Merge branch 'mueller_framework' into front_branch

container/ArrayList.h

@@ -1,5 +1,5 @@
-#ifndef ARRAYLIST_H_
-#define ARRAYLIST_H_
+#ifndef FRAMEWORK_CONTAINER_ARRAYLIST_H_
+#define FRAMEWORK_CONTAINER_ARRAYLIST_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/serialize/SerializeAdapter.h>
@@ -7,8 +7,9 @@
 
 /**
  * @brief 	A List that stores its values in an array.
- * @details The backend is an array that can be allocated
- * 			by the class itself or supplied via ctor.
+ * @details
+ * The underlying storage is an array that can be allocated by the class
+ * itself or supplied via ctor.
  *
  * @ingroup container
  */
@@ -19,81 +20,13 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
 
-	/**
-	 * An Iterator to go trough an ArrayList
-	 *
-	 * It stores a pointer to an element and increments the
-	 * pointer when incremented itself.
-	 */
-	class Iterator {
-	public:
-		/**
-		 * Empty ctor, points to NULL
-		 */
-		Iterator() :
-				value(0) {
-
-		}
-
-		/**
-		 * Initializes the Iterator to point to an element
-		 *
-		 * @param initialize
-		 */
-		Iterator(T *initialize) {
-			value = initialize;
-		}
-
-		/**
-		 * The current element the iterator points to
-		 */
-		T *value;
-
-		Iterator& operator++() {
-			value++;
-			return *this;
-		}
-
-		Iterator operator++(int) {
-			Iterator tmp(*this);
-			operator++();
-			return tmp;
-		}
-
-		Iterator& operator--() {
-			value--;
-			return *this;
-		}
-
-		Iterator operator--(int) {
-			Iterator tmp(*this);
-			operator--();
-			return tmp;
-		}
-
-		T operator*() {
-			return *value;
-		}
-
-		T *operator->() {
-			return value;
-		}
-
-		const T *operator->() const{
-			return value;
-		}
-
-		//SHOULDDO this should be implemented as non-member
-		bool operator==(const typename ArrayList<T, count_t>::Iterator& other) const{
-			return (value == other.value);
-		}
-
-		//SHOULDDO this should be implemented as non-member
-		bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
-			return !(*this == other);
-		}
-	}
-	;
+    /**
+     * Copying is forbiden by declaring copy ctor and copy assignment deleted
+     * It is too ambigous in this case.
+     * (Allocate a new backend? Use the same? What to do in an modifying call?)
+     */
+	ArrayList(const ArrayList& other) = delete;
+	const ArrayList& operator=(const ArrayList& other) = delete;
 
 	/**
 	 * Number of Elements stored in this List
@@ -134,6 +67,78 @@ public:
 		}
 	}
 
+    /**
+     * An Iterator to go trough an ArrayList
+     *
+     * It stores a pointer to an element and increments the
+     * pointer when incremented itself.
+     */
+    class Iterator {
+    public:
+        /**
+         * Empty ctor, points to NULL
+         */
+        Iterator(): value(0) {}
+
+        /**
+         * Initializes the Iterator to point to an element
+         *
+         * @param initialize
+         */
+        Iterator(T *initialize) {
+            value = initialize;
+        }
+
+        /**
+         * The current element the iterator points to
+         */
+        T *value;
+
+        Iterator& operator++() {
+            value++;
+            return *this;
+        }
+
+        Iterator operator++(int) {
+            Iterator tmp(*this);
+            operator++();
+            return tmp;
+        }
+
+        Iterator& operator--() {
+            value--;
+            return *this;
+        }
+
+        Iterator operator--(int) {
+            Iterator tmp(*this);
+            operator--();
+            return tmp;
+        }
+
+        T operator*() {
+            return *value;
+        }
+
+        T *operator->() {
+            return value;
+        }
+
+        const T *operator->() const{
+            return value;
+        }
+
+        //SHOULDDO this should be implemented as non-member
+        bool operator==(const typename ArrayList<T, count_t>::Iterator& other) const{
+            return (value == other.value);
+        }
+
+        //SHOULDDO this should be implemented as non-member
+        bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
+            return !(*this == other);
+        }
+    };
+
 	/**
 	 * Iterator pointing to the first stored elmement
 	 *
@@ -223,19 +228,6 @@ public:
 		return (maxSize_ - size);
 	}
 
-private:
-	/**
-	 * This is the copy constructor
-	 *
-	 * It is private, as copying is too ambigous in this case. (Allocate a new backend? Use the same?
-	 * What to do in an modifying call?)
-	 *
-	 * @param other
-	 */
-	ArrayList(const ArrayList& other) :
-			size(other.size), entries(other.entries), maxSize_(other.maxSize_),
-			allocated(false) {}
-
 protected:
 	/**
 	 * pointer to the array in which the entries are stored

container/HybridIterator.h

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

container/RingBufferBase.h

@@ -2,12 +2,14 @@
 #define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
 
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
 public:
-	RingBufferBase(uint32_t startAddress, uint32_t size, bool overwriteOld) :
-			start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) {
+	RingBufferBase(uint32_t startAddress, const size_t size, bool overwriteOld) :
+			start(startAddress), write(startAddress), size(size),
+			overwriteOld(overwriteOld) {
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = startAddress;
 		}
@@ -83,7 +85,7 @@ protected:
 	const uint32_t start;
 	uint32_t write;
 	uint32_t read[N_READ_PTRS];
-	const uint32_t size;
+	const size_t size;
 	const bool overwriteOld;
 	void incrementWrite(uint32_t amount) {
 		write = ((write + amount - start) % size) + start;

container/SimpleRingBuffer.cpp

@@ -1,11 +1,16 @@
 #include <framework/container/SimpleRingBuffer.h>
-#include <string.h>
+#include <cstring>
 
-SimpleRingBuffer::SimpleRingBuffer(uint32_t size, bool overwriteOld) :
-		RingBufferBase<>(0, size, overwriteOld), buffer(NULL) {
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
+		RingBufferBase<>(0, size, overwriteOld) {
 	buffer = new uint8_t[size];
 }
 
+SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
+        bool overwriteOld):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
+
+
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
@@ -66,3 +71,4 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
 	incrementRead(amount, READ_PTR);
 	return HasReturnvaluesIF::RETURN_OK;
 }
+

container/SimpleRingBuffer.h

@@ -5,13 +5,29 @@
 #include <stddef.h>
 
 /**
- * @brief 	Circular buffer implementation, useful for buffering into data streams.
- * @details Note that the deleteData() has to be called to increment the read pointer
+ * @brief 	Circular buffer implementation, useful for buffering
+ *          into data streams.
+ * @details
+ * Note that the deleteData() has to be called to increment the read pointer.
+ * This class allocated dynamically, so
  * @ingroup containers
  */
 class SimpleRingBuffer: public RingBufferBase<> {
 public:
-	SimpleRingBuffer(uint32_t size, bool overwriteOld);
+    /**
+     * This constructor allocates a new internal buffer with the supplied size.
+     * @param size
+     * @param overwriteOld
+     */
+	SimpleRingBuffer(const size_t size, bool overwriteOld);
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 */
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+
 	virtual ~SimpleRingBuffer();
 
 	/**
@@ -30,7 +46,8 @@ public:
 	 * @param trueAmount
 	 * @return
 	 */
-	ReturnValue_t readData(uint8_t* data, uint32_t amount, bool readRemaining = false, uint32_t* trueAmount = NULL);
+	ReturnValue_t readData(uint8_t* data, uint32_t amount,
+	        bool readRemaining = false, uint32_t* trueAmount = nullptr);
 
 	/**
 	 * Delete data starting by incrementing read pointer
@@ -39,11 +56,12 @@ public:
 	 * @param trueAmount
 	 * @return
 	 */
-	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false, uint32_t* trueAmount = NULL);
+	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false,
+	        uint32_t* trueAmount = nullptr);
 private:
 //	static const uint8_t TEMP_READ_PTR = 1;
 	static const uint8_t READ_PTR = 0;
-	uint8_t* buffer;
+	uint8_t* buffer = nullptr;
 };
 
 #endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */

container/SinglyLinkedList.h

@@ -1,8 +1,9 @@
-#ifndef SINGLYLINKEDLIST_H_
-#define SINGLYLINKEDLIST_H_
+#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+
+#include <cstddef>
+#include <cstdint>
 
-#include <stddef.h>
-#include <stdint.h>
 /**
  * @brief	Linked list data structure,
  * 			each entry has a pointer to the next entry (singly)
@@ -14,11 +15,8 @@ public:
 	T *value;
 	class Iterator {
 	public:
-		LinkedElement<T> *value;
-		Iterator() :
-				value(NULL) {
-
-		}
+		LinkedElement<T> *value = nullptr;
+		Iterator() {}
 
 		Iterator(LinkedElement<T> *element) :
 				value(element) {
@@ -47,12 +45,11 @@ public:
 		}
 	};
 
-	LinkedElement(T* setElement, LinkedElement<T>* setNext = NULL) : value(setElement),
-		next(setNext) {
-	}
-	virtual ~LinkedElement(){
+	LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
+	       value(setElement), next(setNext) {}
+
+	virtual ~LinkedElement(){}
 
-	}
 	virtual LinkedElement* getNext() const {
 		return next;
 	}
@@ -61,15 +58,15 @@ public:
 		this->next = next;
 	}
 
-	void setEnd() {
-		this->next = nullptr;
+	virtual void setEnd() {
+	    this->next = nullptr;
 	}
 
 	LinkedElement* begin() {
 		return this;
 	}
 	LinkedElement* end() {
-		return NULL;
+		return nullptr;
 	}
 private:
 	LinkedElement *next;
@@ -78,21 +75,21 @@ private:
 template<typename T>
 class SinglyLinkedList {
 public:
-	SinglyLinkedList() :
-			start(NULL) {
-	}
+    using ElementIterator = typename LinkedElement<T>::Iterator;
+
+	SinglyLinkedList() {}
+
+	SinglyLinkedList(ElementIterator start) :
+			start(start.value) {}
 
-	SinglyLinkedList(typename LinkedElement<T>::Iterator start) :
-			start(start.value) {
-	}
 	SinglyLinkedList(LinkedElement<T>* startElement) :
-				start(startElement) {
-		}
-	typename LinkedElement<T>::Iterator begin() const {
-		return LinkedElement<T>::Iterator::Iterator(start);
+			start(startElement) {}
+
+	ElementIterator begin() const {
+		return ElementIterator::Iterator(start);
 	}
-	typename LinkedElement<T>::Iterator::Iterator end() const {
-		return LinkedElement<T>::Iterator::Iterator();
+	typename ElementIterator::Iterator end() const {
+		return ElementIterator::Iterator();
 	}
 
 	uint32_t getSize() const {
@@ -107,8 +104,15 @@ public:
 	void setStart(LinkedElement<T>* setStart) {
 		start = setStart;
 	}
+
+    void setEnd(LinkedElement<T>* setEnd) {
+        setEnd->setEnd();
+    }
+
+    // SHOULDDO: Insertion operation ?
+
 protected:
-	LinkedElement<T> *start;
+	LinkedElement<T> *start = nullptr;
 };
 
 #endif /* SINGLYLINKEDLIST_H_ */

datapool/DataSetBase.cpp

@@ -53,6 +53,10 @@ ReturnValue_t DataSetBase::read(uint32_t lockTimeout) {
 	return result;
 }
 
+uint16_t DataSetBase::getFillCount() const {
+    return fillCount;
+}
+
 ReturnValue_t DataSetBase::readVariable(uint16_t count) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 	// These checks are often performed by the respective

datapool/DataSetBase.h

@@ -101,8 +101,10 @@ public:
 	 */
 	virtual ReturnValue_t unlockDataPool() override;
 
+	virtual uint16_t getFillCount() const;
+
 	/* SerializeIF implementations */
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
 				const size_t maxSize, bool bigEndian) const override;
 	virtual size_t getSerializedSize() const override;
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,

datapool/DataSetIF.h

@@ -43,6 +43,7 @@ public:
 	 */
 	virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
 
+	virtual uint16_t getFillCount() const = 0;
 private:
 	/**
 	 * @brief 	Most underlying data structures will have a pool like structure

datapoollocal/LocalDataPoolManager.cpp

@@ -1,16 +1,17 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/objectmanager/frameworkObjects.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/ipc/MutexHelper.h>
+#include <framework/ipc/QueueFactory.h>
 
 #include <array>
 
-LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner) {
+LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
+        uint32_t replyQueueDepth, bool appendValidityBuffer):
+        appendValidityBuffer(appendValidityBuffer) {
 	if(owner == nullptr) {
 		sif::error << "HkManager: Invalid supplied owner!" << std::endl;
-		std::exit(0);
+		return;
 	}
 	this->owner = owner;
 	mutex = MutexFactory::instance()->createMutex();
@@ -23,6 +24,8 @@ LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner) {
 	    sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
 	            "Could not set IPC store." << std::endl;
 	}
+	hkQueue = QueueFactory::instance()->createMessageQueue(replyQueueDepth,
+	        HousekeepingMessage::HK_MESSAGE_SIZE);
 }
 
 LocalDataPoolManager::~LocalDataPoolManager() {}
@@ -30,19 +33,35 @@ LocalDataPoolManager::~LocalDataPoolManager() {}
 ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	if(not mapInitialized) {
 		ReturnValue_t result =
-				owner->initializeHousekeepingPoolEntries(localDpMap);
+				owner->initializePoolEntries(localDpMap);
 		if(result == HasReturnvaluesIF::RETURN_OK) {
 			mapInitialized = true;
 		}
 		return result;
 	}
-	sif::warning << "HousekeepingManager: The map" << std::endl;
+	sif::warning << "HousekeepingManager: The map should only be initialized "
+	        "once!" << std::endl;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 		HousekeepingMessage& message) {
-	return HasReturnvaluesIF::RETURN_FAILED;
+    Command_t command = message.getCommand();
+    switch(command) {
+    // I think those are the only commands which can be handled here..
+    case(HousekeepingMessage::ADD_HK_REPORT_STRUCT):
+    case(HousekeepingMessage::ADD_DIAGNOSTICS_REPORT_STRUCT):
+        // We should use OwnsLocalPoolDataIF to specify those functions..
+        return HasReturnvaluesIF::RETURN_OK;
+    case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
+    case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
+        return generateSetStructurePacket(message.getSid());
+    case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
+    case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT):
+        return generateHousekeepingPacket(message.getSid());
+    default:
+        return CommandMessageIF::UNKNOWN_COMMAND;
+    }
 }
 
 ReturnValue_t LocalDataPoolManager::printPoolEntry(
@@ -51,7 +70,7 @@ ReturnValue_t LocalDataPoolManager::printPoolEntry(
 	if (poolIter == localDpMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
+		return POOL_ENTRY_NOT_FOUND;
 	}
 	poolIter->second->print();
 	return HasReturnvaluesIF::RETURN_OK;
@@ -61,6 +80,15 @@ MutexIF* LocalDataPoolManager::getMutexHandle() {
 	return mutex;
 }
 
+void LocalDataPoolManager::setHkPacketDestination(
+        MessageQueueId_t destinationQueueId) {
+    this->currentHkPacketDestination = destinationQueueId;
+}
+
+const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
+    return owner;
+}
+
 ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	LocalDataSet* dataSetToSerialize = dynamic_cast<LocalDataSet*>(
 			owner->getDataSetHandle(sid));
@@ -70,28 +98,84 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	store_address_t storeId;
-	size_t hkSize = dataSetToSerialize->getSerializedSize();
-	uint8_t* storePtr = nullptr;
-	ReturnValue_t result = ipcStore->getFreeElement(&storeId, hkSize,&storePtr);
+	ReturnValue_t result = serializeHkPacketIntoStore(&storeId,
+	        dataSetToSerialize);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
-	    sif::warning << "HousekeepingManager::generateHousekeepingPacket: "
-	            "Could not get free element from IPC store." << std::endl;
 	    return result;
 	}
-	size_t size = 0;
-	dataSetToSerialize->serialize(&storePtr, &size, hkSize, false);
-	// and now we have to set a HK message and send it the queue.
-	return HasReturnvaluesIF::RETURN_OK;
+
+	// and now we set a HK message and send it the HK packet destination.
+	MessageQueueMessage message;
+	HousekeepingMessage hkMessage(&message);
+	hkMessage.setHkReportMessage(sid, storeId);
+	if(hkQueue == nullptr) {
+	    return QUEUE_NOT_SET;
+	}
+
+	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
+	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
+	}
+	else {
+	    result = hkQueue->sendToDefault(&hkMessage);
+	}
+
+	return result;
 }
 
-void LocalDataPoolManager::setHkPacketQueue(MessageQueueIF *msgQueue) {
-	this->hkPacketQueue = msgQueue;
+ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid) {
+    LocalDataSet* dataSet = dynamic_cast<LocalDataSet*>(
+            owner->getDataSetHandle(sid));
+    if(dataSet == nullptr) {
+        sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
+                " Set ID not found" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    size_t expectedSize = dataSet->getFillCount() * sizeof(lp_id_t);
+    uint8_t* storePtr = nullptr;
+    store_address_t storeId;
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId,
+            expectedSize,&storePtr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "HousekeepingManager::generateHousekeepingPacket: "
+                "Could not get free element from IPC store." << std::endl;
+        return result;
+    }
+    size_t size = 0;
+    result = dataSet->serializeLocalPoolIds(&storePtr, &size,
+            expectedSize, false);
+    if(expectedSize != size) {
+        sif::error << "HousekeepingManager::generateSetStructurePacket: "
+                "Expected size is not equal to serialized size" << std::endl;
+    }
+    return result;
 }
 
-void LocalDataPoolManager::setHkReplyQueue(MessageQueueIF *replyQueue) {
-    this->hkReplyQueue = replyQueue;
+ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
+        store_address_t *storeId, LocalDataSet* dataSet) {
+    size_t hkSize = dataSet->getSerializedSize();
+    uint8_t* storePtr = nullptr;
+    ReturnValue_t result = ipcStore->getFreeElement(storeId, hkSize,&storePtr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "HousekeepingManager::generateHousekeepingPacket: "
+                "Could not get free element from IPC store." << std::endl;
+        return result;
+    }
+    size_t size = 0;
+
+    if(appendValidityBuffer) {
+        result = dataSet->serializeWithValidityBuffer(&storePtr,
+                &size, hkSize, false);
+    }
+    else {
+        result = dataSet->serialize(&storePtr, &size, hkSize, false);
+    }
+
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "HousekeepingManager::serializeHkPacketIntoStore: "
+                "Serialization proccess failed!" << std::endl;
+    }
+    return result;
 }
 
-const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
-	return owner;
-}
+
+

datapoollocal/LocalDataPoolManager.h

@@ -13,6 +13,8 @@
 
 #include <map>
 
+class LocalDataSet;
+
 /**
  * @brief 	This class is the managing instance for local data pool.
  * @details
@@ -37,8 +39,16 @@ class LocalDataPoolManager {
 	friend class LocalPoolVector;
 	friend class LocalDataSet;
 public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
 
-	LocalDataPoolManager(OwnsLocalDataPoolIF* owner);
+    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x0);
+    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x1);
+
+    static constexpr ReturnValue_t QUEUE_NOT_SET = MAKE_RETURN_CODE(0x2);
+    //static constexpr ReturnValue_t SET_NOT_FOUND = MAKE_RETURN_CODE(0x3);
+
+	LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
+	        uint32_t replyQueueDepth = 20, bool appendValidityBuffer = true);
 	virtual~ LocalDataPoolManager();
 
 	/* Copying forbidden */
@@ -46,6 +56,8 @@ public:
 	LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
 
 	ReturnValue_t generateHousekeepingPacket(sid_t sid);
+	ReturnValue_t generateSetStructurePacket(sid_t sid);
+
 	ReturnValue_t handleHousekeepingMessage(HousekeepingMessage& message);
 
 	/**
@@ -57,10 +69,7 @@ public:
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
 	//! Set the queue for HK packets, which are sent unrequested.
-	void setHkPacketQueue(MessageQueueIF* msgQueue);
-	//! Set the queue for replies. This can be set manually or by the owner
-	//! class if the manager if message are relayed by it.
-	void setHkReplyQueue(MessageQueueIF* replyQueue);
+	void setHkPacketDestination(MessageQueueId_t destinationQueueId);
 
 	const OwnsLocalDataPoolIF* getOwner() const;
 
@@ -70,6 +79,10 @@ private:
 	//! This is the map holding the actual data. Should only be initialized
 	//! once !
 	bool mapInitialized = false;
+	//! This specifies whether a validity buffer is appended at the end
+	//! of generated housekeeping packets.
+	bool appendValidityBuffer = true;
+
 	LocalDataPool localDpMap;
 
 	//! Every housekeeping data manager has a mutex to protect access
@@ -79,13 +92,14 @@ private:
 	//! The class which actually owns the manager (and its datapool).
 	OwnsLocalDataPoolIF* owner = nullptr;
 
-	//! Used for replies.
-	//! (maybe we dont need this, the sender can be retrieved from command
-	//! message..)
-	MessageQueueIF* hkReplyQueue = nullptr;
-	//! Used for HK packets, which are generated without requests.
-	//! Maybe this will just be the TM funnel.
-	MessageQueueIF* hkPacketQueue = nullptr;
+	//! Queue used for communication, for example commands.
+	//! Is also used to send messages.
+	MessageQueueIF* hkQueue = nullptr;
+
+	//! HK replies will always be a reply to the commander, but HK packet
+	//! can be sent to another destination by specifying this message queue
+	//! ID, for example to a dedicated housekeeping service implementation.
+	MessageQueueId_t currentHkPacketDestination = MessageQueueIF::NO_QUEUE;
 
 	//! Global IPC store is used to store all packets.
 	StorageManagerIF* ipcStore = nullptr;
@@ -113,6 +127,8 @@ private:
 			PoolEntry<T> **poolEntry);
 
 	void setMinimalSamplingFrequency(float frequencySeconds);
+	ReturnValue_t serializeHkPacketIntoStore(store_address_t* storeId,
+	        LocalDataSet* dataSet);
 };
 
 
@@ -123,14 +139,14 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 	if (poolIter == localDpMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
+		return POOL_ENTRY_NOT_FOUND;
 	}
 
 	*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
 	if(*poolEntry == nullptr) {
 		sif::debug << "HousekeepingManager::fetchPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_TYPE_CONFLICT;
+		return POOL_ENTRY_TYPE_CONFLICT;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

datapoollocal/LocalDataSet.cpp

@@ -1,22 +1,26 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
+#include <framework/serialize/SerializeAdapter.h>
+
+#include <cmath>
+#include <cstring>
 
 LocalDataSet::LocalDataSet(OwnsLocalDataPoolIF *hkOwner): DataSetBase() {
-	if(hkOwner != nullptr) {
-		hkManager = hkOwner->getHkManagerHandle();
-	}
-	else {
-		// config error, error output here.
-	}
+    if(hkOwner == nullptr) {
+        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+                << std::endl;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
 }
 
 LocalDataSet::LocalDataSet(object_id_t ownerId): DataSetBase()  {
-	OwnsLocalDataPoolIF* hkOwner = objectManager->get<OwnsLocalDataPoolIF>(
-			ownerId);
-	if(hkOwner == nullptr) {
-		// config error, error output here.
-	}
-	hkManager = hkOwner->getHkManagerHandle();
+    OwnsLocalDataPoolIF* hkOwner = objectManager->get<OwnsLocalDataPoolIF>(
+            ownerId);
+    if(hkOwner == nullptr) {
+        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+                << std::endl;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
 }
 
 LocalDataSet::~LocalDataSet() {
@@ -27,9 +31,65 @@ ReturnValue_t LocalDataSet::lockDataPool(uint32_t timeoutMs) {
 	return mutex->lockMutex(timeoutMs);
 }
 
+ReturnValue_t LocalDataSet::serializeWithValidityBuffer(uint8_t **buffer,
+        size_t *size, const size_t maxSize, bool bigEndian) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+    uint8_t validityMask[validityMaskSize];
+    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, true);
+            if(validBufferIndexBit == 7) {
+                validBufferIndex ++;
+                validBufferIndexBit = 0;
+            }
+            else {
+                validBufferIndexBit ++;
+            }
+        }
+        result = registeredVariables[count]->serialize(buffer, size, maxSize,
+                bigEndian);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    // copy validity buffer to end
+    std::memcpy(*buffer, validityMask, validityMaskSize);
+    *size += validityMaskSize;
+    return result;
+}
+
 ReturnValue_t LocalDataSet::unlockDataPool() {
 	MutexIF* mutex = hkManager->getMutexHandle();
 	return mutex->unlockMutex();
 }
 
+ReturnValue_t LocalDataSet::serializeLocalPoolIds(uint8_t** buffer,
+        size_t* size, const size_t maxSize, bool bigEndian) const {
+    for (uint16_t count = 0; count < fillCount; count++) {
+        lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
+        auto result = AutoSerializeAdapter::serialize(&currentPoolId, buffer,
+                size, maxSize, bigEndian);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
+                    " error!" << std::endl;
+            return result;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position,
+        bool value) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl;
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1UL << shiftNumber;
+}
 

datapoollocal/LocalDataSet.h

@@ -55,6 +55,23 @@ public:
 	 */
 	~LocalDataSet();
 
+	/**
+	 * Special version of the serilization function which appends a
+	 * validity buffer at the end. Each bit of this validity buffer
+	 * denotes whether the container data set entries are valid from left
+	 * to right, MSB first.
+	 * @param buffer
+	 * @param size
+	 * @param maxSize
+	 * @param bigEndian
+	 * @param withValidityBuffer
+	 * @return
+	 */
+	ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
+	        size_t* size, const size_t maxSize, bool bigEndian) const;
+
+	ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
+            size_t* size, const size_t maxSize, bool bigEndian) const;
 protected:
 private:
 	/**
@@ -79,6 +96,16 @@ private:
 	ReturnValue_t unlockDataPool() override;
 
 	LocalDataPoolManager* hkManager;
+
+	/**
+	 * Sets the bit at the bit-position of a byte provided by its address
+	 * to the specified value (zero or one).
+	 * @param byte Pointer to byte to bitset.
+	 * @param position MSB first, 0 to 7 possible.
+	 * @param value Value to set.
+	 * @return
+	 */
+	void bitSetter(uint8_t* byte, uint8_t position, bool value) const;
 };
 
 #endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */

datapoollocal/OwnsLocalDataPoolIF.h

@@ -40,16 +40,38 @@ class OwnsLocalDataPoolIF {
 public:
 	virtual~ OwnsLocalDataPoolIF() {};
 
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING;
-	static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0XA0);
-	static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0xA1);
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
 
+	/** Command queue for housekeeping messages. */
 	virtual MessageQueueId_t getCommandQueue() const = 0;
-	virtual ReturnValue_t initializeHousekeepingPoolEntries(
-			LocalDataPool& localDataPoolMap) = 0;
-	//virtual float setMinimalHkSamplingFrequency() = 0;
+
+	/** Is used by pool owner to initialize the pool map once */
+	virtual ReturnValue_t initializePoolEntries(
+	        LocalDataPool& localDataPoolMap) = 0;
+
+	/** Can be used to get a handle to the local data pool manager. */
 	virtual LocalDataPoolManager* getHkManagerHandle() = 0;
+
+	/**
+	 * This function is used by the pool manager to get a valid dataset
+     * from a SID
+	 * @param sid Corresponding structure ID
+	 * @return
+	 */
 	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
+
+	/* These function can be implemented by pool owner, as they are required
+	 * by the housekeeping message interface */
+	virtual ReturnValue_t addDataSet(sid_t sid) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+	virtual ReturnValue_t removeDataSet(sid_t sid) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
+	        dur_seconds_t newInterval) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 };
 
 #endif /* FRAMEWORK_DATAPOOL_HASHKPOOLPARAMETERSIF_H_ */

devicehandlers/DeviceCommunicationIF.h

@@ -72,7 +72,7 @@ public:
 	 * by implementing and calling related drivers or wrapper functions.
 	 * @param cookie
 	 * @param data
-	 * @param len
+	 * @param len If this is 0, nothing shall be sent.
 	 * @return
 	 *  - @c RETURN_OK for successfull send
 	 *  - Everything else triggers failure event with returnvalue as parameter 1

devicehandlers/DeviceHandlerBase.cpp

@@ -1350,7 +1350,7 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
 
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
-			executingTask = task_;
+	executingTask = task_;
 }
 
 // Default implementations empty.
@@ -1360,7 +1360,7 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 void DeviceHandlerBase::performOperationHook() {
 }
 
-ReturnValue_t DeviceHandlerBase::initializeHousekeepingPoolEntries(
+ReturnValue_t DeviceHandlerBase::initializePoolEntries(
 		LocalDataPool &localDataPoolMap) {
 	return RETURN_OK;
 }
@@ -1369,6 +1369,19 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
 	return &hkManager;
 }
 
+ReturnValue_t DeviceHandlerBase::addDataSet(sid_t sid) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::removeDataSet(sid_t sid) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
+        dur_seconds_t newInterval) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
 	auto iter = deviceReplyMap.find(sid.ownerSetId);
 	if(iter != deviceReplyMap.end()) {

devicehandlers/DeviceHandlerBase.h

@@ -477,12 +477,17 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	virtual ReturnValue_t initializeHousekeepingPoolEntries(
+	virtual ReturnValue_t initializePoolEntries(
 				LocalDataPool& localDataPoolMap) override;
 
 	/** Get the HK manager object handle */
 	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
+	virtual ReturnValue_t addDataSet(sid_t sid) override;
+	virtual ReturnValue_t removeDataSet(sid_t sid) override;
+	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
+	        dur_seconds_t newInterval) override;
+
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
@@ -703,7 +708,9 @@ protected:
 
 	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
 
-	PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	//! Pointer to the task which executes this component, is invalid
+	//! before setTaskIF was called.
+	PeriodicTaskIF* executingTask = nullptr;
 
 	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
 

events/EventManager.cpp

@@ -8,13 +8,16 @@
 const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 		sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
 		sizeof(ReporterRangeMatcher) };
-//If one checks registerListener calls, there are around 40 (to max 50) objects registering for certain events.
-//Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// If one checks registerListener calls, there are around 40 (to max 50)
+// objects registering for certain events.
+// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
+// So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
 const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
 
 EventManager::EventManager(object_id_t setObjectId) :
-		SystemObject(setObjectId), eventReportQueue(NULL), mutex(NULL), factoryBackend(
-				0, POOL_SIZES, N_ELEMENTS, false, true) {
+		SystemObject(setObjectId),
+		factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
 	mutex = MutexFactory::instance()->createMutex();
 	eventReportQueue = QueueFactory::instance()->createMessageQueue(
 			MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
@@ -130,20 +133,23 @@ void EventManager::printEvent(EventMessage* message) {
 		break;
 	default:
 		string = translateObject(message->getReporter());
-		sif::error << "EVENT: ";
+		sif::debug << "EventManager: ";
 		if (string != 0) {
-			sif::error << string;
-		} else {
-			sif::error << "0x" << std::hex << message->getReporter() << std::dec;
+			sif::debug << string;
 		}
-		sif::error << " reported " << translateEvents(message->getEvent()) << " ("
-				<< std::dec << message->getEventId() << ") " << std::endl;
-
-		sif::error << std::hex << "P1 Hex: 0x" << message->getParameter1() << ", P1 Dec: "
-		        << std::dec << message->getParameter1() << std::endl;
-		sif::error << std::hex << "P2 Hex: 0x" << message->getParameter2() << ", P2 Dec: "
-		        <<  std::dec << message->getParameter2() << std::endl;
+		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;
 		break;
 	}
 

events/EventManager.h

@@ -36,11 +36,11 @@ public:
 	ReturnValue_t performOperation(uint8_t opCode);
 protected:
 
-	MessageQueueIF* eventReportQueue;
+	MessageQueueIF* eventReportQueue = nullptr;
 
 	std::map<MessageQueueId_t, EventMatchTree> listenerList;
 
-	MutexIF* mutex;
+	MutexIF* mutex = nullptr;
 
 	static const uint8_t N_POOLS = 3;
 	LocalPool<N_POOLS> factoryBackend;

housekeeping/HousekeepingMessage.cpp

@@ -4,8 +4,8 @@
 HousekeepingMessage::HousekeepingMessage(MessageQueueMessageIF* message):
 		CommandMessageBase(message) {
 	if(message->getMaximumMessageSize() < HK_MESSAGE_SIZE) {
-		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
-				" can not hold minimum "<< HK_MESSAGE_SIZE
+		sif::error << "HousekeepingMessage::HousekeepingMessage: Passed "
+		        "message buffer can not hold minimum " << HK_MESSAGE_SIZE
 				<< " bytes!" << std::endl;
 		return;
 	}

housekeeping/HousekeepingMessage.h

@@ -36,8 +36,8 @@ union sid_t {
 class HousekeepingMessage : public CommandMessageBase {
 public:
 
-	static constexpr size_t HK_MESSAGE_SIZE = sizeof(MessageQueueId_t)
-			+ sizeof(Command_t) + sizeof(sid_t) * sizeof(uint32_t);
+	static constexpr size_t HK_MESSAGE_SIZE = CommandMessageIF::HEADER_SIZE +
+	        sizeof(sid_t) + sizeof(uint32_t);
 
 	/**
 	 * The HK message is initialized with a pointer to a message which holds
@@ -96,6 +96,7 @@ public:
 
 	void setParameter(uint32_t parameter);
 	uint32_t getParameter() const;
+	sid_t getSid() const;
 
 	void setHkReportMessage(sid_t sid, store_address_t storeId);
 	void setHkDiagnosticsMessage(sid_t sid, store_address_t storeId);
@@ -106,7 +107,7 @@ public:
 	virtual size_t getMinimumMessageSize() const override;
 	virtual void clear() override;
 private:
-	sid_t getSid() const;
+
 	void setSid(sid_t sid);
 
 	virtual uint8_t* getData() override;

ipc/CommandMessage.cpp

@@ -12,7 +12,7 @@ CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
 	if(receiverMessage->getMaximumMessageSize() <
 			getMinimumMessageSize()) {
 		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
-				" can not hold minimum "<< MINIMUM_COMMAND_MESSAGE_SIZE
+				" can not hold minimum "<< getMinimumMessageSize()
 				<< " bytes!" << std::endl;
 		return;
 	}

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -1,6 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "FixedTimeslotTask.h"
 
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
@@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
-	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -58,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
 	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		if(slotTimeMs == 0) {
-			// FreeRTOS throws a sanity error for zero values, so we set
-			// the time to one millisecond.
-			slotTimeMs = 1;
-		}
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -81,7 +80,8 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
 	SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
@@ -96,22 +96,37 @@ void FixedTimeslotTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time
-	vTaskDelayUntil(&xLastWakeTime, interval);
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
-		this->pst.executeAndAdvance();
-		if (pst.slotFollowsImmediately()) {
-			//Do nothing
-		} else {
-			// we need to wait before executing the current slot
-			//this gives us the time to wait:
-			intervalMs = this->pst.getIntervalToPreviousSlotMs();
-			interval = pdMS_TO_TICKS(intervalMs);
-			vTaskDelayUntil(&xLastWakeTime, interval);
-			//TODO deadline missed check
-		}
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        /* If all operations are finished and the difference of the
+	         * current time minus the last wake time is larger than the
+	         * expected wait period, a deadline was missed. */
+	        if(xTaskGetTickCount() - xLastWakeTime >=
+	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+#ifdef DEBUG
+	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+	                    " missed deadline!\n" << std::flush;
+#endif
+	            if(deadlineMissedFunc != nullptr) {
+	                this->deadlineMissedFunc();
+	            }
+	            // Continue immediately, no need to wait.
+	            break;
+	        }
+
+	        // we need to wait before executing the current slot
+	        //this gives us the time to wait:
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+	        vTaskDelayUntil(&xLastWakeTime, interval);
+	    }
 	}
 }
 
@@ -119,3 +134,4 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
+

osal/FreeRTOS/FixedTimeslotTask.h

@@ -1,12 +1,12 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
@@ -29,16 +29,18 @@ public:
 
 	/**
 	 * @brief	The destructor of the class.
-	 *
-	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
-	 * 			the device handlers. This is done by calling the PST's destructor.
+	 * @details
+	 * The destructor frees all heap memory that was allocated on thread
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
 	 */
 	virtual ~FixedTimeslotTask(void);
 
 	ReturnValue_t startTask(void);
 	/**
 	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
 	 */
 	static void missedDeadlineCounter();
 	/**
@@ -47,13 +49,13 @@ public:
 	static uint32_t deadlineMissedCount;
 
 	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-			int8_t executionStep);
+			int8_t executionStep) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkSequence() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 protected:
 	bool started;
@@ -62,30 +64,29 @@ protected:
 	FixedSlotSequence pst;
 
 	/**
-	 * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
-	 *
-	 * @details	Another function may be announced to determine the actions to perform when a deadline was missed.
-	 * 			Currently, only one function for missing any deadline is allowed.
-	 * 			If not used, it shall be declared NULL.
+	 * @brief	This attribute holds a function pointer that is executed when
+	 *          a deadline was missed.
+	 * @details
+	 * Another function may be announced to determine the actions to perform
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
-	 * @brief	This is the entry point in a new polling thread.
-	 *
-	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
-	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
-	 * 			on success. If operation of the task is ended for some reason,
-	 * 			the destructor is called to free allocated memory.
+	 * @brief	This is the entry point for a new task.
+	 * @details
+	 * This method starts the task by calling taskFunctionality(), as soon as
+	 * all requirements (task scheduler has started and startTask()
+	 * has been called) are met.
 	 */
 	static void taskEntryPoint(void* argument);
 
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
-	 *
-	 * @details	Holding the main functionality of the task, this method is most important.
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
-	 * 			to keep the timing of the periods.
+	 * @details
+	 * Core function holding the main functionality of the task
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
 };

osal/FreeRTOS/PeriodicTask.cpp

@@ -12,8 +12,8 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 	BaseType_t status = xTaskCreate(taskEntryPoint, name,
 			setStack, this, setPriority, &handle);
 	if(status != pdPASS){
-		sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
-		           << status << std::endl;
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+		        "Status: " << status << std::endl;
 	}
 
 }
@@ -23,14 +23,17 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-	//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
 	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
 	if (not originalTask->started) {
 		vTaskSuspend(NULL);
@@ -61,38 +64,45 @@ void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const& object: objectList) {
+			object->performOperation();
 		}
 
 		/* If all operations are finished and the difference of the
 		 * current time minus the last wake time is larger than the
 		 * wait period, a deadline was missed. */
 		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
+#ifdef DEBUG
 			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
 					" missed deadline!\n" << std::flush;
+#endif
 			if(deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}
+
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
 
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }

osal/FreeRTOS/PeriodicTask.h

@@ -5,10 +5,8 @@
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
 
 #include <vector>
 
@@ -22,7 +20,9 @@ class ExecutableObjectIF;
 class PeriodicTask: public PeriodicTaskIF {
 public:
 	/**
-	 * @brief	Standard constructor of the class.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * TODO: why does this need to be called before vTaskStartScheduler?
 	 * @details
 	 * The class is initialized without allocated objects.
 	 * These need to be added with #addComponent.
@@ -38,8 +38,9 @@ public:
 	 * The function pointer to the deadline missed function that shall
 	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
-			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	PeriodicTask(const char *name, TaskPriority setPriority,
+	        TaskStackSize setStack, TaskPeriod setPeriod,
+	        void (*setDeadlineMissedFunc)());
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with
 	 * 			the task object's lifetime, so the destructor is empty.
@@ -53,56 +54,66 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
 	 * @param object Id of the object to add.
-	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	bool started;
 	TaskHandle_t handle;
 
-	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.
 	 */
 	ObjectList objectList;
 	/**
 	 * @brief	The period of the task.
-	 * @details	The period determines the frequency of the task's execution. It is expressed in clock ticks.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
 	 */
 	TaskPeriod period;
 	/**
 	 * @brief	The pointer to the deadline-missed function.
-	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
-	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
-	 * 			of the periodic task.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed so each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
 	 * @brief	This is the function executed in the new task's context.
-	 * @details	It converts the argument back to the thread object type and copies the class instance
-	 * 			to the task context. The taskFunctionality method is called afterwards.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
 	 * @param	A pointer to the task object itself is passed as argument.
 	 */
 
 	static void taskEntryPoint(void* argument);
 	/**
 	 * @brief	The function containing the actual functionality of the task.
-	 * @details	The method sets and starts
-	 * 			the task's period, then enters a loop that is repeated as long as the isRunning
-	 * 			attribute is true. Within the loop, all performOperation methods of the added
-	 * 			objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
-	 * 			until the next period.
-	 * 			On missing the deadline, the deadlineMissedFunction is executed.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
 };

osal/host/FixedTimeslotTask.h

@@ -2,7 +2,7 @@
 #define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 

osal/linux/FixedTimeslotTask.h

@@ -2,7 +2,7 @@
 #define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
 
 #include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/osal/linux/PosixThread.h>
 #include <pthread.h>
 

osal/linux/PeriodicPosixTask.cpp

@@ -1,12 +1,13 @@
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <errno.h>
 #include <framework/osal/linux/PeriodicPosixTask.h>
 
+#include <errno.h>
+
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
 		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
-		PosixThread(name_,priority_,stackSize_),objectList(),started(false),
-		periodMs(period_),deadlineMissedFunc(deadlineMissedFunc_) {
+		PosixThread(name_, priority_, stackSize_), objectList(), started(false),
+		periodMs(period_), deadlineMissedFunc(deadlineMissedFunc_) {
 }
 
 PeriodicPosixTask::~PeriodicPosixTask() {
@@ -21,12 +22,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
+		bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implements ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }

osal/linux/PeriodicPosixTask.h

@@ -39,7 +39,8 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
 	uint32_t getPeriodMs() const;
 

osal/rtems/PollingTask.cpp

@@ -1,4 +1,4 @@
-#include <framework/devicehandlers/FixedSequenceSlot.h>
+#include <framework/tasks/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/osal/rtems/PollingTask.h>
 #include <framework/osal/rtems/RtemsBasic.h>

osal/rtems/PollingTask.h

@@ -1,7 +1,7 @@
 #ifndef POLLINGTASK_H_
 #define POLLINGTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include "TaskBase.h"
 

returnvalues/FwClassIds.h

@@ -61,8 +61,9 @@ enum {
 	MUTEX_IF, //MUX 55
 	MESSAGE_QUEUE_IF,//MQI 56
 	SEMAPHORE_IF, //SPH 57
-	HOUSEKEEPING, //HK 58
+	LOCAL_POOL_OWNER_IF, //LPIF 58
 	POOL_VARIABLE_IF, //PVA 59
+	HOUSEKEEPING_MANAGER, //HKM 60
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

serialize/SerializeAdapter.h

@@ -65,6 +65,21 @@
 // No type specification necessary here.
 class AutoSerializeAdapter {
 public:
+    /**
+     * Serialize object into buffer.
+     * @tparam T Type of object.
+     * @param object Object to serialize
+     * @param buffer
+     * Serialize into this buffer, pointer to pointer has to be passed,
+     * *buffer will be incremented automatically.
+     * @param size [out]
+     * Update passed size value, will be incremented by serialized size
+     * @param max_size
+     * Maximum size for range checking
+     * @param bigEndian
+     * Set to true if host-to-network conversion or vice-versa is needed
+     * @return
+     */
 	template<typename T>
 	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
 			size_t* size, const size_t max_size, bool bigEndian) {

tasks/ExecutableObjectIF.h

@@ -37,8 +37,10 @@ public:
 
 	/**
 	 * @brief Function called during setup assignment of object to task
-	 * @details Has to be called from the function that assigns the object to a task and
-	 * 			enables the object implementation to overwrite this function and get a reference to the executing task
+	 * @details
+	 * Has to be called from the function that assigns the object to a task and
+	 * enables the object implementation to overwrite this function and get
+	 * a reference to the executing task
 	 * @param task_ Pointer to the taskIF of this task
 	 */
 	virtual void setTaskIF(PeriodicTaskIF* task_) {

tasks/FixedSequenceSlot.cpp

@@ -1,19 +1,14 @@
-/**
- * @file	PollingSlot.cpp
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#include <framework/devicehandlers/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/tasks/FixedSequenceSlot.h>
 #include <cstddef>
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
-		handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
+		pollingTimeMs(setTime), opcode(setSequenceId) {
 	handler = objectManager->get<ExecutableObjectIF>(handlerId);
-	handler->setTaskIF(executingTask);
+	if(executingTask != nullptr) {
+	    handler->setTaskIF(executingTask);
+	}
 }
 
 FixedSequenceSlot::~FixedSequenceSlot() {}

tasks/FixedSequenceSlot.h

@@ -1,22 +1,17 @@
-/**
- * @file	FixedSequenceSlot.h
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#ifndef FIXEDSEQUENCESLOT_H_
-#define FIXEDSEQUENCESLOT_H_
+#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
+#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
 class PeriodicTaskIF;
 
 /**
- * @brief	This class is the representation of a single polling sequence table entry.
- *
- * @details	The PollingSlot 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
+ * sequence table entry.
+ * @author  baetz
  */
 class FixedSequenceSlot {
 public:
@@ -27,7 +22,7 @@ public:
 	/**
 	 * @brief	Handler identifies which device handler object is executed in this slot.
 	 */
-	ExecutableObjectIF*	handler;
+	ExecutableObjectIF*	handler = nullptr;
 
 	/**
 	 * @brief	This attribute defines when a device handler object is executed.
@@ -43,7 +38,7 @@ public:
 	 * @details	The state of this value decides what communication routine is
 	 * 			called in the PST executable or the device handler object.
 	 */
-	uint8_t			opcode;
+	uint8_t	opcode;
 
 	/**
 	 * @brief 	Operator overload for the comparison operator to

tasks/FixedSlotSequence.cpp

@@ -1,5 +1,5 @@
-#include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <cstdlib>
 
 FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :

tasks/FixedSlotSequence.h

@@ -1,8 +1,8 @@
-#ifndef FIXEDSLOTSEQUENCE_H_
-#define FIXEDSLOTSEQUENCE_H_
+#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
 
-#include <framework/devicehandlers/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObject.h>
+#include <framework/tasks/FixedSequenceSlot.h>
 
 #include <set>
 

tasks/FixedTimeslotTaskIF.h

@@ -12,11 +12,18 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
 
+	/**
+	 * Add an object with a slot time and the execution step to the task.
+	 * The execution step shall be passed to the object.
+	 * @param componentId
+	 * @param slotTimeMs
+	 * @param executionStep
+	 * @return
+	 */
 	virtual ReturnValue_t addSlot(object_id_t componentId,
 			uint32_t slotTimeMs, int8_t executionStep) = 0;
+	/** Check whether the sequence is valid */
 	virtual ReturnValue_t checkSequence() const = 0;
 };
 
-
-
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

tasks/PeriodicTaskIF.h

@@ -1,9 +1,11 @@
-#ifndef PERIODICTASKIF_H_
-#define PERIODICTASKIF_H_
+#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
+#define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/timemanager/Clock.h>
 #include <cstddef>
 class ExecutableObjectIF;
+
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.
@@ -17,11 +19,27 @@ public:
 	 */
 	virtual ~PeriodicTaskIF() { }
 	/**
-	 * @brief	With the startTask method, a created task can be started for the first time.
+	 * @brief	With the startTask method, a created task can be started
+	 *          for the first time.
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
+	/**
+	 * Add a component (object) to a periodic task. The pointer to the
+	 * task can be set optionally
+	 * @param object
+	 * Add an object to the task. The most important case is to add an
+	 * executable object with a function which will be called regularly
+	 * (see ExecutableObjectIF)
+	 * @param setTaskIF
+	 * Can be used to specify whether the task object pointer is passed
+	 * to the component.
+	 * @return
+	 */
+	virtual ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 

tmtcservices/CommandingServiceBase.cpp

@@ -412,5 +412,6 @@ void CommandingServiceBase::checkTimeout() {
 	}
 }
 
-
-
+void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
+    executingTask = task_;
+}

tmtcservices/CommandingServiceBase.h

@@ -97,9 +97,7 @@ public:
 	 * Used to setup the reference of the task, that executes this component
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_){
-		executingTask = task_;
-	};
+	virtual void setTaskIF(PeriodicTaskIF* task_);
 
 protected:
 	/**