Merge remote-tracking branch 'upstream/development' into development

CHANGELOG

@@ -0,0 +1,62 @@
+## Changes from ASTP 0.0.1 to 1.0.0
+
+### Host OSAL
+
+- Bugfix in MessageQueue, which caused the sender not to be set properly
+
+### FreeRTOS OSAL
+
+- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
+a C file without issues
+
+### PUS Services
+
+- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
+- The same is possible for the event reporting service (PUS5)
+- PUS Health Service added, which allows to command and retrieve health via PUS packets
+
+
+### EnhancedControllerBase
+
+- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
+
+### Local Pool
+
+- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
+
+### Parameter Service
+
+- The API of the parameter service has been changed to prevent inconsistencies
+between documentation and actual code and to clarify usage.
+- The parameter ID now consists of:
+	1. Domain ID (1 byte)
+	2. Unique Identifier (1 byte)
+	3. Linear Index (2 bytes)
+The linear index can be used for arrays as well as matrices.
+The parameter load command now explicitely expects the ECSS PTC and PFC
+information as well as  the rows and column number. Rows and column will
+default to one, which is equivalent to one scalar parameter (the most
+important use-case)
+   
+### File System Interface
+
+- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
+
+### Internal Error Reporter
+
+- The new internal error reporter uses the local data pools. The pool IDs for
+the exisiting three error values and the new error set will be hardcoded for
+now, the the constructor for the internal error reporter just takes an object
+ID for now.
+
+### Device Handler Base
+
+- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
+that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
+
+### Events
+
+- makeEvent function: Now takes three input parameters instead of two and
+allows setting a unique ID. Event.cpp source file removed, functions now
+defined in header directly. Namespaces renamed. Functions declared `constexpr`
+now

CMakeLists.txt

@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.13)
+
+set(LIB_FSFW_NAME fsfw)
+add_library(${LIB_FSFW_NAME})
+
+# Set options for FSFW OSAL selection.
+if(UNIX)
+set(OS_FSFW  "linux" CACHE STRING "OS abstraction layer used in the FSFW")
+elseif(WIN32)
+set(OS_FSFW  "host" CACHE STRING "OS abstraction layer used in the FSFW")
+endif()
+
+set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
+
+if(${OS_FSFW} STREQUAL host)
+set(OS_FSFW_NAME "Host")
+elseif(${OS_FSFW} STREQUAL linux)
+set(OS_FSFW_NAME "Linux")
+elseif(${OS_FSFW} STREQUAL  freertos)
+set(OS_FSFW_NAME "FreeRTOS")
+elseif(${OS_FSFW} STREQUAL rtems)
+set(OS_FSFW_NAME "RTEMS")
+else()
+message(WARNING "Invalid operating system for FSFW specified! Setting to host..")
+set(OS_FSFW_NAME "Host")
+set(OS_FSFW "host")
+endif()
+
+message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system")
+
+# Options to exclude parts of the FSFW from compilation.
+option(FSFW_USE_RMAP "Compile with RMAP" ON)
+option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
+
+add_subdirectory(action)
+add_subdirectory(container)
+add_subdirectory(controller)
+add_subdirectory(coordinates)
+add_subdirectory(datalinklayer)
+add_subdirectory(datapool)
+add_subdirectory(devicehandlers)
+add_subdirectory(events)
+add_subdirectory(fdir)
+add_subdirectory(globalfunctions)
+add_subdirectory(health)
+add_subdirectory(internalError)
+add_subdirectory(ipc)
+add_subdirectory(memory)
+add_subdirectory(modes)
+add_subdirectory(monitoring)
+add_subdirectory(objectmanager)
+add_subdirectory(osal)
+add_subdirectory(parameters)
+add_subdirectory(power)
+add_subdirectory(pus)
+
+if(FSFW_USE_RMAP)
+add_subdirectory(rmap)
+endif()
+
+add_subdirectory(serialize)
+add_subdirectory(serviceinterface)
+add_subdirectory(storagemanager)
+add_subdirectory(subsystem)
+add_subdirectory(tasks)
+add_subdirectory(tcdistribution)
+add_subdirectory(thermal)
+add_subdirectory(timemanager)
+add_subdirectory(tmstorage)
+add_subdirectory(tmtcpacket)
+add_subdirectory(tmtcservices)
+
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# If this is not given, we include the default configuration and emit a warning.
+if(NOT FSFW_CONFIG_PATH)
+message(WARNING "Flight Software Framework configuration path not set!")
+message(WARNING "Setting default configuration!")
+add_subdirectory(defaultcfg/fsfwconfig)
+endif()
+
+# Required include paths to compile the FSFW
+target_include_directories(${LIB_FSFW_NAME} 
+	INTERFACE 
+		${FSFW_CONFIG_PATH}
+)

FSFWVersion.h

@@ -1,10 +1,11 @@
 #ifndef FSFW_DEFAULTCFG_VERSION_H_
 #define FSFW_DEFAULTCFG_VERSION_H_
 
-const char* const FSFW_VERSION_NAME = "fsfw";
+const char* const FSFW_VERSION_NAME = "ASTP";
 
 #define FSFW_VERSION 		0
 #define	FSFW_SUBVERSION 	0
+#define	FSFW_REVISION 	1
 
 
 

NOTICE

@@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during
 the Flying Laptop Project by the Universität Stuttgart in coorporation
 with Airbus Defence and Space GmbH.
 
+The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
+
 Copyrights in the Flight Software Framework are retained by their contributors.
 No copyright assignment is required to contribute to the Flight Software Framework.
 

README.md

@@ -1,4 +1,159 @@
-Flight Software Framework (FSFW)
-======
+![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
+# Flight Software Framework (FSFW)
 
-I want to be written!
+The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
+automated systems like Satellites. 
+
+The initial version of the Flight Software Framework was developed during
+the Flying Laptop Project by the University of Stuttgart in cooperation
+with Airbus Defence and Space GmbH.
+
+## Intended Use
+
+The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. 
+Therefore, a mode and health system provides control over the states of the software and the controlled devices. 
+In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+
+The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory. 
+For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC.
+
+
+## Structure
+
+The general structure is driven by the usage of interfaces provided by objects. The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
+This simplifies the instantiation of objects and allows the usage of some standard containers. 
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
+The fsfw uses Run-time type information.
+Exceptions are not allowed.
+
+### Failure Handling
+
+Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong. 
+Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
+The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
+
+### OSAL
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well. 
+The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes.
+
+### Core Components 
+
+Clock:
+ * This is a class of static functions that can be used at anytime
+ * Leap Seconds must be set if any time conversions from UTC to other times is used
+
+ObjectManager (must be created): 
+
+* The component which handles all references. All SystemObjects register at this component. 
+* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
+* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
+A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
+
+``` c++
+	template <typename T> T* ObjectManagerIF::get( object_id_t id )
+
+```
+* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
+By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
+
+Event Manager:
+
+* Component which allows routing of events
+* Other objects can subscribe to specific events, ranges of events or all events of an object.
+* Subscriptions can be done during runtime but should be done during initialization
+* Amounts of allowed subscriptions must be configured by setting this parameters:
+
+``` c++
+namespace fsfwconfig {
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
+```
+
+
+Health Table:
+
+* A component which holds every health state 
+* Provides a thread safe way to access all health states without the need of message exchanges
+
+Stores
+
+* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can be exchanged with Stores. With this, only the store address must be exchanged in the message.
+* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
+* All of them should use the Thread Safe Class storagemanager/PoolManager
+
+Tasks
+
+There are two different types of tasks:
+ * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
+ * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
+
+
+### Static Ids in the framework
+
+Some parts of the framework use a static routing address for communication. 
+An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()".
+
+### Events
+
+Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues.
+Every object that needs own EventIds has to get a unique SUBSYSTEM_ID. 
+Every SystemObject can call triggerEvent from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that has triggered.
+
+### Internal Communication
+
+Components communicate mostly over Message through Queues. 
+Those queues are created by calling the singleton QueueFactory::instance()->create(). 
+
+### External Communication
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used. 
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+#### CCSDS Frames, CCSDS Space Packets and PUS
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution. 
+If Space Packets are used, a timestamper must be created. 
+An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
+
+#### DeviceHandling
+
+DeviceHandlers are a core component of the FSFW. 
+The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
+By separating the underlying Communication Interface with DeviceCommunicationIF, a DH can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction. 
+A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
+
+#### Modes, Health
+
+The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
+On-board Mode Management is implement in hierarchy system. 
+DeviceHandlers and Controllers are the lowest part of the hierarchy. 
+The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers. 
+Assemblies share a common core with the next level which are the Subsystems. 
+
+Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes. 
+The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component. 
+The target table is used to describe the state that is checked continuously by the subsystem. 
+All of this allows System Modes to be generated as Subsystem object as well from the same database. 
+This System contains list of subsystem modes in the transition and target tables. 
+Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded.
+
+The health state represents if the component is able to perform its tasks. 
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery. 
+
+## Example config
+
+A example config can be found in defaultcfg/fsfwconfig.
+
+## Unit Tests
+
+Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself. 
+See README.md in the unittest Folder.

action/ActionHelper.cpp

@@ -1,5 +1,6 @@
 #include "ActionHelper.h"
 #include "HasActionsIF.h"
+
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 

action/ActionMessage.h

@@ -1,5 +1,5 @@
-#ifndef ACTIONMESSAGE_H_
-#define ACTIONMESSAGE_H_
+#ifndef FSFW_ACTION_ACTIONMESSAGE_H_
+#define FSFW_ACTION_ACTIONMESSAGE_H_
 
 #include "../ipc/CommandMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -18,15 +18,19 @@ public:
 	static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
 	static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
 	virtual ~ActionMessage();
-	static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
+	static void setCommand(CommandMessage* message, ActionId_t fid,
+			store_address_t parameters);
 	static ActionId_t getActionId(const CommandMessage* message );
 	static store_address_t getStoreId(const CommandMessage* message );
-	static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	static void setStepReply(CommandMessage* message, ActionId_t fid,
+			uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	static uint8_t getStep(const CommandMessage* message );
 	static ReturnValue_t getReturnCode(const CommandMessage* message );
-	static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
-	static void setCompletionReply(CommandMessage* message, ActionId_t fid, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	static void setDataReply(CommandMessage* message, ActionId_t actionId,
+			store_address_t data);
+	static void setCompletionReply(CommandMessage* message, ActionId_t fid,
+			ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	static void clear(CommandMessage* message);
 };
 
-#endif /* ACTIONMESSAGE_H_ */
+#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */

action/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ActionHelper.cpp
+		ActionMessage.cpp
+		CommandActionHelper.cpp
+		SimpleActionHelper.cpp
+)

action/CommandsActionsIF.h

@@ -1,5 +1,5 @@
-#ifndef COMMANDSACTIONSIF_H_
-#define COMMANDSACTIONSIF_H_
+#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
+#define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
 #include "CommandActionHelper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -24,11 +24,14 @@ public:
 	virtual MessageQueueIF* getCommandQueuePtr() = 0;
 protected:
 	virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
-	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
-	virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
+	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
+			ReturnValue_t returnCode) = 0;
+	virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
+			uint32_t size) = 0;
 	virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
-	virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
+	virtual void completionFailedReceived(ActionId_t actionId,
+			ReturnValue_t returnCode) = 0;
 };
 
 
-#endif /* COMMANDSACTIONSIF_H_ */
+#endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */

container/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		SharedRingBuffer.cpp
+		SimpleRingBuffer.cpp
+)

controller/CMakeLists.txt

@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ControllerBase.cpp
+)

controller/ControllerBase.cpp

@@ -1,16 +1,16 @@
-#include "../subsystem/SubsystemBase.h"
 #include "ControllerBase.h"
+
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 #include "../action/HasActionsIF.h"
 
-ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
+ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		size_t commandQueueDepth) :
-		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
-				SUBMODE_NONE), commandQueue(NULL), modeHelper(
-				this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
-
+		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
+		submode(SUBMODE_NONE), modeHelper(this),
+		healthHelper(this, setObjectId) {
+	commandQueue = QueueFactory::instance()->createMessageQueue(
+	        commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() {
@@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() {
 	}
 
 	MessageQueueId_t parentQueue = 0;
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
+		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}
 		parentQueue = parent->getCommandQueue();
@@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() {
 		return result;
 	}
 
-	result = hkSwitcher.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
 	return RETURN_OK;
 }
 
@@ -56,26 +52,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 }
 
 void ControllerBase::handleQueue() {
-	CommandMessage message;
-	ReturnValue_t result;
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
+	CommandMessage command;
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	for (result = commandQueue->receiveMessage(&command);
+	        result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {
 
-		result = modeHelper.handleModeCommand(&message);
+		result = modeHelper.handleModeCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		result = handleCommandMessage(&message);
+		result = handleCommandMessage(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		message.setToUnknownCommand();
-		commandQueue->reply(&message);
+		command.setToUnknownCommand();
+		commandQueue->reply(&command);
 	}
 
 }
@@ -106,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) {
 
 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 	handleQueue();
-	hkSwitcher.performOperation();
 	performControlOperation();
 	return RETURN_OK;
 }
@@ -135,3 +131,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
 
 void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
+
+ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
+    return HasReturnvaluesIF::RETURN_OK;
+}

controller/ControllerBase.h

@@ -1,5 +1,5 @@
-#ifndef CONTROLLERBASE_H_
-#define CONTROLLERBASE_H_
+#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
+#define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@@ -7,73 +7,88 @@
 #include "../modes/ModeHelper.h"
 #include "../objectmanager/SystemObject.h"
 #include "../tasks/ExecutableObjectIF.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../datapool/HkSwitchHelper.h"
 
-
+/**
+ * @brief   Generic base class for controller classes
+ * @details
+ * Implements common interfaces for controllers, which generally have
+ * a mode and a health state. This avoids boilerplate code.
+ */
 class ControllerBase: public HasModesIF,
 		public HasHealthIF,
 		public ExecutableObjectIF,
 		public SystemObject,
 		public HasReturnvaluesIF {
 public:
-
 	static const Mode_t MODE_NORMAL = 2;
 
-	ControllerBase(uint32_t setObjectId, uint32_t parentId,
+	ControllerBase(object_id_t setObjectId, object_id_t parentId,
 			size_t commandQueueDepth = 3);
 	virtual ~ControllerBase();
 
-	ReturnValue_t initialize();
+	/** SystemObject override */
+	virtual ReturnValue_t initialize() override;
 
-	virtual MessageQueueId_t getCommandQueue() const;
+	virtual MessageQueueId_t getCommandQueue() const override;
 
-	virtual ReturnValue_t performOperation(uint8_t opCode);
-
-	virtual ReturnValue_t setHealth(HealthState health);
-
-	virtual HasHealthIF::HealthState getHealth();
-
-	/**
-	 * Implementation of ExecutableObjectIF function
-	 *
-	 * Used to setup the reference of the task, that executes this component
-	 * @param task_ Pointer to the taskIF of this task
-	 */
-	virtual  void setTaskIF(PeriodicTaskIF* task_);
+	/** HasHealthIF overrides */
+	virtual ReturnValue_t setHealth(HealthState health) override;
+	virtual HasHealthIF::HealthState getHealth() override;
 
+	/** ExecutableObjectIF overrides */
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 
 protected:
-	const uint32_t parentId;
+
+	/**
+	 * Implemented by child class. Handle command messages which are not
+	 * mode or health messages.
+	 * @param message
+	 * @return
+	 */
+    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+
+    /**
+     * Periodic helper, implemented by child class.
+     */
+    virtual void performControlOperation() = 0;
+
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) = 0;
+
+	const object_id_t parentId;
 
 	Mode_t mode;
 
 	Submode_t submode;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	ModeHelper modeHelper;
 
 	HealthHelper healthHelper;
 
-	HkSwitchHelper hkSwitcher;
-
 	/**
-	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 * Pointer to the task which executes this component,
+	 * is invalid before setTaskIF was called.
 	 */
-	PeriodicTaskIF* executingTask;
+	PeriodicTaskIF* executingTask = nullptr;
 
-	void handleQueue();
+	/** Handle mode and health messages */
+	virtual void handleQueue();
 
-	virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
-	virtual void performControlOperation() = 0;
-	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-			uint32_t *msToReachTheMode) = 0;
+	/** Mode helpers */
 	virtual void modeChanged(Mode_t mode, Submode_t submode);
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 	virtual void getMode(Mode_t *mode, Submode_t *submode);
 	virtual void setToExternalControl();
 	virtual void announceMode(bool recursive);
+	/** HK helpers */
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };
 
-#endif /* CONTROLLERBASE_H_ */
+#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

controller/ExtendedControllerBase.cpp

@@ -0,0 +1,114 @@
+#include "ExtendedControllerBase.h"
+
+
+ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
+        object_id_t parentId, size_t commandQueueDepth):
+        ControllerBase(objectId, parentId, commandQueueDepth),
+        localPoolManager(this, commandQueue),
+        actionHelper(this, commandQueue) {
+}
+
+ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
+        MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
+    // needs to be overriden and implemented by child class.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+
+ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
+        LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    // needs to be overriden and implemented by child class.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+object_id_t ExtendedControllerBase::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
+    return &localPoolManager;
+}
+
+uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
+    return this->executingTask->getPeriodMs();
+}
+
+ReturnValue_t ExtendedControllerBase::handleCommandMessage(
+        CommandMessage *message) {
+    ReturnValue_t result = actionHelper.handleActionMessage(message);
+    if(result == HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return localPoolManager.handleHousekeepingMessage(message);
+}
+
+void ExtendedControllerBase::handleQueue() {
+    CommandMessage command;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    for (result = commandQueue->receiveMessage(&command);
+            result == RETURN_OK;
+            result = commandQueue->receiveMessage(&command)) {
+        result = actionHelper.handleActionMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = modeHelper.handleModeCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = healthHelper.handleHealthCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = localPoolManager.handleHousekeepingMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = handleCommandMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+        command.setToUnknownCommand();
+        commandQueue->reply(&command);
+    }
+}
+
+ReturnValue_t ExtendedControllerBase::initialize() {
+    ReturnValue_t result = ControllerBase::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    result = actionHelper.initialize(commandQueue);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    return localPoolManager.initialize(commandQueue);
+}
+
+ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
+    return localPoolManager.initializeAfterTaskCreation();
+}
+
+ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
+    handleQueue();
+    hkSwitcher.performOperation();
+    localPoolManager.performHkOperation();
+    performControlOperation();
+    return RETURN_OK;
+}
+
+MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
+    return commandQueue->getId();
+}
+
+LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
+    sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
+            << " implementation provided, returning nullptr!" << std::endl;
+    return nullptr;
+}

controller/ExtendedControllerBase.h

@@ -0,0 +1,72 @@
+#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
+#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
+
+#include "ControllerBase.h"
+
+#include "../action/HasActionsIF.h"
+#include "../datapoollocal/HasLocalDataPoolIF.h"
+#include "../action/ActionHelper.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+
+/**
+ * @brief   Extendes the basic ControllerBase with the common components
+ *          HasActionsIF for commandability and HasLocalDataPoolIF to keep
+ *          a pool of local data pool variables.
+ * @details
+ * Default implementations required for the interfaces will be empty and have
+ * to be implemented by child class.
+ */
+class ExtendedControllerBase: public ControllerBase,
+        public HasActionsIF,
+        public HasLocalDataPoolIF {
+public:
+    ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
+            size_t commandQueueDepth = 3);
+
+    /** SystemObjectIF overrides */
+    virtual ReturnValue_t initialize() override;
+
+    virtual MessageQueueId_t getCommandQueue() const override;
+
+    /** ExecutableObjectIF overrides */
+    virtual ReturnValue_t performOperation(uint8_t opCode) override;
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+protected:
+    LocalDataPoolManager localPoolManager;
+    ActionHelper actionHelper;
+
+    /**
+     * Implemented by child class. Handle all command messages which are
+     * not health, mode, action or housekeeping messages.
+     * @param message
+     * @return
+     */
+    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+
+    /**
+     * Periodic helper from ControllerBase, implemented by child class.
+     */
+    virtual void performControlOperation() = 0;
+
+    /** Handle the four messages mentioned above */
+    void handleQueue() override;
+
+    /** HasActionsIF overrides */
+    virtual ReturnValue_t executeAction(ActionId_t actionId,
+            MessageQueueId_t commandedBy, const uint8_t* data,
+            size_t size) override;
+
+    /** HasLocalDatapoolIF overrides */
+    virtual object_id_t getObjectId() const override;
+    virtual ReturnValue_t initializeLocalDataPool(
+            LocalDataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual LocalDataPoolManager* getHkManagerHandle() override;
+    virtual uint32_t getPeriodicOperationFrequency() const override;
+    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+};
+
+
+
+#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

coordinates/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CoordinateTransformations.cpp
+		Sgp4Propagator.cpp
+)

datalinklayer/CMakeLists.txt

@@ -0,0 +1,12 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clcw.cpp
+		DataLinkLayer.cpp
+		Farm1StateLockout.cpp
+		Farm1StateOpen.cpp
+		Farm1StateWait.cpp
+		MapPacketExtraction.cpp
+		TcTransferFrame.cpp
+		TcTransferFrameLocal.cpp
+		VirtualChannelReception.cpp
+)

datalinklayer/DataLinkLayer.h

@@ -19,12 +19,12 @@ class VirtualChannelReception;
 class DataLinkLayer : public CCSDSReturnValuesIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
-	static const Event RF_AVAILABLE = MAKE_EVENT(0, SEVERITY::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
-	static const Event RF_LOST = MAKE_EVENT(1, SEVERITY::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
-	static const Event BIT_LOCK = MAKE_EVENT(2, SEVERITY::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
-	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, SEVERITY::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
-//	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, SEVERITY::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
-	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< The CCSDS Board could not interpret a TC
+	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
+	static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
+	static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
+	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
+//	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
+	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW); //!< The CCSDS Board could not interpret a TC
 	/**
 	 * The Constructor sets the passed parameters and nothing else.
 	 * @param set_frame_buffer The buffer in which incoming frame candidates are stored.

datalinklayer/MapPacketExtraction.cpp

@@ -1,10 +1,3 @@
-/**
- * @file	MapPacketExtraction.cpp
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
 #include "MapPacketExtraction.h"
 #include "../ipc/QueueFactory.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
@@ -12,14 +5,14 @@
 #include "../tmtcpacket/SpacePacketBase.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/TmTcMessage.h"
-#include <string.h>
+#include <cstring>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
-		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
-				packetBuffer), packetDestination(setPacketDestination), packetStore(
-				NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
-	memset(packetBuffer, 0, sizeof(packetBuffer));
+		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
+		bufferPosition(packetBuffer), packetDestination(setPacketDestination),
+		tcQueueId(MessageQueueIF::NO_QUEUE) {
+	std::memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
 ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {

datalinklayer/MapPacketExtraction.h

@@ -1,12 +1,5 @@
-/**
- * @file	MapPacketExtraction.h
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
-#ifndef MAPPACKETEXTRACTION_H_
-#define MAPPACKETEXTRACTION_H_
+#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
+#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
 
 #include "MapPacketExtractionIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -20,17 +13,19 @@ class StorageManagerIF;
  * The class implements the full MAP Packet Extraction functionality as described in the CCSDS
  * TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
  * fully received. All found packets are forwarded to a single distribution entity.
+ * @author B. Baetz
  */
 class MapPacketExtraction: public MapPacketExtractionIF {
 private:
 	static const uint32_t MAX_PACKET_SIZE = 4096;
 	uint8_t lastSegmentationFlag;	//!< The segmentation flag of the last received frame.
 	uint8_t mapId;	//!< MAP ID of this MAP Channel.
-	uint32_t packetLength;	//!< Complete length of the current Space Packet.
+	uint32_t packetLength = 0;	//!< Complete length of the current Space Packet.
 	uint8_t* bufferPosition;	//!< Position to write to in the internal Packet buffer.
 	uint8_t packetBuffer[MAX_PACKET_SIZE];	//!< The internal Space Packet Buffer.
 	object_id_t packetDestination;
-	StorageManagerIF* packetStore;	//!< Pointer to the store where full TC packets are stored.
+	//!< Pointer to the store where full TC packets are stored.
+	StorageManagerIF* packetStore = nullptr;
 	MessageQueueId_t tcQueueId;		//!< QueueId to send found packets to the distributor.
 	/**
 	 * Debug method to print the packet Buffer's content.
@@ -75,4 +70,4 @@ public:
 	uint8_t getMapId() const;
 };
 
-#endif /* MAPPACKETEXTRACTION_H_ */
+#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */

datapool/CMakeLists.txt

@@ -0,0 +1,11 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ControllerSet.cpp
+		DataPool.cpp
+		DataPoolAdmin.cpp
+		DataPoolParameterWrapper.cpp
+		DataSet.cpp
+		HkSwitchHelper.cpp
+		PoolEntry.cpp
+		PoolRawAccess.cpp
+)

datapool/ControllerSet.h

@@ -1,15 +0,0 @@
-#ifndef CONTROLLERSET_H_
-#define CONTROLLERSET_H_
-
-#include "DataSet.h"
-
-class ControllerSet :public DataSet {
-public:
-	ControllerSet();
-	virtual ~ControllerSet();
-
-	virtual void setToDefault() = 0;
-	void setInvalid();
-};
-
-#endif /* CONTROLLERSET_H_ */

datapool/DataPool.cpp

@@ -1,131 +0,0 @@
-#include "DataPool.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../ipc/MutexFactory.h"
-
-DataPool::DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) ) {
-	mutex = MutexFactory::instance()->createMutex();
-	if (initFunction != NULL ) {
-		initFunction( &this->data_pool );
-	}
-}
-
-DataPool::~DataPool() {
-	MutexFactory::instance()->deleteMutex(mutex);
-	for ( std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.begin(); it != this->data_pool.end(); ++it ) {
-		delete it->second;
-	}
-}
-
-//The function checks PID, type and array length before returning a copy of the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
-template <typename T> PoolEntry<T>* DataPool::getData( uint32_t data_pool_id,  uint8_t sizeOrPosition ) {
-	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
-	if ( it != this->data_pool.end() ) {
-		PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
-		if (entry != NULL ) {
-			if ( sizeOrPosition <= entry->length ) {
-				return entry;
-			}
-		}
-	}
-	return NULL;
-}
-
-PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
-	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
-	if ( it != this->data_pool.end() ) {
-		return it->second;
-	} else {
-		return NULL;
-	}
-}
-
-//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t maxSize ) {
-//	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
-//	if ( it != this->data_pool.end() ) {
-//		if ( it->second->getByteSize() <= maxSize ) {
-//			*size = it->second->getByteSize();
-//			memcpy( address, it->second->getRawData(), *size );
-//			return DP_SUCCESSFUL;
-//		}
-//	}
-//	*size = 0;
-//	return DP_FAILURE;
-//}
-
-ReturnValue_t DataPool::freeDataPoolLock() {
-	ReturnValue_t status = mutex->unlockMutex();
-	if ( status != RETURN_OK ) {
-		sif::error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl;
-	}
-	return status;
-}
-
-ReturnValue_t DataPool::lockDataPool() {
-	ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
-	if ( status != RETURN_OK ) {
-		sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
-	}
-	return status;
-}
-
-void DataPool::print() {
-	sif::debug << "DataPool contains: " << std::endl;
-	std::map<uint32_t, PoolEntryIF*>::iterator	dataPoolIt;
-	dataPoolIt = this->data_pool.begin();
-	while( dataPoolIt != this->data_pool.end() ) {
-		sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
-		dataPoolIt->second->print();
-		dataPoolIt++;
-	}
-}
-
-template PoolEntry<uint8_t>* DataPool::getData<uint8_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<uint16_t>* DataPool::getData<uint16_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<uint32_t>* DataPool::getData<uint32_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<uint64_t>* DataPool::getData<uint64_t>(uint32_t data_pool_id,
-		uint8_t size);
-template PoolEntry<int8_t>* DataPool::getData<int8_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<int16_t>* DataPool::getData<int16_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<int32_t>* DataPool::getData<int32_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<float>* DataPool::getData<float>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<double>* DataPool::getData<double>(uint32_t data_pool_id,
-		uint8_t size);
-
-
-uint32_t DataPool::PIDToDataPoolId(uint32_t parameter_id) {
-	return (parameter_id >> 8) & 0x00FFFFFF;
-}
-
-uint8_t DataPool::PIDToArrayIndex(uint32_t parameter_id) {
-	return (parameter_id & 0x000000FF);
-}
-
-uint32_t DataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
-	return (poolId << 8) + index;
-}
-
-
-//SHOULDDO: Do we need a mutex lock here... I don't think so, as we only check static const values of elements in a list that do not change.
-//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
-ReturnValue_t DataPool::getType(uint32_t parameter_id, Type* type) {
-	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( PIDToDataPoolId(parameter_id));
-	if ( it != this->data_pool.end() ) {
-		*type = it->second->getType();
-		return RETURN_OK;
-	} else {
-		*type = Type::UNKNOWN_TYPE;
-		return RETURN_FAILED;
-	}
-}
-
-bool DataPool::exists(uint32_t parameterId) {
-	uint32_t poolId = PIDToDataPoolId(parameterId);
-	uint32_t index = PIDToArrayIndex(parameterId);
-	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( poolId );
-	if (it != data_pool.end()) {
-		if (it->second->getSize() >= index) {
-			return true;
-		}
-	}
-	return false;
-}

datapool/DataPool.h

@@ -1,135 +0,0 @@
-/**
- *	\file	DataPool.h
- *
- *  \date	10/17/2012
- *	\author	Bastian Baetz
- *
- *	\brief	This file contains the definition of the DataPool class and (temporarily)
- *			the "extern" definition of the global dataPool instance.
- */
-
-#ifndef DATAPOOL_H_
-#define DATAPOOL_H_
-
-#include "PoolEntry.h"
-#include "../globalfunctions/Type.h"
-#include "../ipc/MutexIF.h"
-#include <map>
-
-/**
- * \defgroup data_pool Data Pool
- * This is the group, where all classes associated with Data Pool Handling belong to.
- * This includes classes to access Data Pool variables.
- */
-
-#define DP_SUCCESSFUL	0
-#define DP_FAILURE		1
-
-/**
- *	\brief		This class represents the OBSW global data-pool.
- *
- *	\details	All variables are registered and space is allocated in an initialization
- *				function, which is passed do the constructor.
- *				Space for the variables is allocated on the heap (with a new call).
- *				The data is found by a data pool id, which uniquely represents a variable.
- *				Data pool variables should be used with a blackboard logic in mind,
- *				which means read data is valid (if flagged so), but not necessarily up-to-date.
- *				Variables are either single values or arrays.
- *	\ingroup data_pool
- */
-class DataPool : public HasReturnvaluesIF {
-private:
-	/**
-	 * \brief	This is the actual data pool itself.
-	 * \details	It is represented by a map
-	 * 			with the data pool id as index and a pointer to a single PoolEntry as value.
-	 */
-	std::map<uint32_t, PoolEntryIF*> data_pool;
-public:
-	/**
-	 * \brief	The mutex is created in the constructor and makes access mutual exclusive.
-	 * \details	Locking and unlocking the pool is only done by the DataSet class.
-	 */
-	MutexIF*	mutex;
-	/**
-	 * \brief	In the classes constructor, the passed initialization function is called.
-	 * \details	To enable filling the pool,
-	 * 			a pointer to the map is passed, allowing direct access to the pool's content.
-	 * 			On runtime, adding or removing variables is forbidden.
-	 */
-	DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) );
-	/**
-	 * 	\brief	The destructor iterates through the data_pool map and calls all Entries destructors to clean up the heap.
-	 */
-	~DataPool();
-	/**
-	 * \brief	This is the default call to access the pool.
-	 * \details	A pointer to the PoolEntry object is returned.
-	 *  		The call checks data pool id, type and array size. Returns NULL in case of failure.
-	 * \param data_pool_id	The data pool id to search.
-	 * \param sizeOrPosition The array size (not byte size!) of the pool entry, or the position the user wants to read.
-	 * 			If smaller than the entry size, everything's ok.
-	 */
-	template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id, uint8_t sizeOrPosition );
-	/**
-	 * \brief	An alternative call to get a data pool entry in case the type is not implicitly known
-	 * 			(i.e. in Housekeeping Telemetry).
-	 * \details	It returns a basic interface and does NOT perform
-	 * 			a size check. The caller has to assure he does not copy too much data.
-	 * 			Returns NULL in case the entry is not found.
-	 * \param data_pool_id	The data pool id to search.
-	 */
-	PoolEntryIF* getRawData( uint32_t data_pool_id );
-	/**
-	 * \brief	This is a small helper function to facilitate locking the global data pool.
-	 * \details	It fetches the pool's mutex id and tries to acquire the mutex.
-	 */
-	ReturnValue_t lockDataPool();
-	/**
-	 * \brief	This is a small helper function to facilitate unlocking the global data pool.
-	 * \details	It fetches the pool's mutex id and tries to free the mutex.
-	 */
-	ReturnValue_t freeDataPoolLock();
-	/**
-	 * \brief	The print call is a simple debug method.
-	 * \details	It prints the current content of the data pool.
-	 *  		It iterates through the data_pool map and calls each entry's print() method.
-	 */
-	void print();
-	/**
-	 * Extracts the data pool id from a SCOS 2000 PID.
-	 * @param parameter_id The passed Parameter ID.
-	 * @return The data pool id as used within the OBSW.
-	 */
-	static uint32_t PIDToDataPoolId( uint32_t parameter_id );
-	/**
-	 * Extracts an array index out of a SCOS 2000 PID.
-	 * @param parameter_id The passed Parameter ID.
-	 * @return The index of the corresponding data pool entry.
-	 */
-	static uint8_t PIDToArrayIndex( uint32_t parameter_id );
-	/**
-	 * Retransforms a data pool id and an array index to a SCOS 2000 PID.
-	 */
-	static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
-
-	/**
-	 * Method to return the type of a pool variable.
-	 * @param parameter_id A parameterID (not pool id) of a DP member.
-	 * @param type Returns the type or TYPE::UNKNOWN_TYPE
-	 * @return RETURN_OK if parameter exists, RETURN_FAILED else.
-	 */
-	ReturnValue_t getType( uint32_t parameter_id, Type* type );
-
-	/**
-	 * Method to check if a PID exists.
-	 * Does not lock, as there's no possibility to alter the list that is checked during run-time.
-	 * @param parameterId The PID (not pool id!) of a parameter.
-	 * @return	true if exists, false else.
-	 */
-	bool exists(uint32_t parameterId);
-};
-
-//We assume someone globally instantiates a DataPool.
-extern DataPool dataPool;
-#endif /* DATAPOOL_H_ */

datapool/DataSet.cpp

@@ -1,150 +0,0 @@
-#include "DataSet.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-DataSet::DataSet() :
-		fill_count(0), state(DATA_SET_UNINITIALISED) {
-	for (unsigned count = 0; count < DATA_SET_MAX_SIZE; count++) {
-		registeredVariables[count] = NULL;
-	}
-}
-
-DataSet::~DataSet() {
-	//Don't do anything with your variables, they are dead already! (Destructor is already called)
-}
-
-ReturnValue_t DataSet::read() {
-	ReturnValue_t result = RETURN_OK;
-	if (state == DATA_SET_UNINITIALISED) {
-		lockDataPool();
-		for (uint16_t count = 0; count < fill_count; count++) {
-			if (registeredVariables[count]->getReadWriteMode()
-					!= PoolVariableIF::VAR_WRITE
-					&& registeredVariables[count]->getDataPoolId()
-							!= PoolVariableIF::NO_PARAMETER) {
-				ReturnValue_t status = registeredVariables[count]->read();
-				if (status != RETURN_OK) {
-					result = INVALID_PARAMETER_DEFINITION;
-					break;
-				}
-			}
-		}
-		state = DATA_SET_WAS_READ;
-		freeDataPoolLock();
-	} else {
-		sif::error << "DataSet::read(): Call made in wrong position." << std::endl;
-		result = SET_WAS_ALREADY_READ;
-	}
-	return result;
-}
-
-ReturnValue_t DataSet::commit(uint8_t valid) {
-	setValid(valid);
-	return commit();
-}
-
-ReturnValue_t DataSet::commit() {
-	if (state == DATA_SET_WAS_READ) {
-		lockDataPool();
-		for (uint16_t count = 0; count < fill_count; count++) {
-			if (registeredVariables[count]->getReadWriteMode()
-					!= PoolVariableIF::VAR_READ
-					&& registeredVariables[count]->getDataPoolId()
-							!= PoolVariableIF::NO_PARAMETER) {
-				registeredVariables[count]->commit();
-			}
-		}
-		state = DATA_SET_UNINITIALISED;
-		freeDataPoolLock();
-		return RETURN_OK;
-	} else {
-		ReturnValue_t result = RETURN_OK;
-		lockDataPool();
-		for (uint16_t count = 0; count < fill_count; count++) {
-			if (registeredVariables[count]->getReadWriteMode()
-					== PoolVariableIF::VAR_WRITE
-					&& registeredVariables[count]->getDataPoolId()
-							!= PoolVariableIF::NO_PARAMETER) {
-				registeredVariables[count]->commit();
-			} else if (registeredVariables[count]->getDataPoolId()
-					!= PoolVariableIF::NO_PARAMETER) {
-				if (result != COMMITING_WITHOUT_READING) {
-					sif::error <<
-					        "DataSet::commit(): commit-without-read "
-					        "call made with non write-only variable." << std::endl;
-					result = COMMITING_WITHOUT_READING;
-				}
-			}
-		}
-		state = DATA_SET_UNINITIALISED;
-		freeDataPoolLock();
-		return result;
-	}
-
-}
-
-void DataSet::registerVariable(PoolVariableIF* variable) {
-	if (state == DATA_SET_UNINITIALISED) {
-		if (variable != NULL) {
-			if (fill_count < DATA_SET_MAX_SIZE) {
-				registeredVariables[fill_count] = variable;
-				fill_count++;
-				return;
-			}
-		}
-	}
-	sif::error
-			<< "DataSet::registerVariable: failed. Either NULL, or set is full, or call made in wrong position."
-			<< std::endl;
-	return;
-}
-
-uint8_t DataSet::freeDataPoolLock() {
-	return ::dataPool.freeDataPoolLock();
-}
-
-uint8_t DataSet::lockDataPool() {
-	return ::dataPool.lockDataPool();
-}
-
-ReturnValue_t DataSet::serialize(uint8_t** buffer, size_t* size,
-		size_t maxSize, Endianness streamEndianness) const {
-	ReturnValue_t result = RETURN_FAILED;
-	for (uint16_t count = 0; count < fill_count; count++) {
-		result = registeredVariables[count]->serialize(buffer, size, maxSize,
-				streamEndianness);
-		if (result != RETURN_OK) {
-			return result;
-		}
-	}
-	return result;
-}
-
-size_t DataSet::getSerializedSize() const {
-	size_t size = 0;
-	for (uint16_t count = 0; count < fill_count; count++) {
-		size += registeredVariables[count]->getSerializedSize();
-	}
-	return size;
-}
-
-void DataSet::setValid(uint8_t valid) {
-	for (uint16_t count = 0; count < fill_count; count++) {
-		if (registeredVariables[count]->getReadWriteMode()
-				!= PoolVariableIF::VAR_READ) {
-			registeredVariables[count]->setValid(valid);
-		}
-	}
-}
-
-ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, size_t* size,
-		Endianness streamEndianness) {
-	ReturnValue_t result = RETURN_FAILED;
-	for (uint16_t count = 0; count < fill_count; count++) {
-		result = registeredVariables[count]->deSerialize(buffer, size,
-				streamEndianness);
-		if (result != RETURN_OK) {
-			return result;
-		}
-	}
-	return result;
-}

datapool/DataSet.h

@@ -1,159 +0,0 @@
-/*
- * \file	DataSet.h
- *
- * \brief	This file contains the DataSet class and a small structure called DataSetContent.
- *
- * \date	10/17/2012
- *
- * \author	Bastian Baetz
- *
- */
-
-#ifndef DATASET_H_
-#define DATASET_H_
-
-#include "DataPool.h"
-#include "DataSetIF.h"
-#include "PoolRawAccess.h"
-#include "PoolVariable.h"
-#include "PoolVarList.h"
-#include "PoolVector.h"
-#include "../serialize/SerializeAdapter.h"
-/**
- * \brief	The DataSet class manages a set of locally checked out variables.
- *
- * \details	This class manages a list, where a set of local variables (or pool variables) are
- * 			registered. They are checked-out (i.e. their values are looked up and copied)
- * 			with the read call. After the user finishes working with the pool variables,
- * 			he can write back all variable values to the pool with the commit call.
- * 			The data set manages locking and freeing the data pool, to ensure that all values
- * 			are read and written back at once.
- * 			An internal state manages usage of this class. Variables may only be registered before
- * 			the read call is made, and the commit call only after the read call.
- * 			If pool variables are writable and not committed until destruction of the set, the
- * 			DataSet class automatically sets the valid flag in the data pool to invalid (without)
- * 			changing the variable's value.
- *
- *	\ingroup data_pool
- */
-class DataSet: public DataSetIF, public HasReturnvaluesIF, public SerializeIF {
-private:
-	//SHOULDDO we could use a linked list of datapool variables
-	static const uint8_t DATA_SET_MAX_SIZE = 63; //!< This definition sets the maximum number of variables to register in one DataSet.
-
-	/**
-	 * \brief	This array represents all pool variables registered in this set.
-	 * \details	It has a maximum size of DATA_SET_MAX_SIZE.
-	 */
-	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
-	/**
-	 * \brief	The fill_count attribute ensures that the variables register in the correct array
-	 * 			position and that the maximum number of variables is not exceeded.
-	 */
-	uint16_t fill_count;
-	/**
-	 * States of the seet.
-	 */
-	enum States {
-		DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
-		DATA_SET_WAS_READ     //!< DATA_SET_WAS_READ
-	};
-	/**
-	 * \brief	state manages the internal state of the data set, which is important e.g. for the
-	 * 			behavior on destruction.
-	 */
-	States state;
-	/**
-	 * \brief	This is a small helper function to facilitate locking the global data pool.
-	 * \details	It makes use of the lockDataPool method offered by the DataPool class.
-	 */
-	uint8_t lockDataPool();
-	/**
-	 * \brief	This is a small helper function to facilitate unlocking the global data pool.
-	 * \details	It makes use of the freeDataPoolLock method offered by the DataPool class.
-	 */
-	uint8_t freeDataPoolLock();
-
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
-	static const ReturnValue_t INVALID_PARAMETER_DEFINITION =
-			MAKE_RETURN_CODE( 0x01 );
-	static const ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
-	static const ReturnValue_t COMMITING_WITHOUT_READING =
-			MAKE_RETURN_CODE(0x03);
-
-	/**
-	 * \brief	The constructor simply sets the fill_count to zero and sets the state to "uninitialized".
-	 */
-	DataSet();
-	/**
-	 * \brief	The destructor automatically manages writing the valid information of variables.
-	 * \details	In case the data set was read out, but not committed (indicated by state),
-	 * 			the destructor parses all variables that are still registered to the set.
-	 * 			For each, the valid flag in the data pool is set to "invalid".
-	 */
-	~DataSet();
-	/**
-	 * \brief	The read call initializes reading out all registered variables.
-	 * \details	It iterates through the list of registered variables and calls all read()
-	 * 			functions of the registered pool variables (which read out their values from the
-	 * 			data pool) which are not write-only. In case of an error (e.g. a wrong data type,
-	 * 			or an invalid data pool id), the operation is aborted and
-	 * 			\c INVALID_PARAMETER_DEFINITION returned.
-	 * 			The data pool is locked during the whole read operation and freed afterwards.
-	 * 			The state changes to "was written" after this operation.
-	 * \return	- \c RETURN_OK if all variables were read successfully.
-	 * 			- \c INVALID_PARAMETER_DEFINITION if PID, size or type of the
-	 * 					requested variable is invalid.
-	 * 			- \c SET_WAS_ALREADY_READ if read() is called twice without calling
-	 * 					commit() in between
-	 */
-	ReturnValue_t read();
-	/**
-	 * \brief	The commit call initializes writing back the registered variables.
-	 * \details	It iterates through the list of registered variables and calls
-	 * 			the commit() method of the remaining registered variables (which write back
-	 * 			their values to the pool).
-	 * 			The data pool is locked during the whole commit operation and freed afterwards.
-	 * 			The state changes to "was committed" after this operation.
-	 * 			If the set does contain at least one variable which is not write-only commit()
-	 * 			can only be called after read(). If the set only contains variables which are
-	 * 			write only, commit() can be called without a preceding read() call.
-	 * \return	- \c RETURN_OK if all variables were read successfully.
-	 * 			- \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
-	 * 				variables
-	 */
-	ReturnValue_t commit(void);
-	/**
-	 * Variant of method above which sets validity of all elements of the set.
-	 * @param valid Validity information from PoolVariableIF.
-	 * \return	- \c RETURN_OK if all variables were read successfully.
-	 * 			- \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
-	 * 				variables
-	 */
-	ReturnValue_t commit(uint8_t valid);
-	/**
-	 * \brief	This operation is used to register the local variables in the set.
-	 * \details	It copies all required information to the currently
-	 * 			free space in the registeredVariables list.
-	 */
-	void registerVariable(PoolVariableIF* variable);
-
-	/**
-	 * Set the valid information of all variables contained in the set which are not readonly
-	 *
-	 * @param valid Validity information from PoolVariableIF.
-	 */
-	void setValid(uint8_t valid);
-
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const override;
-
-	size_t getSerializedSize() const override;
-
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override;
-
-};
-
-#endif /* DATASET_H_ */

datapool/DataSetIF.h

@@ -1,39 +1,47 @@
-/**
- * \file	DataSetIF.h
- *
- * \brief	This file contains the small interface to access the DataSet class.
- *
- * \date	10/23/2012
- *
- * \author	Bastian Baetz
- *
- */
-
-#ifndef DATASETIF_H_
-#define DATASETIF_H_
+#ifndef FSFW_DATAPOOL_DATASETIF_H_
+#define FSFW_DATAPOOL_DATASETIF_H_
 
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Clock.h"
 class PoolVariableIF;
 
 /**
- * \brief	This class defines a small interface to register on a DataSet.
+ * @brief	This class defines a small interface to register on a DataSet.
  *
- * \details	Currently, the only purpose of this interface is to provide a method for locally
- * 			checked-out variables to register on a data set. Still, it may become useful for
- * 			other purposes as well.
- *
- *	\ingroup data_pool
+ * @details
+ * Currently, the only purpose of this interface is to provide a
+ * method for locally checked-out variables to register on a data set.
+ * Still, it may become useful for other purposes as well.
+ * @author 	Bastian Baetz
+ * @ingroup data_pool
  */
 class DataSetIF {
 public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
+	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
+			MAKE_RETURN_CODE( 0x01 );
+	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
+	static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
+			MAKE_RETURN_CODE(0x03);
+
+	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE( 0x04 );
+	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
+	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
+
 	/**
-	 * \brief	This is an empty virtual destructor, as it is proposed for C++ interfaces.
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is proposed for C++ interfaces.
 	 */
 	virtual ~DataSetIF() {}
+
 	/**
-	 * \brief	This operation provides a method to register local data pool variables
-	 * 			to register in a data set by passing itself to this DataSet operation.
+	 * @brief	This operation provides a method to register local data pool
+	 * 			variables to register in a data set by passing itself
+	 * 			to this DataSet operation.
 	 */
-	virtual void registerVariable( PoolVariableIF* variable ) = 0;
+	virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
+
+	virtual uint16_t getFillCount() const = 0;
 };
 
-#endif /* DATASETIF_H_ */
+#endif /* FSFW_DATAPOOL_DATASETIF_H_ */

datapool/HkSwitchHelper.cpp

@@ -1,5 +1,4 @@
-#include "HkSwitchHelper.h"
-//#include <mission/tmtcservices/HKService_03.h>
+#include "../datapool/HkSwitchHelper.h"
 #include "../ipc/QueueFactory.h"
 
 HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
@@ -22,14 +21,14 @@ ReturnValue_t HkSwitchHelper::initialize() {
 }
 
 ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
-	CommandMessage message;
-	while (actionQueue->receiveMessage(&message) == HasReturnvaluesIF::RETURN_OK) {
-		ReturnValue_t result = commandActionHelper.handleReply(&message);
+	CommandMessage command;
+	while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
+		ReturnValue_t result = commandActionHelper.handleReply(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			continue;
 		}
-		message.setToUnknownCommand();
-		actionQueue->reply(&message);
+		command.setToUnknownCommand();
+		actionQueue->reply(&command);
 	}
 
 	return HasReturnvaluesIF::RETURN_OK;

datapool/HkSwitchHelper.h

@@ -13,7 +13,7 @@ class HkSwitchHelper: public ExecutableObjectIF, public CommandsActionsIF {
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
-	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, SEVERITY::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
+	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
 
 	HkSwitchHelper(EventReportingProxyIF *eventProxy);
 	virtual ~HkSwitchHelper();

datapool/PoolDataSetBase.cpp

@@ -0,0 +1,169 @@
+#include "PoolDataSetBase.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
+        const size_t maxFillCount):
+        registeredVariables(registeredVariablesArray),
+        maxFillCount(maxFillCount) {
+}
+
+PoolDataSetBase::~PoolDataSetBase() {}
+
+ReturnValue_t PoolDataSetBase::registerVariable(
+		PoolVariableIF *variable) {
+	if (state != States::DATA_SET_UNINITIALISED) {
+		sif::error << "DataSet::registerVariable: "
+				"Call made in wrong position." << std::endl;
+		return DataSetIF::DATA_SET_UNINITIALISED;
+	}
+	if (variable == nullptr) {
+		sif::error << "DataSet::registerVariable: "
+				"Pool variable is nullptr." << std::endl;
+		return DataSetIF::POOL_VAR_NULL;
+	}
+	if (fillCount >= maxFillCount) {
+		sif::error << "DataSet::registerVariable: "
+				"DataSet is full." << std::endl;
+		return DataSetIF::DATA_SET_FULL;
+	}
+	registeredVariables[fillCount] = variable;
+	fillCount++;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	if (state == States::DATA_SET_UNINITIALISED) {
+		lockDataPool(lockTimeout);
+		for (uint16_t count = 0; count < fillCount; count++) {
+			result = readVariable(count);
+			if(result != RETURN_OK) {
+				break;
+			}
+		}
+		state = States::DATA_SET_WAS_READ;
+		unlockDataPool();
+	}
+	else {
+		sif::error << "DataSet::read(): "
+				"Call made in wrong position. Don't forget to commit"
+				" member datasets!" << std::endl;
+		result = SET_WAS_ALREADY_READ;
+	}
+	return result;
+}
+
+uint16_t PoolDataSetBase::getFillCount() const {
+    return fillCount;
+}
+
+ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	// These checks are often performed by the respective
+	// variable implementation too, but I guess a double check does not hurt.
+	if (registeredVariables[count]->getReadWriteMode() !=
+				PoolVariableIF::VAR_WRITE and
+		registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER)
+	{
+		result = registeredVariables[count]->readWithoutLock();
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			result = INVALID_PARAMETER_DEFINITION;
+		}
+	}
+	return result;
+}
+
+ReturnValue_t PoolDataSetBase::commit(uint32_t lockTimeout) {
+	if (state == States::DATA_SET_WAS_READ) {
+		handleAlreadyReadDatasetCommit(lockTimeout);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return handleUnreadDatasetCommit(lockTimeout);
+	}
+}
+
+void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
+	lockDataPool(lockTimeout);
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				!= PoolVariableIF::VAR_READ
+				&& registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			registeredVariables[count]->commitWithoutLock();
+		}
+	}
+	state = States::DATA_SET_UNINITIALISED;
+	unlockDataPool();
+}
+
+ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	lockDataPool(lockTimeout);
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				== PoolVariableIF::VAR_WRITE
+				&& registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			registeredVariables[count]->commitWithoutLock();
+		} else if (registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			if (result != COMMITING_WITHOUT_READING) {
+				sif::error << "DataSet::commit(): commit-without-read call made "
+						"with non write-only variable." << std::endl;
+				result = COMMITING_WITHOUT_READING;
+			}
+		}
+	}
+	state = States::DATA_SET_UNINITIALISED;
+	unlockDataPool();
+	return result;
+}
+
+
+ReturnValue_t PoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::unlockDataPool() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size,
+		const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t count = 0; count < fillCount; count++) {
+		result = registeredVariables[count]->serialize(buffer, size, maxSize,
+		        streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+ReturnValue_t PoolDataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
+        SerializeIF::Endianness streamEndianness) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t count = 0; count < fillCount; count++) {
+		result = registeredVariables[count]->deSerialize(buffer, size,
+				streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+size_t PoolDataSetBase::getSerializedSize() const {
+	uint32_t size = 0;
+	for (uint16_t count = 0; count < fillCount; count++) {
+		size += registeredVariables[count]->getSerializedSize();
+	}
+	return size;
+}
+
+void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
+    this->registeredVariables = variablesContainer;
+}

datapool/PoolDataSetBase.h

@@ -0,0 +1,152 @@
+#ifndef FSFW_DATAPOOL_POOLDATASETBASE_H_
+#define FSFW_DATAPOOL_POOLDATASETBASE_H_
+
+#include "PoolDataSetIF.h"
+#include "PoolVariableIF.h"
+#include "../ipc/MutexIF.h"
+
+/**
+ * @brief	The DataSetBase class manages a set of locally checked out variables.
+ * @details
+ * This class manages a list, where a set of local variables (or pool variables)
+ * are registered. They are checked-out (i.e. their values are looked
+ * up and copied) with the read call. After the user finishes working with the
+ * pool variables, he can write back all variable values to the pool with
+ * the commit call. The data set manages locking and freeing the data pool,
+ * to ensure that all values are read and written back at once.
+ *
+ * An internal state manages usage of this class. Variables may only be
+ * registered before the read call is made, and the commit call only
+ * after the read call.
+ *
+ * If pool variables are writable and not committed until destruction
+ * of the set, the DataSet class automatically sets the valid flag in the
+ * data pool to invalid (without) changing the variable's value.
+ *
+ * The base class lockDataPool und unlockDataPool implementation are empty
+ * and should be implemented to protect the underlying pool type.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class PoolDataSetBase: public PoolDataSetIF,
+		public SerializeIF,
+		public HasReturnvaluesIF {
+public:
+
+	/**
+	 * @brief	Creates an empty dataset. Use registerVariable or
+	 * 			supply a pointer to this dataset to PoolVariable
+	 * 			initializations to register pool variables.
+	 */
+	PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
+	        const size_t maxFillCount);
+	virtual~ PoolDataSetBase();
+
+	/**
+	 * @brief	The read call initializes reading out all registered variables.
+	 * @details
+	 * It iterates through the list of registered variables and calls all read()
+	 * functions of the registered pool variables (which read out their values
+	 * from the data pool) which are not write-only.
+	 * In case of an error (e.g. a wrong data type, or an invalid data pool id),
+	 * the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
+	 *
+	 * The data pool is locked during the whole read operation and
+	 * freed afterwards.The state changes to "was written" after this operation.
+	 * @return
+	 * - @c RETURN_OK if all variables were read successfully.
+	 * - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the
+	 * requested variable is invalid.
+	 * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
+	 * commit() in between
+	 */
+	virtual ReturnValue_t read(uint32_t lockTimeout =
+			MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call initializes writing back the registered variables.
+	 * @details
+	 * It iterates through the list of registered variables and calls the
+	 * commit() method of the remaining registered variables (which write back
+	 * their values to the pool).
+	 *
+	 * The data pool is locked during the whole commit operation and
+	 * freed afterwards. The state changes to "was committed" after this operation.
+	 *
+	 * If the set does contain at least one variable which is not write-only
+	 * commit() can only be called after read(). If the set only contains
+	 * variables which are write only, commit() can be called without a
+	 * preceding read() call.
+	 * @return	- @c RETURN_OK if all variables were read successfully.
+	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
+	 * 			  contains non write-only variables
+	 */
+	virtual ReturnValue_t commit(uint32_t lockTimeout =
+			MutexIF::BLOCKING) override;
+
+	/**
+	 * Register the passed pool variable instance into the data set.
+	 * @param variable
+	 * @return
+	 */
+	virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
+	/**
+	 * Provides the means to lock the underlying data structure to ensure
+	 * thread-safety. Default implementation is empty
+	 * @return Always returns -@c RETURN_OK
+	 */
+	virtual ReturnValue_t lockDataPool(uint32_t timeoutMs =
+			MutexIF::BLOCKING) override;
+	/**
+	 * Provides the means to unlock the underlying data structure to ensure
+	 * thread-safety. Default implementation is empty
+	 * @return Always returns -@c RETURN_OK
+	 */
+	virtual ReturnValue_t unlockDataPool() override;
+
+	virtual uint16_t getFillCount() const;
+
+	/* SerializeIF implementations */
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				const size_t maxSize,
+				SerializeIF::Endianness streamEndianness) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override;
+
+protected:
+	/**
+	 * @brief	The fill_count attribute ensures that the variables
+	 * 			register in the correct array position and that the maximum
+	 * 			number of variables is not exceeded.
+	 */
+	uint16_t fillCount = 0;
+	/**
+	 * States of the seet.
+	 */
+	enum class States {
+		DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
+		DATA_SET_WAS_READ     //!< DATA_SET_WAS_READ
+	};
+	/**
+	 * @brief	state manages the internal state of the data set,
+	 *          which is important e.g. for the behavior on destruction.
+	 */
+	States state = States::DATA_SET_UNINITIALISED;
+
+	/**
+	 * @brief	This array represents all pool variables registered in this set.
+	 * Child classes can use a static or dynamic container to create
+	 * an array of registered variables and assign the first entry here.
+	 */
+	PoolVariableIF** registeredVariables = nullptr;
+	const size_t maxFillCount = 0;
+
+	void setContainer(PoolVariableIF** variablesContainer);
+
+private:
+	ReturnValue_t readVariable(uint16_t count);
+	void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
+	ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
+};
+
+#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */

datapool/PoolDataSetIF.h

@@ -0,0 +1,33 @@
+#ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
+#define FSFW_DATAPOOL_POOLDATASETIF_H_
+
+#include "DataSetIF.h"
+
+/**
+ * @brief   Extendes the DataSetIF by adding abstract functions to lock
+ *          and unlock a data pool and read/commit semantics.
+ */
+class PoolDataSetIF: public DataSetIF {
+public:
+    virtual~ PoolDataSetIF() {};
+
+    virtual ReturnValue_t read(dur_millis_t lockTimeout) = 0;
+    virtual ReturnValue_t commit(dur_millis_t lockTimeout) = 0;
+
+    /**
+     * @brief   Most underlying data structures will have a pool like structure
+     *          and will require a lock and unlock mechanism to ensure
+     *          thread-safety
+     * @return Lock operation result
+     */
+    virtual ReturnValue_t lockDataPool(dur_millis_t timeoutMs) = 0;
+    /**
+     * @brief   Unlock call corresponding to the lock call.
+     * @return Unlock operation result
+     */
+    virtual ReturnValue_t unlockDataPool() = 0;
+
+    virtual bool isValid() const = 0;
+};
+
+#endif /* FSFW_DATAPOOL_POOLDATASETIF_H_ */

datapool/PoolEntry.cpp

@@ -1,4 +1,5 @@
 #include "PoolEntry.h"
+
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../globalfunctions/arrayprinter.h"
 #include <cstring>

datapool/PoolEntry.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
-#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
+#ifndef FSFW_DATAPOOL_POOLENTRY_H_
+#define FSFW_DATAPOOL_POOLENTRY_H_
 
 #include "PoolEntryIF.h"
 
@@ -127,4 +127,4 @@ public:
 	Type getType();
 };
 
-#endif /* POOLENTRY_H_ */
+#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */

datapool/PoolEntryIF.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
-#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
+#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
+#define FSFW_DATAPOOL_POOLENTRYIF_H_
 
 #include "../globalfunctions/Type.h"
 #include <cstdint>
@@ -60,4 +60,4 @@ public:
 	virtual Type getType() = 0;
 };
 
-#endif /* POOLENTRYIF_H_ */
+#endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */

datapool/PoolRawAccess.cpp

@@ -1,187 +0,0 @@
-#include "DataPool.h"
-#include "PoolEntryIF.h"
-#include "PoolRawAccess.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../serialize/EndianConverter.h"
-
-#include <cstring>
-
-PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
-		DataSetIF *data_set, ReadWriteMode_t setReadWriteMode) :
-		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(
-				Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), readWriteMode(
-				setReadWriteMode) {
-	memset(value, 0, sizeof(value));
-	if (data_set != NULL) {
-		data_set->registerVariable(this);
-	}
-}
-
-PoolRawAccess::~PoolRawAccess() {
-
-}
-
-ReturnValue_t PoolRawAccess::read() {
-	PoolEntryIF *read_out = ::dataPool.getRawData(dataPoolId);
-	if (read_out != NULL) {
-		valid = read_out->getValid();
-		if (read_out->getSize() > arrayEntry) {
-			arraySize = read_out->getSize();
-			typeSize = read_out->getByteSize() / read_out->getSize();
-			type = read_out->getType();
-			if (typeSize <= sizeof(value)) {
-				uint16_t arrayPosition = arrayEntry * typeSize;
-				sizeTillEnd = read_out->getByteSize() - arrayPosition;
-				uint8_t *ptr =
-						&((uint8_t*) read_out->getRawData())[arrayPosition];
-				memcpy(value, ptr, typeSize);
-				return HasReturnvaluesIF::RETURN_OK;
-			} else {
-				//Error value type too large.
-			}
-		} else {
-			//Error index requested too large
-		}
-	} else {
-		//Error entry does not exist.
-	}
-	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex
-			<< dataPoolId << std::dec << " failed." << std::endl;
-	valid = INVALID;
-	typeSize = 0;
-	sizeTillEnd = 0;
-	memset(value, 0, sizeof(value));
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t PoolRawAccess::commit() {
-	PoolEntryIF *write_back = ::dataPool.getRawData(dataPoolId);
-	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
-		write_back->setValid(valid);
-		uint8_t array_position = arrayEntry * typeSize;
-		uint8_t *ptr = &((uint8_t*) write_back->getRawData())[array_position];
-		memcpy(ptr, value, typeSize);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-uint8_t* PoolRawAccess::getEntry() {
-	return value;
-}
-
-ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t *buffer,
-		size_t *writtenBytes, size_t maxSize) {
-	uint8_t *data_ptr = getEntry();
-//	debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
-	if (typeSize == 0) {
-		return DATA_POOL_ACCESS_FAILED;
-	}
-	if (typeSize > maxSize) {
-		return INCORRECT_SIZE;
-	}
-	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
-	*writtenBytes = typeSize;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-Type PoolRawAccess::getType() {
-	return type;
-}
-
-size_t PoolRawAccess::getSizeOfType() {
-	return typeSize;
-}
-
-size_t PoolRawAccess::getArraySize() {
-	return arraySize;
-}
-
-uint32_t PoolRawAccess::getDataPoolId() const {
-	return dataPoolId;
-}
-
-PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
-	return readWriteMode;
-}
-
-ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
-		size_t setSize) {
-	if (typeSize == setSize) {
-		EndianConverter::convertBigEndian(value, buffer, typeSize);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		sif::error
-				<< "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
-				<< (uint32_t) typeSize << ", Requested: " << setSize
-				<< std::endl;
-		return INCORRECT_SIZE;
-	}
-}
-
-bool PoolRawAccess::isValid() const {
-	if (valid != INVALID)
-		return true;
-	else
-		return false;
-}
-
-void PoolRawAccess::setValid(uint8_t valid) {
-	this->valid = valid;
-}
-
-size_t PoolRawAccess::getSizeTillEnd() const {
-	return sizeTillEnd;
-}
-
-ReturnValue_t PoolRawAccess::serialize(uint8_t **buffer, size_t *size,
-		size_t maxSize, Endianness streamEndianness) const {
-	if (typeSize + *size <= maxSize) {
-		switch (streamEndianness) {
-		case (Endianness::BIG):
-			EndianConverter::convertBigEndian(*buffer, value, typeSize);
-			break;
-		case (Endianness::LITTLE):
-			EndianConverter::convertLittleEndian(*buffer, value, typeSize);
-			break;
-		default:
-		case (Endianness::MACHINE):
-			memcpy(*buffer, value, typeSize);
-			break;
-		}
-		*size += typeSize;
-		(*buffer) += typeSize;
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return SerializeIF::BUFFER_TOO_SHORT;
-	}
-}
-
-size_t PoolRawAccess::getSerializedSize() const {
-	return typeSize;
-}
-
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
-		Endianness streamEndianness) {
-
-	if (*size >= typeSize) {
-		switch (streamEndianness) {
-		case (Endianness::BIG):
-			EndianConverter::convertBigEndian(value, *buffer, typeSize);
-			break;
-		case (Endianness::LITTLE):
-			EndianConverter::convertLittleEndian(value, *buffer, typeSize);
-			break;
-		default:
-		case (Endianness::MACHINE):
-			memcpy(value, *buffer, typeSize);
-			break;
-		}
-		*size -= typeSize;
-		*buffer += typeSize;
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return SerializeIF::STREAM_TOO_SHORT;
-	}
-}

datapool/PoolRawAccess.h

@@ -1,152 +0,0 @@
-#ifndef POOLRAWACCESS_H_
-#define POOLRAWACCESS_H_
-
-#include "DataSetIF.h"
-#include "PoolVariableIF.h"
-
-/**
- * This class allows accessing Data Pool variables as raw bytes.
- * This is necessary to have an access method for HK data, as the PID's alone do not
- * provide a type information.
- *	\ingroup data_pool
- */
-class PoolRawAccess: public PoolVariableIF {
-private:
-	/**
-	 * \brief	To access the correct data pool entry on read and commit calls, the data pool id
-	 * 			is stored.
-	 */
-	uint32_t dataPoolId;
-	/**
-	 * \brief	The array entry that is fetched from the data pool.
-	 */
-	uint8_t arrayEntry;
-	/**
-	 * \brief	The valid information as it was stored in the data pool is copied to this attribute.
-	 */
-	uint8_t valid;
-	/**
-	 *  \brief	This value contains the type of the data pool entry.
-	 */
-	Type type;
-	/**
-	 * \brief	This value contains the size of the data pool entry in bytes.
-	 */
-	size_t typeSize;
-	/**
-	 * The size of the DP array (single values return 1)
-	 */
-	size_t arraySize;
-	/**
-	 * The size (in bytes) from the selected entry till the end of this DataPool variable.
-	 */
-	size_t sizeTillEnd;
-	/**
-	 * \brief	The information whether the class is read-write or read-only is stored here.
-	 */
-	ReadWriteMode_t readWriteMode;
-	static const uint8_t RAW_MAX_SIZE = sizeof(double);
-protected:
-	/**
-	 * \brief	This is a call to read the value from the global data pool.
-	 * \details	When executed, this operation tries to fetch the pool entry with matching
-	 * 			data pool id from the global data pool and copies the value and the valid
-	 * 			information to its local attributes. In case of a failure (wrong type or
-	 * 			pool id not found), the variable is set to zero and invalid.
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 */
-	ReturnValue_t read();
-	/**
-	 * \brief	The commit call writes back the variable's value to the data pool.
-	 * \details	It checks type and size, as well as if the variable is writable. If so,
-	 * 			the value is copied and the valid flag is automatically set to "valid".
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 *
-	 */
-	ReturnValue_t commit();
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
-	static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
-	uint8_t value[RAW_MAX_SIZE];
-	PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
-			DataSetIF *data_set, ReadWriteMode_t setReadWriteMode =
-					PoolVariableIF::VAR_READ);
-	/**
-	 * \brief	The classes destructor is empty. If commit() was not called, the local value is
-	 * 			discarded and not written back to the data pool.
-	 */
-	~PoolRawAccess();
-	/**
-	 * \brief	This operation returns a pointer to the entry fetched.
-	 * \details	This means, it does not return a pointer to byte "index", but to the start byte of
-	 * 			array entry "index". Example: If the original data pool array consists of an double
-	 * 			array of size four, getEntry(1) returns &(this->value[8]).
-	 */
-	uint8_t* getEntry();
-	/**
-	 * \brief 	This operation returns the fetched entry from the data pool and
-	 * 			flips the bytes, if necessary.
-	 * \details	It makes use of the getEntry call of this function, but additionally flips the
-	 * 			bytes to big endian, which is the default for external communication (as House-
-	 * 			keeping telemetry). To achieve this, the data is copied directly to the passed
-	 * 			buffer, if it fits in the given maxSize.
-	 * \param buffer	A pointer to a buffer to write to
-	 * \param writtenBytes	The number of bytes written is returned with this value.
-	 * \param maxSize	The maximum size that the function may write to buffer.
-	 * \return	- \c RETURN_OK if entry could be acquired
-	 * 			- \c RETURN_FAILED else.
-	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
-			size_t maxSize);
-	/**
-	 * With this method, the content can be set from a big endian buffer safely.
-	 * @param buffer	Pointer to the data to set
-	 * @param size		Size of the data to write. Must fit this->size.
-	 * @return	- \c RETURN_OK on success
-	 * 			- \c RETURN_FAILED on failure
-	 */
-	ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
-			size_t setSize);
-	/**
-	 *  \brief This operation returns the type of the entry currently stored.
-	 */
-	Type getType();
-	/**
-	 *  \brief This operation returns the size of the entry currently stored.
-	 */
-	size_t getSizeOfType();
-	/**
-	 *
-	 * @return the size of the datapool array
-	 */
-	size_t getArraySize();
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const;
-	/**
-	 * This method returns if the variable is read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const;
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const;
-
-	void setValid(uint8_t valid);
-	/**
-	 * Getter for the remaining size.
-	 */
-	size_t getSizeTillEnd() const;
-
-	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-			 Endianness streamEndianness) const override;
-
-	size_t getSerializedSize() const override;
-
-	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-			 Endianness streamEndianness) override;
-};
-
-#endif /* POOLRAWACCESS_H_ */

datapool/PoolVarList.h

@@ -1,14 +1,15 @@
-#ifndef POOLVARLIST_H_
-#define POOLVARLIST_H_
+#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
+#define FSFW_DATAPOOL_POOLVARLIST_H_
 
-#include "PoolVariable.h"
-#include "PoolVariableIF.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 template <class T, uint8_t n_var>
 class PoolVarList {
 private:
-	PoolVariable<T> variables[n_var];
+	GlobPoolVar<T> variables[n_var];
 public:
-	PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet, PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
+	PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet,
+	        PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
 		//I really should have a look at the new init list c++ syntax.
 		if (dataSet == NULL) {
 			return;
@@ -20,9 +21,9 @@ public:
 		}
 	}
 
-	PoolVariable<T> &operator [](int i) { return variables[i]; }
+	GlobPoolVar<T> &operator [](int i) { return variables[i]; }
 };
 
 
 
-#endif /* POOLVARLIST_H_ */
+#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */

datapool/PoolVariable.h

@@ -1,295 +0,0 @@
-/*
- * \file	PoolVariable.h
- *
- * \brief	This file contains the PoolVariable class, which locally represents a non-array data pool variable.
- *
- * \date	10/17/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLVARIABLE_H_
-#define POOLVARIABLE_H_
-
-#include "DataSetIF.h"
-#include "PoolEntry.h"
-#include "PoolVariableIF.h"
-#include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-template<typename T, uint8_t n_var> class PoolVarList;
-
-/**
- * \brief	This is the access class for non-array data pool entries.
- *
- * \details	To ensure safe usage of the data pool, operation is not done directly on the data pool
- * 			entries, but on local copies. This class provides simple type-safe access to single
- * 			data pool entries (i.e. entries with length = 1).
- * 			The class can be instantiated as read-write and read only.
- * 			It provides a commit-and-roll-back semantic, which means that the variable's value in
- * 			the data pool is not changed until the commit call is executed.
- * 	\tparam	T The template parameter sets the type of the variable. Currently, all plain data types
- * 			are supported, but in principle any type is possible.
- *	\ingroup data_pool
- */
-template<typename T>
-class PoolVariable: public PoolVariableIF {
-	template<typename U, uint8_t n_var> friend class PoolVarList;
-protected:
-	/**
-	 * \brief	To access the correct data pool entry on read and commit calls, the data pool id
-	 * 			is stored.
-	 */
-	uint32_t dataPoolId;
-	/**
-	 * \brief	The valid information as it was stored in the data pool is copied to this attribute.
-	 */
-	uint8_t valid;
-	/**
-	 * \brief	The information whether the class is read-write or read-only is stored here.
-	 */
-	ReadWriteMode_t readWriteMode;
-	/**
-	 * \brief	This is a call to read the value from the global data pool.
-	 * \details	When executed, this operation tries to fetch the pool entry with matching
-	 * 			data pool id from the global data pool and copies the value and the valid
-	 * 			information to its local attributes. In case of a failure (wrong type or
-	 * 			pool id not found), the variable is set to zero and invalid.
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 */
-	ReturnValue_t read() {
-		PoolEntry<T> *read_out = ::dataPool.getData < T > (dataPoolId, 1);
-		if (read_out != NULL) {
-			valid = read_out->valid;
-			value = *(read_out->address);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			value = 0;
-			valid = false;
-			sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
-					<< dataPoolId << std::dec << " failed." << std::endl;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	/**
-	 * \brief	The commit call writes back the variable's value to the data pool.
-	 * \details	It checks type and size, as well as if the variable is writable. If so,
-	 * 			the value is copied and the valid flag is automatically set to "valid".
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 *
-	 */
-	ReturnValue_t commit() {
-		PoolEntry<T> *write_back = ::dataPool.getData < T > (dataPoolId, 1);
-		if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
-			write_back->valid = valid;
-			*(write_back->address) = value;
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	/**
-	 * Empty ctor for List initialization
-	 */
-	PoolVariable() :
-			dataPoolId(PoolVariableIF::NO_PARAMETER), valid(
-					PoolVariableIF::INVALID), readWriteMode(VAR_READ), value(0) {
-
-	}
-public:
-	/**
-	 * \brief	This is the local copy of the data pool entry.
-	 * \details	The user can work on this attribute
-	 * 			just like he would on a simple local variable.
-	 */
-	T value;
-	/**
-	 * \brief	In the constructor, the variable can register itself in a DataSet (if not NULL is
-	 * 			passed).
-	 * \details	It DOES NOT fetch the current value from the data pool, but sets the value
-	 * 			attribute to default (0). The value is fetched within the read() operation.
-	 * \param set_id	This is the id in the global data pool this instance of the access class
-	 * 					corresponds to.
-	 * \param dataSet	The data set in which the variable shall register itself. If NULL,
-	 * 					the variable is not registered.
-	 * \param setWritable If this flag is set to true, changes in the value attribute can be
-	 * 					written back to the data pool, otherwise not.
-	 */
-	PoolVariable(uint32_t set_id, DataSetIF *dataSet,
-			ReadWriteMode_t setReadWriteMode) :
-			dataPoolId(set_id), valid(PoolVariableIF::INVALID), readWriteMode(
-					setReadWriteMode), value(0) {
-		if (dataSet != NULL) {
-			dataSet->registerVariable(this);
-		}
-	}
-	/**
-	 * Copy ctor to copy classes containing Pool Variables.
-	 */
-	PoolVariable(const PoolVariable &rhs) :
-			dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
-					rhs.readWriteMode), value(rhs.value) {
-	}
-
-	/**
-	 * \brief	The classes destructor is empty.
-	 * \details	If commit() was not called, the local value is
-	 * 			discarded and not written back to the data pool.
-	 */
-	~PoolVariable() {
-
-	}
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const {
-		return dataPoolId;
-	}
-	/**
-	 * This operation sets the data pool id of the variable.
-	 * The method is necessary to set id's of data pool member variables with bad initialization.
-	 */
-	void setDataPoolId(uint32_t poolId) {
-		dataPoolId = poolId;
-	}
-	/**
-	 * This method returns if the variable is write-only, read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const {
-		return readWriteMode;
-	}
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const {
-		if (valid)
-			return true;
-		else
-			return false;
-	}
-
-	uint8_t getValid() {
-		return valid;
-	}
-
-	void setValid(uint8_t valid) {
-		this->valid = valid;
-	}
-
-	operator T() {
-		return value;
-	}
-
-	operator T() const {
-		return value;
-	}
-
-	PoolVariable<T>& operator=(T newValue) {
-		value = newValue;
-		return *this;
-	}
-
-	PoolVariable<T>& operator=(PoolVariable<T> newPoolVariable) {
-		value = newPoolVariable.value;
-		return *this;
-	}
-
-	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t maxSize, Endianness streamEndianness) const override {
-		return SerializeAdapter::serialize<T>(&value, buffer, size, maxSize,
-				streamEndianness);
-	}
-
-	virtual size_t getSerializedSize() const override {
-		return SerializeAdapter::getSerializedSize(&value);
-	}
-
-	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-			Endianness streamEndianness) override {
-		return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
-	}
-};
-
-typedef PoolVariable<uint8_t> db_uint8_t;
-typedef PoolVariable<uint16_t> db_uint16_t;
-typedef PoolVariable<uint32_t> db_uint32_t;
-typedef PoolVariable<int8_t> db_int8_t;
-typedef PoolVariable<int16_t> db_int16_t;
-typedef PoolVariable<int32_t> db_int32_t;
-typedef PoolVariable<uint8_t> db_bool_t;
-typedef PoolVariable<float> db_float_t;
-typedef PoolVariable<double> db_double_t;
-//Alternative (but I thing this is not as useful: code duplication, differences too small):
-
-//template <typename T>
-//class PoolReader : public PoolVariableIF {
-//private:
-//	uint32_t parameter_id;
-//	uint8_t valid;
-//public:
-//	T value;
-//	PoolReader( uint32_t set_id, DataSetIF* set ) : parameter_id(set_id), valid(false), value(0) {
-//		set->registerVariable( this );
-//	}
-//
-//	~PoolReader() {};
-//
-//	uint8_t commit() {
-//			return HasReturnvaluesIF::RETURN_OK;
-//	}
-//
-//	uint8_t read() {
-//		PoolEntry<T>* read_out = ::dataPool.getData<T>( parameter_id, 1 );
-//		if ( read_out != NULL ) {
-//			valid = read_out->valid;
-//			value = *(read_out->address);
-//			return HasReturnvaluesIF::RETURN_OK;
-//		} else {
-//			value = 0;
-//			valid = false;
-//			return CHECKOUT_FAILED;
-//		}
-//	}
-//	uint32_t getParameterId() { return parameter_id; }
-//	bool isWritable() { return false; };
-//	bool isValid() { if (valid) return true; else return false; }
-//};
-//
-//template <typename T>
-//class PoolWriter : public PoolVariableIF {
-//private:
-//	uint32_t parameter_id;
-//public:
-//	T value;
-//	PoolWriter( uint32_t set_id, DataSetIF* set ) : parameter_id(set_id), value(0) {
-//		set->registerVariable( this );
-//	}
-//
-//	~PoolWriter() {};
-//
-//	uint8_t commit() {
-//		PoolEntry<T>* write_back = ::dataPool.getData<T>( parameter_id, 1 );
-//		if ( write_back != NULL ) {
-//			write_back->valid = true;
-//			*(write_back->address) = value;
-//			return HasReturnvaluesIF::RETURN_OK;
-//		} else {
-//			return CHECKOUT_FAILED;
-//		}
-//	}
-//	uint8_t read() {
-//		PoolEntry<T>* read_out = ::dataPool.getData<T>( parameter_id, 1 );
-//		if ( read_out != NULL ) {
-//			value = *(read_out->address);
-//			return HasReturnvaluesIF::RETURN_OK;
-//		} else {
-//			value = 0;
-//			return CHECKOUT_FAILED;
-//		}
-//	}
-//	uint32_t getParameterId() { return parameter_id; }
-//	bool isWritable() { return true; };
-//	bool isValid() { return false; }
-//};
-
-#endif /* POOLVARIABLE_H_ */

datapool/PoolVariableIF.h

@@ -1,71 +1,99 @@
-/*
- * \file	PoolVariableIF.h
- *
- * \brief	This file contains the interface definition for pool variables.
- *
- * \date	10/17/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLVARIABLEIF_H_
-#define POOLVARIABLEIF_H_
+#ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
+#define FSFW_DATAPOOL_POOLVARIABLEIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
 
 /**
- * \brief	This interface is used to control local data pool variable representations.
- *
- * \details	To securely handle data pool variables, all pool entries are locally managed by
- * 			data pool variable access classes, which are called pool variables. To ensure a
- * 			common state of a set of variables needed in a function, these local pool variables
- * 			again are managed by other classes, e.g. the DataSet. This interface provides unified
- * 			access to local pool variables for such manager classes.
- *	\ingroup data_pool
+ * @brief	This interface is used to control data pool
+ * 			variable representations.
+ * @details
+ * To securely handle data pool variables, all pool entries are locally
+ * managed by data pool variable access classes, which are called pool
+ * variables. To ensure a common state of a set of variables needed in a
+ * function, these local pool variables again are managed by other classes,
+ * like the DataSet classes. This interface provides unified access to
+ * local pool variables for such manager classes.
+ * @author 	Bastian Baetz
+ * @ingroup data_pool
  */
 class PoolVariableIF : public SerializeIF {
-	friend class DataSet;
-protected:
-	/**
-	 * \brief	The commit call shall write back a newly calculated local value to the data pool.
-	 */
-	virtual ReturnValue_t commit() = 0;
-	/**
-	 * \brief	The read call shall read the value of this parameter from the data pool and store
-	 * 			the content locally.
-	 */
-	virtual ReturnValue_t read() = 0;
+	friend class PoolDataSetBase;
+	friend class GlobDataSet;
+	friend class LocalPoolDataSetBase;
 public:
-	static const uint8_t VALID = 1;
-	static const uint8_t INVALID = 0;
-	static const uint32_t NO_PARAMETER = 0;
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
+	static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
+
+	static constexpr bool VALID = 1;
+	static constexpr bool INVALID = 0;
+	static constexpr uint32_t NO_PARAMETER = 0xffffffff;
+
 	enum ReadWriteMode_t {
 		VAR_READ, VAR_WRITE, VAR_READ_WRITE
 	};
 
 	/**
-	 * \brief	This is an empty virtual destructor, as it is proposed for C++ interfaces.
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is proposed for C++ interfaces.
 	 */
-	virtual ~PoolVariableIF() {
-	}
+	virtual ~PoolVariableIF() {}
 	/**
-	 * \brief	This method returns if the variable is write-only, read-write or read-only.
+	 * @brief	This method returns if the variable is write-only,
+	 * 			read-write or read-only.
 	 */
 	virtual ReadWriteMode_t getReadWriteMode() const = 0;
 	/**
-	 * \brief	This operation shall return the data pool id of the variable.
+	 * @brief	This operation shall return the data pool id of the variable.
 	 */
 	virtual uint32_t getDataPoolId() const = 0;
 	/**
-	 * \brief	With this call, the valid information of the variable is returned.
+	 * @brief	With this call, the valid information of the
+	 * 			variable is returned.
 	 */
 	virtual bool isValid() const = 0;
 	/**
-	 * \brief	With this call, the valid information of the variable is set.
+	 * @brief	With this call, the valid information of the variable is set.
 	 */
-	virtual void setValid(uint8_t validity) = 0;
+	virtual void setValid(bool validity) = 0;
 
+	/**
+	 * @brief	The commit call shall write back a newly calculated local
+	 * 			value to the data pool.
+	 * @details
+	 * It is assumed that these calls are implemented in a thread-safe manner!
+	 */
+	virtual ReturnValue_t commit(uint32_t lockTimeout) = 0;
+	/**
+	 * @brief	The read call shall read the value of this parameter from
+	 * 			the data pool and store the content locally.
+	 * @details
+	 * It is assumbed that these calls are implemented in a thread-safe manner!
+	 */
+	virtual ReturnValue_t read(uint32_t lockTimeout) = 0;
+
+protected:
+
+	/**
+	 * @brief 	Same as commit with the difference that comitting will be
+	 * 			performed without a lock
+	 * @return
+	 * This can be used if the lock protection is handled externally
+	 * to avoid the overhead of locking and unlocking consecutively.
+	 * Declared protected to avoid free public usage.
+	 */
+	virtual ReturnValue_t readWithoutLock() = 0;
+	/**
+	 * @brief 	Same as commit with the difference that comitting will be
+	 * 			performed without a lock
+	 * @return
+	 * This can be used if the lock protection is handled externally
+	 * to avoid the overhead of locking and unlocking consecutively.
+	 * Declared protected to avoid free public usage.
+	 */
+	virtual ReturnValue_t commitWithoutLock() = 0;
 };
 
-#endif /* POOLVARIABLEIF_H_ */
+using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
+
+#endif /* FSFW_DATAPOOL_POOLVARIABLEIF_H_ */

datapool/PoolVector.h

@@ -1,233 +0,0 @@
-/*
- * \file	PoolVector.h
- *
- * \brief	This file contains the PoolVector class, the header only class to handle data pool vectors.
- *
- * \date	10/23/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLVECTOR_H_
-#define POOLVECTOR_H_
-
-#include "DataSetIF.h"
-#include "PoolEntry.h"
-#include "PoolVariableIF.h"
-#include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-/**
- * \brief	This is the access class for array-type data pool entries.
- *
- * \details	To ensure safe usage of the data pool, operation is not done directly on the data pool
- * 			entries, but on local copies. This class provides simple type- and length-safe access
- * 			to vector-style data pool entries (i.e. entries with length > 1).
- * 			The class can be instantiated as read-write and read only.
- * 			It provides a commit-and-roll-back semantic, which means that no array entry in
- * 			the data pool is changed until the commit call is executed.
- * 			There are two template parameters:
- * 	\tparam	T This template parameter specifies the data type of an array entry. Currently, all
- * 			plain data types are supported, but in principle any type is possible.
- * 	\tparam vector_size	This template parameter specifies the vector size of this entry.
- * 			Using a template parameter for this is not perfect, but avoids dynamic memory allocation.
- *	\ingroup data_pool
- */
-template<typename T, uint16_t vector_size>
-class PoolVector: public PoolVariableIF {
-private:
-	/**
-	 * \brief	To access the correct data pool entry on read and commit calls, the data pool id
-	 * 			is stored.
-	 */
-	uint32_t dataPoolId;
-	/**
-	 * \brief	The valid information as it was stored in the data pool is copied to this attribute.
-	 */
-	uint8_t valid;
-	/**
-	 * \brief	The information whether the class is read-write or read-only is stored here.
-	 */
-	ReadWriteMode_t readWriteMode;
-
-protected:
-	/**
-	 * \brief	This is a call to read the array's values from the global data pool.
-	 * \details	When executed, this operation tries to fetch the pool entry with matching
-	 * 			data pool id from the global data pool and copies all array values and the valid
-	 * 			information to its local attributes. In case of a failure (wrong type, size or
-	 * 			pool id not found), the variable is set to zero and invalid.
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 */
-	ReturnValue_t read() {
-		PoolEntry<T>* read_out = ::dataPool.getData<T>(this->dataPoolId,
-				vector_size);
-		if (read_out != NULL) {
-			this->valid = read_out->valid;
-			memcpy(this->value, read_out->address, read_out->getByteSize());
-
-			return HasReturnvaluesIF::RETURN_OK;
-
-		} else {
-			memset(this->value, 0, vector_size * sizeof(T));
-			sif::error << "PoolVector: read of DP Variable 0x" << std::hex
-					<< dataPoolId << std::dec << " failed." << std::endl;
-			this->valid = INVALID;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	/**
-	 * \brief	The commit call copies the array values back to the data pool.
-	 * \details	It checks type and size, as well as if the variable is writable. If so,
-	 * 			the value is copied and the valid flag is automatically set to "valid".
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 *
-	 */
-	ReturnValue_t commit() {
-		PoolEntry<T>* write_back = ::dataPool.getData<T>(this->dataPoolId,
-				vector_size);
-		if ((write_back != NULL) && (this->readWriteMode != VAR_READ)) {
-			write_back->valid = valid;
-			memcpy(write_back->address, this->value, write_back->getByteSize());
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-public:
-	/**
-	 * \brief	This is the local copy of the data pool entry.
-	 * \detials	The user can work on this attribute
-	 * 			just like he would on a local array of this type.
-	 */
-	T value[vector_size];
-	/**
-	 * \brief	In the constructor, the variable can register itself in a DataSet (if not NULL is
-	 * 			passed).
-	 * \details	It DOES NOT fetch the current value from the data pool, but sets the value
-	 * 			attribute to default (0). The value is fetched within the read() operation.
-	 * \param set_id	This is the id in the global data pool this instance of the access class
-	 * 					corresponds to.
-	 * \param dataSet	The data set in which the variable shall register itself. If NULL,
-	 * 					the variable is not registered.
-	 * \param setWritable If this flag is set to true, changes in the value attribute can be
-	 * 					written back to the data pool, otherwise not.
-	 */
-	PoolVector(uint32_t set_id, DataSetIF* set,
-			ReadWriteMode_t setReadWriteMode) :
-			dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
-		memset(this->value, 0, vector_size * sizeof(T));
-		if (set != NULL) {
-			set->registerVariable(this);
-		}
-	}
-	/**
-	 * Copy ctor to copy classes containing Pool Variables.
-	 */
-//	PoolVector(const PoolVector& rhs) {
-//		PoolVector<T, vector_size> temp(rhs.dataPoolId, rhs.)
-//		memcpy(value, rhs.value, sizeof(T)*vector_size);
-//	}
-	/**
-	 * \brief	The classes destructor is empty.
-	 * \details	If commit() was not called, the local value is
-	 * 			discarded and not written back to the data pool.
-	 */
-	~PoolVector() {
-	}
-	;
-	/**
-	 * \brief	The operation returns the number of array entries in this variable.
-	 */
-	uint8_t getSize() {
-		return vector_size;
-	}
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const {
-		return dataPoolId;
-	}
-	/**
-	 * This operation sets the data pool id of the variable.
-	 * The method is necessary to set id's of data pool member variables with bad initialization.
-	 */
-	void setDataPoolId(uint32_t poolId) {
-		dataPoolId = poolId;
-	}
-	/**
-	 * This method returns if the variable is write-only, read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const {
-		return readWriteMode;
-	}
-	;
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const {
-		if (valid != INVALID)
-			return true;
-		else
-			return false;
-	}
-
-	void setValid(uint8_t valid) {
-		this->valid = valid;
-	}
-
-	uint8_t getValid() {
-		return valid;
-	}
-
-	T &operator [](int i) {
-		return value[i];
-	}
-
-	const T &operator [](int i) const {
-		return value[i];
-	}
-
-	PoolVector<T, vector_size> &operator=(
-			PoolVector<T, vector_size> newPoolVector) {
-
-		for (uint16_t i = 0; i < vector_size; i++) {
-			this->value[i] = newPoolVector.value[i];
-		}
-		return *this;
-	}
-
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const {
-		uint16_t i;
-		ReturnValue_t result;
-		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter::serialize(&(value[i]), buffer, size,
-					maxSize, streamEndianness);
-			if (result != HasReturnvaluesIF::RETURN_OK) {
-				return result;
-			}
-		}
-		return result;
-	}
-
-	virtual size_t getSerializedSize() const {
-		return vector_size * SerializeAdapter::getSerializedSize(value);
-	}
-
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) {
-		uint16_t i;
-		ReturnValue_t result;
-		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-					streamEndianness);
-			if (result != HasReturnvaluesIF::RETURN_OK) {
-				return result;
-			}
-		}
-		return result;
-	}
-};
-
-#endif /* POOLVECTOR_H_ */

datapool/SharedDataSetIF.h

@@ -0,0 +1,14 @@
+#ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
+#define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
+#include "PoolDataSetIF.h"
+
+class SharedDataSetIF: public PoolDataSetIF {
+public:
+    virtual ~SharedDataSetIF() {};
+
+private:
+    virtual ReturnValue_t lockDataset(dur_millis_t mutexTimeout) = 0;
+    virtual ReturnValue_t unlockDataset() = 0;
+};
+
+#endif /* FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_ */

datapoolglob/ControllerSet.cpp

@@ -1,4 +1,4 @@
-#include "ControllerSet.h"
+#include <fsfw/datapoolglob/ControllerSet.h>
 
 ControllerSet::ControllerSet() {
 

datapoolglob/ControllerSet.h

@@ -0,0 +1,15 @@
+#ifndef FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
+#define FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
+
+#include "../datapoolglob/GlobalDataSet.h"
+
+class ControllerSet :public GlobDataSet {
+public:
+	ControllerSet();
+	virtual ~ControllerSet();
+
+	virtual void setToDefault() = 0;
+	void setInvalid();
+};
+
+#endif /*  FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ */

datapoolglob/DataPoolAdmin.cpp

@@ -1,7 +1,8 @@
-#include "DataPool.h"
 #include "DataPoolAdmin.h"
-#include "DataSet.h"
+#include "GlobalDataSet.h"
+#include "GlobalDataPool.h"
 #include "PoolRawAccess.h"
+
 #include "../ipc/CommandMessage.h"
 #include "../ipc/QueueFactory.h"
 #include "../parameters/ParameterMessage.h"
@@ -40,9 +41,9 @@ ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
 
 	uint8_t valid = data[4];
 
-	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
 
-	DataSet mySet;
+	GlobDataSet mySet;
 	PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE);
 	ReturnValue_t status = mySet.read();
 	if (status != RETURN_OK) {
@@ -92,9 +93,9 @@ void DataPoolAdmin::handleCommand() {
 
 ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 		const uint8_t* data, size_t size, uint8_t** dataPointer) {
-	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
-	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
-	DataSet testSet;
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
+	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
+	GlobDataSet testSet;
 	PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
 			PoolVariableIF::VAR_READ);
 	ReturnValue_t status = testSet.read();
@@ -113,7 +114,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 	const uint8_t* readPosition = data;
 
 	for (; size > 0; size -= typeSize) {
-		DataSet rawSet;
+		GlobDataSet rawSet;
 		PoolRawAccess variable(poolId, arrayIndex, &rawSet,
 				PoolVariableIF::VAR_READ_WRITE);
 		status = rawSet.read();
@@ -131,9 +132,9 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 
 ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
 		uint8_t** dataPointer, uint8_t* copyHere) {
-	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
-	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
-	DataSet testSet;
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
+	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
+	GlobDataSet testSet;
 	PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
 			PoolVariableIF::VAR_READ);
 	ReturnValue_t status = testSet.read();
@@ -146,7 +147,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
 	}
 	uint8_t* ptrToCopy = copyHere;
 	for (; size > 0; size -= typeSize) {
-		DataSet rawSet;
+		GlobDataSet rawSet;
 		PoolRawAccess variable(poolId, arrayIndex, &rawSet,
 				PoolVariableIF::VAR_READ);
 		status = rawSet.read();

datapoolglob/DataPoolAdmin.h

@@ -1,15 +1,17 @@
-#ifndef DATAPOOLADMIN_H_
-#define DATAPOOLADMIN_H_
+#ifndef FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
+#define FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
+
+#include "DataPoolParameterWrapper.h"
 
-#include "../memory/MemoryHelper.h"
-#include "../action/HasActionsIF.h"
-#include "../action/SimpleActionHelper.h"
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../tasks/ExecutableObjectIF.h"
-#include "../parameters/ReceivesParameterMessagesIF.h"
-#include "DataPoolParameterWrapper.h"
+#include "../action/HasActionsIF.h"
 #include "../ipc/MessageQueueIF.h"
+#include "../parameters/ReceivesParameterMessagesIF.h"
+#include "../action/SimpleActionHelper.h"
+#include "../memory/MemoryHelper.h"
+
 
 class DataPoolAdmin: public HasActionsIF,
 		public ExecutableObjectIF,
@@ -55,4 +57,4 @@ private:
 			Command_t initialCommand);
 };
 
-#endif /* DATAPOOLADMIN_H_ */
+#endif /* FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ */

datapoolglob/DataPoolParameterWrapper.cpp

@@ -1,10 +1,8 @@
-#include "DataPoolParameterWrapper.h"
-
-//for returncodes
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/DataPoolParameterWrapper.h"
+#include "../datapoolglob/PoolRawAccess.h"
 #include "../parameters/HasParametersIF.h"
 
-#include "DataSet.h"
-#include "PoolRawAccess.h"
 
 DataPoolParameterWrapper::DataPoolParameterWrapper() :
 		type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
@@ -20,7 +18,7 @@ ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
 		uint16_t parameterId) {
 	poolId = (domainId << 16) + parameterId;
 
-	DataSet mySet;
+	GlobDataSet mySet;
 	PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ);
 	ReturnValue_t status = mySet.read();
 	if (status != HasReturnvaluesIF::RETURN_OK) {
@@ -57,7 +55,7 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 	}
 
 	for (uint8_t index = 0; index < rows; index++){
-		DataSet mySet;
+		GlobDataSet mySet;
 		PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
 		mySet.read();
 		result = raw.serialize(buffer,size,maxSize,streamEndianness);
@@ -94,7 +92,7 @@ ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow,
 
 	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
 
-		DataSet mySet;
+		GlobDataSet mySet;
 		PoolRawAccess raw(poolId, startingRow + fromRow, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();

datapoolglob/GlobalDataPool.cpp

@@ -0,0 +1,133 @@
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../ipc/MutexFactory.h"
+
+GlobalDataPool::GlobalDataPool(
+		void(*initFunction)(GlobPoolMap* pool_map)) {
+	mutex = MutexFactory::instance()->createMutex();
+	if (initFunction != NULL ) {
+		initFunction( &this->globDataPool );
+	}
+}
+
+GlobalDataPool::~GlobalDataPool() {
+	MutexFactory::instance()->deleteMutex(mutex);
+	for(GlobPoolMapIter it = this->globDataPool.begin();
+	    it != this->globDataPool.end(); ++it )
+	{
+		delete it->second;
+	}
+}
+
+// The function checks PID, type and array length before returning a copy of
+// the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
+template <typename T> PoolEntry<T>* GlobalDataPool::getData( uint32_t data_pool_id,
+		uint8_t sizeOrPosition ) {
+	GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
+	if ( it != this->globDataPool.end() ) {
+		PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
+		if (entry != nullptr ) {
+			if ( sizeOrPosition <= entry->length ) {
+				return entry;
+			}
+		}
+	}
+	return nullptr;
+}
+
+PoolEntryIF* GlobalDataPool::getRawData( uint32_t data_pool_id ) {
+	GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
+	if ( it != this->globDataPool.end() ) {
+		return it->second;
+	} else {
+		return nullptr;
+	}
+}
+
+ReturnValue_t GlobalDataPool::unlockDataPool() {
+	ReturnValue_t status = mutex->unlockMutex();
+	if(status != RETURN_OK) {
+		sif::error << "DataPool::DataPool: unlock of mutex failed with"
+				" error code: " << status << std::endl;
+	}
+	return status;
+}
+
+ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) {
+	ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
+	        timeoutMs);
+	if(status != RETURN_OK) {
+		sif::error << "DataPool::DataPool: lock of mutex failed "
+				"with error code: " << status << std::endl;
+	}
+	return status;
+}
+
+void GlobalDataPool::print() {
+	sif::debug << "DataPool contains: " << std::endl;
+	std::map<uint32_t, PoolEntryIF*>::iterator	dataPoolIt;
+	dataPoolIt = this->globDataPool.begin();
+	while( dataPoolIt != this->globDataPool.end() ) {
+		sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
+		dataPoolIt->second->print();
+		dataPoolIt++;
+	}
+}
+
+uint32_t GlobalDataPool::PIDToDataPoolId(uint32_t parameter_id) {
+	return (parameter_id >> 8) & 0x00FFFFFF;
+}
+
+uint8_t GlobalDataPool::PIDToArrayIndex(uint32_t parameter_id) {
+	return (parameter_id & 0x000000FF);
+}
+
+uint32_t GlobalDataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
+	return (poolId << 8) + index;
+}
+
+
+//SHOULDDO: Do we need a mutex lock here... I don't think so,
+//as we only check static const values of elements in a list that do not change.
+//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
+ReturnValue_t GlobalDataPool::getType(uint32_t parameter_id, Type* type) {
+	GlobPoolMapIter it = this->globDataPool.find( PIDToDataPoolId(parameter_id));
+	if ( it != this->globDataPool.end() ) {
+		*type = it->second->getType();
+		return RETURN_OK;
+	} else {
+		*type = Type::UNKNOWN_TYPE;
+		return RETURN_FAILED;
+	}
+}
+
+bool GlobalDataPool::exists(uint32_t parameterId) {
+	uint32_t poolId = PIDToDataPoolId(parameterId);
+	uint32_t index = PIDToArrayIndex(parameterId);
+	GlobPoolMapIter it = this->globDataPool.find( poolId );
+	if (it != globDataPool.end()) {
+		if (it->second->getSize() >= index) {
+			return true;
+		}
+	}
+	return false;
+}
+
+template PoolEntry<uint8_t>* GlobalDataPool::getData<uint8_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint16_t>* GlobalDataPool::getData<uint16_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint32_t>* GlobalDataPool::getData<uint32_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint64_t>* GlobalDataPool::getData<uint64_t>(
+		uint32_t data_pool_id, uint8_t size);
+template PoolEntry<int8_t>* GlobalDataPool::getData<int8_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<int16_t>* GlobalDataPool::getData<int16_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<int32_t>* GlobalDataPool::getData<int32_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<float>* GlobalDataPool::getData<float>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<double>* GlobalDataPool::getData<double>(
+		uint32_t data_pool_id, uint8_t size);

datapoolglob/GlobalDataPool.h

@@ -0,0 +1,149 @@
+#ifndef GLOBALDATAPOOL_H_
+#define GLOBALDATAPOOL_H_
+
+#include "../datapool/PoolEntry.h"
+#include "../globalfunctions/Type.h"
+#include "../ipc/MutexIF.h"
+#include <map>
+
+/**
+ * @defgroup data_pool Global data pool
+ * This is the group, where all classes associated with global
+ * data pool handling belong to.
+ * This includes classes to access Data Pool variables.
+ */
+
+/**
+ * Typedefs for the global pool representations
+ */
+using GlobPoolMap = std::map<uint32_t, PoolEntryIF*>;
+using GlobPoolMapIter = GlobPoolMap::iterator;
+
+/**
+ * @brief		This class represents the OBSW global data-pool.
+ *
+ * @details
+ * All variables are registered and space is allocated in an initialization
+ * function, which is passed do the constructor. Space for the variables is
+ * allocated on the heap (with a new call).
+ *
+ * The data is found by a data pool id, which uniquely represents a variable.
+ * Data pool variables should be used with a blackboard logic in mind,
+ * which means read data is valid (if flagged so),
+ * but not necessarily up-to-date.
+ *
+ * Variables are either single values or arrays.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class GlobalDataPool : public HasReturnvaluesIF {
+private:
+	/**
+	 * @brief	This is the actual data pool itself.
+	 * @details	It is represented by a map with the data pool id as index
+	 * 			and a pointer to a single PoolEntry as value.
+	 */
+	GlobPoolMap globDataPool;
+
+	/**
+	 * @brief	The mutex is created in the constructor and makes
+	 * 			access mutual exclusive.
+	 * @details	Locking and unlocking the pool is only done by the DataSet class.
+	 */
+	MutexIF*	mutex;
+public:
+	/**
+	 * @brief	In the classes constructor,
+	 * 			the passed initialization function is called.
+	 * @details
+	 * To enable filling the pool, a pointer to the map is passed,
+	 * allowing direct access to the pool's content.
+	 * On runtime, adding or removing variables is forbidden.
+	 */
+	GlobalDataPool( void ( *initFunction )( GlobPoolMap* pool_map ) );
+
+	/**
+	 * 	@brief	The destructor iterates through the data_pool map and
+	 * 			calls all entries destructors to clean up the heap.
+	 */
+	~GlobalDataPool();
+
+	/**
+	 * @brief	This is the default call to access the pool.
+	 * @details
+	 * A pointer to the PoolEntry object is returned.
+	 * The call checks data pool id, type and array size.
+	 * Returns NULL in case of failure.
+	 * @param data_pool_id	The data pool id to search.
+	 * @param sizeOrPosition The array size (not byte size!) of the pool entry,
+	 * or the position the user wants to read.
+	 * 			If smaller than the entry size, everything's ok.
+	 */
+	template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id,
+			uint8_t sizeOrPosition );
+
+	/**
+	 * @brief	An alternative call to get a data pool entry in case the type is not implicitly known
+	 * 			(i.e. in Housekeeping Telemetry).
+	 * @details	It returns a basic interface and does NOT perform
+	 * 			a size check. The caller has to assure he does not copy too much data.
+	 * 			Returns NULL in case the entry is not found.
+	 * @param data_pool_id	The data pool id to search.
+	 */
+	PoolEntryIF* getRawData( uint32_t data_pool_id );
+	/**
+	 * @brief	This is a small helper function to facilitate locking the global data pool.
+	 * @details	It fetches the pool's mutex id and tries to acquire the mutex.
+	 */
+	ReturnValue_t lockDataPool(uint32_t timeoutMs = MutexIF::BLOCKING);
+	/**
+	 * @brief	This is a small helper function to facilitate unlocking the global data pool.
+	 * @details	It fetches the pool's mutex id and tries to free the mutex.
+	 */
+	ReturnValue_t unlockDataPool();
+	/**
+	 * @brief	The print call is a simple debug method.
+	 * @details	It prints the current content of the data pool.
+	 *  		It iterates through the data_pool map and calls each entry's print() method.
+	 */
+	void print();
+	/**
+	 * Extracts the data pool id from a SCOS 2000 PID.
+	 * @param parameter_id The passed Parameter ID.
+	 * @return The data pool id as used within the OBSW.
+	 */
+	static uint32_t PIDToDataPoolId( uint32_t parameter_id );
+	/**
+	 * Extracts an array index out of a SCOS 2000 PID.
+	 * @param parameter_id The passed Parameter ID.
+	 * @return The index of the corresponding data pool entry.
+	 */
+	static uint8_t PIDToArrayIndex( uint32_t parameter_id );
+	/**
+	 * Retransforms a data pool id and an array index to a SCOS 2000 PID.
+	 */
+	static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
+
+	/**
+	 * Method to return the type of a pool variable.
+	 * @param parameter_id A parameterID (not pool id) of a DP member.
+	 * @param type Returns the type or TYPE::UNKNOWN_TYPE
+	 * @return RETURN_OK if parameter exists, RETURN_FAILED else.
+	 */
+	ReturnValue_t getType( uint32_t parameter_id, Type* type );
+
+	/**
+	 * Method to check if a PID exists. Does not lock, as there's no
+	 * possibility to alter the list that is checked during run-time.
+	 * @param parameterId The PID (not pool id!) of a parameter.
+	 * @return	true if exists, false else.
+	 */
+	bool exists(uint32_t parameterId);
+};
+
+//We assume someone globally instantiates a DataPool.
+namespace glob {
+extern GlobalDataPool dataPool;
+}
+
+#endif /* DATAPOOL_H_ */

datapoolglob/GlobalDataSet.cpp

@@ -0,0 +1,48 @@
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+GlobDataSet::GlobDataSet(): PoolDataSetBase(
+        reinterpret_cast<PoolVariableIF**>(&registeredVariables),
+        DATA_SET_MAX_SIZE) {}
+
+// Don't do anything with your variables, they are dead already!
+// (Destructor is already called)
+GlobDataSet::~GlobDataSet() {}
+
+ReturnValue_t GlobDataSet::commit(bool valid, uint32_t lockTimeout) {
+	setEntriesValid(valid);
+	setSetValid(valid);
+	return commit(lockTimeout);
+}
+
+ReturnValue_t GlobDataSet::commit(uint32_t lockTimeout) {
+	return PoolDataSetBase::commit(lockTimeout);
+}
+
+bool GlobDataSet::isValid() const {
+    return this->valid;
+}
+
+ReturnValue_t GlobDataSet::unlockDataPool() {
+	return glob::dataPool.unlockDataPool();
+}
+
+ReturnValue_t GlobDataSet::lockDataPool(uint32_t timeoutMs) {
+	return glob::dataPool.lockDataPool(timeoutMs);
+}
+
+void GlobDataSet::setEntriesValid(bool valid) {
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				!= PoolVariableIF::VAR_READ) {
+			registeredVariables[count]->setValid(valid);
+		}
+	}
+}
+
+void GlobDataSet::setSetValid(bool valid) {
+	this->valid = valid;
+}
+
+

datapoolglob/GlobalDataSet.h

@@ -0,0 +1,98 @@
+#ifndef FRAMEWORK_DATAPOOLGLOB_DATASET_H_
+#define FRAMEWORK_DATAPOOLGLOB_DATASET_H_
+
+#include "../datapool/PoolDataSetBase.h"
+
+/**
+ * @brief	The DataSet class manages a set of locally checked out variables
+ * 			for the global data pool.
+ * @details
+ * This class uses the read-commit() semantic provided by the DataSetBase class.
+ * It extends the base class by using the global data pool,
+ * having a valid state and implementing lock und unlock calls for the global
+ * datapool.
+ *
+ * For more information on how this class works, see the DataSetBase
+ * documentation.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class GlobDataSet: public PoolDataSetBase {
+public:
+
+	/**
+	 * @brief	Creates an empty GlobDataSet. Use registerVariable or
+	 * 			supply a pointer to this dataset to PoolVariable
+	 * 			initializations to register pool variables.
+	 */
+	GlobDataSet();
+
+	/**
+	 * @brief	The destructor automatically manages writing the valid
+	 * 			information of variables.
+	 * @details
+	 * In case the data set was read out, but not committed(indicated by state),
+	 * the destructor parses all variables that are still registered to the set.
+	 * For each, the valid flag in the data pool is set to "invalid".
+	 */
+	~GlobDataSet();
+
+	/**
+	 * Variant of method above which sets validity of all elements of the set.
+	 * @param valid Validity information from PoolVariableIF.
+	 * @return	- @c RETURN_OK if all variables were read successfully.
+	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
+	 * 			     contains non write-only variables
+	 */
+	ReturnValue_t commit(bool valid, uint32_t lockTimeout = MutexIF::BLOCKING);
+	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+
+	/**
+	 * Set all entries
+	 * @param valid
+	 */
+	void setSetValid(bool valid);
+
+	bool isValid() const override;
+
+	/**
+	 * Set the valid information of all variables contained in the set which
+	 * are not read-only
+	 *
+	 * @param valid Validity information from PoolVariableIF.
+	 */
+	void setEntriesValid(bool valid);
+
+	//!< This definition sets the maximum number of variables to
+	//! register in one DataSet.
+	static const uint8_t DATA_SET_MAX_SIZE = 63;
+
+private:
+	/**
+	 * If the valid state of a dataset is always relevant to the whole
+	 * data set we can use this flag.
+	 */
+	bool valid = false;
+
+	/**
+	 * @brief	This is a small helper function to facilitate locking
+	 * 			the global data pool.
+	 * @details
+	 * It makes use of the lockDataPool method offered by the DataPool class.
+	 */
+	ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
+	/**
+	 * @brief	This is a small helper function to facilitate
+	 * 			unlocking the global data pool
+	 * @details
+	 * It makes use of the freeDataPoolLock method offered by the DataPool class.
+	 */
+	ReturnValue_t unlockDataPool() override;
+
+	void handleAlreadyReadDatasetCommit();
+	ReturnValue_t handleUnreadDatasetCommit();
+
+	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
+};
+
+#endif /* FRAMEWORK_DATAPOOLGLOB_DATASET_H_ */

datapoolglob/GlobalPoolVariable.h

@@ -0,0 +1,213 @@
+#ifndef GLOBALPOOLVARIABLE_H_
+#define GLOBALPOOLVARIABLE_H_
+
+#include "../datapool/DataSetIF.h"
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../datapool/PoolEntry.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+template<typename T, uint8_t n_var> class PoolVarList;
+
+
+/**
+ * @brief	This is the access class for non-array data pool entries.
+ *
+ * @details
+ * To ensure safe usage of the data pool, operation is not done directly
+ * on the data pool entries, but on local copies. This class provides simple
+ * type-safe access to single data pool entries (i.e. entries with length = 1).
+ * The class can be instantiated as read-write and read only.
+ * It provides a commit-and-roll-back semantic, which means that the
+ * variable's value in the data pool is not changed until the
+ * commit call is executed.
+ * 	@tparam	T The template parameter sets the type of the variable.
+ * 	Currently, all plain data types are supported, but in principle
+ * 	any type is possible.
+ *	@ingroup data_pool
+ */
+template<typename T>
+class GlobPoolVar: public PoolVariableIF {
+	template<typename U, uint8_t n_var> friend class PoolVarList;
+	static_assert(not std::is_same<T, bool>::value,
+			"Do not use boolean for the PoolEntry type, use uint8_t instead!"
+			"There is no boolean type in CCSDS.");
+public:
+	/**
+	 * @brief	In the constructor, the variable can register itself in a
+	 * 			DataSet (if nullptr is not passed).
+	 * @details
+	 * It DOES NOT fetch the current value from the data pool, but
+	 * sets the value attribute to default (0).
+	 * The value is fetched within the read() operation.
+	 * @param set_id	This is the id in the global data pool
+	 * 					this instance of the access class corresponds to.
+	 * @param dataSet	The data set in which the variable shall register
+	 * 					itself. If NULL, the variable is not registered.
+	 * @param setWritable If this flag is set to true, changes in the value
+	 * 			attribute can be written back to the data pool, otherwise not.
+	 */
+	GlobPoolVar(uint32_t set_id, DataSetIF* dataSet,
+			ReadWriteMode_t setReadWriteMode);
+
+	/**
+	 * @brief	This is the local copy of the data pool entry.
+	 * @details	The user can work on this attribute
+	 * 			just like he would on a simple local variable.
+	 */
+	T value = 0;
+
+	/**
+	 * @brief 	Copy ctor to copy classes containing Pool Variables.
+	 * 			(Robin): This only copies member variables, which is done
+	 * 			by the default copy ctor. maybe we can ommit this ctor?
+	 */
+	GlobPoolVar(const GlobPoolVar& rhs);
+
+	/**
+	 * @brief	The classes destructor is empty.
+	 * @details	If commit() was not called, the local value is
+	 * 			discarded and not written back to the data pool.
+	 */
+	~GlobPoolVar() {}
+
+	/**
+	 * @brief	This is a call to read the value from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the global data pool and copies the value and the valid
+	 * information to its local attributes. In case of a failure (wrong type or
+	 * pool id not found), the variable is set to zero and invalid.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t read(uint32_t lockTimeout) override;
+	/**
+	 * @brief	The commit call writes back the variable's value to the data pool.
+	 * @details
+	 * It checks type and size, as well as if the variable is writable. If so,
+	 * the value is copied and the valid flag is automatically set to "valid".
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * The commit call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t commit(uint32_t lockTimeout) override;
+
+protected:
+	/**
+	 * @brief	Like #read, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t readWithoutLock() override;
+	/**
+	 * @brief	Like #commit, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t commitWithoutLock() override;
+	/**
+	 * @brief	To access the correct data pool entry on read and commit calls,
+	 * 			the data pool is stored.
+	 */
+	uint32_t dataPoolId;
+
+	/**
+	 * @brief	The valid information as it was stored in the data pool is
+	 * 			copied to this attribute.
+	 */
+	uint8_t valid;
+
+	/**
+	 * @brief	The information whether the class is read-write or read-only
+	 * 			is stored here.
+	 */
+	pool_rwm_t readWriteMode;
+
+	/**
+	 * Empty ctor for List initialization
+	 */
+	GlobPoolVar();
+public:
+	/**
+	 * \brief	This operation returns the data pool id of the variable.
+	 */
+	uint32_t getDataPoolId() const override;
+
+	/**
+	 * This method returns if the variable is write-only, read-write or read-only.
+	 */
+	ReadWriteMode_t getReadWriteMode() const override;
+	/**
+	 * This operation sets the data pool id of the variable.
+	 * The method is necessary to set id's of data pool member variables with bad initialization.
+	 */
+	void setDataPoolId(uint32_t poolId);
+
+	/**
+	 * \brief	With this call, the valid information of the variable is returned.
+	 */
+	bool isValid() const override;
+
+	uint8_t getValid();
+
+	void setValid(bool valid) override;
+
+	operator T() {
+		return value;
+	}
+
+	operator T() const {
+		return value;
+	}
+
+	GlobPoolVar<T> &operator=(T newValue) {
+		value = newValue;
+		return *this;
+	}
+
+	GlobPoolVar<T> &operator=(GlobPoolVar<T> newPoolVariable) {
+		value = newPoolVariable.value;
+		return *this;
+	}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			const size_t max_size,
+			SerializeIF::Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize(&value, buffer, size, max_size,
+				streamEndianness);
+	}
+
+	virtual size_t getSerializedSize() const {
+		return SerializeAdapter::getSerializedSize(&value);
+	}
+
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&value, buffer, size,
+		        streamEndianness);
+	}
+};
+
+#include "../datapoolglob/GlobalPoolVariable.tpp"
+
+typedef GlobPoolVar<uint8_t> gp_bool_t;
+typedef GlobPoolVar<uint8_t> gp_uint8_t;
+typedef GlobPoolVar<uint16_t> gp_uint16_t;
+typedef GlobPoolVar<uint32_t> gp_uint32_t;
+typedef GlobPoolVar<int8_t> gp_int8_t;
+typedef GlobPoolVar<int16_t> gp_int16_t;
+typedef GlobPoolVar<int32_t> gp_int32_t;
+typedef GlobPoolVar<float> gp_float_t;
+typedef GlobPoolVar<double> gp_double_t;
+
+#endif /* POOLVARIABLE_H_ */

datapoolglob/GlobalPoolVariable.tpp

@@ -0,0 +1,117 @@
+#ifndef GLOBALPOOLVARIABLE_TPP_
+#define GLOBALPOOLVARIABLE_TPP_
+
+template <class T>
+inline GlobPoolVar<T>::GlobPoolVar(uint32_t set_id,
+		DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode):
+		dataPoolId(set_id), valid(PoolVariableIF::INVALID),
+		readWriteMode(setReadWriteMode)
+{
+	if (dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+template<typename T>
+inline ReturnValue_t GlobPoolVar<T>::read(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = readWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+template<typename T>
+inline ReturnValue_t GlobPoolVar<T>::commit(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = commitWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+template <class T>
+inline ReturnValue_t GlobPoolVar<T>::readWithoutLock() {
+	PoolEntry<T>* read_out = glob::dataPool.getData<T>(dataPoolId, 1);
+	if (read_out != NULL) {
+		valid = read_out->valid;
+		value = *(read_out->address);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		value = 0;
+		valid = false;
+		sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
+				<< dataPoolId << std::dec << " failed." << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template <class T>
+inline ReturnValue_t GlobPoolVar<T>::commitWithoutLock() {
+	PoolEntry<T>* write_back = glob::dataPool.getData<T>(dataPoolId, 1);
+	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
+		write_back->valid = valid;
+		*(write_back->address) = value;
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template <class T>
+inline GlobPoolVar<T>::GlobPoolVar():
+		dataPoolId(PoolVariableIF::NO_PARAMETER),
+		valid(PoolVariableIF::INVALID),
+		readWriteMode(VAR_READ), value(0) {}
+
+template <class T>
+inline GlobPoolVar<T>::GlobPoolVar(const GlobPoolVar& rhs) :
+		dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
+		rhs.readWriteMode), value(rhs.value) {}
+
+template <class T>
+inline pool_rwm_t GlobPoolVar<T>::getReadWriteMode() const  {
+	return readWriteMode;
+}
+
+template <class T>
+inline uint32_t GlobPoolVar<T>::getDataPoolId() const {
+	return dataPoolId;
+}
+
+template <class T>
+inline void GlobPoolVar<T>::setDataPoolId(uint32_t poolId) {
+	dataPoolId = poolId;
+}
+
+template <class T>
+inline bool GlobPoolVar<T>::isValid() const {
+	if (valid)
+		return true;
+	else
+		return false;
+}
+
+template <class T>
+inline uint8_t GlobPoolVar<T>::getValid() {
+	return valid;
+}
+
+template <class T>
+inline void GlobPoolVar<T>::setValid(bool valid) {
+	this->valid = valid;
+}
+
+#endif

datapoolglob/GlobalPoolVector.h

@@ -0,0 +1,185 @@
+#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
+#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
+
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolEntry.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+/**
+ * @brief	This is the access class for array-type data pool entries.
+ *
+ * @details
+ * To ensure safe usage of the data pool, operation is not done directly on the
+ * data pool entries, but on local copies. This class provides simple type-
+ * and length-safe access to vector-style data pool entries (i.e. entries with
+ * length > 1). The class can be instantiated as read-write and read only.
+ *
+ * It provides a commit-and-roll-back semantic, which means that no array
+ * entry in the data pool is changed until the commit call is executed.
+ * There are two template parameters:
+ * @tparam	T
+ * This template parameter specifies the data type of an array entry. Currently,
+ * all plain data types are supported, but in principle any type is possible.
+ * @tparam  vector_size
+ * This template parameter specifies the vector size of this entry. Using a
+ * template parameter for this is not perfect, but avoids
+ * dynamic memory allocation.
+ * @ingroup data_pool
+ */
+template<typename T, uint16_t vectorSize>
+class GlobPoolVector: public PoolVariableIF {
+public:
+	/**
+	 * @brief	In the constructor, the variable can register itself in a
+	 * 			DataSet (if no nullptr is passed).
+	 * @details
+	 * It DOES NOT fetch the current value from the data pool, but sets the
+	 * value attribute to default (0). The value is fetched within the
+	 * read() operation.
+	 * @param set_id
+	 * This is the id in the global data pool this instance of the access
+	 * class corresponds to.
+	 * @param dataSet
+	 * The data set in which the variable shall register itself. If nullptr,
+	 * the variable is not registered.
+	 * @param setWritable
+	 * If this flag is set to true, changes in the value attribute can be
+	 * written back to the data pool, otherwise not.
+	 */
+	GlobPoolVector(uint32_t set_id, DataSetIF* set,
+			ReadWriteMode_t setReadWriteMode);
+
+	/**
+	 * @brief	This is the local copy of the data pool entry.
+	 * @details	The user can work on this attribute
+	 * 			just like he would on a local array of this type.
+	 */
+	T value[vectorSize];
+	/**
+	 * @brief	The classes destructor is empty.
+	 * @details	If commit() was not called, the local value is
+	 * 			discarded and not written back to the data pool.
+	 */
+	~GlobPoolVector() {};
+	/**
+	 * @brief	The operation returns the number of array entries
+	 * 			in this variable.
+	 */
+	uint8_t getSize() {
+		return vectorSize;
+	}
+	/**
+	 * @brief	This operation returns the data pool id of the variable.
+	 */
+	uint32_t getDataPoolId() const {
+		return dataPoolId;
+	}
+	/**
+	 * @brief This operation sets the data pool id of the variable.
+	 * @details
+	 * The method is necessary to set id's of data pool member variables
+	 * with bad initialization.
+	 */
+	void setDataPoolId(uint32_t poolId) {
+		dataPoolId = poolId;
+	}
+	/**
+	 * This method returns if the variable is write-only, read-write or read-only.
+	 */
+	ReadWriteMode_t getReadWriteMode() const {
+		return readWriteMode;
+	}
+
+
+	/**
+	 * @brief	With this call, the valid information of the variable is returned.
+	 */
+	bool isValid() const {
+		if (valid != INVALID)
+			return true;
+		else
+			return false;
+	}
+	void setValid(bool valid) {this->valid = valid;}
+	uint8_t getValid() {return valid;}
+
+	T &operator [](int i) {return value[i];}
+	const T &operator [](int i) const {return value[i];}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t max_size, Endianness streamEndianness) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        Endianness streamEndianness) override;
+
+	/**
+	 * @brief	This is a call to read the array's values
+	 * 			from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the global data pool and copies all array values
+	 * and the valid information to its local attributes.
+	 * In case of a failure (wrong type, size or pool id not found), the
+	 * variable is set to zero and invalid.
+	 * The read call is protected by a lock of the global data pool.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call copies the array values back to the data pool.
+	 * @details
+	 * It checks type and size, as well as if the variable is writable. If so,
+	 * the value is copied and the valid flag is automatically set to "valid".
+	 * The commit call is protected by a lock of the global data pool.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+
+protected:
+	/**
+	 * @brief	Like #read, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t readWithoutLock() override;
+	/**
+	 * @brief	Like #commit, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t commitWithoutLock() override;
+
+private:
+	/**
+	 * @brief	To access the correct data pool entry on read and commit calls,
+	 * 			the data pool id is stored.
+	 */
+	uint32_t dataPoolId;
+	/**
+	 * @brief	The valid information as it was stored in the data pool
+	 * 			is copied to this attribute.
+	 */
+	uint8_t valid;
+	/**
+	 * @brief	The information whether the class is read-write or
+	 * 			read-only is stored here.
+	 */
+	ReadWriteMode_t readWriteMode;
+};
+
+#include "../datapoolglob/GlobalPoolVector.tpp"
+
+template<typename T, uint16_t vectorSize>
+using gp_vec_t = GlobPoolVector<T, vectorSize>;
+
+#endif /* FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ */

datapoolglob/GlobalPoolVector.tpp

@@ -0,0 +1,117 @@
+#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
+#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
+
+
+template<typename T, uint16_t vectorSize>
+inline GlobPoolVector<T, vectorSize>::GlobPoolVector(uint32_t set_id,
+		DataSetIF* set, ReadWriteMode_t setReadWriteMode) :
+		dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
+	memset(this->value, 0, vectorSize * sizeof(T));
+	if (set != nullptr) {
+		set->registerVariable(this);
+	}
+}
+
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = readWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::commit(
+		uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = commitWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::readWithoutLock() {
+	PoolEntry<T>* read_out = glob::dataPool.getData<T>(this->dataPoolId,
+			vectorSize);
+	if (read_out != nullptr) {
+		this->valid = read_out->valid;
+		memcpy(this->value, read_out->address, read_out->getByteSize());
+
+		return HasReturnvaluesIF::RETURN_OK;
+
+	} else {
+		memset(this->value, 0, vectorSize * sizeof(T));
+		sif::error << "PoolVector: Read of DP Variable 0x" << std::hex
+				<< std::setw(8) << std::setfill('0') << dataPoolId <<
+				std::dec << " failed." << std::endl;
+		this->valid = INVALID;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::commitWithoutLock() {
+	PoolEntry<T>* writeBack = glob::dataPool.getData<T>(this->dataPoolId,
+			vectorSize);
+	if ((writeBack != nullptr) && (this->readWriteMode != VAR_READ)) {
+		writeBack->valid = valid;
+		memcpy(writeBack->address, this->value, writeBack->getByteSize());
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+		size_t* size, size_t max_size,
+		SerializeIF::Endianness streamEndianness) const {
+	uint16_t i;
+	ReturnValue_t result;
+	for (i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+				max_size, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline size_t GlobPoolVector<T, vectorSize>::getSerializedSize() const {
+	return vectorSize * SerializeAdapter::getSerializedSize(value);
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::deSerialize(
+		const uint8_t** buffer, size_t* size,
+		SerializeIF::Endianness streamEndianness) {
+	uint16_t i;
+	ReturnValue_t result;
+	for (i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+		        streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+#endif

datapoolglob/PIDReader.h

@@ -1,9 +1,9 @@
 #ifndef PIDREADER_H_
 #define PIDREADER_H_
-#include "DataPool.h"
-#include "DataSetIF.h"
-#include "PoolEntry.h"
-#include "PoolVariableIF.h"
+#include "../datapool/DataSetIF.h"
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../datapool/PoolEntry.h"
+#include "../datapool/PoolVariableIF.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
@@ -15,10 +15,10 @@ class PIDReader: public PoolVariableIF {
 protected:
 	uint32_t parameterId;
 	uint8_t valid;
-	ReturnValue_t read() {
-		uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
-		PoolEntry<T> *read_out = ::dataPool.getData<T>(
-				DataPool::PIDToDataPoolId(parameterId), arrayIndex);
+	ReturnValue_t readWithoutLock() {
+		uint8_t arrayIndex = GlobalDataPool::PIDToArrayIndex(parameterId);
+		PoolEntry<T> *read_out = glob::dataPool.getData<T>(
+				GlobalDataPool::PIDToDataPoolId(parameterId), arrayIndex);
 		if (read_out != NULL) {
 			valid = read_out->valid;
 			value = read_out->address[arrayIndex];
@@ -36,9 +36,13 @@ protected:
 	 * Reason is the possibility to access a single DP vector element, but if we commit,
 	 * we set validity of the whole vector.
 	 */
-	ReturnValue_t commit() {
+	ReturnValue_t commit(uint32_t lockTimeout) override {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	ReturnValue_t commitWithoutLock() override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 	/**
 	 * Empty ctor for List initialization
 	 */
@@ -72,6 +76,19 @@ public:
 		}
 	}
 
+	ReturnValue_t read(uint32_t lockTimeout) override {
+		ReturnValue_t result = glob::dataPool.lockDataPool();
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = readWithoutLock();
+		ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+		if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+			sif::error << "PIDReader::read: Could not unlock data pool!"
+					<< std::endl;
+		}
+		return result;
+	}
 	/**
 	 * Copy ctor to copy classes containing Pool Variables.
 	 */
@@ -89,7 +106,7 @@ public:
 	 * \brief	This operation returns the data pool id of the variable.
 	 */
 	uint32_t getDataPoolId() const {
-		return DataPool::PIDToDataPoolId(parameterId);
+		return GlobalDataPool::PIDToDataPoolId(parameterId);
 	}
 	uint32_t getParameterId() const {
 		return parameterId;
@@ -114,7 +131,7 @@ public:
 		return valid;
 	}
 
-	void setValid(uint8_t valid) {
+	void setValid(bool valid) {
 		this->valid = valid;
 	}
 

datapoolglob/PIDReaderList.h

@@ -1,8 +1,8 @@
-#ifndef FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
-#define FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
+#ifndef FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
+#define FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
 
-#include "PIDReader.h"
-#include "PoolVariableIF.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../datapoolglob/PIDReader.h"
 template <class T, uint8_t n_var>
 class PIDReaderList {
 private:
@@ -24,4 +24,4 @@ public:
 
 
 
-#endif /* FRAMEWORK_DATAPOOL_PIDREADERLIST_H_ */
+#endif /* FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_ */

datapoolglob/PoolRawAccess.cpp

@@ -0,0 +1,239 @@
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../datapoolglob/PoolRawAccess.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serialize/EndianConverter.h"
+
+#include <cstring>
+
+PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
+		DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode) :
+		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false),
+		type(Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0),
+		readWriteMode(setReadWriteMode) {
+	memset(value, 0, sizeof(value));
+	if (dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+PoolRawAccess::~PoolRawAccess() {}
+
+ReturnValue_t PoolRawAccess::read(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = readWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t PoolRawAccess::readWithoutLock() {
+	ReturnValue_t result = RETURN_FAILED;
+	PoolEntryIF* readOut = glob::dataPool.getRawData(dataPoolId);
+	if (readOut != nullptr) {
+		result = handleReadOut(readOut);
+		if(result == RETURN_OK) {
+			return result;
+		}
+	} else {
+		result = READ_ENTRY_NON_EXISTENT;
+	}
+	handleReadError(result);
+	return result;
+}
+
+ReturnValue_t PoolRawAccess::handleReadOut(PoolEntryIF* readOut) {
+	ReturnValue_t result = RETURN_FAILED;
+	valid = readOut->getValid();
+	if (readOut->getSize() > arrayEntry) {
+		arraySize = readOut->getSize();
+		typeSize = readOut->getByteSize() / readOut->getSize();
+		type = readOut->getType();
+		if (typeSize <= sizeof(value)) {
+			uint16_t arrayPosition = arrayEntry * typeSize;
+			sizeTillEnd = readOut->getByteSize() - arrayPosition;
+			uint8_t* ptr = &((uint8_t*) readOut->getRawData())[arrayPosition];
+			memcpy(value, ptr, typeSize);
+			return RETURN_OK;
+		} else {
+			result = READ_TYPE_TOO_LARGE;
+		}
+	} else {
+		//debug << "PoolRawAccess: Size: " << (int)read_out->getSize() << std::endl;
+		result = READ_INDEX_TOO_LARGE;
+	}
+	return result;
+}
+
+void PoolRawAccess::handleReadError(ReturnValue_t result) {
+	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
+			<< std::dec << " failed, ";
+	if(result == READ_TYPE_TOO_LARGE) {
+		sif::error << "type too large." << std::endl;
+	}
+	else if(result == READ_INDEX_TOO_LARGE) {
+		sif::error << "index too large." << std::endl;
+	}
+	else if(result == READ_ENTRY_NON_EXISTENT) {
+		sif::error << "entry does not exist." << std::endl;
+	}
+
+	valid = INVALID;
+	typeSize = 0;
+	sizeTillEnd = 0;
+	memset(value, 0, sizeof(value));
+}
+
+ReturnValue_t PoolRawAccess::commit(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = commitWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t PoolRawAccess::commitWithoutLock() {
+	PoolEntryIF* write_back = glob::dataPool.getRawData(dataPoolId);
+	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
+		write_back->setValid(valid);
+		uint8_t array_position = arrayEntry * typeSize;
+		uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position];
+		memcpy(ptr, value, typeSize);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t* PoolRawAccess::getEntry() {
+	return value;
+}
+
+ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
+		size_t* writtenBytes, size_t max_size) {
+	uint8_t* data_ptr = getEntry();
+	// debug << "PoolRawAccess::getEntry: Array position: " <<
+	// 	      index * size_of_type << " Size of T: " << (int)size_of_type <<
+	//		  " ByteSize: " << byte_size << " Position: " << *size << std::endl;
+	if (typeSize == 0)
+		return DATA_POOL_ACCESS_FAILED;
+	if (typeSize > max_size)
+		return INCORRECT_SIZE;
+	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
+	*writtenBytes = typeSize;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
+        size_t maxSize, Endianness streamEndianness) const {
+    if (typeSize + *size <= maxSize) {
+    	switch(streamEndianness) {
+    	case(Endianness::BIG):
+    		EndianConverter::convertBigEndian(*buffer, value, typeSize);
+    		break;
+    	case(Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(*buffer, value, typeSize);
+    		break;
+    	case(Endianness::MACHINE):
+    	default:
+            memcpy(*buffer, value, typeSize);
+            break;
+        }
+        *size += typeSize;
+        (*buffer) += typeSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    } else {
+        return SerializeIF::BUFFER_TOO_SHORT;
+    }
+}
+
+
+Type PoolRawAccess::getType() {
+	return type;
+}
+
+size_t PoolRawAccess::getSizeOfType() {
+	return typeSize;
+}
+
+size_t PoolRawAccess::getArraySize(){
+	return arraySize;
+}
+
+uint32_t PoolRawAccess::getDataPoolId() const {
+	return dataPoolId;
+}
+
+PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
+	return readWriteMode;
+}
+
+ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
+		size_t setSize) {
+	if (typeSize == setSize) {
+		EndianConverter::convertBigEndian(value, buffer, typeSize);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: "
+				"Internal" << (uint32_t) typeSize << ", Requested: " << setSize
+				<< std::endl;
+		return INCORRECT_SIZE;
+	}
+}
+
+bool PoolRawAccess::isValid() const {
+	if (valid != INVALID)
+		return true;
+	else
+		return false;
+}
+
+void PoolRawAccess::setValid(bool valid) {
+	this->valid = valid;
+}
+
+size_t PoolRawAccess::getSizeTillEnd() const {
+	return sizeTillEnd;
+}
+
+
+size_t PoolRawAccess::getSerializedSize() const {
+	return typeSize;
+}
+
+ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
+        Endianness streamEndianness) {
+
+    if (*size >= typeSize) {
+        switch(streamEndianness) {
+        case(Endianness::BIG):
+			EndianConverter::convertBigEndian(value, *buffer, typeSize);
+		    break;
+        case(Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(value, *buffer, typeSize);
+		   	break;
+        case(Endianness::MACHINE):
+        default:
+            memcpy(value, *buffer, typeSize);
+            break;
+        }
+    	*size -= typeSize;
+        *buffer += typeSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+    	return SerializeIF::STREAM_TOO_SHORT;
+    }
+}

datapoolglob/PoolRawAccess.h

@@ -0,0 +1,220 @@
+#ifndef POOLRAWACCESS_H_
+#define POOLRAWACCESS_H_
+
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolEntryIF.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../globalfunctions/Type.h"
+
+/**
+ * @brief This class allows accessing Data Pool variables as raw bytes.
+ * @details
+ * This is necessary to have an access method for HK data, as the PID's alone
+ * do not provide type information. Please note that the the raw pool access
+ * read() and commit() calls are not thread-safe.
+ *
+ * Please supply a data set and use the data set read(), commit() calls for
+ * thread-safe data pool access.
+ * @ingroup data_pool
+ */
+class PoolRawAccess: public PoolVariableIF, HasReturnvaluesIF {
+public:
+	/**
+	 * This constructor is used to access a data pool entry with a
+	 * given ID if the target type is not known. A DataSet object is supplied
+	 * and the data pool entry with the given ID is registered to that data set.
+	 * Please note that a pool raw access buffer only has a buffer
+	 * with a size of double. As such, for vector entries which have
+	 * @param data_pool_id Target data pool entry ID
+	 * @param arrayEntry
+	 * @param data_set Dataset to register data pool entry to
+	 * @param setReadWriteMode
+	 * @param registerVectors If set to true, the constructor checks if
+	 *                        there are multiple vector entries to registers
+	 *                        and registers all of them recursively into the data_set
+	 *
+	 */
+	PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
+			DataSetIF* data_set, ReadWriteMode_t setReadWriteMode =
+					PoolVariableIF::VAR_READ);
+
+	/**
+	 * @brief	This operation returns a pointer to the entry fetched.
+	 * @details	Return pointer to the buffer containing the raw data
+	 *          Size and number of data can be retrieved by other means.
+	 */
+	uint8_t* getEntry();
+	/**
+	 * @brief 	This operation returns the fetched entry from the data pool and
+	 * 			flips the bytes, if necessary.
+	 * @details	It makes use of the getEntry call of this function, but additionally flips the
+	 * 			bytes to big endian, which is the default for external communication (as House-
+	 * 			keeping telemetry). To achieve this, the data is copied directly to the passed
+	 * 			buffer, if it fits in the given max_size.
+	 * @param buffer	A pointer to a buffer to write to
+	 * @param writtenBytes	The number of bytes written is returned with this value.
+	 * @param max_size	The maximum size that the function may write to buffer.
+	 * @return	- @c RETURN_OK if entry could be acquired
+	 * 			- @c RETURN_FAILED else.
+	 */
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
+			size_t maxSize);
+
+	/**
+	 * @brief 	Serialize raw pool entry into provided buffer directly
+	 * @param buffer Provided buffer. Raw pool data will be copied here
+	 * @param size [out] Increment provided size value by serialized size
+	 * @param max_size Maximum allowed serialization size
+	 * @param bigEndian Specify endianess
+	 * @return - @c RETURN_OK if serialization was successfull
+	 *         - @c SerializeIF::BUFFER_TOO_SHORT if range check failed
+	 */
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+	        size_t maxSize, Endianness streamEndianness) const override;
+
+    size_t getSerializedSize() const override;
+
+    ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+            Endianness streamEndianness) override;
+
+	/**
+	 * With this method, the content can be set from a big endian buffer safely.
+	 * @param buffer	Pointer to the data to set
+	 * @param size		Size of the data to write. Must fit this->size.
+	 * @return	- @c RETURN_OK on success
+	 * 			- @c RETURN_FAILED on failure
+	 */
+	ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
+			size_t setSize);
+	/**
+	 *  @brief This operation returns the type of the entry currently stored.
+	 */
+	Type getType();
+	/**
+	 *  @brief This operation returns the size of the entry currently stored.
+	 */
+	size_t getSizeOfType();
+	/**
+	 *
+	 * @return the size of the datapool array
+	 */
+	size_t getArraySize();
+	/**
+	 * @brief	This operation returns the data pool id of the variable.
+	 */
+	uint32_t getDataPoolId() const;
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
+	static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t READ_TYPE_TOO_LARGE = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t READ_INDEX_TOO_LARGE = MAKE_RETURN_CODE(0x04);
+	static const ReturnValue_t READ_ENTRY_NON_EXISTENT =  MAKE_RETURN_CODE(0x05);
+	static const uint8_t RAW_MAX_SIZE = sizeof(double);
+	uint8_t value[RAW_MAX_SIZE];
+
+
+	/**
+	 * @brief	The classes destructor is empty. If commit() was not called, the local value is
+	 * 			discarded and not written back to the data pool.
+	 */
+	~PoolRawAccess();
+
+	/**
+	 * This method returns if the variable is read-write or read-only.
+	 */
+	ReadWriteMode_t getReadWriteMode() const;
+	/**
+	 * @brief	With this call, the valid information of the variable is returned.
+	 */
+	bool isValid() const;
+
+	void setValid(bool valid);
+	/**
+	 * Getter for the remaining size.
+	 */
+	size_t getSizeTillEnd() const;
+
+	/**
+	 * @brief	This is a call to read the value from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the global data pool and copies the value and the valid
+	 * information to its local attributes. In case of a failure (wrong type or
+	 * pool id not found), the variable is set to zero and invalid.
+	 * The call is protected by a lock of the global data pool.
+	 * @return -@c RETURN_OK Read successfull
+	 * 		   -@c READ_TYPE_TOO_LARGE
+	 * 		   -@c READ_INDEX_TOO_LARGE
+	 * 		   -@c READ_ENTRY_NON_EXISTENT
+	 */
+	ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call writes back the variable's value to the data pool.
+	 * @details
+	 * It checks type and size, as well as if the variable is writable. If so,
+	 * the value is copied and the valid flag is automatically set to "valid".
+	 * The call is protected by a lock of the global data pool.
+	 *
+	 */
+	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+
+protected:
+	/**
+	 * @brief	Like #read, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t readWithoutLock() override;
+	/**
+	 * @brief	Like #commit, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t commitWithoutLock() override;
+
+	ReturnValue_t handleReadOut(PoolEntryIF* read_out);
+	void handleReadError(ReturnValue_t result);
+private:
+	/**
+	 * @brief	To access the correct data pool entry on read and commit calls, the data pool id
+	 * 			is stored.
+	 */
+	uint32_t dataPoolId;
+	/**
+	 * @brief	The array entry that is fetched from the data pool.
+	 */
+	uint8_t arrayEntry;
+	/**
+	 * @brief	The valid information as it was stored in the data pool is copied to this attribute.
+	 */
+	uint8_t valid;
+	/**
+	 * @brief	This value contains the type of the data pool entry.
+	 */
+	Type type;
+	/**
+	 * @brief	This value contains the size of the data pool entry type in bytes.
+	 */
+	size_t typeSize;
+	/**
+	 * The size of the DP array (single values return 1)
+	 */
+	size_t arraySize;
+	/**
+	 * The size (in bytes) from the selected entry till the end of this DataPool variable.
+	 */
+	size_t sizeTillEnd;
+	/**
+	 * @brief	The information whether the class is read-write or read-only is stored here.
+	 */
+	ReadWriteMode_t readWriteMode;
+};
+
+#endif /* POOLRAWACCESS_H_ */

datapoollocal/HasLocalDataPoolIF.h

@@ -0,0 +1,136 @@
+#ifndef FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
+#define FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
+
+#include "locPoolDefinitions.h"
+
+#include "../datapool/PoolEntryIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
+#include "../housekeeping/HousekeepingMessage.h"
+
+#include <map>
+
+class LocalDataPoolManager;
+class LocalPoolDataSetBase;
+class LocalPoolObjectBase;
+
+using LocalDataPool =  std::map<lp_id_t, PoolEntryIF*>;
+using LocalDataPoolMapIter = LocalDataPool::iterator;
+
+/**
+ * @brief 		This interface is implemented by classes which posses a local
+ * 				data pool (not the managing class). It defines the relationship
+ * 				between the local data pool owner and the LocalDataPoolManager.
+ * @details
+ * Any class implementing this interface shall also have a LocalDataPoolManager
+ * member class which contains the actual pool data structure
+ * and exposes the public interface for it.
+ * This is required because the pool entries are templates, which makes
+ * specifying an interface rather difficult. The local data pool can be
+ * accessed by using the LocalPoolVariable, LocalPoolVector or LocalDataSet
+ * classes.
+ *
+ * Architectural Note:
+ * This could be circumvented by using a wrapper/accessor function or
+ * implementing the templated function in this interface..
+ * The first solution sounds better than the second but
+ * the LocalPoolVariable classes are templates as well, so this just shifts
+ * the problem somewhere else. Interfaces are nice, but the most
+ * pragmatic solution I found was to offer the client the full interface
+ * of the LocalDataPoolManager.
+ */
+class HasLocalDataPoolIF {
+public:
+	virtual~ HasLocalDataPoolIF() {};
+
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
+
+	static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
+
+	virtual object_id_t getObjectId() const = 0;
+
+	/** Command queue for housekeeping messages. */
+	virtual MessageQueueId_t getCommandQueue() const = 0;
+
+	/**
+	 * Is used by pool owner to initialize the pool map once
+	 * The manager instance shall also be passed to this function.
+	 * It can be used to subscribe for periodic packets for for updates.
+	 */
+	virtual ReturnValue_t initializeLocalDataPool(
+	        LocalDataPool& localDataPoolMap,
+	        LocalDataPoolManager& poolManager) = 0;
+
+	/** Can be used to get a handle to the local data pool manager. */
+	virtual LocalDataPoolManager* getHkManagerHandle() = 0;
+
+	/**
+	 * Returns the minimum sampling frequency in milliseconds, which will
+	 * usually be the period the pool owner performs its periodic operation.
+	 * @return
+	 */
+	virtual uint32_t getPeriodicOperationFrequency() const = 0;
+
+	/**
+	 * This function is used by the pool manager to get a valid dataset
+     * from a SID
+	 * @param sid Corresponding structure ID
+	 * @return
+	 */
+	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) = 0;
+
+	/**
+	 * Similar to the function above, but used to get a local pool variable
+	 * handle. This is only needed for update notifications, so it is not
+	 * defined as abstract.
+	 * @param localPoolId
+	 * @return
+	 */
+	virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
+	    sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
+	            << ". Returning nullptr!" << std::endl;
+	    return nullptr;
+	}
+
+    /**
+     * @brief   This function will be called by the manager if an update
+     *          notification is received.
+     * @details
+     * Can be overriden by the child class to handle changed datasets.
+     * @param sid
+     * @param storeId If a snapshot was requested, data will be located inside
+     * the IPC store with this store ID.
+     */
+    virtual void handleChangedDataset(sid_t sid,
+            store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
+        return;
+    }
+
+    /**
+     * @brief   This function will be called by the manager if an update
+     *          notification is received.
+     * @details
+     * Can be overriden by the child class to handle changed pool IDs.
+     * @param sid
+     * @param storeId If a snapshot was requested, data will be located inside
+     * the IPC store with this store ID.
+     */
+    virtual void handleChangedPoolVariable(lp_id_t poolId,
+            store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
+        return;
+    }
+
+	/* 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,
+	        float newIntervalSeconds) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+};
+
+#endif /* FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_ */

datapoollocal/LocalDataPoolManager.cpp

@@ -0,0 +1,782 @@
+#include "LocalDataPoolManager.h"
+#include "LocalPoolObjectBase.h"
+#include "LocalPoolDataSetBase.h"
+
+#include "../housekeeping/HousekeepingPacketUpdate.h"
+#include "../housekeeping/HousekeepingSetPacket.h"
+#include "../housekeeping/AcceptsHkPacketsIF.h"
+
+#include "../timemanager/CCSDSTime.h"
+#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
+#include "../ipc/QueueFactory.h"
+
+#include <array>
+#include <cmath>
+
+object_id_t LocalDataPoolManager::defaultHkDestination =
+        objects::PUS_SERVICE_3_HOUSEKEEPING;
+
+LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
+        MessageQueueIF* queueToUse, bool appendValidityBuffer):
+                        appendValidityBuffer(appendValidityBuffer) {
+    if(owner == nullptr) {
+        sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
+                << "Invalid supplied owner!" << std::endl;
+        return;
+    }
+    this->owner = owner;
+    mutex = MutexFactory::instance()->createMutex();
+    if(mutex == nullptr) {
+        sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
+                << "Could not create mutex." << std::endl;
+    }
+
+    hkQueue = queueToUse;
+}
+
+LocalDataPoolManager::~LocalDataPoolManager() {}
+
+ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
+    if(queueToUse == nullptr) {
+        sif::error << "LocalDataPoolManager::initialize: "
+                << std::hex << "0x" << owner->getObjectId() << ". Supplied "
+                << "queue invalid!" << std::dec << std::endl;
+    }
+    hkQueue = queueToUse;
+
+    ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    if(ipcStore == nullptr) {
+        sif::error << "LocalDataPoolManager::initialize: "
+                << std::hex << "0x" << owner->getObjectId() << ": Could not "
+                << "set IPC store." <<std::dec << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+
+    if(defaultHkDestination != objects::NO_OBJECT) {
+        AcceptsHkPacketsIF* hkPacketReceiver =
+                objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
+        if(hkPacketReceiver != nullptr) {
+            hkDestinationId = hkPacketReceiver->getHkQueue();
+        }
+        else {
+            sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
+                    << "Default HK destination object is invalid!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(
+        uint8_t nonDiagInvlFactor) {
+    setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
+    return initializeHousekeepingPoolEntriesOnce();
+}
+
+ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
+    if(not mapInitialized) {
+        ReturnValue_t result = owner->initializeLocalDataPool(localPoolMap,
+                *this);
+        if(result == HasReturnvaluesIF::RETURN_OK) {
+            mapInitialized = true;
+        }
+        return result;
+    }
+    sif::warning << "HousekeepingManager: The map should only be initialized "
+            << "once!" << std::endl;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::performHkOperation() {
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+    for(auto& receiver: hkReceiversMap) {
+        switch(receiver.reportingType) {
+        case(ReportingType::PERIODIC): {
+            if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
+                // Periodic packets shall only be generated from datasets.
+                continue;
+            }
+            performPeriodicHkGeneration(receiver);
+            break;
+        }
+        case(ReportingType::UPDATE_HK): {
+            handleHkUpdate(receiver, status);
+            break;
+        }
+        case(ReportingType::UPDATE_NOTIFICATION): {
+            handleNotificationUpdate(receiver, status);
+            break;
+        }
+        case(ReportingType::UPDATE_SNAPSHOT): {
+            handleNotificationSnapshot(receiver, status);
+            break;
+        }
+        default:
+            // This should never happen.
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+    resetHkUpdateResetHelper();
+    return status;
+}
+
+ReturnValue_t LocalDataPoolManager::handleHkUpdate(HkReceiver& receiver,
+        ReturnValue_t& status) {
+    if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
+        // Update packets shall only be generated from datasets.
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
+            receiver.dataId.sid);
+    if(dataSet->hasChanged()) {
+        // prepare and send update notification
+        ReturnValue_t result = generateHousekeepingPacket(
+                receiver.dataId.sid, dataSet, true);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            status = result;
+        }
+    }
+    handleChangeResetLogic(receiver.dataType, receiver.dataId,
+            dataSet);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(
+        HkReceiver& receiver, ReturnValue_t& status) {
+    MarkChangedIF* toReset = nullptr;
+    if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
+        LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(
+                receiver.dataId.localPoolId);
+        if(poolObj == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        if(poolObj->hasChanged()) {
+            // prepare and send update notification.
+            CommandMessage notification;
+            HousekeepingMessage::setUpdateNotificationVariableCommand(
+                    &notification, receiver.dataId.localPoolId);
+            ReturnValue_t result = hkQueue->sendMessage(
+                    receiver.destinationQueue, &notification);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            toReset = poolObj;
+        }
+
+    }
+    else {
+        LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
+                receiver.dataId.sid);
+        if(dataSet == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        if(dataSet->hasChanged()) {
+            // prepare and send update notification
+            CommandMessage notification;
+            HousekeepingMessage::setUpdateNotificationSetCommand(
+                    &notification, receiver.dataId.sid);
+            ReturnValue_t result = hkQueue->sendMessage(
+                    receiver.destinationQueue, &notification);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            toReset = dataSet;
+        }
+    }
+    if(toReset != nullptr) {
+        handleChangeResetLogic(receiver.dataType,
+                receiver.dataId, toReset);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
+        HkReceiver& receiver, ReturnValue_t& status) {
+    MarkChangedIF* toReset = nullptr;
+    // check whether data has changed and send messages in case it has.
+    if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
+        LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(
+                receiver.dataId.localPoolId);
+        if(poolObj == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+
+        if (not poolObj->hasChanged()) {
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        // prepare and send update snapshot.
+        timeval now;
+        Clock::getClock_timeval(&now);
+        CCSDSTime::CDS_short cds;
+        CCSDSTime::convertToCcsds(&cds, &now);
+        HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
+                sizeof(cds), owner->getPoolObjectHandle(
+                receiver.dataId.localPoolId));
+
+        store_address_t storeId;
+        ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+
+        CommandMessage notification;
+        HousekeepingMessage::setUpdateSnapshotVariableCommand(&notification,
+                receiver.dataId.localPoolId, storeId);
+        result = hkQueue->sendMessage(receiver.destinationQueue,
+                &notification);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            status = result;
+        }
+        toReset = poolObj;
+    }
+    else {
+        LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
+                receiver.dataId.sid);
+        if(dataSet == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+
+        if(not dataSet->hasChanged()) {
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        // prepare and send update snapshot.
+        timeval now;
+        Clock::getClock_timeval(&now);
+        CCSDSTime::CDS_short cds;
+        CCSDSTime::convertToCcsds(&cds, &now);
+        HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
+                sizeof(cds), owner->getDataSetHandle(receiver.dataId.sid));
+
+        store_address_t storeId;
+        ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+
+        CommandMessage notification;
+        HousekeepingMessage::setUpdateSnapshotSetCommand(
+                &notification, receiver.dataId.sid, storeId);
+        result = hkQueue->sendMessage(receiver.destinationQueue, &notification);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            status = result;
+        }
+        toReset = dataSet;
+
+    }
+    if(toReset != nullptr) {
+        handleChangeResetLogic(receiver.dataType,
+                receiver.dataId, toReset);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::addUpdateToStore(
+        HousekeepingPacketUpdate& updatePacket, store_address_t& storeId) {
+    size_t updatePacketSize = updatePacket.getSerializedSize();
+    uint8_t *storePtr = nullptr;
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId,
+            updatePacket.getSerializedSize(), &storePtr);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    size_t serializedSize = 0;
+    result = updatePacket.serialize(&storePtr, &serializedSize,
+            updatePacketSize, SerializeIF::Endianness::MACHINE);
+    return result;;
+}
+
+void LocalDataPoolManager::handleChangeResetLogic(
+        DataType type, DataId dataId, MarkChangedIF* toReset) {
+    if(hkUpdateResetList == nullptr) {
+        // config error!
+        return;
+    }
+
+    for(auto& changeInfo: *hkUpdateResetList) {
+        if(changeInfo.dataType != type) {
+            continue;
+        }
+        if((changeInfo.dataType == DataType::DATA_SET) and
+                (changeInfo.dataId.sid != dataId.sid)) {
+            continue;
+        }
+        if((changeInfo.dataType == DataType::LOCAL_POOL_VARIABLE) and
+                (changeInfo.dataId.localPoolId != dataId.localPoolId)) {
+            continue;
+        }
+
+        if(changeInfo.updateCounter <= 1) {
+            toReset->setChanged(false);
+        }
+        if(changeInfo.currentUpdateCounter == 0) {
+            toReset->setChanged(false);
+        }
+        else {
+            changeInfo.currentUpdateCounter--;
+        }
+        return;
+    }
+}
+
+void LocalDataPoolManager::resetHkUpdateResetHelper() {
+    if(hkUpdateResetList == nullptr) {
+        return;
+    }
+
+    for(auto& changeInfo: *hkUpdateResetList) {
+        changeInfo.currentUpdateCounter = changeInfo.updateCounter;
+    }
+}
+
+ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
+        bool enableReporting, float collectionInterval, bool isDiagnostics,
+        object_id_t packetDestination) {
+    AcceptsHkPacketsIF* hkReceiverObject =
+            objectManager->get<AcceptsHkPacketsIF>(packetDestination);
+    if(hkReceiverObject == nullptr) {
+        sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
+                << " Invalid receiver!"<< std::endl;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    struct HkReceiver hkReceiver;
+    hkReceiver.dataId.sid = sid;
+    hkReceiver.reportingType = ReportingType::PERIODIC;
+    hkReceiver.dataType = DataType::DATA_SET;
+    hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    if(dataSet != nullptr) {
+        dataSet->setReportingEnabled(enableReporting);
+        dataSet->setDiagnostic(isDiagnostics);
+        dataSet->initializePeriodicHelper(collectionInterval,
+                owner->getPeriodicOperationFrequency(), isDiagnostics);
+    }
+
+    hkReceiversMap.push_back(hkReceiver);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid,
+        bool isDiagnostics, bool reportingEnabled,
+        object_id_t packetDestination) {
+    AcceptsHkPacketsIF* hkReceiverObject =
+            objectManager->get<AcceptsHkPacketsIF>(packetDestination);
+    if(hkReceiverObject == nullptr) {
+        sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
+                << " Invalid receiver!"<< std::endl;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    struct HkReceiver hkReceiver;
+    hkReceiver.dataId.sid = sid;
+    hkReceiver.reportingType = ReportingType::UPDATE_HK;
+    hkReceiver.dataType = DataType::DATA_SET;
+    hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    if(dataSet != nullptr) {
+        dataSet->setReportingEnabled(true);
+        dataSet->setDiagnostic(isDiagnostics);
+    }
+
+    hkReceiversMap.push_back(hkReceiver);
+
+    handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::subscribeForSetUpdateMessages(
+        const uint32_t setId, object_id_t destinationObject,
+        MessageQueueId_t targetQueueId, bool generateSnapshot) {
+    struct HkReceiver hkReceiver;
+    hkReceiver.dataType = DataType::DATA_SET;
+    hkReceiver.dataId.sid = sid_t(this->getOwner()->getObjectId(), setId);
+    hkReceiver.destinationQueue = targetQueueId;
+    hkReceiver.objectId = destinationObject;
+    if(generateSnapshot) {
+        hkReceiver.reportingType = ReportingType::UPDATE_SNAPSHOT;
+    }
+    else {
+        hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
+    }
+
+    hkReceiversMap.push_back(hkReceiver);
+
+    handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessages(
+        const lp_id_t localPoolId, object_id_t destinationObject,
+        MessageQueueId_t targetQueueId, bool generateSnapshot) {
+    struct HkReceiver hkReceiver;
+    hkReceiver.dataType = DataType::LOCAL_POOL_VARIABLE;
+    hkReceiver.dataId.localPoolId = localPoolId;
+    hkReceiver.destinationQueue = targetQueueId;
+    hkReceiver.objectId = destinationObject;
+    if(generateSnapshot) {
+        hkReceiver.reportingType = ReportingType::UPDATE_SNAPSHOT;
+    }
+    else {
+        hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
+    }
+
+    hkReceiversMap.push_back(hkReceiver);
+
+    handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType,
+        DataId dataId) {
+    if(hkUpdateResetList == nullptr) {
+        hkUpdateResetList = new std::vector<struct HkUpdateResetHelper>();
+    }
+
+    for(auto& updateResetStruct: *hkUpdateResetList) {
+        if(dataType == DataType::DATA_SET) {
+            if(updateResetStruct.dataId.sid == dataId.sid) {
+                updateResetStruct.updateCounter++;
+                updateResetStruct.currentUpdateCounter++;
+                return;
+            }
+        }
+        else {
+            if(updateResetStruct.dataId.localPoolId == dataId.localPoolId) {
+                updateResetStruct.updateCounter++;
+                updateResetStruct.currentUpdateCounter++;
+                return;
+            }
+        }
+
+    }
+    HkUpdateResetHelper hkUpdateResetHelper;
+    hkUpdateResetHelper.currentUpdateCounter = 1;
+    hkUpdateResetHelper.updateCounter = 1;
+    hkUpdateResetHelper.dataType = dataType;
+    if(dataType == DataType::DATA_SET) {
+        hkUpdateResetHelper.dataId.sid = dataId.sid;
+    }
+    else {
+        hkUpdateResetHelper.dataId.localPoolId = dataId.localPoolId;
+    }
+    hkUpdateResetList->push_back(hkUpdateResetHelper);
+}
+
+ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
+        CommandMessage* message) {
+    Command_t command = message->getCommand();
+    sid_t sid = HousekeepingMessage::getSid(message);
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    switch(command) {
+    // Houskeeping interface handling.
+    case(HousekeepingMessage::ENABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
+        result = togglePeriodicGeneration(sid, true, true);
+        break;
+    }
+
+    case(HousekeepingMessage::DISABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
+        result = togglePeriodicGeneration(sid, false, true);
+        break;
+    }
+
+    case(HousekeepingMessage::ENABLE_PERIODIC_HK_REPORT_GENERATION): {
+        result = togglePeriodicGeneration(sid, true, false);
+        break;
+    }
+
+    case(HousekeepingMessage::DISABLE_PERIODIC_HK_REPORT_GENERATION): {
+        result = togglePeriodicGeneration(sid, false, false);
+        break;
+    }
+
+    case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
+                        return generateSetStructurePacket(sid, true);
+    case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
+                        return generateSetStructurePacket(sid, false);
+    case(HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL):
+    case(HousekeepingMessage::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL): {
+        float newCollIntvl = 0;
+        HousekeepingMessage::getCollectionIntervalModificationCommand(message,
+                &newCollIntvl);
+        if(command == HousekeepingMessage::
+                MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL) {
+            result = changeCollectionInterval(sid, newCollIntvl, true);
+        }
+        else {
+            result = changeCollectionInterval(sid, newCollIntvl, false);
+        }
+        break;
+    }
+
+    case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
+    case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
+        LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+        if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT
+                and dataSet->isDiagnostics()) {
+            return WRONG_HK_PACKET_TYPE;
+        }
+        else if(command == HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT
+                and not dataSet->isDiagnostics()) {
+            return WRONG_HK_PACKET_TYPE;
+        }
+        return generateHousekeepingPacket(HousekeepingMessage::getSid(message),
+                dataSet, true);
+    }
+
+    // Notification handling.
+    case(HousekeepingMessage::UPDATE_NOTIFICATION_SET): {
+        owner->handleChangedDataset(sid);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE): {
+        lp_id_t locPoolId = HousekeepingMessage::
+                getUpdateNotificationVariableCommand(message);
+        owner->handleChangedPoolVariable(locPoolId);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(HousekeepingMessage::UPDATE_SNAPSHOT_SET): {
+        store_address_t storeId;
+        HousekeepingMessage::getUpdateSnapshotSetCommand(message, &storeId);
+        owner->handleChangedDataset(sid, storeId);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE): {
+        store_address_t storeId;
+        lp_id_t localPoolId = HousekeepingMessage::
+                getUpdateSnapshotVariableCommand(message, &storeId);
+        owner->handleChangedPoolVariable(localPoolId, storeId);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    default:
+        return CommandMessageIF::UNKNOWN_COMMAND;
+    }
+
+    CommandMessage reply;
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
+    }
+    else {
+        HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
+    }
+    hkQueue->sendMessage(hkDestinationId, &reply);
+    return result;
+}
+
+ReturnValue_t LocalDataPoolManager::printPoolEntry(
+        lp_id_t localPoolId) {
+    auto poolIter = localPoolMap.find(localPoolId);
+    if (poolIter == localPoolMap.end()) {
+        sif::debug << "HousekeepingManager::fechPoolEntry:"
+                << " Pool entry not found." << std::endl;
+        return POOL_ENTRY_NOT_FOUND;
+    }
+    poolIter->second->print();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+MutexIF* LocalDataPoolManager::getMutexHandle() {
+    return mutex;
+}
+
+HasLocalDataPoolIF* LocalDataPoolManager::getOwner() {
+    return owner;
+}
+
+ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
+        LocalPoolDataSetBase* dataSet, bool forDownlink,
+        MessageQueueId_t destination) {
+    if(dataSet == nullptr) {
+        // Configuration error.
+        sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
+                << " Set ID not found or dataset not assigned!" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    store_address_t storeId;
+    HousekeepingPacketDownlink hkPacket(sid, dataSet);
+    size_t serializedSize = 0;
+    ReturnValue_t result = serializeHkPacketIntoStore(hkPacket, storeId,
+            forDownlink, &serializedSize);
+    if(result != HasReturnvaluesIF::RETURN_OK or serializedSize == 0) {
+        return result;
+    }
+
+    // and now we set a HK message and send it the HK packet destination.
+    CommandMessage hkMessage;
+    if(dataSet->isDiagnostics()) {
+        HousekeepingMessage::setHkDiagnosticsReply(&hkMessage, sid, storeId);
+    }
+    else {
+        HousekeepingMessage::setHkReportReply(&hkMessage, sid, storeId);
+    }
+
+    if(hkQueue == nullptr) {
+        return QUEUE_OR_DESTINATION_NOT_SET;
+    }
+    if(destination == MessageQueueIF::NO_QUEUE) {
+        if(hkDestinationId == MessageQueueIF::NO_QUEUE) {
+            // error, all destinations invalid
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        destination = hkDestinationId;
+    }
+
+    return hkQueue->sendMessage(destination, &hkMessage);
+}
+
+ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
+        HousekeepingPacketDownlink& hkPacket,
+        store_address_t& storeId, bool forDownlink,
+        size_t* serializedSize) {
+    uint8_t* dataPtr = nullptr;
+    const size_t maxSize = hkPacket.getSerializedSize();
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId,
+            maxSize, &dataPtr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    if(forDownlink) {
+        return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
+                SerializeIF::Endianness::BIG);
+    }
+    return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
+            SerializeIF::Endianness::MACHINE);
+}
+
+void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
+        uint8_t nonDiagInvlFactor) {
+    this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
+}
+
+void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
+    sid_t sid = receiver.dataId.sid;
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    if(not dataSet->getReportingEnabled()) {
+        return;
+    }
+
+    if(dataSet->periodicHelper == nullptr) {
+        // Configuration error.
+        return;
+    }
+
+    if(not dataSet->periodicHelper->checkOpNecessary()) {
+        return;
+    }
+
+    ReturnValue_t result = generateHousekeepingPacket(
+            sid, dataSet, true);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        // configuration error
+        sif::debug << "LocalDataPoolManager::performHkOperation:"
+                << "0x" << std::hex << std::setfill('0') << std::setw(8)
+                << owner->getObjectId() << " Error generating "
+                << "HK packet" << std::setfill(' ') << std::dec << std::endl;
+    }
+}
+
+
+ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
+        bool enable, bool isDiagnostics) {
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    if((dataSet->isDiagnostics() and not isDiagnostics) or
+            (not dataSet->isDiagnostics() and isDiagnostics)) {
+        return WRONG_HK_PACKET_TYPE;
+    }
+
+    if((dataSet->getReportingEnabled() and enable) or
+            (not dataSet->getReportingEnabled() and not enable)) {
+        return REPORTING_STATUS_UNCHANGED;
+    }
+
+    dataSet->setReportingEnabled(enable);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
+        float newCollectionInterval, bool isDiagnostics) {
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    bool targetIsDiagnostics = dataSet->isDiagnostics();
+    if((targetIsDiagnostics and not isDiagnostics) or
+            (not targetIsDiagnostics and isDiagnostics)) {
+        return WRONG_HK_PACKET_TYPE;
+    }
+
+    if(dataSet->periodicHelper == nullptr) {
+        // config error
+        return PERIODIC_HELPER_INVALID;
+    }
+
+    dataSet->periodicHelper->changeCollectionInterval(newCollectionInterval);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
+        bool isDiagnostics) {
+    // Get and check dataset first.
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    if(dataSet == nullptr) {
+        sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
+                << " Set ID not found" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+
+    bool targetIsDiagnostics = dataSet->isDiagnostics();
+    if((targetIsDiagnostics and not isDiagnostics) or
+            (not targetIsDiagnostics and isDiagnostics)) {
+        return WRONG_HK_PACKET_TYPE;
+    }
+
+    bool valid = dataSet->isValid();
+    bool reportingEnabled = dataSet->getReportingEnabled();
+    float collectionInterval =
+            dataSet->periodicHelper->getCollectionIntervalInSeconds();
+
+    // Generate set packet which can be serialized.
+    HousekeepingSetPacket setPacket(sid,
+            reportingEnabled, valid, collectionInterval, dataSet);
+    size_t expectedSize = setPacket.getSerializedSize();
+    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;
+    }
+
+    // Serialize set packet into store.
+    size_t size = 0;
+    result = setPacket.serialize(&storePtr, &size, expectedSize,
+            SerializeIF::Endianness::BIG);
+    if(expectedSize != size) {
+        sif::error << "HousekeepingManager::generateSetStructurePacket: "
+                << "Expected size is not equal to serialized size" << std::endl;
+    }
+
+    // Send structure reporting reply.
+    CommandMessage reply;
+    if(isDiagnostics) {
+        HousekeepingMessage::setDiagnosticsStuctureReportReply(&reply,
+                sid, storeId);
+    }
+    else {
+        HousekeepingMessage::setHkStuctureReportReply(&reply,
+                sid, storeId);
+    }
+
+    hkQueue->reply(&reply);
+    return result;
+}

datapoollocal/LocalDataPoolManager.h

@@ -0,0 +1,396 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
+#define FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
+
+#include "HasLocalDataPoolIF.h"
+
+#include "../housekeeping/HousekeepingPacketDownlink.h"
+#include "../housekeeping/HousekeepingMessage.h"
+#include "../housekeeping/PeriodicHousekeepingHelper.h"
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolEntry.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../ipc/MutexIF.h"
+#include "../ipc/CommandMessage.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../ipc/MutexHelper.h"
+
+#include <map>
+
+namespace Factory {
+void setStaticFrameworkObjectIds();
+}
+
+class LocalPoolDataSetBase;
+class HousekeepingPacketUpdate;
+
+/**
+ * @brief 		This class is the managing instance for the local data pool.
+ * @details
+ * The actual data pool structure is a member of this class. Any class which
+ * has a local data pool shall have this manager class as a member and implement
+ * the HasLocalDataPoolIF.
+ *
+ * The manager offers some adaption points and functions which can be used
+ * by the owning class to simplify data handling significantly.
+ *
+ * Please ensure that both initialize and initializeAfterTaskCreation are
+ * called at some point by the owning class in the respective functions of the
+ * same name!
+ *
+ * Users of the data pool use the helper classes LocalDataSet,
+ * LocalPoolVariable and LocalPoolVector to access pool entries in
+ * a thread-safe and efficient way.
+ *
+ * The local data pools employ a blackboard logic: Only the most recent
+ * value is stored. The helper classes offer a read() and commit() interface
+ * through the PoolVariableIF which is used to read and update values.
+ * Each pool entry has a valid state too.
+ * @author 		R. Mueller
+ */
+class LocalDataPoolManager {
+	template<typename T> friend class LocalPoolVar;
+	template<typename T, uint16_t vecSize> friend class LocalPoolVector;
+	friend class LocalPoolDataSetBase;
+	friend void (Factory::setStaticFrameworkObjectIds)();
+public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
+
+    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
+    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
+
+    static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x02);
+
+    static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(0x03);
+    static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(0x04);
+    static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(0x05);
+
+    /**
+     * This constructor is used by a class which wants to implement
+     * a personal local data pool. The queueToUse can be supplied if it
+     * is already known.
+     *
+     * initialize() has to be called in any case before using the object!
+     * @param owner
+     * @param queueToUse
+     * @param appendValidityBuffer Specify whether a buffer containing the
+     * validity state is generated  when serializing or deserializing packets.
+     */
+	LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
+	        bool appendValidityBuffer = true);
+	virtual~ LocalDataPoolManager();
+
+	/**
+	 * Assigns the queue to use. Make sure to call this in the #initialize
+	 * function of the owner.
+	 * @param queueToUse
+	 * @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
+	 * @return
+	 */
+	ReturnValue_t initialize(MessageQueueIF* queueToUse);
+
+	/**
+	 * Initializes the map by calling the map initialization function and
+	 * setting the periodic factor for non-diagnostic packets.
+	 * Don't forget to call this in the #initializeAfterTaskCreation call of
+	 * the owner, otherwise the map will be invalid!
+	 * @param nonDiagInvlFactor
+	 * @return
+	 */
+	ReturnValue_t initializeAfterTaskCreation(
+	        uint8_t nonDiagInvlFactor = 5);
+
+    /**
+     * @brief   This should be called in the periodic handler of the owner.
+     * @details
+     * This in generally called in the #performOperation function of the owner.
+     * It performs all the periodic functionalities of the data pool manager,
+     * for example generating periodic HK packets.
+     * Marked virtual as an adaption point for custom data pool managers.
+     * @return
+     */
+    virtual ReturnValue_t performHkOperation();
+
+	/**
+	 * @brief   Subscribe for the generation of periodic packets.
+	 * @details
+     * This subscription mechanism will generally be used by the data creator
+     * to generate housekeeping packets which are downlinked directly.
+	 * @return
+	 */
+	ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
+			float collectionInterval, bool isDiagnostics,
+			object_id_t packetDestination = defaultHkDestination);
+
+	/**
+	 * @brief   Subscribe for the  generation of packets if the dataset
+	 *          is marked as changed.
+	 * @details
+	 * This subscription mechanism will generally be used by the data creator.
+	 * @param sid
+	 * @param isDiagnostics
+	 * @param packetDestination
+	 * @return
+	 */
+    ReturnValue_t subscribeForUpdatePackets(sid_t sid, bool reportingEnabled,
+            bool isDiagnostics,
+            object_id_t packetDestination = defaultHkDestination);
+
+	/**
+	 * @brief   Subscribe for a notification message which will be sent
+	 *          if a dataset has changed.
+	 * @details
+	 * This subscription mechanism will generally be used internally by
+	 * other software components.
+	 * @param setId     Set ID of the set to receive update messages from.
+	 * @param destinationObject
+	 * @param targetQueueId
+	 * @param generateSnapshot If this is set to true, a copy of the current
+	 * data with a timestamp will be generated and sent via message.
+	 * Otherwise, only an notification message is sent.
+	 * @return
+	 */
+	ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
+	        object_id_t destinationObject,
+	        MessageQueueId_t targetQueueId,
+	        bool generateSnapshot);
+
+    /**
+     * @brief   Subscribe for an notification message which will be sent if a
+     *          pool variable has changed.
+     * @details
+     * This subscription mechanism will generally be used internally by
+     * other software components.
+     * @param localPoolId Pool ID of the pool variable
+     * @param destinationObject
+     * @param targetQueueId
+     * @param generateSnapshot If this is set to true, a copy of the current
+     * data with a timestamp will be generated and sent via message.
+     * Otherwise, only an notification message is sent.
+     * @return
+     */
+    ReturnValue_t subscribeForVariableUpdateMessages(const lp_id_t localPoolId,
+            object_id_t destinationObject,
+            MessageQueueId_t targetQueueId,
+            bool generateSnapshot);
+
+	/**
+	 * Non-Diagnostics packets usually have a lower minimum sampling frequency
+	 * than diagnostic packets.
+	 * A factor can be specified to determine the minimum sampling frequency
+	 * for non-diagnostic packets. The minimum sampling frequency of the
+	 * diagnostics packets,which is usually jusst the period of the
+	 * performOperation calls, is multiplied with that factor.
+	 * @param factor
+	 */
+	void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
+
+    /**
+     * @brief   The manager is also able to handle housekeeping messages.
+     * @details
+     * This most commonly is used to handle messages for the housekeeping
+     * interface, but the manager is also able to handle update notifications
+     * and calls a special function which can be overriden by a child class
+     * to handle data set or pool variable updates. This is relevant
+     * for classes like controllers which have their own local datapool
+     * but pull their data from other local datapools.
+     * @param message
+     * @return
+     */
+    virtual ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
+
+	/**
+	 * Generate a housekeeping packet with a given SID.
+	 * @param sid
+	 * @return
+	 */
+	ReturnValue_t generateHousekeepingPacket(sid_t sid,
+			LocalPoolDataSetBase* dataSet, bool forDownlink,
+			MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
+
+	HasLocalDataPoolIF* getOwner();
+
+	ReturnValue_t printPoolEntry(lp_id_t localPoolId);
+
+    /**
+     * Different types of housekeeping reporting are possible.
+     *  1. PERIODIC:
+     *     HK packets are generated in fixed intervals and sent to
+     *     destination. Fromat will be raw.
+     *  2. UPDATE_NOTIFICATION:
+     *     Notification will be sent out if HK data has changed.
+     *  3. UPDATE_SNAPSHOT:
+     *     HK packets are only generated if explicitely requested.
+     *     Propably not necessary, just use multiple local data sets or
+     *     shared datasets.
+     */
+    enum class ReportingType: uint8_t {
+        //! Periodic generation of HK packets.
+        PERIODIC,
+        //! Housekeeping packet will be generated if values have changed.
+        UPDATE_HK,
+		//! Update notification will be sent out as message.
+		UPDATE_NOTIFICATION,
+        //! Notification will be sent out as message and a snapshot of the
+        //! current data will be generated.
+        UPDATE_SNAPSHOT,
+    };
+
+    /**
+     * Different data types are possible in the HK receiver map.
+     * For example, updates can be requested for full datasets or
+     * for single pool variables. Periodic reporting is only possible for
+     * data sets.
+     */
+    enum class DataType: uint8_t {
+    	LOCAL_POOL_VARIABLE,
+		DATA_SET
+    };
+
+    /* Copying forbidden */
+    LocalDataPoolManager(const LocalDataPoolManager &) = delete;
+    LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
+
+private:
+    LocalDataPool localPoolMap;
+    //! Every housekeeping data manager has a mutex to protect access
+    //! to it's data pool.
+    MutexIF* mutex = nullptr;
+
+    /** The class which actually owns the manager (and its datapool). */
+    HasLocalDataPoolIF* owner = nullptr;
+
+    uint8_t nonDiagnosticIntervalFactor = 0;
+
+	/** Default receiver for periodic HK packets */
+	static object_id_t defaultHkDestination;
+	MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
+
+    union DataId {
+        DataId(): sid() {};
+        sid_t sid;
+        lp_id_t localPoolId;
+    };
+
+    /** The data pool manager will keep an internal map of HK receivers. */
+    struct HkReceiver {
+		/** Object ID of receiver */
+		object_id_t objectId = objects::NO_OBJECT;
+
+		DataType dataType = DataType::DATA_SET;
+        DataId dataId;
+
+        ReportingType reportingType = ReportingType::PERIODIC;
+        MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
+    };
+
+    /** This vector will contain the list of HK receivers. */
+    using HkReceivers = std::vector<struct HkReceiver>;
+
+    HkReceivers hkReceiversMap;
+
+    struct HkUpdateResetHelper {
+        DataType dataType = DataType::DATA_SET;
+        DataId dataId;
+        uint8_t updateCounter;
+        uint8_t currentUpdateCounter;
+    };
+
+    using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
+    // Will only be created when needed.
+    HkUpdateResetList* hkUpdateResetList = nullptr;
+
+    /** 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;
+
+	/**
+	 * @brief Queue used for communication, for example commands.
+	 * Is also used to send messages. Can be set either in the constructor
+     * or in the initialize() function.
+	 */
+	MessageQueueIF* hkQueue = nullptr;
+
+	/** Global IPC store is used to store all packets. */
+	StorageManagerIF* ipcStore = nullptr;
+	/**
+	 * Get the pointer to the mutex. Can be used to lock the data pool
+	 * externally. Use with care and don't forget to unlock locked mutexes!
+	 * For now, only friend classes can accss this function.
+	 * @return
+	 */
+	MutexIF* getMutexHandle();
+
+	/**
+	 * Read a variable by supplying its local pool ID and assign the pool
+	 * entry to the supplied PoolEntry pointer. The type of the pool entry
+	 * is deduced automatically. This call is not thread-safe!
+	 * For now, only friend classes like LocalPoolVar may access this
+	 * function.
+	 * @tparam T Type of the pool entry
+	 * @param localPoolId Pool ID of the variable to read
+	 * @param poolVar [out] Corresponding pool entry will be assigned to the
+	 * 						supplied pointer.
+	 * @return
+	 */
+	template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
+			PoolEntry<T> **poolEntry);
+
+    /**
+     * This function is used to fill the local data pool map with pool
+     * entries. It should only be called once by the pool owner.
+     * @param localDataPoolMap
+     * @return
+     */
+    ReturnValue_t initializeHousekeepingPoolEntriesOnce();
+
+	ReturnValue_t serializeHkPacketIntoStore(
+	        HousekeepingPacketDownlink& hkPacket,
+	        store_address_t& storeId, bool forDownlink, size_t* serializedSize);
+
+	void performPeriodicHkGeneration(HkReceiver& hkReceiver);
+	ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
+			bool isDiagnostics);
+	ReturnValue_t changeCollectionInterval(sid_t sid,
+			float newCollectionInterval, bool isDiagnostics);
+	ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
+
+	void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
+	void handleChangeResetLogic(DataType type,
+	        DataId dataId, MarkChangedIF* toReset);
+	void resetHkUpdateResetHelper();
+
+	ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver,
+            ReturnValue_t& status);
+	ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver,
+	        ReturnValue_t& status);
+	ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
+            ReturnValue_t& status);
+	ReturnValue_t addUpdateToStore(HousekeepingPacketUpdate& updatePacket,
+	        store_address_t& storeId);
+};
+
+
+template<class T> inline
+ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
+		PoolEntry<T> **poolEntry) {
+	auto poolIter = localPoolMap.find(localPoolId);
+	if (poolIter == localPoolMap.end()) {
+		sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry "
+		        "not found." << std::endl;
+		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 POOL_ENTRY_TYPE_CONFLICT;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */

datapoollocal/LocalDataSet.cpp

@@ -0,0 +1,22 @@
+#include "LocalDataSet.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+#include "../serialize/SerializeAdapter.h"
+
+#include <cmath>
+#include <cstring>
+
+LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner, uint32_t setId,
+        const size_t maxNumberOfVariables):
+        LocalPoolDataSetBase(hkOwner, setId, nullptr, maxNumberOfVariables),
+        poolVarList(maxNumberOfVariables) {
+	this->setContainer(poolVarList.data());
+}
+
+LocalDataSet::LocalDataSet(sid_t sid, const size_t maxNumberOfVariables):
+        LocalPoolDataSetBase(sid, nullptr, maxNumberOfVariables),
+		poolVarList(maxNumberOfVariables) {
+	this->setContainer(poolVarList.data());
+}
+
+LocalDataSet::~LocalDataSet() {}
+

datapoollocal/LocalDataSet.h

@@ -0,0 +1,21 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
+
+#include "LocalPoolDataSetBase.h"
+#include <vector>
+
+class LocalDataSet: public LocalPoolDataSetBase {
+public:
+    LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId,
+    		const size_t maxSize);
+    LocalDataSet(sid_t sid, const size_t maxSize);
+    virtual~ LocalDataSet();
+
+    //! Copying forbidden for now.
+    LocalDataSet(const LocalDataSet&) = delete;
+    LocalDataSet& operator=(const LocalDataSet&) = delete;
+private:
+    std::vector<PoolVariableIF*> poolVarList;
+};
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALDATASET_H_ */

datapoollocal/LocalPoolDataSetBase.cpp

@@ -0,0 +1,278 @@
+#include "LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+#include "../housekeeping/PeriodicHousekeepingHelper.h"
+#include "../serialize/SerializeAdapter.h"
+
+#include <cmath>
+#include <cstring>
+
+LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
+        uint32_t setId, PoolVariableIF** registeredVariablesArray,
+        const size_t maxNumberOfVariables, bool noPeriodicHandling):
+        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
+    if(hkOwner == nullptr) {
+        // Configuration error.
+        sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
+                << "invalid!" << std::endl;
+        return;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
+    this->sid.objectId = hkOwner->getObjectId();
+    this->sid.ownerSetId = setId;
+
+    mutex = MutexFactory::instance()->createMutex();
+
+    // Data creators get a periodic helper for periodic HK data generation.
+    if(not noPeriodicHandling) {
+        periodicHelper = new PeriodicHousekeepingHelper(this);
+    }
+}
+
+LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
+        PoolVariableIF** registeredVariablesArray,
+        const size_t maxNumberOfVariables):
+        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables)  {
+    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
+            sid.objectId);
+    if(hkOwner == nullptr) {
+        // Configuration error.
+        sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
+                << "invalid!" << std::endl;
+        return;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
+    this->sid = sid;
+
+    mutex = MutexFactory::instance()->createMutex();
+}
+
+LocalPoolDataSetBase::~LocalPoolDataSetBase() {
+}
+
+ReturnValue_t LocalPoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
+    MutexIF* mutex = hkManager->getMutexHandle();
+    return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
+}
+
+ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer,
+        size_t *size, size_t maxSize,
+        SerializeIF::Endianness streamEndianness) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+    uint8_t validityMask[validityMaskSize];
+    uint8_t validBufferIndex = 0;
+    uint8_t validBufferIndexBit = 0;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if(registeredVariables[count]->isValid()) {
+            // set validity buffer here.
+            this->bitSetter(validityMask + validBufferIndex,
+                    validBufferIndexBit);
+            if(validBufferIndexBit == 7) {
+                validBufferIndex ++;
+                validBufferIndexBit = 0;
+            }
+            else {
+                validBufferIndexBit ++;
+            }
+        }
+        result = registeredVariables[count]->serialize(buffer, size, maxSize,
+                streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+
+    if(*size + validityMaskSize > maxSize) {
+        return SerializeIF::BUFFER_TOO_SHORT;
+    }
+    // copy validity buffer to end
+    std::memcpy(*buffer, validityMask, validityMaskSize);
+    *size += validityMaskSize;
+    return result;
+}
+
+ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
+        const uint8_t **buffer, size_t *size,
+        SerializeIF::Endianness streamEndianness) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        result = registeredVariables[count]->deSerialize(buffer, size,
+                streamEndianness);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+
+    if(*size < std::ceil(static_cast<float>(fillCount) / 8.0)) {
+        return SerializeIF::STREAM_TOO_SHORT;
+    }
+
+    uint8_t validBufferIndex = 0;
+    uint8_t validBufferIndexBit = 0;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        // set validity buffer here.
+        bool nextVarValid = this->bitGetter(*buffer +
+                validBufferIndex, validBufferIndexBit);
+        registeredVariables[count]->setValid(nextVarValid);
+
+        if(validBufferIndexBit == 7) {
+            validBufferIndex ++;
+            validBufferIndexBit = 0;
+        }
+        else {
+            validBufferIndexBit ++;
+        }
+    }
+    return result;
+}
+
+ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
+    MutexIF* mutex = hkManager->getMutexHandle();
+    return mutex->unlockMutex();
+}
+
+ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
+        size_t* size, size_t maxSize,SerializeIF::Endianness streamEndianness,
+        bool serializeFillCount) const {
+    // Serialize as uint8_t
+    uint8_t fillCount = this->fillCount;
+    if(serializeFillCount) {
+        SerializeAdapter::serialize(&fillCount, buffer, size, maxSize,
+                streamEndianness);
+    }
+    for (uint16_t count = 0; count < fillCount; count++) {
+        lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
+        auto result = SerializeAdapter::serialize(&currentPoolId, buffer,
+                size, maxSize, streamEndianness);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
+                    " error!" << std::endl;
+            return result;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+uint8_t LocalPoolDataSetBase::getLocalPoolIdsSerializedSize(
+        bool serializeFillCount) const {
+    if(serializeFillCount) {
+        return fillCount * sizeof(lp_id_t) + sizeof(uint8_t);
+    }
+    else {
+        return fillCount * sizeof(lp_id_t);
+    }
+}
+
+size_t LocalPoolDataSetBase::getSerializedSize() const {
+    if(withValidityBuffer) {
+        uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+        return validityMaskSize + PoolDataSetBase::getSerializedSize();
+    }
+    else {
+        return PoolDataSetBase::getSerializedSize();
+    }
+}
+
+void LocalPoolDataSetBase::setValidityBufferGeneration(
+        bool withValidityBuffer) {
+    this->withValidityBuffer = withValidityBuffer;
+}
+
+ReturnValue_t LocalPoolDataSetBase::deSerialize(const uint8_t **buffer,
+        size_t *size, SerializeIF::Endianness streamEndianness) {
+    if(withValidityBuffer) {
+        return this->deSerializeWithValidityBuffer(buffer, size,
+                streamEndianness);
+    }
+    else {
+        return PoolDataSetBase::deSerialize(buffer, size, streamEndianness);
+    }
+}
+
+ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
+        size_t maxSize, SerializeIF::Endianness streamEndianness) const {
+    if(withValidityBuffer) {
+        return this->serializeWithValidityBuffer(buffer, size,
+                maxSize, streamEndianness);
+    }
+    else {
+        return PoolDataSetBase::serialize(buffer, size, maxSize,
+                streamEndianness);
+    }
+}
+
+void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position"
+                << std::endl;
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1 << shiftNumber;
+}
+
+void LocalPoolDataSetBase::setDiagnostic(bool isDiagnostics) {
+    this->diagnostic = isDiagnostics;
+}
+
+bool LocalPoolDataSetBase::isDiagnostics() const {
+    return diagnostic;
+}
+
+void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
+    this->reportingEnabled = reportingEnabled;
+}
+
+bool LocalPoolDataSetBase::getReportingEnabled() const {
+    return reportingEnabled;
+}
+
+void LocalPoolDataSetBase::initializePeriodicHelper(
+        float collectionInterval, dur_millis_t minimumPeriodicInterval,
+        bool isDiagnostics, uint8_t nonDiagIntervalFactor) {
+    periodicHelper->initialize(collectionInterval, minimumPeriodicInterval,
+            isDiagnostics, nonDiagIntervalFactor);
+}
+
+void LocalPoolDataSetBase::setChanged(bool changed) {
+    // TODO: Make this configurable?
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    this->changed = changed;
+}
+
+bool LocalPoolDataSetBase::hasChanged() const {
+    // TODO: Make this configurable?
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    return changed;
+}
+
+sid_t LocalPoolDataSetBase::getSid() const {
+    return sid;
+}
+
+bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
+        uint8_t position) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position"
+                << std::endl;
+        return false;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    return *byte & (1 << shiftNumber);
+}
+
+bool LocalPoolDataSetBase::isValid() const {
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
+    return this->valid;
+}
+
+void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
+    if(setEntriesRecursively) {
+        for(size_t idx = 0; idx < this->getFillCount(); idx++) {
+            registeredVariables[idx] -> setValid(valid);
+        }
+    }
+    this->valid = valid;
+}

datapoollocal/LocalPoolDataSetBase.h

@@ -0,0 +1,198 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
+
+#include "HasLocalDataPoolIF.h"
+#include "MarkChangedIF.h"
+
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolDataSetBase.h"
+#include "../serialize/SerializeIF.h"
+
+#include <vector>
+
+class LocalDataPoolManager;
+class PeriodicHousekeepingHelper;
+
+/**
+ * @brief	The LocalDataSet class manages a set of locally checked out
+ *          variables for local data pools
+ * @details
+ * Extends the PoolDataSetBase class for local data pools by introducing
+ * a validity state, a flag to mark the set as changed, and various other
+ * functions to make it usable by the LocalDataPoolManager class.
+ *
+ * This class manages a list, where a set of local variables (or pool variables)
+ * are registered. They are checked-out (i.e. their values are looked
+ * up and copied) with the read call. After the user finishes working with the
+ * pool variables, he can write back all variable values to the pool with
+ * the commit call. The data set manages locking and freeing the local data
+ * pools, to ensure thread-safety.
+ *
+ * Pool variables can be added to the dataset by using the constructor
+ * argument of the pool variable or using the #registerVariable member function.
+ *
+ * An internal state manages usage of this class. Variables may only be
+ * registered before any read call is made, and the commit call can only happen
+ * after the read call.
+ *
+ * If pool variables are writable and not committed until destruction
+ * of the set, the DataSet class automatically sets the valid flag in the
+ * data pool to invalid (without) changing the variable's value.
+ *
+ * @ingroup data_pool
+ */
+class LocalPoolDataSetBase: public PoolDataSetBase,
+        public MarkChangedIF {
+	friend class LocalDataPoolManager;
+	friend class PeriodicHousekeepingHelper;
+public:
+	/**
+	 * @brief	Constructor for the creator of local pool data.
+	 * @details
+	 * This constructor also initializes the components required for
+	 * periodic handling.
+	 */
+	LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
+			uint32_t setId, PoolVariableIF** registeredVariablesArray,
+	        const size_t maxNumberOfVariables, bool noPeriodicHandling = false);
+
+	/**
+	 * @brief	Constructor for users of local pool data.
+	 * @details
+	 * @param sid Unique identifier of dataset consisting of object ID and
+	 * set ID.
+	 * @param registeredVariablesArray
+	 * @param maxNumberOfVariables
+	 */
+	LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
+	        const size_t maxNumberOfVariables);
+
+	/**
+	 * @brief	The destructor automatically manages writing the valid
+	 * 			information of variables.
+	 * @details
+	 * In case the data set was read out, but not committed(indicated by state),
+	 * the destructor parses all variables that are still registered to the set.
+	 * For each, the valid flag in the data pool is set to "invalid".
+	 */
+	~LocalPoolDataSetBase();
+
+	void setValidityBufferGeneration(bool withValidityBuffer);
+
+	sid_t getSid() const;
+
+	/** SerializeIF overrides */
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+	            SerializeIF::Endianness streamEndianness) const override;
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t *size,
+	        SerializeIF::Endianness streamEndianness) override;
+	size_t getSerializedSize() const override;
+
+	/**
+	 * 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. (length = ceil(N/8), N = number of pool variables)
+	 * @param buffer
+	 * @param size
+	 * @param maxSize
+	 * @param bigEndian
+	 * @param withValidityBuffer
+	 * @return
+	 */
+	ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
+	        size_t* size, size_t maxSize,
+	        SerializeIF::Endianness streamEndianness) const;
+	ReturnValue_t deSerializeWithValidityBuffer(const uint8_t** buffer,
+	        size_t *size, SerializeIF::Endianness streamEndianness);
+	ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
+	        size_t* size, size_t maxSize,
+	        SerializeIF::Endianness streamEndianness,
+	        bool serializeFillCount = true) const;
+	uint8_t getLocalPoolIdsSerializedSize(bool serializeFillCount = true) const;
+
+	/**
+	 * Set the dataset valid or invalid. These calls are mutex protected.
+	 * @param setEntriesRecursively
+	 * If this is true, all contained datasets will also be set recursively.
+	 */
+	void setValidity(bool valid, bool setEntriesRecursively);
+	bool isValid() const override;
+
+	/**
+	 * These calls are mutex protected.
+	 * @param changed
+	 */
+	void setChanged(bool changed) override;
+	bool hasChanged() const override;
+
+protected:
+	sid_t sid;
+	MutexIF* mutex = nullptr;
+
+	bool diagnostic = false;
+	void setDiagnostic(bool diagnostics);
+	bool isDiagnostics() const;
+
+	/**
+	 * Used for periodic generation.
+	 */
+	bool reportingEnabled = false;
+	void setReportingEnabled(bool enabled);
+	bool getReportingEnabled() const;
+
+	void initializePeriodicHelper(float collectionInterval,
+			dur_millis_t minimumPeriodicInterval,
+			bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5);
+
+	/**
+	 * If the valid state of a dataset is always relevant to the whole
+	 * data set we can use this flag.
+	 */
+	bool valid = false;
+
+	/**
+	 * Can be used to mark the dataset as changed, which is used
+	 * by the LocalDataPoolManager to send out update messages.
+	 */
+	bool changed = false;
+
+	/**
+	 * Specify whether the validity buffer is serialized too when serializing
+	 * or deserializing the packet. Each bit of the validity buffer will
+	 * contain the validity state of the pool variables from left to right.
+	 * The size of validity buffer thus will be ceil(N / 8) with N = number of
+	 * pool variables.
+	 */
+	bool withValidityBuffer = true;
+
+	/**
+	 * @brief	This is a small helper function to facilitate locking
+	 * 			the global data pool.
+	 * @details
+	 * It makes use of the lockDataPool method offered by the DataPool class.
+	 */
+	ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
+	/**
+	 * @brief	This is a small helper function to facilitate
+	 * 			unlocking the global data pool
+	 * @details
+	 * It makes use of the freeDataPoolLock method offered by the DataPool class.
+	 */
+	ReturnValue_t unlockDataPool() override;
+
+	LocalDataPoolManager* hkManager;
+
+	/**
+	 * Set n-th bit of a byte, with n being the position from 0
+	 * (most significant bit) to 7 (least significant bit)
+	 */
+	void bitSetter(uint8_t* byte, uint8_t position) const;
+	bool bitGetter(const uint8_t* byte, uint8_t position) const;
+
+	PeriodicHousekeepingHelper* periodicHelper = nullptr;
+
+};
+
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_ */

datapoollocal/LocalPoolObjectBase.cpp

@@ -0,0 +1,73 @@
+#include "LocalPoolObjectBase.h"
+
+LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId,
+        HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
+        pool_rwm_t setReadWriteMode): localPoolId(poolId),
+        readWriteMode(setReadWriteMode) {
+    if(poolId == PoolVariableIF::NO_PARAMETER) {
+        sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
+                << "which is the NO_PARAMETER value!" << std::endl;
+    }
+    if(hkOwner == nullptr) {
+        sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
+                << "owner is a invalid!" << std::endl;
+        return;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
+    if (dataSet != nullptr) {
+        dataSet->registerVariable(this);
+    }
+}
+
+LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
+        DataSetIF *dataSet, pool_rwm_t setReadWriteMode): localPoolId(poolId),
+        readWriteMode(setReadWriteMode) {
+    if(poolId == PoolVariableIF::NO_PARAMETER) {
+        sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
+                << "which is the NO_PARAMETER value!" << std::endl;
+    }
+    HasLocalDataPoolIF* hkOwner =
+            objectManager->get<HasLocalDataPoolIF>(poolOwner);
+    if(hkOwner == nullptr) {
+        sif::error << "LocalPoolVariable: The supplied pool owner did not "
+                << "implement the correct interface"
+                << " HasLocalDataPoolIF!" << std::endl;
+        return;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
+    if(dataSet != nullptr) {
+        dataSet->registerVariable(this);
+    }
+}
+
+pool_rwm_t LocalPoolObjectBase::getReadWriteMode() const {
+    return readWriteMode;
+}
+
+bool LocalPoolObjectBase::isValid() const {
+    return valid;
+}
+
+void LocalPoolObjectBase::setValid(bool valid) {
+    this->valid = valid;
+}
+
+lp_id_t LocalPoolObjectBase::getDataPoolId() const {
+    return localPoolId;
+}
+
+void LocalPoolObjectBase::setDataPoolId(lp_id_t poolId) {
+    this->localPoolId = poolId;
+}
+
+void LocalPoolObjectBase::setChanged(bool changed) {
+    this->changed = changed;
+}
+
+bool LocalPoolObjectBase::hasChanged() const {
+    return changed;
+}
+
+void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
+	this->readWriteMode = newReadWriteMode;
+}

datapoollocal/LocalPoolObjectBase.h

@@ -0,0 +1,63 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_
+
+#include "MarkChangedIF.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+#include "../datapool/PoolVariableIF.h"
+
+
+class LocalPoolObjectBase: public PoolVariableIF,
+        public HasReturnvaluesIF,
+        public MarkChangedIF {
+public:
+    LocalPoolObjectBase(lp_id_t poolId,
+            HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
+            pool_rwm_t setReadWriteMode);
+
+    LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
+            DataSetIF* dataSet = nullptr,
+            pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+
+    void setReadWriteMode(pool_rwm_t newReadWriteMode);
+    pool_rwm_t getReadWriteMode() const;
+
+    bool isValid() const override;
+    void setValid(bool valid) override;
+
+    void setChanged(bool changed) override;
+    bool hasChanged() const override;
+
+    lp_id_t getDataPoolId() const override;
+    void setDataPoolId(lp_id_t poolId);
+
+protected:
+    /**
+     * @brief   To access the correct data pool entry on read and commit calls,
+     *          the data pool id is stored.
+     */
+    uint32_t localPoolId = PoolVariableIF::NO_PARAMETER;
+    /**
+     * @brief   The valid information as it was stored in the data pool
+     *          is copied to this attribute.
+     */
+    bool valid = false;
+
+    /**
+     * @brief   A local pool variable can be marked as changed.
+     */
+    bool changed = false;
+
+    /**
+     * @brief   The information whether the class is read-write or
+     *          read-only is stored here.
+     */
+    ReadWriteMode_t readWriteMode = pool_rwm_t::VAR_READ_WRITE;
+
+    //! @brief  Pointer to the class which manages the HK pool.
+    LocalDataPoolManager* hkManager;
+
+};
+
+
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_ */

datapoollocal/LocalPoolVariable.h

@@ -0,0 +1,185 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+
+#include "LocalPoolObjectBase.h"
+#include "HasLocalDataPoolIF.h"
+#include "LocalDataPoolManager.h"
+
+#include "../datapool/PoolVariableIF.h"
+#include "../datapool/DataSetIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/SerializeAdapter.h"
+
+/**
+ * @brief 	Local Pool Variable class which is used to access the local pools.
+ * @details
+ * This class is not stored in the map. Instead, it is used to access
+ * the pool entries by using a pointer to the map storing the pool
+ * entries. It can also be used to organize these pool entries into data sets.
+ *
+ * @tparam T The template parameter sets the type of the variable. Currently,
+ * all plain data types are supported, but in principle  any type is possible.
+ * @ingroup data_pool
+ */
+template<typename T>
+class LocalPoolVar: public LocalPoolObjectBase {
+public:
+	//! Default ctor is forbidden.
+	LocalPoolVar() = delete;
+
+	/**
+	 * This constructor is used by the data creators to have pool variable
+	 * instances which can also be stored in datasets.
+	 *
+	 * It does not fetch the current value from the data pool, which
+	 * has to be done by calling the read() operation.
+	 * Datasets can be used to access multiple local pool entries in an
+	 * efficient way. A pointer to a dataset can be passed to register
+	 * the pool variable in that dataset directly.
+	 * @param poolId ID of the local pool entry.
+	 * @param hkOwner Pointer of the owner. This will generally be the calling
+	 * class itself which passes "this".
+	 * @param dataSet The data set in which the variable shall register itself.
+	 * If nullptr, the variable is not registered.
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 */
+	LocalPoolVar(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+
+	/**
+	 * This constructor is used by data users like controllers to have
+	 * access to the local pool variables of data creators by supplying
+	 * the respective creator object ID.
+	 *
+	 * It does not fetch the current value from the data pool, which
+	 * has to be done by calling the read() operation.
+	 * Datasets can be used to access multiple local pool entries in an
+	 * efficient way. A pointer to a dataset can be passed to register
+	 * the pool variable in that dataset directly.
+	 * @param poolId ID of the local pool entry.
+	 * @param hkOwner object ID of the pool owner.
+	 * @param dataSet The data set in which the variable shall register itself.
+	 * If nullptr, the variable is not registered.
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 *
+	 */
+	LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+	/**
+	 * Variation which takes the global unique identifier of a pool variable.
+	 * @param globalPoolId
+	 * @param dataSet
+	 * @param setReadWriteMode
+	 */
+	LocalPoolVar(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+
+	virtual~ LocalPoolVar() {};
+
+	/**
+	 * @brief	This is the local copy of the data pool entry.
+	 * @details	The user can work on this attribute
+	 * 			just like he would on a simple local variable.
+	 */
+	T value = 0;
+
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+	        SerializeIF::Endianness streamEndianness) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override;
+
+	/**
+	 * @brief	This is a call to read the array's values
+	 * 			from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the data pool and copies all array values and the valid
+	 * information to its local attributes.
+	 * In case of a failure (wrong type, size or pool id not found), the
+	 * variable is set to zero and invalid.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 *
+	 */
+	ReturnValue_t read(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call copies the array values back to the data pool.
+	 * @details
+	 * It checks type and size, as well as if the variable is writable. If so,
+	 * the value is copied and the local valid flag is written back as well.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
+
+
+	LocalPoolVar<T> &operator=(const T& newValue);
+	LocalPoolVar<T> &operator=(const LocalPoolVar<T>& newPoolVariable);
+
+	//! Explicit type conversion operator. Allows casting the class to
+	//! its template type to perform operations on value.
+	explicit operator T() const;
+
+	bool operator==(const LocalPoolVar<T>& other) const;
+	bool operator==(const T& other) const;
+
+	bool operator!=(const LocalPoolVar<T>& other) const;
+	bool operator!=(const T& other) const;
+
+	bool operator<(const LocalPoolVar<T>& other) const;
+	bool operator<(const T& other) const;
+
+	bool operator>(const LocalPoolVar<T>& other) const;
+	bool operator>(const T& other) const;
+
+protected:
+	/**
+	 * @brief	Like #read, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t readWithoutLock() override;
+	/**
+	 * @brief	Like #commit, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t commitWithoutLock() override;
+
+	// std::ostream is the type for object std::cout
+	template <typename U>
+	friend std::ostream& operator<< (std::ostream &out,
+			const LocalPoolVar<U> &var);
+
+private:
+};
+
+#include "LocalPoolVariable.tpp"
+
+template<class T>
+using lp_var_t = LocalPoolVar<T>;
+
+using lp_bool_t = LocalPoolVar<uint8_t>;
+using lp_uint8_t = LocalPoolVar<uint8_t>;
+using lp_uint16_t = LocalPoolVar<uint16_t>;
+using lp_uint32_t = LocalPoolVar<uint32_t>;
+using lp_uint64_t = LocalPoolVar<uint64_t>;
+using lp_int8_t = LocalPoolVar<int8_t>;
+using lp_int16_t = LocalPoolVar<int16_t>;
+using lp_int32_t = LocalPoolVar<int32_t>;
+using lp_int64_t = LocalPoolVar<int64_t>;
+using lp_float_t = LocalPoolVar<float>;
+using lp_double_t = LocalPoolVar<double>;
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */

datapoollocal/LocalPoolVariable.tpp

@@ -0,0 +1,169 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
+
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+#error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
+#endif
+
+template<typename T>
+inline LocalPoolVar<T>::LocalPoolVar(HasLocalDataPoolIF* hkOwner,
+		lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+
+template<typename T>
+inline LocalPoolVar<T>::LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
+        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+
+
+template<typename T>
+inline LocalPoolVar<T>::LocalPoolVar(gp_id_t globalPoolId, DataSetIF *dataSet,
+		pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+				dataSet, setReadWriteMode){}
+
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
+	return readWithoutLock();
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
+	if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+		sif::debug << "LocalPoolVar: Invalid read write "
+				"mode for read() call." << std::endl;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
+	}
+
+	PoolEntry<T>* poolEntry = nullptr;
+	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
+	if(result != RETURN_OK and poolEntry != nullptr) {
+		sif::error << "PoolVector: Read of local pool variable of object "
+				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
+				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
+				std::dec << " failed.\n" << std::flush;
+		return result;
+	}
+	this->value = *(poolEntry->address);
+	this->valid = poolEntry->valid;
+	return RETURN_OK;
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
+	return commitWithoutLock();
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
+	if(readWriteMode == pool_rwm_t::VAR_READ) {
+		sif::debug << "LocalPoolVar: Invalid read write "
+				 "mode for commit() call." << std::endl;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
+	}
+	PoolEntry<T>* poolEntry = nullptr;
+	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
+	if(result != RETURN_OK) {
+		sif::error << "PoolVector: Read of local pool variable of object "
+				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
+				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
+				std::dec << " failed.\n" << std::flush;
+		return result;
+	}
+	*(poolEntry->address) = this->value;
+	poolEntry->valid = this->valid;
+	return RETURN_OK;
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
+		const size_t max_size, SerializeIF::Endianness streamEndianness) const {
+	return SerializeAdapter::serialize(&value,
+			buffer, size ,max_size, streamEndianness);
+}
+
+template<typename T>
+inline size_t LocalPoolVar<T>::getSerializedSize() const {
+	return SerializeAdapter::getSerializedSize(&value);
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
+		size_t* size, SerializeIF::Endianness streamEndianness) {
+	return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
+}
+
+template<typename T>
+inline std::ostream& operator<< (std::ostream &out,
+		const LocalPoolVar<T> &var) {
+    out << var.value;
+    return out;
+}
+
+template<typename T>
+inline LocalPoolVar<T>::operator T() const {
+	return value;
+}
+
+template<typename T>
+inline LocalPoolVar<T> & LocalPoolVar<T>::operator=(const T& newValue) {
+    value = newValue;
+    return *this;
+}
+
+template<typename T>
+inline LocalPoolVar<T>& LocalPoolVar<T>::operator =(
+		const LocalPoolVar<T>& newPoolVariable) {
+	value = newPoolVariable.value;
+	return *this;
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator ==(const LocalPoolVar<T> &other) const {
+	return this->value == other.value;
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator ==(const T &other) const {
+	return this->value == other;
+}
+
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator !=(const LocalPoolVar<T> &other) const {
+	return not (*this == other);
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator !=(const T &other) const {
+	return not (*this == other);
+}
+
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator <(const LocalPoolVar<T> &other) const {
+	return this->value < other.value;
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator <(const T &other) const {
+	return this->value < other;
+}
+
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator >(const LocalPoolVar<T> &other) const {
+	return not (*this < other);
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator >(const T &other) const {
+	return not (*this < other);
+}
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */

datapoollocal/LocalPoolVector.h

@@ -0,0 +1,174 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+
+#include "LocalPoolObjectBase.h"
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolEntry.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+
+/**
+ * @brief	This is the access class for array-type data pool entries.
+ * @details
+ * To ensure safe usage of the data pool, operation is not done directly on the
+ * data pool entries, but on local copies. This class provides simple type-
+ * and length-safe access to vector-style data pool entries (i.e. entries with
+ * length > 1). The class can be instantiated as read-write and read only.
+ *
+ * It provides a commit-and-roll-back semantic, which means that no array
+ * entry in the data pool is changed until the commit call is executed.
+ * There are two template parameters:
+ * @tparam	T
+ * This template parameter specifies the data type of an array entry. Currently,
+ * all plain data types are supported, but in principle any type is possible.
+ * @tparam  vector_size
+ * This template parameter specifies the vector size of this entry. Using a
+ * template parameter for this is not perfect, but avoids
+ * dynamic memory allocation.
+ * @ingroup data_pool
+ */
+template<typename T, uint16_t vectorSize>
+class LocalPoolVector: public LocalPoolObjectBase {
+public:
+	LocalPoolVector() = delete;
+	/**
+	 * This constructor is used by the data creators to have pool variable
+	 * instances which can also be stored in datasets.
+	 * It does not fetch the current value from the data pool. This is performed
+	 * by the read() operation (which is not thread-safe).
+	 * Datasets can be used to access local pool entires in a thread-safe way.
+	 * @param poolId ID of the local pool entry.
+	 * @param hkOwner Pointer of the owner. This will generally be the calling
+	 * class itself which passes "this".
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 * @param dataSet The data set in which the variable shall register itself.
+	 * If nullptr, the variable is not registered.
+	 */
+	LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+
+	/**
+	 * This constructor is used by data users like controllers to have
+	 * access to the local pool variables of data creators by supplying
+	 * the respective creator object ID.
+	 * It does not fetch the current value from the data pool. This is performed
+	 * by the read() operation (which is not thread-safe).
+	 * Datasets can be used to access local pool entires in a thread-safe way.
+	 * @param poolId ID of the local pool entry.
+	 * @param hkOwner Pointer of the owner. This will generally be the calling
+	 * class itself which passes "this".
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 * @param dataSet The data set in which the variable shall register itself.
+	 * If nullptr, the variable is not registered.
+	 */
+	LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+	/**
+	 * Variation which takes the unique global identifier of a local pool
+	 * vector.
+	 * @param globalPoolId
+	 * @param dataSet
+	 * @param setReadWriteMode
+	 */
+	LocalPoolVector(gp_id_t globalPoolId,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+
+	/**
+	 * @brief	This is the local copy of the data pool entry.
+	 * @details
+	 * The user can work on this attribute just like he would on a local
+	 * array of this type.
+	 */
+	T value[vectorSize];
+	/**
+	 * @brief	The classes destructor is empty.
+	 * @details	If commit() was not called, the local value is
+	 * 			discarded and not written back to the data pool.
+	 */
+	~LocalPoolVector() {};
+	/**
+	 * @brief	The operation returns the number of array entries
+	 * 			in this variable.
+	 */
+	uint8_t getSize() {
+		return vectorSize;
+	}
+
+	T& operator [](int i);
+	const T &operator [](int i) const;
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			const size_t maxSize,
+			SerializeIF::Endianness streamEndiannes) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override;
+
+	/**
+	 * @brief	This is a call to read the array's values
+	 * 			from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the data pool and copies all array values and the valid
+	 * information to its local attributes.
+	 * In case of a failure (wrong type, size or pool id not found), the
+	 * variable is set to zero and invalid.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call copies the array values back to the data pool.
+	 * @details
+	 * It checks type and size, as well as if the variable is writable. If so,
+	 * the value is copied and the local valid flag is written back as well.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+
+protected:
+	/**
+	 * @brief	Like #read, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t readWithoutLock() override;
+	/**
+	 * @brief	Like #commit, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t commitWithoutLock() override;
+
+private:
+
+
+	// std::ostream is the type for object std::cout
+	template <typename U, uint16_t otherSize>
+	friend std::ostream& operator<< (std::ostream &out,
+	        const LocalPoolVector<U, otherSize> &var);
+
+
+};
+
+#include "LocalPoolVector.tpp"
+
+template<typename T, uint16_t vectorSize>
+using lp_vec_t = LocalPoolVector<T, vectorSize>;
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */

datapoollocal/LocalPoolVector.tpp

@@ -0,0 +1,158 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
+
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#error Include LocalPoolVector.h before LocalPoolVector.tpp!
+#endif
+
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
+		HasLocalDataPoolIF* hkOwner, lp_id_t poolId, DataSetIF* dataSet,
+		pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
+
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
+		lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+
+
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
+		DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+				dataSet, setReadWriteMode) {}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
+	return readWithoutLock();
+}
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
+	if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+		sif::debug << "LocalPoolVar: Invalid read write "
+				"mode for read() call." << std::endl;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
+	}
+
+	PoolEntry<T>* poolEntry = nullptr;
+	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
+	memset(this->value, 0, vectorSize * sizeof(T));
+
+	if(result != RETURN_OK) {
+		sif::error << "PoolVector: Read of local pool variable of object "
+				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
+				hkManager->getOwner() << "and lp ID 0x" << localPoolId <<
+				std::dec << " failed." << std::endl;
+		return result;
+	}
+	std::memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
+	this->valid = poolEntry->valid;
+	return RETURN_OK;
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
+		uint32_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
+	return commitWithoutLock();
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
+	if(readWriteMode == pool_rwm_t::VAR_READ) {
+		sif::debug << "LocalPoolVar: Invalid read write "
+				"mode for commit() call." << std::endl;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
+	}
+	PoolEntry<T>* poolEntry = nullptr;
+	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
+	if(result != RETURN_OK) {
+		sif::error << "PoolVector: Read of local pool variable of object "
+				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
+				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
+				std::dec << " failed.\n" << std::flush;
+		return result;
+	}
+	std::memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
+	poolEntry->valid = this->valid;
+	return RETURN_OK;
+}
+
+template<typename T, uint16_t vectorSize>
+inline T& LocalPoolVector<T, vectorSize>::operator [](int i) {
+	if(i <= vectorSize) {
+		return value[i];
+	}
+	// If this happens, I have to set some value. I consider this
+	// a configuration error, but I wont exit here.
+	sif::error << "LocalPoolVector: Invalid index. Setting or returning"
+			" last value!" << std::endl;
+	return value[i];
+}
+
+template<typename T, uint16_t vectorSize>
+inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
+	if(i <= vectorSize) {
+		return value[i];
+	}
+	// If this happens, I have to set some value. I consider this
+	// a configuration error, but I wont exit here.
+	sif::error << "LocalPoolVector: Invalid index. Setting or returning"
+			" last value!" << std::endl;
+	return value[i];
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+		size_t* size, size_t maxSize,
+		SerializeIF::Endianness streamEndianness) const {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			break;
+		}
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
+	return vectorSize * SerializeAdapter::getSerializedSize(value);
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
+		const uint8_t** buffer, size_t* size,
+		SerializeIF::Endianness streamEndianness) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+				streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			break;
+		}
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline std::ostream& operator<< (std::ostream &out,
+        const LocalPoolVector<T, vectorSize> &var) {
+    out << "Vector: [";
+    for(int i = 0;i < vectorSize; i++) {
+        out << var.value[i];
+        if(i < vectorSize - 1) {
+            out << ", ";
+        }
+    }
+    out << "]";
+    return out;
+}
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_ */

datapoollocal/MarkChangedIF.h

@@ -0,0 +1,17 @@
+#ifndef FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_
+#define FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_
+
+/**
+ * Common interface for local pool entities which can be marked as changed.
+ */
+class MarkChangedIF {
+public:
+    virtual~ MarkChangedIF() {};
+
+    virtual bool hasChanged() const = 0;
+    virtual void setChanged(bool changed) = 0;
+};
+
+
+
+#endif /* FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_ */

datapoollocal/SharedLocalDataSet.cpp

@@ -0,0 +1,16 @@
+#include "SharedLocalDataSet.h"
+
+SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, sid_t sid,
+        const size_t maxSize): SystemObject(objectId),
+        LocalPoolDataSetBase(sid, nullptr, maxSize) {
+    this->setContainer(poolVarVector.data());
+    datasetLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedLocalDataSet::lockDataset(dur_millis_t mutexTimeout) {
+    return datasetLock->lockMutex(MutexIF::TimeoutType::WAITING, mutexTimeout);
+}
+
+ReturnValue_t SharedLocalDataSet::unlockDataset() {
+    return datasetLock->unlockMutex();
+}

datapoollocal/SharedLocalDataSet.h

@@ -0,0 +1,24 @@
+#ifndef FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
+
+#include "LocalPoolDataSetBase.h"
+#include "../datapool/SharedDataSetIF.h"
+#include "../objectmanager/SystemObject.h"
+#include <vector>
+
+class SharedLocalDataSet: public SystemObject,
+        public LocalPoolDataSetBase,
+        public SharedDataSetIF {
+public:
+    SharedLocalDataSet(object_id_t objectId, sid_t sid,
+            const size_t maxSize);
+    ReturnValue_t lockDataset(dur_millis_t mutexTimeout) override;
+    ReturnValue_t unlockDataset() override;
+private:
+
+    MutexIF* datasetLock = nullptr;
+    std::vector<PoolVariableIF*> poolVarVector;
+};
+
+
+#endif /* FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_ */

datapoollocal/StaticLocalDataSet.h

@@ -0,0 +1,50 @@
+#ifndef FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+
+#include "LocalPoolDataSetBase.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include <array>
+
+/**
+ * @brief   This local dataset type is created on the stack.
+ * @details
+ * This will is the primary data structure to organize pool variables into
+ * sets which can be accessed via the housekeeping service interface or
+ * which can be sent to other software objects.
+ *
+ * It is recommended to read the documentation of the LocalPoolDataSetBase
+ * class for more information on how this class works and how to use it.
+ * @tparam capacity Capacity of the static dataset, which is usually known
+ * beforehand.
+ */
+template <uint8_t NUM_VARIABLES>
+class StaticLocalDataSet: public LocalPoolDataSetBase {
+public:
+	/**
+	 * Constructor used by data owner and creator like device handlers.
+	 * This constructor also initialized the components required for
+	 * periodic handling.
+	 * @param hkOwner
+	 * @param setId
+	 */
+    StaticLocalDataSet(HasLocalDataPoolIF* hkOwner,
+    		uint32_t setId): LocalPoolDataSetBase(hkOwner, setId, nullptr,
+            NUM_VARIABLES) {
+        this->setContainer(poolVarList.data());
+    }
+
+	/**
+	 * Constructor used by data users like controllers.
+	 * @param hkOwner
+	 * @param setId
+	 */
+    StaticLocalDataSet(sid_t sid): LocalPoolDataSetBase(sid, nullptr,
+            NUM_VARIABLES) {
+        this->setContainer(poolVarList.data());
+    }
+
+private:
+    std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList;
+};
+
+#endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */

datapoollocal/locPoolDefinitions.h

@@ -0,0 +1,93 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_
+#define FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_
+
+#include <cstdint>
+#include "../objectmanager/SystemObjectIF.h"
+#include "../objectmanager/frameworkObjects.h"
+
+/**
+ * @brief   Type definition for local pool entries.
+ */
+using lp_id_t = uint32_t;
+
+namespace localpool {
+static constexpr uint32_t INVALID_LPID = -1;
+}
+
+/**
+ * Used as a unique identifier for data sets.
+ */
+union sid_t {
+    static constexpr uint64_t INVALID_SID = -1;
+    static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
+    static constexpr uint32_t INVALID_SET_ID = -1;
+
+
+    sid_t(): raw(INVALID_SID) {}
+
+    sid_t(object_id_t objectId, uint32_t setId):
+            objectId(objectId),
+            ownerSetId(setId) {}
+
+    struct {
+        object_id_t objectId ;
+        /**
+         * A generic 32 bit ID to identify unique HK packets for a single
+         * object. For example, the DeviceCommandId_t is used for
+         * DeviceHandlers
+         */
+        uint32_t ownerSetId;
+    };
+    /**
+     * Alternative access to the raw value. This is also the size of the type.
+     */
+    uint64_t raw;
+
+    bool notSet() const {
+        return raw == INVALID_SID;
+    }
+
+    bool operator==(const sid_t& other) const {
+        return raw == other.raw;
+    }
+
+    bool operator!=(const sid_t& other) const {
+        return not (raw == other.raw);
+    }
+};
+
+/**
+ * Used as a global unique identifier for local pool variables.
+ */
+union gp_id_t {
+	static constexpr uint64_t INVALID_GPID = -1;
+    static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
+	static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
+
+	gp_id_t(): raw(INVALID_GPID) {}
+
+	gp_id_t(object_id_t objectId, lp_id_t localPoolId):
+			objectId(objectId),
+			localPoolId(localPoolId) {}
+
+	struct {
+		object_id_t objectId;
+		lp_id_t localPoolId;
+	};
+
+	uint64_t raw;
+
+	bool notSet() const {
+		return raw == INVALID_GPID;
+	}
+
+    bool operator==(const sid_t& other) const {
+        return raw == other.raw;
+    }
+
+    bool operator!=(const sid_t& other) const {
+        return not (raw == other.raw);
+    }
+};
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_ */

defaultcfg/fsfwconfig/CMakeLists.txt

@@ -0,0 +1,15 @@
+target_sources(${TARGET_NAME} 
+	PRIVATE
+)
+
+# Add include paths for the executable
+target_include_directories(${TARGET_NAME} 
+	PUBLIC 
+		${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+# Add include paths for the FSFW library
+target_include_directories(${LIB_FSFW_NAME} 
+	PUBLIC
+		${CMAKE_CURRENT_SOURCE_DIR}
+)

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -1,19 +1,19 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include <FSFWVersion.h>
 #include <cstddef>
+#include <cstdint>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
 #define FSFW_CPP_OSTREAM_ENABLED 	1
 
-//! Reduced printout to further decrese code size
+//! Reduced printout to further decrease code size
 //! Be careful, this also turns off most diagnostic prinouts!
-#define FSFW_REDUCED_PRINTOUT		0
+#define FSFW_ENHANCED_PRINTOUT		0
 
-//! Can be used to enable debugging printouts for developing the FSFW
-#define FSFW_DEBUGGING              0
+//! Can be used to enable additional debugging printouts for developing the FSFW
+#define FSFW_PRINT_VERBOSITY_LEVEL   0
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
@@ -40,6 +40,9 @@
 //! will not be provided. This define should be set to 1 if this is the case.
 #define FSFW_NO_C99_IO 	            1
 
+//! Specify whether a special mode store is used for Subsystem components.
+#define FSFW_USE_MODESTORE          0
+
 namespace fsfwconfig {
 //! Default timestamp size. The default timestamp will be an eight byte CDC
 //! short timestamp.

defaultcfg/fsfwconfig/devices/logicalAddresses.h

@@ -1,8 +1,8 @@
 #ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
 #define CONFIG_DEVICES_LOGICALADDRESSES_H_
 
-#include <config/objects/systemObjectList.h>
 #include <fsfw/devicehandlers/CookieIF.h>
+#include "../objects/systemObjectList.h"
 #include <cstdint>
 
 /**

defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp

@@ -1,4 +1,5 @@
-#include <config/ipc/MissionMessageTypes.h>
+#include "missionMessageTypes.h"
+
 #include <fsfw/ipc/CommandMessageIF.h>
 
 void messagetypes::clearMissionMessage(CommandMessage* message) {

defaultcfg/fsfwconfig/objects/Factory.cpp

@@ -11,6 +11,7 @@
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
+#include <internalError/InternalErrorReporter.h>
 
 #include <cstdint>
 
@@ -31,15 +32,15 @@ void Factory::produce(void) {
 	setStaticFrameworkObjectIds();
 	new EventManager(objects::EVENT_MANAGER);
 	new HealthTable(objects::HEALTH_TABLE);
-	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
 }
 
 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-	PusServiceBase::packetDestination = objects::TM_FUNNEL;
+	PusServiceBase::packetSource = objects::NO_OBJECT;
+	PusServiceBase::packetDestination = objects::NO_OBJECT;
 
-	CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-	CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
+	CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
 
 	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
 
@@ -48,7 +49,6 @@ void Factory::setStaticFrameworkObjectIds() {
 
 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-	TmPacketStored::timeStamperId = objects::PUS_TIME;
-	//TmFunnel::downlinkDestination = objects::NO_OBJECT;
+	TmPacketStored::timeStamperId = objects::NO_OBJECT;
 }
 

devicehandlers/AcceptsDeviceResponsesIF.h

@@ -1,23 +1,19 @@
-/**
- * @file	AcceptsDeviceResponsesIF.h
- * @brief	This file defines the AcceptsDeviceResponsesIF class.
- * @date	15.05.2013
- * @author	baetz
- */
-
-#ifndef ACCEPTSDEVICERESPONSESIF_H_
-#define ACCEPTSDEVICERESPONSESIF_H_
+#ifndef FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
+#define FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 
+/**
+ * This interface is used by the device handler to send a device response
+ * to the queue ID, which is returned in the implemented abstract method.
+ */
 class AcceptsDeviceResponsesIF {
 public:
 	/**
 	 * Default empty virtual destructor.
 	 */
-	virtual ~AcceptsDeviceResponsesIF() {
-}
-virtual MessageQueueId_t getDeviceQueue() = 0;
+	virtual ~AcceptsDeviceResponsesIF() {}
+	virtual MessageQueueId_t getDeviceQueue() = 0;
 };
 
-#endif /* ACCEPTSDEVICERESPONSESIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_ */

devicehandlers/AssemblyBase.cpp

@@ -2,10 +2,10 @@
 
 AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
 		uint16_t commandQueueDepth) :
-		SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth), internalState(
-				STATE_NONE), recoveryState(RECOVERY_IDLE), recoveringDevice(
-				childrenMap.end()), targetMode(MODE_OFF), targetSubmode(
-				SUBMODE_NONE) {
+		SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
+		internalState(STATE_NONE), recoveryState(RECOVERY_IDLE),
+		recoveringDevice(childrenMap.end()), targetMode(MODE_OFF),
+		targetSubmode(SUBMODE_NONE) {
 	recoveryOffTimer.setTimeout(POWER_OFF_TIME_MS);
 }
 
@@ -165,9 +165,8 @@ ReturnValue_t AssemblyBase::checkChildrenState() {
 }
 
 ReturnValue_t AssemblyBase::checkChildrenStateOff() {
-	for (std::map<object_id_t, ChildInfo>::iterator iter = childrenMap.begin();
-			iter != childrenMap.end(); iter++) {
-		if (checkChildOff(iter->first) != RETURN_OK) {
+	for (const auto& childIter: childrenMap) {
+		if (checkChildOff(childIter.first) != RETURN_OK) {
 			return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
 		}
 	}