Merge branch 'development' into mueller/parameter-convergence

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
 
 
 

README.md

@@ -1,4 +1,159 @@
 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/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_ */

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -3,6 +3,7 @@
 
 #include <FSFWVersion.h>
 #include <cstddef>
+#include <cstdint>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.

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/DeviceHandlerIF.h

@@ -18,8 +18,6 @@ public:
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
-	static constexpr Command_t NO_COMMAND = 0xffffffff;
-
 	/**
 	 * @brief This is the mode the <strong>device handler</strong> is in.
 	 *

events/Event.h

@@ -4,7 +4,7 @@
 #include <stdint.h>
 #include "fwSubsystemIdRanges.h"
 //could be move to more suitable location
-#include <subsystemIdRanges.h>
+#include <events/subsystemIdRanges.h>
 
 typedef uint16_t EventId_t;
 typedef uint8_t EventSeverity_t;

fsfw.mk

@@ -70,5 +70,3 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
-
-INCLUDES += $(CURRENTPATH)

osal/linux/TcUnixUdpPollingTask.cpp

@@ -33,7 +33,7 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 	while(1) {
 		//! Sender Address is cached here.
 		struct sockaddr_in senderAddress;
-		socklen_t senderSockLen = 0;
+		socklen_t senderSockLen = sizeof(senderAddress);
 		ssize_t bytesReceived = recvfrom(serverUdpSocket,
 				receptionBuffer.data(), frameSize, receptionFlags,
 				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);

osal/linux/TmTcUnixUdpBridge.cpp

@@ -65,9 +65,13 @@ TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
 ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	int flags = 0;
 
-	clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
-	//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
-	clientAddressLen = sizeof(serverAddress);
+	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
+
+	if(ipAddrAnySet){
+		clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
+		//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
+		clientAddressLen = sizeof(serverAddress);
+	}
 
 //	char ipAddress [15];
 //	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
@@ -85,7 +89,7 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
 	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
 
 //	char ipAddress [15];
@@ -168,3 +172,7 @@ void TmTcUnixUdpBridge::handleSendError() {
 	}
 }
 
+void TmTcUnixUdpBridge::setClientAddressToAny(bool ipAddrAnySet){
+	this->ipAddrAnySet = ipAddrAnySet;
+}
+

osal/linux/TmTcUnixUdpBridge.h

@@ -20,8 +20,9 @@ public:
 			uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();
 
-	void checkAndSetClientAddress(sockaddr_in clientAddress);
+	void checkAndSetClientAddress(sockaddr_in& clientAddress);
 
+	void setClientAddressToAny(bool ipAddrAnySet);
 protected:
 	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
 
@@ -36,6 +37,8 @@ private:
 	struct sockaddr_in serverAddress;
 	socklen_t serverAddressLen = 0;
 
+	bool ipAddrAnySet = false;
+
 	//! Access to the client address is mutex protected as it is set
 	//! by another task.
 	MutexIF* mutex;

osal/rtems/Clock.cpp

@@ -3,7 +3,7 @@
 #include <rtems/score/todimpl.h>
 
 uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
+MutexIF* Clock::timeMutex = nullptr;
 
 uint32_t Clock::getTicksPerSecond(void){
 	rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
@@ -40,7 +40,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
 	//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
 	//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
 	//TODO Second parameter is ISR_lock_Context
-	_TOD_Set(&newTime,NULL);
+	_TOD_Set(&newTime,nullptr);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -131,7 +131,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 
 ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
 	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
+	if (timeMutex == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
@@ -157,40 +157,34 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+	MutexHelper helper(timeMutex);
+
 
 	leapSeconds = leapSeconds_;
 
-	result = timeMutex->unlockMutex();
-	return result;
+
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-	if(timeMutex==NULL){
+	if(timeMutex==nullptr){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+	MutexHelper helper(timeMutex);
 
 	*leapSeconds_ = leapSeconds;
 
-	result = timeMutex->unlockMutex();
-	return result;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::checkOrCreateClockMutex(){
-	if(timeMutex==NULL){
+	if(timeMutex==nullptr){
 		MutexFactory* mutexFactory = MutexFactory::instance();
-		if (mutexFactory == NULL) {
+		if (mutexFactory == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		timeMutex = mutexFactory->createMutex();
-		if (timeMutex == NULL) {
+		if (timeMutex == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}

osal/rtems/CpuUsage.cpp

@@ -158,7 +158,7 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 }
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
-		int32_t* size, Endianness streamEndianness) {
+		size_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
 			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {

osal/rtems/InternalErrorCodes.cpp

@@ -12,8 +12,8 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 //		return INVALID_WORKSPACE_ADDRESS;
 	case INTERNAL_ERROR_TOO_LITTLE_WORKSPACE:
 		return TOO_LITTLE_WORKSPACE;
-	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
-		return WORKSPACE_ALLOCATION;
+//	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
+//		return WORKSPACE_ALLOCATION;
 //	case INTERNAL_ERROR_INTERRUPT_STACK_TOO_SMALL:
 //		return INTERRUPT_STACK_TOO_SMALL;
 	case INTERNAL_ERROR_THREAD_EXITTED:

osal/rtems/Interrupt.cpp

@@ -1,86 +0,0 @@
-#include "Interrupt.h"
-extern "C" {
-#include <bsp_flp/hw_timer/hw_timer.h>
-#include <bsp_flp/hw_uart/hw_uart.h>
-}
-#include "RtemsBasic.h"
-
-
-ReturnValue_t Interrupt::enableInterrupt(InterruptNumber_t interruptNumber) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask | (1 << interruptNumber);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Interrupt::setInterruptServiceRoutine(IsrHandler_t handler,
-		InterruptNumber_t interrupt, IsrHandler_t* oldHandler) {
-	IsrHandler_t oldHandler_local;
-	if (oldHandler == NULL) {
-		oldHandler = &oldHandler_local;
-	}
-	//+ 0x10 comes because of trap type assignment to IRQs in UT699 processor
-	rtems_status_code status = rtems_interrupt_catch(handler, interrupt + 0x10,
-			oldHandler);
-	switch(status){
-	case RTEMS_SUCCESSFUL:
-		//ISR established successfully
-		return HasReturnvaluesIF::RETURN_OK;
-	case RTEMS_INVALID_NUMBER:
-		//illegal vector number
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_INVALID_ADDRESS:
-		//illegal ISR entry point or invalid old_isr_handler
-		return HasReturnvaluesIF::RETURN_FAILED;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-}
-
-ReturnValue_t Interrupt::disableInterrupt(InterruptNumber_t interruptNumber) {
-	//TODO Not implemented
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-//SHOULDDO: Make default values (edge, polarity) settable?
-ReturnValue_t Interrupt::enableGpioInterrupt(InterruptNumber_t interrupt) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask | (1 << interrupt);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		volatile hw_gpio_port_t* ioPorts = hw_gpio_port;
-		ioPorts->direction &= ~(1 << interrupt); //Direction In
-		ioPorts->interrupt_edge |= 1 << interrupt; //Edge triggered
-		ioPorts->interrupt_polarity |= 1 << interrupt; //Trigger on rising edge
-		ioPorts->interrupt_mask |= 1 << interrupt; //Enable
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Interrupt::disableGpioInterrupt(InterruptNumber_t interrupt) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask & ~(1 << interrupt);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		//Disable gpio IRQ
-		volatile hw_gpio_port_t* ioPorts = hw_gpio_port;
-		ioPorts->interrupt_mask &= ~(1 << interrupt);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-bool Interrupt::isInterruptInProgress() {
-	return rtems_interrupt_is_in_progress();
-}

osal/rtems/Interrupt.h

@@ -1,50 +0,0 @@
-#ifndef OS_RTEMS_INTERRUPT_H_
-#define OS_RTEMS_INTERRUPT_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include <cstring>
-#include <rtems.h>
-
-typedef rtems_isr_entry IsrHandler_t;
-typedef rtems_isr IsrReturn_t;
-typedef rtems_vector_number InterruptNumber_t;
-
-class Interrupt {
-public:
-	virtual ~Interrupt(){};
-
-	/**
-	 * Establishes a new interrupt service routine.
-	 * @param handler	The service routine to establish
-	 * @param interrupt	The interrupt (NOT trap type) the routine shall react to.
-	 * @return	RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t setInterruptServiceRoutine(IsrHandler_t handler,
-			InterruptNumber_t interrupt, IsrHandler_t *oldHandler = NULL);
-	static ReturnValue_t enableInterrupt(InterruptNumber_t interruptNumber);
-	static ReturnValue_t disableInterrupt(InterruptNumber_t interruptNumber);
-	/**
-	 * Enables the interrupt given.
-	 * The function tests, if the InterruptMask register was written successfully.
-	 * @param interrupt The interrupt to enable.
-	 * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else.
-	 */
-	static ReturnValue_t enableGpioInterrupt(InterruptNumber_t interrupt);
-	/**
-	 * Disables the interrupt given.
-	 * @param interrupt The interrupt to disable.
-	 * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else.
-	 */
-	static ReturnValue_t disableGpioInterrupt(InterruptNumber_t interrupt);
-
-
-	/**
-	 * Checks if the current executing context is an ISR.
-	 * @return true if handling an interrupt, false else.
-	 */
-	static bool isInterruptInProgress();
-
-};
-
-
-#endif /* OS_RTEMS_INTERRUPT_H_ */

osal/rtems/MessageQueue.cpp

@@ -1,14 +1,15 @@
 #include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 #include <cstring>
 MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
-		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(NULL) {
+		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
 	rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
 	rtems_status_code status = rtems_message_queue_create(name, message_depth,
 			max_message_size, 0, &(this->id));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
 				<< name << std::dec << " failed with status:"
 				<< (uint32_t) status << std::endl;
 		this->id = 0;
@@ -20,15 +21,15 @@ MessageQueue::~MessageQueue() {
 }
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 	if (this->lastPartner != 0) {
 		return sendMessage(this->lastPartner, message, this->getId());
 	} else {
@@ -36,27 +37,29 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 	}
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	*receivedFrom = this->lastPartner;
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	size_t size = 0;
 	rtems_status_code status = rtems_message_queue_receive(id,
-			message->getBuffer(), &(message->messageSize),
+			message->getBuffer(),&size,
 			RTEMS_NO_WAIT, 1);
 	if (status == RTEMS_SUCCESSFUL) {
+		message->setMessageSize(size);
 		this->lastPartner = message->getSender();
 		//Check size of incoming message.
-		if (message->messageSize < message->getMinimumMessageSize()) {
+		if (message->getMessageSize() < message->getMinimumMessageSize()) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send something later.
 		//But still, delete packet content.
-		memset(message->getData(), 0, message->MAX_DATA_SIZE);
+		memset(message->getData(), 0, message->getMaximumMessageSize());
 	}
 	return convertReturnCode(status);
 }
@@ -79,20 +82,20 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 }
 
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 
 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo,
-			message->getBuffer(), message->messageSize);
+			message->getBuffer(), message->getMessageSize());
 
 	//TODO: Check if we're in ISR.
 	if (result != RTEMS_SUCCESSFUL && !ignoreFault) {
-		if (internalErrorReporter == NULL) {
+		if (internalErrorReporter == nullptr) {
 			internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
 					objects::INTERNAL_ERROR_REPORTER);
 		}
-		if (internalErrorReporter != NULL) {
+		if (internalErrorReporter != nullptr) {
 			internalErrorReporter->queueMessageNotSent();
 		}
 	}
@@ -105,7 +108,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 	return returnCode;
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }

osal/rtems/MessageQueue.h

@@ -1,14 +1,5 @@
-/**
- *	@file	MessageQueue.h
- *
- *  @date	10/02/2012
- *	@author	Bastian Baetz
- *
- *	@brief	This file contains the definition of the MessageQueue class.
- */
-
-#ifndef MESSAGEQUEUE_H_
-#define MESSAGEQUEUE_H_
+#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
+#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
@@ -60,14 +51,14 @@ public:
 	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false );
+			MessageQueueMessageIF* message, bool ignoreFault = false );
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
 	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t sendToDefault( MessageQueueMessage* message );
+	ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using the stored
@@ -75,7 +66,7 @@ public:
 	 * 			(i.e. lastPartner is zero), an error code is returned.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t reply( MessageQueueMessage* message );
+	ReturnValue_t reply( MessageQueueMessageIF* message );
 
 	/**
 	 * @brief	This function reads available messages from the message queue and returns the sender.
@@ -84,7 +75,7 @@ public:
 	 * @param message	A pointer to a message in which the received data is stored.
 	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom);
 
 	/**
@@ -95,7 +86,7 @@ public:
 	 * 			message's content is cleared and the function returns immediately.
 	 * @param message	A pointer to a message in which the received data is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message);
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -121,7 +112,7 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	The sendToDefault method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
@@ -129,7 +120,7 @@ public:
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */
@@ -178,4 +169,4 @@ private:
 	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
 };
 
-#endif /* MESSAGEQUEUE_H_ */
+#endif /* FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ */

osal/rtems/MultiObjectTask.cpp

@@ -30,7 +30,7 @@ ReturnValue_t MultiObjectTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "ObjectTask::startTask for " << std::hex << this->getId()
+		sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
 	switch(status){
@@ -63,8 +63,8 @@ void MultiObjectTask::taskFunctionality() {
 			char nameSpace[8] = { 0 };
 			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
 					nameSpace);
-			error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
-			if (this->deadlineMissedFunc != NULL) {
+			sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}
@@ -74,7 +74,7 @@ void MultiObjectTask::taskFunctionality() {
 ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);

osal/rtems/MultiObjectTask.h

@@ -80,7 +80,7 @@ protected:
 	/**
 	 * @brief	The pointer to the deadline-missed function.
 	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
+	 * 			So, each may react individually on a timing failure. The pointer may be nullptr,
 	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
 	 * 			of the periodic task.
 	 */

osal/rtems/Mutex.cpp

@@ -10,7 +10,7 @@ Mutex::Mutex() :
 	RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
 			&mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
+		sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
 				<< " failed with " << status << std::endl;
 	}
 }
@@ -18,24 +18,25 @@ Mutex::Mutex() :
 Mutex::~Mutex() {
 	rtems_status_code status = rtems_semaphore_delete(mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "Mutex: deletion for id " << mutexId
+		sif::error << "Mutex: deletion for id " << mutexId
 				<< " failed with " << status << std::endl;
 	}
 }
 
 ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
         TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	rtems_status_code status = RTEMS_INVALID_ID;
 	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
 	}
 	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
 		timeoutMs = RTEMS_NO_TIMEOUT;
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_NO_WAIT, 0);
 	}
 	else {
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, timeoutMs);
 	}
 

osal/rtems/Mutex.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
-#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#ifndef FSFW_OSAL_RTEMS_MUTEX_H_
+#define FSFW_OSAL_RTEMS_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
@@ -15,4 +15,4 @@ private:
 	static uint8_t count;
 };
 
-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FSFW_OSAL_RTEMS_MUTEX_H_ */

osal/rtems/MutexFactory.cpp

@@ -2,7 +2,6 @@
 #include "Mutex.h"
 #include "RtemsBasic.h"
 
-//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
 
 MutexFactory::MutexFactory() {

osal/rtems/PollingTask.cpp

@@ -1,5 +1,6 @@
-#include "../../devicehandlers/FixedSequenceSlot.h"
+#include "../../tasks/FixedSequenceSlot.h"
 #include "../../objectmanager/SystemObjectIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "PollingTask.h"
 #include "RtemsBasic.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
@@ -34,14 +35,14 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
 	PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
-	debug << "Polling task " << originalTask->getId()
+	sif::debug << "Polling task " << originalTask->getId()
 			<< " returned from taskFunctionality." << std::endl;
 }
 
 void PollingTask::missedDeadlineCounter() {
 	PollingTask::deadlineMissedCount++;
 	if (PollingTask::deadlineMissedCount % 10 == 0) {
-		error << "PST missed " << PollingTask::deadlineMissedCount
+		sif::error << "PST missed " << PollingTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
 	}
 }
@@ -50,7 +51,7 @@ ReturnValue_t PollingTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "PollingTask::startTask for " << std::hex << this->getId()
+		sif::error << "PollingTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
 	switch(status){
@@ -68,12 +69,13 @@ ReturnValue_t PollingTask::startTask() {
 
 ReturnValue_t PollingTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
+	if (object != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	error << "Component " << std::hex << componentId <<
+	sif::error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
@@ -90,11 +92,10 @@ ReturnValue_t PollingTask::checkSequence() const {
 
 void PollingTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	FixedSlotSequence::SlotListIter it = pst.current;
 
 	//The start time for the first entry is read.
-	rtems_interval interval = RtemsBasic::convertMsToTicks(
-			(*it)->pollingTimeMs);
+	rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
 	TaskBase::setAndStartPeriod(interval,&periodId);
 	//The task's "infinite" inner loop is entered.
 	while (1) {
@@ -107,7 +108,7 @@ void PollingTask::taskFunctionality() {
 			//If the deadline was missed, the deadlineMissedFunc is called.
 			rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
 			if (status == RTEMS_TIMEOUT) {
-				if (this->deadlineMissedFunc != NULL) {
+				if (this->deadlineMissedFunc != nullptr) {
 					this->deadlineMissedFunc();
 				}
 			}

osal/rtems/PollingTask.h

@@ -1,7 +1,7 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
+#define FSFW_OSAL_RTEMS_POLLINGTASK_H_
 
-#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "TaskBase.h"
 
@@ -82,4 +82,4 @@ protected:
 	void taskFunctionality( void );
 };
 
-#endif /* POLLINGTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */

osal/rtems/QueueFactory.cpp

@@ -1,16 +1,17 @@
 #include "../../ipc/QueueFactory.h"
+#include "../../ipc/MessageQueueSenderIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,bool ignoreFault) {
 	//TODO add ignoreFault functionality
 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo, message->getBuffer(),
-			message->messageSize);
+			message->getMessageSize());
 	switch(result){
 	case RTEMS_SUCCESSFUL:
 			//message sent successfully
@@ -37,7 +38,7 @@ ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;

osal/rtems/RtemsBasic.h

@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_RTEMSBASIC_H_
-#define OS_RTEMS_RTEMSBASIC_H_
+#ifndef FSFW_OSAL_RTEMS_RTEMSBASIC_H_
+#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include <rtems.h>
@@ -22,4 +22,4 @@ public:
 	}
 };
 
-#endif /* OS_RTEMS_RTEMSBASIC_H_ */
+#endif /* FSFW_OSAL_RTEMS_RTEMSBASIC_H_ */

osal/rtems/TaskBase.cpp

@@ -22,7 +22,7 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 	}
 	ReturnValue_t result = convertReturnCode(status);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		error << "TaskBase::TaskBase: createTask with name " << std::hex
+		sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
 				<< osalName << std::dec << " failed with return code "
 				<< (uint32_t) status << std::endl;
 		this->id = 0;

osal/rtems/TaskBase.h

@@ -1,5 +1,5 @@
-#ifndef TASKBASE_H_
-#define TASKBASE_H_
+#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_
+#define FSFW_OSAL_RTEMS_TASKBASE_H_
 
 #include "RtemsBasic.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -44,4 +44,4 @@ private:
 };
 
 
-#endif /* TASKBASE_H_ */
+#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */

timemanager/Clock.h

@@ -2,7 +2,7 @@
 #define FRAMEWORK_TIMEMANAGER_CLOCK_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
 #include "../globalfunctions/timevalOperations.h"
 
 #include <cstdint>