Merge remote-tracking branch 'upstream/master' into mueller/MQM_IF_UpdateLinux

container/ArrayList.h

@@ -97,8 +97,7 @@ public:
 		bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
 			return !(*this == other);
 		}
-	}
+	};
-	;
 
 	/**
 	 * Number of Elements stored in this List

container/FixedOrderedMultimap.h

@@ -10,10 +10,9 @@
 template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
 class FixedOrderedMultimap {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
+	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
-	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
 
 private:
 	typedef KEY_COMPARE compare;

devicehandlers/FixedSequenceSlot.cpp

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

ipc/CommandMessage.h

@@ -2,6 +2,7 @@
 #define FSFW_IPC_COMMANDMESSAGE_H_
 
 #include "CommandMessageIF.h"
+
 #include "MessageQueueMessage.h"
 #include "FwMessageTypes.h"
 

ipc/messageQueueDefinitions.h

@@ -15,5 +15,4 @@
  */
 using MessageQueueId_t = uint32_t;
 
-
 #endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

osal/FreeRTOS/FixedTimeslotTask.cpp

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

osal/FreeRTOS/FixedTimeslotTask.h

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

osal/FreeRTOS/PeriodicTask.cpp

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

osal/linux/FixedTimeslotTask.cpp

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

osal/linux/FixedTimeslotTask.h

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

storagemanager/ConstStorageAccessor.cpp

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

storagemanager/ConstStorageAccessor.h

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

storagemanager/LocalPool.h

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

storagemanager/LocalPool.tpp

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

storagemanager/PoolManager.h

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

storagemanager/PoolManager.tpp

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

storagemanager/StorageAccessor.cpp

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

storagemanager/StorageAccessor.h

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

storagemanager/StorageManagerIF.h

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

storagemanager/storeAddress.h

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

tasks/FixedSequenceSlot.cpp

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

tasks/FixedSequenceSlot.h

@@ -1,39 +1,39 @@
-/**
+#ifndef FSFW_TASKS_FIXEDSEQUENCESLOT_H_
- * @file	FixedSequenceSlot.h
+#define FSFW_TASKS_FIXEDSEQUENCESLOT_H_
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#ifndef FIXEDSEQUENCESLOT_H_
-#define FIXEDSEQUENCESLOT_H_
 
+#include "ExecutableObjectIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "../tasks/ExecutableObjectIF.h"
+
 class PeriodicTaskIF;
 
 /**
- * @brief	This class is the representation of a single polling sequence table entry.
+ * @brief	This class is the representation of a single polling sequence
- *
+ *          table entry.
- * @details	The PollingSlot class is the representation of a single polling
+ * @details
+ * The PollingSlot class is the representation of a single polling
  * sequence table entry.
+ * @author  baetz
  */
 class FixedSequenceSlot {
 public:
 	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
-			int8_t setSequenceId, PeriodicTaskIF* executingTask );
+			int8_t setSequenceId, ExecutableObjectIF* executableObject,
+			PeriodicTaskIF* executingTask);
 	virtual ~FixedSequenceSlot();
 
+	object_id_t handlerId;
+
 	/**
-	 * @brief	Handler identifies which device handler object is executed in this slot.
+	 * @brief	Handler identifies which object is executed in this slot.
 	 */
-	ExecutableObjectIF*	handler;
+	ExecutableObjectIF*	executableObject = nullptr;
 
 	/**
 	 * @brief	This attribute defines when a device handler object is executed.
-	 *
+	 * @details
-	 * @details	The pollingTime attribute identifies the time the handler is executed in ms.
+	 * The pollingTime attribute identifies the time the handler is
-	 * 			It must be smaller than the period length of the polling sequence.
+	 * executed in ms. It must be smaller than the period length of the
+	 * polling sequence.
 	 */
 	uint32_t pollingTimeMs;
 
@@ -57,4 +57,4 @@ public:
 };
 
 
-#endif /* FIXEDSEQUENCESLOT_H_ */
+#endif /* FSFW_TASKS_FIXEDSEQUENCESLOT_H_ */

tasks/FixedSlotSequence.cpp

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

tasks/FixedSlotSequence.h

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