uint8_t getMessageType() const = 0;
+    virtual ~CommandMessageIF() {};
 
-	/**
-	 * A command message can be rejected and needs to offer a function
-	 * to set a rejected reply
-	 * @param reason
-	 * @param initialCommand
-	 */
-	virtual void setReplyRejected(ReturnValue_t reason,
-			Command_t initialCommand) = 0;
-	/**
-	 * Corrensonding getter function.
-	 * @param initialCommand
-	 * @return
-	 */
-	virtual ReturnValue_t getReplyRejectedReason(
-			Command_t* initialCommand = nullptr) const  = 0;
+    /**
+     * A command message shall have a uint16_t command ID field.
+     * @return
+     */
+    virtual Command_t getCommand() const = 0;
+    /**
+     * A command message shall have a uint8_t message type ID field.
+     * @return
+     */
+    virtual uint8_t getMessageType() const = 0;
 
-	virtual void setToUnknownCommand() = 0;
+    /**
+     * A command message can be rejected and needs to offer a function
+     * to set a rejected reply
+     * @param reason
+     * @param initialCommand
+     */
+    virtual void setReplyRejected(ReturnValue_t reason,
+            Command_t initialCommand) = 0;
+    /**
+     * Corrensonding getter function.
+     * @param initialCommand
+     * @return
+     */
+    virtual ReturnValue_t getReplyRejectedReason(
+            Command_t* initialCommand = nullptr) const  = 0;
 
-	virtual void clear() = 0;
+    virtual void setToUnknownCommand() = 0;
+
+    virtual void clear() = 0;
 
 };
 

ipc/MessageQueueIF.h

@@ -22,12 +22,12 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
 	//! No new messages on the queue
 	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
-	//! No space left for more messages
+	//! [EXPORT] : [COMMENT] No space left for more messages
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
-	//! Returned if a reply method was called without partner
+	//! [EXPORT] : [COMMENT] Returned if a reply method was called without partner
 	static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
-	//! Returned if the target destination is invalid.
-	static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
+	//! [EXPORT] : [COMMENT] Returned if the target destination is invalid.
+	static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4);
 
 	virtual ~MessageQueueIF() {}
 	/**

ipc/MessageQueueMessage.cpp

@@ -86,3 +86,7 @@ size_t MessageQueueMessage::getMaximumMessageSize() const {
     return this->MAX_MESSAGE_SIZE;
 }
 
+size_t MessageQueueMessage::getMaximumDataSize() const {
+    return this->MAX_DATA_SIZE;
+}
+

ipc/MessageQueueMessage.h

@@ -139,6 +139,7 @@ public:
 	virtual void setMessageSize(size_t messageSize) override;
 	virtual size_t getMinimumMessageSize() const override;
 	virtual size_t getMaximumMessageSize() const override;
+	virtual size_t getMaximumDataSize() const override;
 
 	/**
 	 * @brief	This is a debug method that prints the content.

ipc/MessageQueueMessageIF.h

@@ -72,6 +72,7 @@ public:
     virtual void setMessageSize(size_t messageSize) = 0;
     virtual size_t getMinimumMessageSize() const = 0;
     virtual size_t getMaximumMessageSize() const = 0;
+    virtual size_t getMaximumDataSize() const = 0;
 
 };
 

ipc/MutexGuard.h

@@ -0,0 +1,60 @@
+#ifndef FRAMEWORK_IPC_MUTEXGUARD_H_
+#define FRAMEWORK_IPC_MUTEXGUARD_H_
+
+#include "MutexFactory.h"
+#include "../serviceinterface/ServiceInterface.h"
+
+class MutexGuard {
+public:
+    MutexGuard(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
+            MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0):
+            internalMutex(mutex) {
+        if(mutex == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MutexGuard: Passed mutex is invalid!" << std::endl;
+#else
+            sif::printError("MutexGuard: Passed mutex is invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            return;
+        }
+        result = mutex->lockMutex(timeoutType,
+                timeoutMs);
+#if FSFW_VERBOSE_LEVEL >= 1
+        if(result == MutexIF::MUTEX_TIMEOUT) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MutexGuard: Lock of mutex failed with timeout of "
+                    << timeoutMs << " milliseconds!" << std::endl;
+#else
+            sif::printError("MutexGuard: Lock of mutex failed with timeout of %lu milliseconds\n",
+                    timeoutMs);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+
+        }
+        else if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MutexGuard: Lock of Mutex failed with code " << result << std::endl;
+#else
+            sif::printError("MutexGuard: Lock of Mutex failed with code %d\n", result);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+        }
+#else
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    }
+
+    ReturnValue_t getLockResult() const {
+        return result;
+    }
+
+    ~MutexGuard() {
+        if(internalMutex != nullptr) {
+            internalMutex->unlockMutex();
+        }
+    }
+private:
+    MutexIF* internalMutex;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+};
+
+#endif /* FRAMEWORK_IPC_MUTEXGUARD_H_ */

ipc/MutexHelper.h

@@ -1,54 +0,0 @@
-#ifndef FRAMEWORK_IPC_MUTEXHELPER_H_
-#define FRAMEWORK_IPC_MUTEXHELPER_H_
-
-#include "MutexFactory.h"
-#include "../serviceinterface/ServiceInterface.h"
-
-class MutexHelper {
-public:
-    MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
-            MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0):
-            internalMutex(mutex) {
-        if(mutex == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "MutexHelper: Passed mutex is invalid!" << std::endl;
-#else
-            sif::printError("MutexHelper: Passed mutex is invalid!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            return;
-        }
-        ReturnValue_t status = mutex->lockMutex(timeoutType,
-                timeoutMs);
-#if FSFW_VERBOSE_LEVEL >= 1
-        if(status == MutexIF::MUTEX_TIMEOUT) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "MutexHelper: Lock of mutex failed with timeout of "
-                    << timeoutMs << " milliseconds!" << std::endl;
-#else
-            sif::printError("MutexHelper: Lock of mutex failed with timeout of %lu milliseconds\n",
-                    timeoutMs);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-
-        }
-        else if(status != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "MutexHelper: Lock of Mutex failed with code " << status << std::endl;
-#else
-            sif::printError("MutexHelper: Lock of Mutex failed with code %d\n", status);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        }
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    }
-
-    ~MutexHelper() {
-        if(internalMutex != nullptr) {
-            internalMutex->unlockMutex();
-        }
-    }
-private:
-    MutexIF* internalMutex;
-};
-
-#endif /* FRAMEWORK_IPC_MUTEXHELPER_H_ */

memory/CMakeLists.txt

@@ -1,5 +1,5 @@
-target_sources(${LIB_FSFW_NAME} 
-	PRIVATE 
-		MemoryHelper.cpp
-		MemoryMessage.cpp
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    MemoryHelper.cpp
+    MemoryMessage.cpp
+    GenericFileSystemMessage.cpp
 )

memory/GenericFileSystemMessage.cpp

@@ -0,0 +1,161 @@
+#include "GenericFileSystemMessage.h"
+
+#include "../objectmanager/ObjectManager.h"
+#include "../storagemanager/StorageManagerIF.h"
+
+void GenericFileSystemMessage::setCreateFileCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_CREATE_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setDeleteFileCommand(
+        CommandMessage* message, store_address_t storeId) {
+    message->setCommand(CMD_DELETE_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setCreateDirectoryCommand(
+        CommandMessage* message, store_address_t storeId) {
+    message->setCommand(CMD_CREATE_DIRECTORY);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReportFileAttributesCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_REPORT_FILE_ATTRIBUTES);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReportFileAttributesReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_REPORT_FILE_ATTRIBUTES);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setDeleteDirectoryCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_DELETE_DIRECTORY);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setLockFileCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_LOCK_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setUnlockFileCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_UNLOCK_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setSuccessReply(CommandMessage *message) {
+    message->setCommand(COMPLETION_SUCCESS);
+}
+
+void GenericFileSystemMessage::setFailureReply(CommandMessage *message,
+        ReturnValue_t errorCode, uint32_t errorParam) {
+    message->setCommand(COMPLETION_FAILED);
+    message->setParameter(errorCode);
+    message->setParameter2(errorParam);
+}
+
+store_address_t GenericFileSystemMessage::getStoreId(const CommandMessage* message) {
+    store_address_t temp;
+    temp.raw = message->getParameter2();
+    return temp;
+}
+
+ReturnValue_t GenericFileSystemMessage::getFailureReply(
+        const CommandMessage *message, uint32_t* errorParam) {
+    if(errorParam != nullptr) {
+        *errorParam = message->getParameter2();
+    }
+    return message->getParameter();
+}
+
+void GenericFileSystemMessage::setFinishStopWriteCommand(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(CMD_FINISH_APPEND_TO_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setFinishStopWriteReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_FINISH_APPEND);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setCopyCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_COPY_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setWriteCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_APPEND_TO_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReadCommand(CommandMessage* message,
+        store_address_t storeId) {
+    message->setCommand(CMD_READ_FROM_FILE);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setFinishAppendReply(CommandMessage* message,
+        store_address_t storageID) {
+    message->setCommand(REPLY_FINISH_APPEND);
+    message->setParameter2(storageID.raw);
+}
+
+void GenericFileSystemMessage::setReadReply(CommandMessage* message,
+        bool readFinished, store_address_t storeId) {
+    message->setCommand(REPLY_READ_FROM_FILE);
+    message->setParameter(readFinished);
+    message->setParameter2(storeId.raw);
+}
+
+void GenericFileSystemMessage::setReadFinishedReply(CommandMessage *message,
+        store_address_t storeId) {
+    message->setCommand(REPLY_READ_FINISHED_STOP);
+    message->setParameter2(storeId.raw);
+}
+
+bool GenericFileSystemMessage::getReadReply(const CommandMessage *message,
+        store_address_t *storeId) {
+    if(storeId != nullptr) {
+        (*storeId).raw = message->getParameter2();
+    }
+    return message->getParameter();
+}
+
+ReturnValue_t GenericFileSystemMessage::clear(CommandMessage* message) {
+    switch(message->getCommand()) {
+    case(CMD_CREATE_FILE):
+    case(CMD_DELETE_FILE):
+    case(CMD_CREATE_DIRECTORY):
+    case(CMD_REPORT_FILE_ATTRIBUTES):
+    case(REPLY_REPORT_FILE_ATTRIBUTES):
+    case(CMD_LOCK_FILE):
+    case(CMD_UNLOCK_FILE):
+    case(CMD_COPY_FILE):
+    case(REPLY_READ_FROM_FILE):
+    case(CMD_READ_FROM_FILE):
+    case(CMD_APPEND_TO_FILE):
+    case(CMD_FINISH_APPEND_TO_FILE):
+    case(REPLY_READ_FINISHED_STOP):
+    case(REPLY_FINISH_APPEND): {
+        store_address_t storeId = GenericFileSystemMessage::getStoreId(message);
+        auto ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+        if(ipcStore == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return ipcStore->deleteData(storeId);
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

memory/GenericFileSystemMessage.h

@@ -0,0 +1,115 @@
+#ifndef MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
+#define MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_
+
+#include <cstdint>
+
+#include <fsfw/ipc/CommandMessageIF.h>
+#include <fsfw/ipc/FwMessageTypes.h>
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/storagemanager/storeAddress.h>
+
+/**
+ * @brief   These messages are sent to an object implementing HasFilesystemIF.
+ * @details
+ * Enables a message-based file management. The user can add custo commands be implementing
+ * this generic class.
+ * @author  Jakob Meier, R. Mueller
+ */
+class GenericFileSystemMessage {
+public:
+    /* Instantiation forbidden */
+    GenericFileSystemMessage() = delete;
+
+    static const uint8_t MESSAGE_ID = messagetypes::FILE_SYSTEM_MESSAGE;
+    /* PUS standard  (ECSS-E-ST-70-41C15 2016 p.654) */
+    static const Command_t CMD_CREATE_FILE = MAKE_COMMAND_ID(1);
+    static const Command_t CMD_DELETE_FILE = MAKE_COMMAND_ID(2);
+    /** Report file attributes */
+    static const Command_t CMD_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(3);
+    static const Command_t REPLY_REPORT_FILE_ATTRIBUTES = MAKE_COMMAND_ID(4);
+    /** Command to lock a file, setting it read-only */
+    static const Command_t CMD_LOCK_FILE = MAKE_COMMAND_ID(5);
+    /** Command to unlock a file, enabling further operations on it */
+    static const Command_t CMD_UNLOCK_FILE = MAKE_COMMAND_ID(6);
+    /**
+     * Find file in repository, using a search pattern.
+     * Please note that * is the wildcard character.
+     * For example, when looking for all files which start with have the
+     * structure tm<something>.bin, tm*.bin can be used.
+     */
+    static const Command_t CMD_FIND_FILE = MAKE_COMMAND_ID(7);
+    static const Command_t CMD_CREATE_DIRECTORY = MAKE_COMMAND_ID(9);
+    static const Command_t CMD_DELETE_DIRECTORY = MAKE_COMMAND_ID(10);
+    static const Command_t CMD_RENAME_DIRECTORY = MAKE_COMMAND_ID(11);
+
+    /** Dump contents of a repository */
+    static const Command_t CMD_DUMP_REPOSITORY = MAKE_COMMAND_ID(12);
+    /** Repository dump reply */
+    static const Command_t REPLY_DUMY_REPOSITORY = MAKE_COMMAND_ID(13);
+    static constexpr Command_t CMD_COPY_FILE = MAKE_COMMAND_ID(14);
+    static constexpr Command_t CMD_MOVE_FILE = MAKE_COMMAND_ID(15);
+
+    static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(128);
+    static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(129);
+
+    // These command IDs will remain until CFDP has been introduced and consolidated.
+    /** Append operation commands */
+    static const Command_t CMD_APPEND_TO_FILE = MAKE_COMMAND_ID(130);
+    static const Command_t CMD_FINISH_APPEND_TO_FILE = MAKE_COMMAND_ID(131);
+    static const Command_t REPLY_FINISH_APPEND = MAKE_COMMAND_ID(132);
+
+    static const Command_t CMD_READ_FROM_FILE = MAKE_COMMAND_ID(140);
+    static const Command_t REPLY_READ_FROM_FILE = MAKE_COMMAND_ID(141);
+    static const Command_t CMD_STOP_READ = MAKE_COMMAND_ID(142);
+    static const Command_t REPLY_READ_FINISHED_STOP = MAKE_COMMAND_ID(143);
+
+    static void setLockFileCommand(CommandMessage* message, store_address_t storeId);
+    static void setUnlockFileCommand(CommandMessage* message, store_address_t storeId);
+
+    static void setCreateFileCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setDeleteFileCommand(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setReportFileAttributesCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setReportFileAttributesReply(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setCreateDirectoryCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setDeleteDirectoryCommand(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setSuccessReply(CommandMessage* message);
+    static void setFailureReply(CommandMessage* message,
+            ReturnValue_t errorCode, uint32_t errorParam = 0);
+    static void setCopyCommand(CommandMessage* message, store_address_t storeId);
+
+    static void setWriteCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishStopWriteCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishStopWriteReply(CommandMessage* message,
+            store_address_t storeId);
+    static void setFinishAppendReply(CommandMessage* message,
+            store_address_t storeId);
+
+    static void setReadCommand(CommandMessage* message,
+            store_address_t storeId);
+    static void setReadFinishedReply(CommandMessage* message,
+            store_address_t storeId);
+    static void setReadReply(CommandMessage* message, bool readFinished,
+            store_address_t storeId);
+    static bool getReadReply(const CommandMessage* message,
+            store_address_t* storeId);
+
+    static store_address_t getStoreId(const CommandMessage* message);
+    static ReturnValue_t getFailureReply(const CommandMessage* message,
+            uint32_t* errorParam = nullptr);
+
+    static ReturnValue_t clear(CommandMessage* message);
+
+};
+
+#endif /* MISSION_MEMORY_GENERICFILESYSTEMMESSAGE_H_ */

memory/HasFileSystemIF.h

@@ -16,17 +16,27 @@ class HasFileSystemIF {
 public:
     static constexpr uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM;
 
-    static constexpr ReturnValue_t FILE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x00);
-    static constexpr ReturnValue_t FILE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
-    static constexpr ReturnValue_t FILE_LOCKED = MAKE_RETURN_CODE(0x02);
+    //! [EXPORT] : P1: Can be file system specific error code
+    static constexpr ReturnValue_t GENERIC_FILE_ERROR = MAKE_RETURN_CODE(0);
+    //! [EXPORT] : File system is currently busy
+    static constexpr ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
+    //! [EXPORT] : Invalid parameters like file name or repository path
+    static constexpr ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
 
-    static constexpr ReturnValue_t DIRECTORY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
-    static constexpr ReturnValue_t DIRECTORY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x04);
-    static constexpr ReturnValue_t DIRECTORY_NOT_EMPTY = MAKE_RETURN_CODE(0x05);
+    static constexpr ReturnValue_t FILE_DOES_NOT_EXIST = MAKE_RETURN_CODE(5);
+    static constexpr ReturnValue_t FILE_ALREADY_EXISTS = MAKE_RETURN_CODE(6);
+    static constexpr ReturnValue_t FILE_LOCKED = MAKE_RETURN_CODE(7);
+
+    static constexpr ReturnValue_t DIRECTORY_DOES_NOT_EXIST = MAKE_RETURN_CODE(10);
+    static constexpr ReturnValue_t DIRECTORY_ALREADY_EXISTS = MAKE_RETURN_CODE(11);
+    static constexpr ReturnValue_t DIRECTORY_NOT_EMPTY = MAKE_RETURN_CODE(12);
+
+    //! [EXPORT] : P1: Sequence number missing
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_WRITE = MAKE_RETURN_CODE(15);
+    //! [EXPORT] : P1: Sequence number missing
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_READ = MAKE_RETURN_CODE(16);
 
 
-    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_WRITE = MAKE_RETURN_CODE(0x06); //! P1: Sequence number missing
-    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_READ = MAKE_RETURN_CODE(0x07); //! P1: Sequence number missing
 
 	virtual ~HasFileSystemIF() {}
 	/**

memory/MemoryHelper.cpp

@@ -2,9 +2,9 @@
 #include "MemoryMessage.h"
 
 #include "../globalfunctions/CRC.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../serialize/EndianConverter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis,
 		MessageQueueIF* useThisQueue):
@@ -187,7 +187,7 @@ ReturnValue_t MemoryHelper::initialize(MessageQueueIF* queueToUse_) {
 }
 
 ReturnValue_t MemoryHelper::initialize() {
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
 	if (ipcStore != nullptr) {
 		return RETURN_OK;
 	} else {

memory/MemoryMessage.cpp

@@ -1,6 +1,6 @@
 #include "MemoryMessage.h"
 
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 uint32_t MemoryMessage::getAddress(const CommandMessage* message) {
 	return message->getParameter();
@@ -44,7 +44,7 @@ void MemoryMessage::clear(CommandMessage* message) {
 	switch (message->getCommand()) {
 	case CMD_MEMORY_LOAD:
 	case REPLY_MEMORY_DUMP: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
 				objects::IPC_STORE);
 		if (ipcStore != NULL) {
 			ipcStore->deleteData(getStoreID(message));

monitoring/LimitViolationReporter.cpp

@@ -1,13 +1,8 @@
-/**
- * @file	LimitViolationReporter.cpp
- * @brief	This file defines the LimitViolationReporter class.
- * @date	17.07.2014
- * @author	baetz
- */
 #include "LimitViolationReporter.h"
 #include "MonitoringIF.h"
 #include "ReceivesMonitoringReportsIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+
+#include "../objectmanager/ObjectManager.h"
 #include "../serialize/SerializeAdapter.h"
 
 ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF* data) {
@@ -16,7 +11,7 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 		return result;
 	}
 	store_address_t storeId;
-	uint8_t* dataTarget = NULL;
+	uint8_t* dataTarget = nullptr;
 	size_t maxSize = data->getSerializedSize();
 	if (maxSize > MonitoringIF::VIOLATION_REPORT_MAX_SIZE) {
 		return MonitoringIF::INVALID_SIZE;
@@ -38,16 +33,16 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 
 ReturnValue_t LimitViolationReporter::checkClassLoaded() {
 	if (reportQueue == 0) {
-		ReceivesMonitoringReportsIF* receiver = objectManager->get<
+		ReceivesMonitoringReportsIF* receiver = ObjectManager::instance()->get<
 				ReceivesMonitoringReportsIF>(reportingTarget);
-		if (receiver == NULL) {
+		if (receiver == nullptr) {
 			return ObjectManagerIF::NOT_FOUND;
 		}
 		reportQueue = receiver->getCommandQueue();
 	}
-	if (ipcStore == NULL) {
-		ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-		if (ipcStore == NULL) {
+	if (ipcStore == nullptr) {
+		ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+		if (ipcStore == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
@@ -56,5 +51,5 @@ ReturnValue_t LimitViolationReporter::checkClassLoaded() {
 
 //Lazy initialization.
 MessageQueueId_t LimitViolationReporter::reportQueue = 0;
-StorageManagerIF* LimitViolationReporter::ipcStore = NULL;
+StorageManagerIF* LimitViolationReporter::ipcStore = nullptr;
 object_id_t LimitViolationReporter::reportingTarget = 0;

monitoring/MonitoringMessage.cpp

@@ -1,5 +1,5 @@
 #include "MonitoringMessage.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 MonitoringMessage::~MonitoringMessage() {
 }
@@ -25,7 +25,7 @@ void MonitoringMessage::clear(CommandMessage* message) {
 	message->setCommand(CommandMessage::CMD_NONE);
 	switch (message->getCommand()) {
 	case MonitoringMessage::LIMIT_VIOLATION_REPORT: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
 				objects::IPC_STORE);
 		if (ipcStore != NULL) {
 			ipcStore->deleteData(getStoreId(message));

monitoring/MonitoringMessageContent.h

@@ -5,7 +5,7 @@
 #include "MonitoringIF.h"
 
 #include "../datapoollocal/localPoolDefinitions.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 #include "../serialize/SerialBufferAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../serialize/SerializeElement.h"
@@ -71,7 +71,7 @@ private:
 	}
 	bool checkAndSetStamper() {
 		if (timeStamper == nullptr) {
-			timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
+			timeStamper = ObjectManager::instance()->get<TimeStamperIF>( timeStamperId );
 			if ( timeStamper == nullptr ) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error << "MonitoringReportContent::checkAndSetStamper: "

monitoring/TriplexMonitor.h

@@ -5,7 +5,7 @@
 #include "../datapool/PIDReaderList.h"
 #include "../health/HealthTableIF.h"
 #include "../parameters/HasParametersIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/ObjectManager.h"
 
 
 //SHOULDDO: This is by far not perfect. Could be merged with new Monitor classes. But still, it's over-engineering.
@@ -64,7 +64,7 @@ public:
 		return result;
 	}
 	ReturnValue_t initialize() {
-		healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
+		healthTable = ObjectManager::instance()->get<HealthTableIF>(objects::HEALTH_TABLE);
 		if (healthTable == NULL) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}

objectmanager/ObjectManager.cpp

@@ -6,11 +6,23 @@
 #endif
 #include <cstdlib>
 
-ObjectManager::ObjectManager( void (*setProducer)() ):
-		produceObjects(setProducer) {
-	//There's nothing special to do in the constructor.
+ObjectManager* ObjectManager::objManagerInstance = nullptr;
+
+ObjectManager* ObjectManager::instance() {
+    if(objManagerInstance == nullptr) {
+        objManagerInstance = new ObjectManager();
+    }
+    return objManagerInstance;
 }
 
+void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc, void *factoryArgs) {
+    this->objectFactoryFunction = objFactoryFunc;
+    this->factoryArgs = factoryArgs;
+}
+
+
+ObjectManager::ObjectManager() {}
+
 
 ObjectManager::~ObjectManager() {
 	for (auto const& iter : objectList) {
@@ -28,10 +40,13 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 		return this->RETURN_OK;
 	} else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "ObjectManager::insert: Object id " << std::hex
-		           << static_cast<uint32_t>(id) << std::dec
-				   << " is already in use!" << std::endl;
-		sif::error << "Terminating program." << std::endl;
+		sif::error << "ObjectManager::insert: Object ID " << std::hex <<
+		        static_cast<uint32_t>(id) << std::dec << " is already in use!" << std::endl;
+		sif::error << "Terminating program" << std::endl;
+#else
+		sif::printError("ObjectManager::insert: Object ID 0x%08x is already in use!\n",
+		        static_cast<unsigned int>(id));
+		sif::printError("Terminating program");
 #endif
 		//This is very severe and difficult to handle in other places.
 		std::exit(INSERTION_FAILED);
@@ -66,12 +81,8 @@ SystemObjectIF* ObjectManager::getSystemObject( object_id_t id ) {
 	}
 }
 
-ObjectManager::ObjectManager() : produceObjects(nullptr) {
-
-}
-
 void ObjectManager::initialize() {
-	if(produceObjects == nullptr) {
+	if(objectFactoryFunction == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "ObjectManager::initialize: Passed produceObjects "
 				"functions is nullptr!" << std::endl;
@@ -80,7 +91,7 @@ void ObjectManager::initialize() {
 #endif
 		return;
 	}
-	this->produceObjects();
+	objectFactoryFunction(factoryArgs);
 	ReturnValue_t result = RETURN_FAILED;
 	uint32_t errorCount = 0;
 	for (auto const& it : objectList) {
@@ -108,9 +119,9 @@ void ObjectManager::initialize() {
 		result = it.second->checkObjectConnections();
 		if ( result != RETURN_OK ) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
-					(int) it.first  << " connection check failed with code 0x"
-					<< result << std::dec << std::endl;
+			sif::error << "ObjectManager::ObjectManager: Object 0x" << std::hex <<
+					(int) it.first  << " connection check failed with code 0x" << result <<
+					std::dec << std::endl;
 #endif
 			errorCount++;
 		}

objectmanager/ObjectManager.h

@@ -5,6 +5,7 @@
 #include "SystemObjectIF.h"
 #include <map>
 
+
 /**
  * @brief	This class implements a global object manager.
  * @details	This manager handles a list of available objects with system-wide
@@ -19,44 +20,59 @@
  * @author	Bastian Baetz
  */
 class ObjectManager : public ObjectManagerIF {
-private:
-	//comparison?
-	/**
-	 * @brief	This is the map of all initialized objects in the manager.
-	 * @details	Objects in the List must inherit the SystemObjectIF.
-	 */
-	std::map<object_id_t, SystemObjectIF*> objectList;
-protected:
-	SystemObjectIF* getSystemObject( object_id_t id );
-	/**
-	 * @brief	This attribute is initialized with the factory function
-	 * 			that creates new objects.
-	 * @details	The function is called if an object was requested with
-	 * 			getSystemObject, but not found in objectList.
-	 * @param 	The id of the object to be created.
-	 * @return	Returns a pointer to the newly created object or NULL.
-	 */
-	void (*produceObjects)();
 public:
-	/**
-	 * @brief	Apart from setting the producer function, nothing special
-	 * 			happens in the constructor.
-	 * @param setProducer	A pointer to a factory function.
-	 */
-	ObjectManager( void (*produce)() );
-	ObjectManager();
-	/**
-	 *	@brief	In the class's destructor, all objects in the list are deleted.
-	 */
-	// SHOULDDO: If, for some reason, deleting an ObjectManager instance is
-	// required, check if this works.
-	virtual ~ObjectManager( void );
-	ReturnValue_t insert( object_id_t id, SystemObjectIF* object );
-	ReturnValue_t remove( object_id_t id );
-	void initialize();
-	void printList();
+
+    using produce_function_t = void (*) (void* args);
+
+    /**
+     * Returns the single instance of TaskFactory.
+     * The implementation of #instance is found in its subclasses.
+     * Thus, we choose link-time variability of the  instance.
+     */
+    static ObjectManager* instance();
+
+    void setObjectFactoryFunction(produce_function_t prodFunc, void* args);
+
+    template <typename T> T* get( object_id_t id );
+
+    /**
+     *  @brief  In the class's destructor, all objects in the list are deleted.
+     */
+    virtual ~ObjectManager();
+    ReturnValue_t insert(object_id_t id, SystemObjectIF* object) override;
+    ReturnValue_t remove(object_id_t id) override;
+    void initialize() override;
+    void printList() override;
+
+protected:
+    SystemObjectIF* getSystemObject(object_id_t id) override;
+    /**
+     * @brief   This attribute is initialized with the factory function
+     *          that creates new objects.
+     * @details The function is called if an object was requested with
+     *          getSystemObject, but not found in objectList.
+     * @param   The id of the object to be created.
+     * @return  Returns a pointer to the newly created object or NULL.
+     */
+    produce_function_t objectFactoryFunction = nullptr;
+    void* factoryArgs = nullptr;
+
+private:
+    ObjectManager();
+
+    /**
+     * @brief	This is the map of all initialized objects in the manager.
+     * @details	Objects in the List must inherit the SystemObjectIF.
+     */
+    std::map<object_id_t, SystemObjectIF*> objectList;
+    static ObjectManager* objManagerInstance;
 };
 
-
+// Documentation can be found in the class method declaration above
+template <typename T>
+T* ObjectManager::get( object_id_t id ) {
+    SystemObjectIF* temp = this->getSystemObject(id);
+    return dynamic_cast<T*>(temp);
+}
 
 #endif /* FSFW_OBJECTMANAGER_OBJECTMANAGER_H_ */

objectmanager/ObjectManagerIF.h

@@ -4,15 +4,15 @@
 #include "frameworkObjects.h"
 #include "SystemObjectIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 /**
  * @brief	This class provides an interface to the global object manager.
- * @details	This manager handles a list of available objects with system-wide
- * 			relevance, such as device handlers, and TM/TC services. They can be
- * 			inserted, removed and retrieved from the list. On getting the
- * 			object, the call checks if the object implements the requested
- * 			interface.
+ * @details
+ * This manager handles a list of available objects with system-wide relevance, such as device
+ * handlers, and TM/TC services. They can be inserted, removed and retrieved from the list.
+ * On getting the object, the call checks if the object implements the requested interface.
+ * This interface does not specify a getter function because templates can't be used in interfaces.
  * @author	Bastian Baetz
  * @ingroup system_objects
  */
@@ -21,7 +21,8 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
+	//!< Can be used if the initialization of a SystemObject failed.
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
 protected:
@@ -49,22 +50,11 @@ public:
 	 * 			@li RETURN_OK in case the object was successfully inserted
 	 */
 	virtual ReturnValue_t insert( object_id_t id, SystemObjectIF* object ) = 0;
-	/**
-	 * @brief	With the get call, interfaces of an object can be retrieved in
-	 * 			a type-safe manner.
-	 * @details With the template-based call, the object list is searched with the
-	 * 			getSystemObject method and afterwards it is checked, if the object
-	 * 			implements the requested interface (with a dynamic_cast).
-	 * @param id	The object id of the requested object.
-	 * @return	The method returns a pointer to an object implementing the
-	 * 			requested interface, or NULL.
-	 */
-	template <typename T> T* get( object_id_t id );
 	/**
 	 * @brief	With this call, an object is removed from the list.
 	 * @param id	The object id of the object to be removed.
-	 * @return	\li NOT_FOUND in case the object was not found
-	 * 			\li RETURN_OK in case the object was successfully removed
+	 * @return	@li NOT_FOUND in case the object was not found
+	 * 			@li RETURN_OK in case the object was successfully removed
 	 */
 	virtual ReturnValue_t remove( object_id_t id ) = 0;
 	virtual void initialize() = 0;
@@ -75,24 +65,4 @@ public:
 	virtual void printList() = 0;
 };
 
-
-/**
- * @brief	This is the forward declaration of the global objectManager instance.
- */
-// SHOULDDO: maybe put this in the glob namespace to explicitely mark it global?
-extern ObjectManagerIF *objectManager;
-
-/*Documentation can be found in the class method declaration above.*/
-template <typename T>
-T* ObjectManagerIF::get( object_id_t id ) {
-	if(objectManager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "ObjectManagerIF: Global object manager has not "
-				"been initialized yet!" << std::endl;
-#endif
-	}
-	SystemObjectIF* temp = this->getSystemObject(id);
-	return dynamic_cast<T*>(temp);
-}
-
 #endif /* OBJECTMANAGERIF_H_ */