From a42832ca01d9b5554b3e6b7c274bf16ce5d13f58 Mon Sep 17 00:00:00 2001
From: Uli <uli@vnks.de>
Date: Tue, 21 Apr 2020 21:34:03 +0200
Subject: [PATCH 001/307] working on updating SerializeIF, to quote Basti: This
 is going to be horrible

---
 container/FixedMap.h                         |  16 +-
 container/IndexedRingMemoryArray.h           |  32 +--
 datapool/DataPoolParameterWrapper.cpp        |   6 +-
 datapool/PIDReader.h                         |  34 ++--
 datapool/PoolRawAccess.cpp                   |  22 ++-
 datapool/PoolRawAccess.h                     |  16 +-
 datapool/PoolVariable.h                      |  30 +--
 datapool/PoolVector.h                        |   6 +-
 devicehandlers/DeviceTmReportingWrapper.cpp  |   8 +-
 globalfunctions/Type.cpp                     |  10 +-
 globalfunctions/Type.h                       |  16 +-
 globalfunctions/matching/MatchTree.h         |   2 +-
 globalfunctions/matching/RangeMatcher.h      |  29 +--
 health/HealthTable.cpp                       |   6 +-
 memory/MemoryHelper.cpp                      |   6 +-
 osal/rtems/CpuUsage.cpp                      |  16 +-
 parameters/ParameterWrapper.cpp              |  16 +-
 parameters/ParameterWrapper.h                |   2 +-
 power/PowerComponent.cpp                     |   8 +-
 serialize/EndianSwapper.h                    |  46 ++++-
 serialize/SerialArrayListAdapter.h           |  10 +-
 serialize/SerialBufferAdapter.cpp            |   8 +-
 serialize/SerialLinkedListAdapter.h          |  36 ++--
 serialize/SerializeAdapter.h                 | 198 +++++++++----------
 serialize/SerializeElement.h                 |  34 ++--
 serialize/SerializeIF.h                      |  15 +-
 subsystem/Subsystem.cpp                      |   2 +-
 subsystem/modes/ModeDefinitions.h            |  16 +-
 thermal/ThermalComponent.cpp                 |   8 +-
 tmstorage/TmStorePackets.h                   |  38 ++--
 tmtcpacket/packetmatcher/ApidMatcher.h       |   6 +-
 tmtcpacket/packetmatcher/ServiceMatcher.h    |   6 +-
 tmtcpacket/packetmatcher/SubserviceMatcher.h |   6 +-
 tmtcservices/CommandingServiceBase.cpp       |   2 +-
 tmtcservices/PusVerificationReport.cpp       |  18 +-
 35 files changed, 389 insertions(+), 341 deletions(-)

diff --git a/container/FixedMap.h b/container/FixedMap.h
index 0b84bf4e..eaf8a24c 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -150,13 +150,13 @@ public:
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<uint32_t>::serialize(&this->_size,
+		ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
 				buffer, size, max_size, bigEndian);
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
-			result = SerializeAdapter<key_t>::serialize(&theMap[i].first, buffer,
+			result = SerializeAdapter::serialize(&theMap[i].first, buffer,
 					size, max_size, bigEndian);
-			result = SerializeAdapter<T>::serialize(&theMap[i].second, buffer, size,
+			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -168,9 +168,9 @@ public:
 		uint32_t i = 0;
 
 		for (i = 0; i < _size; ++i) {
-			printSize += SerializeAdapter<key_t>::getSerializedSize(
+			printSize += SerializeAdapter::getSerializedSize(
 					&theMap[i].first);
-			printSize += SerializeAdapter<T>::getSerializedSize(&theMap[i].second);
+			printSize += SerializeAdapter::getSerializedSize(&theMap[i].second);
 		}
 
 		return printSize;
@@ -178,16 +178,16 @@ public:
 
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&this->_size,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
 				buffer, size, bigEndian);
 		if (this->_size > theMap.maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
-			result = SerializeAdapter<key_t>::deSerialize(&theMap[i].first, buffer,
+			result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
 					size, bigEndian);
-			result = SerializeAdapter<T>::deSerialize(&theMap[i].second, buffer, size,
+			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
 					bigEndian);
 			++i;
 		}
diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h
index 992b7489..32b61c2d 100644
--- a/container/IndexedRingMemoryArray.h
+++ b/container/IndexedRingMemoryArray.h
@@ -70,7 +70,7 @@ public:
 
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 				const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = AutoSerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -78,17 +78,17 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
 		return result;
 	}
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 				bool bigEndian){
-		ReturnValue_t result = AutoSerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -96,11 +96,11 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -108,10 +108,10 @@ public:
 	}
 
 	uint32_t getSerializedSize() const {
-		uint32_t size = AutoSerializeAdapter::getSerializedSize(&blockStartAddress);
+		uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress);
 		size += indexType.getSerializedSize();
-		size += AutoSerializeAdapter::getSerializedSize(&this->size);
-		size += AutoSerializeAdapter::getSerializedSize(&this->storedPackets);
+		size += SerializeAdapter::getSerializedSize(&this->size);
+		size += SerializeAdapter::getSerializedSize(&this->storedPackets);
 		return size;
 	}
 
@@ -500,14 +500,14 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
-			result = SerializeAdapter<Index<T> >::serialize(&this->entries[i], buffer, size,
+			result = SerializeAdapter::serialize(&this->entries[i], buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -515,7 +515,7 @@ public:
 			return result;
 		}
 		uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize));
-		result = AutoSerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
 		return result;
 	}
 
@@ -531,10 +531,10 @@ public:
 			size += additionalInfo->getSerializedSize();
 		}
 		size += currentWriteBlock->getSerializedSize();
-		size += AutoSerializeAdapter::getSerializedSize(&this->size);
+		size += SerializeAdapter::getSerializedSize(&this->size);
 		size += (this->entries[0].getSerializedSize()) * this->size;
 		uint16_t crc = 0;
-		size += AutoSerializeAdapter::getSerializedSize(&crc);
+		size += SerializeAdapter::getSerializedSize(&crc);
 		return size;
 	}
 	/**
@@ -563,7 +563,7 @@ public:
 					return result;
 		}
 		uint32_t tempSize = 0;
-		result = AutoSerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -572,7 +572,7 @@ public:
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
-			result = SerializeAdapter<Index<T> >::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					&this->entries[i], buffer, size,
 					bigEndian);
 			++i;
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp
index 0ff2121d..10fb5392 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapool/DataPoolParameterWrapper.cpp
@@ -39,18 +39,18 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter<Type>::serialize(&type, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&columns, buffer, size,
+	result = SerializeAdapter::serialize(&columns, buffer, size,
 			max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::serialize(&rows, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/datapool/PIDReader.h b/datapool/PIDReader.h
index 299cc2fe..ac1d169e 100644
--- a/datapool/PIDReader.h
+++ b/datapool/PIDReader.h
@@ -17,7 +17,7 @@ protected:
 	uint8_t valid;
 	ReturnValue_t read() {
 		uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
-		PoolEntry<T>* read_out = ::dataPool.getData<T>(
+		PoolEntry<T> *read_out = ::dataPool.getData<T>(
 				DataPool::PIDToDataPoolId(parameterId), arrayIndex);
 		if (read_out != NULL) {
 			valid = read_out->valid;
@@ -43,7 +43,8 @@ protected:
 	 * Empty ctor for List initialization
 	 */
 	PIDReader() :
-		parameterId(PoolVariableIF::NO_PARAMETER), valid(PoolVariableIF::INVALID), value(0) {
+			parameterId(PoolVariableIF::NO_PARAMETER), valid(
+					PoolVariableIF::INVALID), value(0) {
 
 	}
 public:
@@ -63,9 +64,9 @@ public:
 	 * \param setWritable If this flag is set to true, changes in the value attribute can be
 	 * 					written back to the data pool, otherwise not.
 	 */
-	PIDReader(uint32_t setParameterId, DataSetIF* dataSet) :
-			parameterId(setParameterId), valid(
-					PoolVariableIF::INVALID), value(0) {
+	PIDReader(uint32_t setParameterId, DataSetIF *dataSet) :
+			parameterId(setParameterId), valid(PoolVariableIF::INVALID), value(
+					0) {
 		if (dataSet != NULL) {
 			dataSet->registerVariable(this);
 		}
@@ -74,7 +75,7 @@ public:
 	/**
 	 * Copy ctor to copy classes containing Pool Variables.
 	 */
-	PIDReader(const PIDReader& rhs) :
+	PIDReader(const PIDReader &rhs) :
 			parameterId(rhs.parameterId), valid(rhs.valid), value(rhs.value) {
 	}
 
@@ -121,24 +122,25 @@ public:
 		return value;
 	}
 
-	PIDReader<T> &operator=(T newValue) {
+	PIDReader<T>& operator=(T newValue) {
 		value = newValue;
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&value, buffer, size, max_size,
-				bigEndian);
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t maxSize, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize(&value, buffer, size, maxSize,
+				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&value);
+	virtual size_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&value, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&value, buffer, size,
+				streamEndianness);
 	}
 };
 
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index 555896bb..2053498b 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -145,10 +145,12 @@ uint16_t PoolRawAccess::getSizeTillEnd() const {
 	return sizeTillEnd;
 }
 
-ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
-	if (typeSize + *size <= max_size) {
-		if (bigEndian) {
+ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
+	//TODO integer overflow
+	if (typeSize + *size <= maxSize) {
+#error use endian swapper
+		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
@@ -169,16 +171,16 @@ ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, uint32_t* size,
 	}
 }
 
-uint32_t PoolRawAccess::getSerializedSize() const {
+size_t PoolRawAccess::getSerializedSize() const {
 	return typeSize;
 }
 
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
-	*size -= typeSize;
-	if (*size >= 0) {
+ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 
-		if (bigEndian) {
+	if (*size >= typeSize) {
+		*size -= typeSize;
+		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 3e2bd7ae..190c38a9 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -70,7 +70,7 @@ public:
 	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 =
+			DataSetIF *data_set, ReadWriteMode_t setReadWriteMode =
 					PoolVariableIF::VAR_READ);
 	/**
 	 * \brief	The classes destructor is empty. If commit() was not called, the local value is
@@ -97,7 +97,7 @@ public:
 	 * \return	- \c RETURN_OK if entry could be acquired
 	 * 			- \c RETURN_FAILED else.
 	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t* buffer, uint32_t* size,
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, uint32_t *size,
 			uint32_t max_size);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
@@ -106,7 +106,7 @@ public:
 	 * @return	- \c RETURN_OK on success
 	 * 			- \c RETURN_FAILED on failure
 	 */
-	ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
+	ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
 			uint32_t setSize);
 	/**
 	 *  \brief This operation returns the type of the entry currently stored.
@@ -140,13 +140,13 @@ public:
 	 */
 	uint16_t getSizeTillEnd() const;
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			 Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			 Endianness streamEndianness) override;
 };
 
 #endif /* POOLRAWACCESS_H_ */
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
index 25345c0a..ce073426 100644
--- a/datapool/PoolVariable.h
+++ b/datapool/PoolVariable.h
@@ -58,7 +58,7 @@ protected:
 	 * 			The operation does NOT provide any mutual exclusive protection by itself.
 	 */
 	ReturnValue_t read() {
-		PoolEntry<T>* read_out = ::dataPool.getData<T>(dataPoolId, 1);
+		PoolEntry<T> *read_out = ::dataPool.getData < T > (dataPoolId, 1);
 		if (read_out != NULL) {
 			valid = read_out->valid;
 			value = *(read_out->address);
@@ -79,7 +79,7 @@ protected:
 	 *
 	 */
 	ReturnValue_t commit() {
-		PoolEntry<T>* write_back = ::dataPool.getData<T>(dataPoolId, 1);
+		PoolEntry<T> *write_back = ::dataPool.getData < T > (dataPoolId, 1);
 		if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
 			write_back->valid = valid;
 			*(write_back->address) = value;
@@ -115,7 +115,7 @@ public:
 	 * \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,
+	PoolVariable(uint32_t set_id, DataSetIF *dataSet,
 			ReadWriteMode_t setReadWriteMode) :
 			dataPoolId(set_id), valid(PoolVariableIF::INVALID), readWriteMode(
 					setReadWriteMode), value(0) {
@@ -126,7 +126,7 @@ public:
 	/**
 	 * Copy ctor to copy classes containing Pool Variables.
 	 */
-	PoolVariable(const PoolVariable& rhs) :
+	PoolVariable(const PoolVariable &rhs) :
 			dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
 					rhs.readWriteMode), value(rhs.value) {
 	}
@@ -184,29 +184,29 @@ public:
 		return value;
 	}
 
-	PoolVariable<T> &operator=(T newValue) {
+	PoolVariable<T>& operator=(T newValue) {
 		value = newValue;
 		return *this;
 	}
 
-	PoolVariable<T> &operator=(PoolVariable<T> newPoolVariable) {
+	PoolVariable<T>& operator=(PoolVariable<T> newPoolVariable) {
 		value = newPoolVariable.value;
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&value, buffer, size, max_size,
-				bigEndian);
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t max_size, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize<T>(&value, buffer, size, max_size,
+				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&value);
+	virtual uint32_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&value, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
index d3617d17..3809f93b 100644
--- a/datapool/PoolVector.h
+++ b/datapool/PoolVector.h
@@ -202,7 +202,7 @@ public:
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter<T>::serialize(&(value[i]), buffer, size,
+			result = SerializeAdapter::serialize(&(value[i]), buffer, size,
 					max_size, bigEndian);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
@@ -212,7 +212,7 @@ public:
 	}
 
 	virtual uint32_t getSerializedSize() const {
-		return vector_size * SerializeAdapter<T>::getSerializedSize(value);
+		return vector_size * SerializeAdapter::getSerializedSize(value);
 	}
 
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
@@ -220,7 +220,7 @@ public:
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter<T>::deSerialize(&(value[i]), buffer, size,
+			result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
 					bigEndian);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index 2c9e820f..55861c3c 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -13,12 +13,12 @@ DeviceTmReportingWrapper::~DeviceTmReportingWrapper() {
 
 ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer,
 		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<object_id_t>::serialize(&objectId,
+	ReturnValue_t result = SerializeAdapter::serialize(&objectId,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<ActionId_t>::serialize(&actionId, buffer,
+	result = SerializeAdapter::serialize(&actionId, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -32,12 +32,12 @@ uint32_t DeviceTmReportingWrapper::getSerializedSize() const {
 
 ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer,
 		int32_t* size, bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<object_id_t>::deSerialize(&objectId,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&objectId,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<ActionId_t>::deSerialize(&actionId, buffer,
+	result = SerializeAdapter::deSerialize(&actionId, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index 814d26f4..b7b7fd82 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -68,13 +68,13 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&ptc, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&ptc, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&pfc, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&pfc, buffer, size, max_size,
 			bigEndian);
 
 	return result;
@@ -83,20 +83,20 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 
 uint32_t Type::getSerializedSize() const {
 	uint8_t dontcare = 0;
-	return 2 * SerializeAdapter<uint8_t>::getSerializedSize(&dontcare);
+	return 2 * SerializeAdapter::getSerializedSize(&dontcare);
 }
 
 ReturnValue_t Type::deSerialize(const uint8_t** buffer, int32_t* size,
 		bool bigEndian) {
 	uint8_t ptc;
 	uint8_t pfc;
-	ReturnValue_t result = SerializeAdapter<uint8_t>::deSerialize(&ptc, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&ptc, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::deSerialize(&pfc, buffer, size,
+	result = SerializeAdapter::deSerialize(&pfc, buffer, size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h
index 88df07b6..3ec250b0 100644
--- a/globalfunctions/Type.h
+++ b/globalfunctions/Type.h
@@ -22,7 +22,7 @@ public:
 
 	Type(ActualType_t actualType);
 
-	Type(const Type& type);
+	Type(const Type &type);
 
 	Type& operator=(Type rhs);
 
@@ -30,8 +30,8 @@ public:
 
 	operator ActualType_t() const;
 
-	bool operator==(const Type& rhs);
-	bool operator!=(const Type& rhs);
+	bool operator==(const Type &rhs);
+	bool operator!=(const Type &rhs);
 
 	uint8_t getSize() const;
 
@@ -39,13 +39,13 @@ public:
 
 	static ActualType_t getActualType(uint8_t ptc, uint8_t pfc);
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override;
 
 private:
 	ActualType_t actualType;
diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h
index 398cf3f0..0ee3890b 100644
--- a/globalfunctions/matching/MatchTree.h
+++ b/globalfunctions/matching/MatchTree.h
@@ -49,7 +49,7 @@ public:
 			const uint32_t max_size, bool bigEndian) const {
 		iterator iter = this->begin();
 		uint8_t count = this->countRight(iter);
-		ReturnValue_t result = SerializeAdapter<uint8_t>::serialize(&count,
+		ReturnValue_t result = SerializeAdapter::serialize(&count,
 				buffer, size, max_size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h
index 10e07173..c30406f6 100644
--- a/globalfunctions/matching/RangeMatcher.h
+++ b/globalfunctions/matching/RangeMatcher.h
@@ -4,7 +4,6 @@
 #include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
 #include <framework/serialize/SerializeAdapter.h>
 
-
 template<typename T>
 class RangeMatcher: public SerializeableMatcherIF<T> {
 public:
@@ -27,34 +26,40 @@ public:
 		}
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<T>::serialize(&lowerBound, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t max_size,
+			SerializeIF::Endianness streamEndianness) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&lowerBound, buffer,
+				size, max_size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<T>::serialize(&upperBound, buffer, size, max_size, bigEndian);
+		result = SerializeAdapter::serialize(&upperBound, buffer, size,
+				max_size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<bool>::serialize(&inverted, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&inverted, buffer, size, max_size,
+				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
+	uint32_t getSerializedSize() const override {
 		return sizeof(lowerBound) + sizeof(upperBound) + sizeof(bool);
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<T>::deSerialize(&lowerBound, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			SerializeIF::Endianness streamEndianness) override {
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lowerBound,
+				buffer, size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<T>::deSerialize(&upperBound, buffer, size, bigEndian);
+		result = SerializeAdapter::deSerialize(&upperBound, buffer, size,
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<bool>::deSerialize(&inverted, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&inverted, buffer, size,
+				streamEndianness);
 	}
 protected:
 	bool doMatch(T input) {
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index a575b282..48ee6679 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -67,16 +67,16 @@ void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
 	mutex->lockMutex(MutexIF::NO_TIMEOUT);
 	uint32_t size = 0;
 	uint16_t count = healthMap.size();
-	ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&count,
+	ReturnValue_t result = SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, true);
 	HealthMap::iterator iter;
 	for (iter = healthMap.begin();
 			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
 			++iter) {
-		result = SerializeAdapter<object_id_t>::serialize(&iter->first,
+		result = SerializeAdapter::serialize(&iter->first,
 				&pointer, &size, maxSize, true);
 		uint8_t health = iter->second;
-		result = SerializeAdapter<uint8_t>::serialize(&health, &pointer, &size,
+		result = SerializeAdapter::serialize(&health, &pointer, &size,
 				maxSize, true);
 	}
 	mutex->unlockMutex();
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 69830084..c89fd5a4 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -53,7 +53,7 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 		memcpy(copyHere, dataToCopy, size);
 		break;
 	case HasMemoryIF::POINTS_TO_VARIABLE:
-		EndianSwapper::swap(copyHere, dataToCopy, size);
+		EndianConverter::convertBigEndian(copyHere, dataToCopy, size);
 		break;
 	case HasMemoryIF::ACTIVITY_COMPLETED:
 	case RETURN_OK:
@@ -86,7 +86,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
 	case HasMemoryIF::POINTS_TO_VARIABLE:
 		//"data" must be valid pointer!
 		if (errorCode == HasMemoryIF::POINTS_TO_VARIABLE) {
-			EndianSwapper::swap(reservedSpaceInIPC, dataToCopy, size);
+			EndianConverter::convertBigEndian(reservedSpaceInIPC, dataToCopy, size);
 		} else {
 			memcpy(reservedSpaceInIPC, dataToCopy, size);
 		}
@@ -136,7 +136,7 @@ void MemoryHelper::swapMatrixCopy(uint8_t* out, const uint8_t *in,
 	}
 
 	while (totalSize > 0){
-		EndianSwapper::swap(out,in,datatypeSize);
+		EndianConverter::convertBigEndian(out,in,datatypeSize);
 		out += datatypeSize;
 		in += datatypeSize;
 		totalSize -= datatypeSize;
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index 9fc34ff1..903a4d0e 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -91,7 +91,7 @@ void CpuUsage::clear() {
 
 ReturnValue_t CpuUsage::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<float>::serialize(
+	ReturnValue_t result = SerializeAdapter::serialize(
 			&timeSinceLastReset, buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -111,7 +111,7 @@ uint32_t CpuUsage::getSerializedSize() const {
 
 ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
 		bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<float>::deSerialize(
+	ReturnValue_t result = SerializeAdapter::deSerialize(
 			&timeSinceLastReset, buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -122,7 +122,7 @@ ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
 
 ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<uint32_t>::serialize(&id, buffer,
+	ReturnValue_t result = SerializeAdapter::serialize(&id, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -133,12 +133,12 @@ ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
 	memcpy(*buffer, name, MAX_LENGTH_OF_THREAD_NAME);
 	*size += MAX_LENGTH_OF_THREAD_NAME;
 	*buffer += MAX_LENGTH_OF_THREAD_NAME;
-	result = SerializeAdapter<float>::serialize(&timeRunning,
+	result = SerializeAdapter::serialize(&timeRunning,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<float>::serialize(&percentUsage,
+	result = SerializeAdapter::serialize(&percentUsage,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -159,7 +159,7 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 		int32_t* size, bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&id, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -169,12 +169,12 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 	}
 	memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);
 	*buffer -= MAX_LENGTH_OF_THREAD_NAME;
-	result = SerializeAdapter<float>::deSerialize(&timeRunning,
+	result = SerializeAdapter::deSerialize(&timeRunning,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<float>::deSerialize(&percentUsage,
+	result = SerializeAdapter::deSerialize(&percentUsage,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 8f661bb3..9dcbc6d5 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -24,18 +24,18 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter<Type>::serialize(&type, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&columns, buffer, size,
+	result = SerializeAdapter::serialize(&columns, buffer, size,
 			max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::serialize(&rows, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -94,7 +94,7 @@ ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
 	ReturnValue_t result;
 	uint16_t dataSize = columns * rows;
 	while (dataSize != 0) {
-		result = SerializeAdapter<T>::serialize(element, buffer, size, max_size,
+		result = SerializeAdapter::serialize(element, buffer, size, max_size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
@@ -123,7 +123,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 				+ (((startingRow + fromRow) * columns) + startingColumn);
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
-			result = SerializeAdapter<T>::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					dataWithDataType + fromColumn, &fromAsStream, &streamSize,
 					true);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -155,18 +155,18 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
 
 ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
 		const uint8_t **remainingStream, int32_t *remainingSize) {
-	ReturnValue_t result = SerializeAdapter<Type>::deSerialize(&type, &stream,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
 			&streamSize, true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::deSerialize(&columns, &stream,
+	result = SerializeAdapter::deSerialize(&columns, &stream,
 			&streamSize, true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::deSerialize(&rows, &stream, &streamSize,
+	result = SerializeAdapter::deSerialize(&rows, &stream, &streamSize,
 			true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index f61786b8..e6d29c59 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -54,7 +54,7 @@ public:
 			const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
 			streamWithtype += (row * columns + column) * type.getSize();
 			int32_t size = type.getSize();
-			return SerializeAdapter<T>::deSerialize(value, &streamWithtype,
+			return SerializeAdapter::deSerialize(value, &streamWithtype,
 					&size, true);
 		} else {
 			const T *dataWithType = (const T *) readonlyData;
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index 6a87d88b..53bb06c8 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -19,12 +19,12 @@ PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, f
 
 ReturnValue_t PowerComponent::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<float>::serialize(&min, buffer,
+	ReturnValue_t result = SerializeAdapter::serialize(&min, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter<float>::serialize(&max, buffer, size, max_size,
+	return SerializeAdapter::serialize(&max, buffer, size, max_size,
 			bigEndian);
 }
 
@@ -58,12 +58,12 @@ float PowerComponent::getMax() {
 
 ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, int32_t* size,
 bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<float>::deSerialize(&min, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter<float>::deSerialize(&max, buffer, size, bigEndian);
+	return SerializeAdapter::deSerialize(&max, buffer, size, bigEndian);
 }
 
 ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
diff --git a/serialize/EndianSwapper.h b/serialize/EndianSwapper.h
index 6ff54444..e142c2a1 100644
--- a/serialize/EndianSwapper.h
+++ b/serialize/EndianSwapper.h
@@ -5,20 +5,20 @@
 #include <cstring>
 #include <iostream>
 
-class EndianSwapper {
+class EndianConverter {
 private:
-	EndianSwapper() {
+	EndianConverter() {
 	}
 	;
 public:
 	template<typename T>
-	static T swap(T in) {
+	static T convertBigEndian(T in) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 		T tmp;
-		uint8_t *pointerOut = (uint8_t *) &tmp;
-		uint8_t *pointerIn = (uint8_t *) &in;
+		uint8_t *pointerOut = (uint8_t*) &tmp;
+		uint8_t *pointerIn = (uint8_t*) &in;
 		for (uint8_t count = 0; count < sizeof(T); count++) {
 			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 		}
@@ -29,7 +29,8 @@ public:
 #error Unknown Byte Order
 #endif
 	}
-	static void swap(uint8_t* out, const uint8_t* in, uint32_t size) {
+	static void convertBigEndian(uint8_t *out, const uint8_t *in,
+			uint32_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
@@ -40,6 +41,39 @@ public:
 #elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 		memcpy(out, in, size);
 		return;
+#endif
+	}
+
+	template<typename T>
+	static T convertLittleEndian(T in) {
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+			T tmp;
+			uint8_t *pointerOut = (uint8_t *) &tmp;
+			uint8_t *pointerIn = (uint8_t *) &in;
+			for (uint8_t count = 0; count < sizeof(T); count++) {
+				pointerOut[sizeof(T) - count - 1] = pointerIn[count];
+			}
+			return tmp;
+	#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
+		return in;
+#else
+	#error Unknown Byte Order
+	#endif
+	}
+	static void convertLittleEndian(uint8_t *out, const uint8_t *in,
+			uint32_t size) {
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+			for (uint8_t count = 0; count < size; count++) {
+				out[size - count - 1] = in[count];
+			}
+			return;
+	#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
+		memcpy(out, in, size);
+		return;
 #endif
 	}
 };
diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index 5ffbc375..ab0c6c6f 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -27,11 +27,11 @@ public:
 
 	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<count_t>::serialize(&list->size,
+		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
 				buffer, size, max_size, bigEndian);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter<T>::serialize(&list->entries[i], buffer, size,
+			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -47,7 +47,7 @@ public:
 		count_t i = 0;
 
 		for (i = 0; i < list->size; ++i) {
-			printSize += SerializeAdapter<T>::getSerializedSize(&list->entries[i]);
+			printSize += SerializeAdapter::getSerializedSize(&list->entries[i]);
 		}
 
 		return printSize;
@@ -61,7 +61,7 @@ public:
 	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
 		count_t tempSize = 0;
-		ReturnValue_t result = SerializeAdapter<count_t>::deSerialize(&tempSize,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
 				buffer, size, bigEndian);
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
@@ -69,7 +69,7 @@ public:
 		list->size = tempSize;
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter<T>::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					&list->front()[i], buffer, size,
 					bigEndian);
 			++i;
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 3ed083bf..f78ec8ac 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -26,14 +26,14 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 		const uint32_t max_size, bool bigEndian) const {
 	uint32_t serializedLength = bufferLength;
 	if (serializeLength) {
-		serializedLength += AutoSerializeAdapter::getSerializedSize(
+		serializedLength += SerializeAdapter::getSerializedSize(
 				&bufferLength);
 	}
 	if (*size + serializedLength > max_size) {
 		return BUFFER_TOO_SHORT;
 	} else {
 		if (serializeLength) {
-			AutoSerializeAdapter::serialize(&bufferLength, buffer, size,
+			SerializeAdapter::serialize(&bufferLength, buffer, size,
 					max_size, bigEndian);
 		}
 		if (this->constBuffer != NULL) {
@@ -52,7 +52,7 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 template<typename T>
 uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
 	if (serializeLength) {
-		return bufferLength + AutoSerializeAdapter::getSerializedSize(&bufferLength);
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
 	} else {
 		return bufferLength;
 	}
@@ -63,7 +63,7 @@ ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
 	//TODO Ignores Endian flag!
 	if (buffer != NULL) {
 		if(serializeLength){
-			T serializedSize = AutoSerializeAdapter::getSerializedSize(
+			T serializedSize = SerializeAdapter::getSerializedSize(
 					&bufferLength);
 			if((*size - bufferLength - serializedSize) >= 0){
 				*buffer +=  serializedSize;
diff --git a/serialize/SerialLinkedListAdapter.h b/serialize/SerialLinkedListAdapter.h
index 29952c4a..7b10e331 100644
--- a/serialize/SerialLinkedListAdapter.h
+++ b/serialize/SerialLinkedListAdapter.h
@@ -31,32 +31,32 @@ public:
 			SinglyLinkedList<T>(), printCount(printCount) {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override {
 		if (printCount) {
 			count_t mySize = SinglyLinkedList<T>::getSize();
-			ReturnValue_t result = SerializeAdapter<count_t>::serialize(&mySize,
-					buffer, size, max_size, bigEndian);
+			ReturnValue_t result = SerializeAdapter::serialize(&mySize,
+					buffer, size, maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
 		}
-		return serialize(SinglyLinkedList<T>::start, buffer, size, max_size,
-				bigEndian);
+		return serialize(SinglyLinkedList<T>::start, buffer, size, maxSize,
+				streamEndianness);
 	}
 
 	static ReturnValue_t serialize(const LinkedElement<T>* element,
-			uint8_t** buffer, uint32_t* size, const uint32_t max_size,
-			bool bigEndian) {
+			uint8_t** buffer, size_t* size, size_t maxSize,
+			Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
-			result = element->value->serialize(buffer, size, max_size,
-					bigEndian);
+			result = element->value->serialize(buffer, size, maxSize,
+					streamEndianness);
 			element = element->getNext();
 		}
 		return result;
 	}
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const override {
 		if (printCount) {
 			return SerialLinkedListAdapter<T>::getSerializedSize()
 					+ sizeof(count_t);
@@ -64,8 +64,8 @@ public:
 			return getSerializedSize(SinglyLinkedList<T>::start);
 		}
 	}
-	static uint32_t getSerializedSize(const LinkedElement<T> *element) {
-		uint32_t size = 0;
+	static size_t getSerializedSize(const LinkedElement<T> *element) {
+		size_t size = 0;
 		while (element != NULL) {
 			size += element->value->getSerializedSize();
 			element = element->getNext();
@@ -73,16 +73,16 @@ public:
 		return size;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return deSerialize(SinglyLinkedList<T>::start, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override {
+		return deSerialize(SinglyLinkedList<T>::start, buffer, size, streamEndianness);
 	}
 
 	static ReturnValue_t deSerialize(LinkedElement<T>* element,
-			const uint8_t** buffer, int32_t* size, bool bigEndian) {
+			const uint8_t** buffer, size_t* size, Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
-			result = element->value->deSerialize(buffer, size, bigEndian);
+			result = element->value->deSerialize(buffer, size, streamEndianness);
 			element = element->getNext();
 		}
 		return result;
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index fd9e1b6a..73323c2a 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -10,116 +10,114 @@
 /**
  * \ingroup serialize
  */
-template<typename T, int>
-class SerializeAdapter_ {
-public:
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		uint32_t ignoredSize = 0;
-		if (size == NULL) {
-			size = &ignoredSize;
-		}
-		if (sizeof(T) + *size <= max_size) {
-			T tmp;
-			if (bigEndian) {
-				tmp = EndianSwapper::swap<T>(*object);
-			} else {
-				tmp = *object;
-			}
-			memcpy(*buffer, &tmp, sizeof(T));
-			*size += sizeof(T);
-			(*buffer) += sizeof(T);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return SerializeIF::BUFFER_TOO_SHORT;
-		}
-	}
 
-	ReturnValue_t deSerialize(T* object, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		T tmp;
-		*size -= sizeof(T);
-		if (*size >= 0) {
-			memcpy(&tmp, *buffer, sizeof(T));
-			if (bigEndian) {
-				*object = EndianSwapper::swap<T>(tmp);
-			} else {
-				*object = tmp;
-			}
-			*buffer += sizeof(T);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return SerializeIF::STREAM_TOO_SHORT;
-		}
-	}
-
-	uint32_t getSerializedSize(const T * object) {
-		return sizeof(T);
-	}
-
-};
-
-template<typename T>
-class SerializeAdapter_<T, 1> {
-public:
-	ReturnValue_t serialize(const T* object, uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		uint32_t ignoredSize = 0;
-		if (size == NULL) {
-			size = &ignoredSize;
-		}
-		return object->serialize(buffer, size, max_size, bigEndian);
-	}
-	uint32_t getSerializedSize(const T* object) const {
-		return object->getSerializedSize();
-	}
-
-	ReturnValue_t deSerialize(T* object, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return object->deSerialize(buffer, size, bigEndian);
-	}
-};
-
-template<typename T>
 class SerializeAdapter {
-public:
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.serialize(object, buffer, size, max_size, bigEndian);
-	}
-	static uint32_t getSerializedSize(const T* object) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.getSerializedSize(object);
-	}
-
-	static ReturnValue_t deSerialize(T* object, const uint8_t** buffer,
-			int32_t* size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.deSerialize(object, buffer, size, bigEndian);
-	}
-};
-
-
-class AutoSerializeAdapter {
 public:
 	template<typename T>
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.serialize(object, buffer, size, max_size, bigEndian);
+	static ReturnValue_t serialize(const T *object, uint8_t **buffer,
+			size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+		return adapter.serialize(object, buffer, size, maxSize,
+				streamEndianness);
 	}
 	template<typename T>
-	static uint32_t getSerializedSize(const T* object) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+	static uint32_t getSerializedSize(const T *object) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
 		return adapter.getSerializedSize(object);
 	}
 	template<typename T>
-	static ReturnValue_t deSerialize(T* object, const uint8_t** buffer,
-			int32_t* size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.deSerialize(object, buffer, size, bigEndian);
+	static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+			size_t *size, SerializeIF::Endianness streamEndianness) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+		return adapter.deSerialize(object, buffer, size, streamEndianness);
 	}
+private:
+	template<typename T, int>
+	class InternalSerializeAdapter {
+	public:
+		static ReturnValue_t serialize(const T *object, uint8_t **buffer,
+				size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) {
+			size_t ignoredSize = 0;
+			if (size == NULL) {
+				size = &ignoredSize;
+			}
+			//TODO check integer overflow of *size
+			if (sizeof(T) + *size <= max_size) {
+				T tmp;
+				switch (streamEndianness) {
+				case SerializeIF::Endianness::BIG:
+					tmp = EndianConverter::convertBigEndian<T>(*object);
+					break;
+				case SerializeIF::Endianness::LITTLE:
+					tmp = EndianConverter::convertLittleEndian<T>(*object);
+					break;
+				default:
+				case SerializeIF::Endianness::MACHINE:
+					tmp = *object;
+					break;
+				}
+				memcpy(*buffer, &tmp, sizeof(T));
+				*size += sizeof(T);
+				(*buffer) += sizeof(T);
+				return HasReturnvaluesIF::RETURN_OK;
+			} else {
+				return SerializeIF::BUFFER_TOO_SHORT;
+			}
+		}
+
+		ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+				size_t *size, SerializeIF::Endianness streamEndianness) {
+			T tmp;
+			if (*size >= sizeof(T)) {
+				*size -= sizeof(T);
+				memcpy(&tmp, *buffer, sizeof(T));
+				switch (streamEndianness) {
+				case SerializeIF::Endianness::BIG:
+					*object = EndianConverter::convertBigEndian<T>(tmp);
+					break;
+				case SerializeIF::Endianness::LITTLE:
+					*object = EndianConverter::convertLittleEndian<T>(tmp);
+					break;
+				default:
+				case SerializeIF::Endianness::MACHINE:
+					*object = tmp;
+					break;
+				}
+
+				*buffer += sizeof(T);
+				return HasReturnvaluesIF::RETURN_OK;
+			} else {
+				return SerializeIF::STREAM_TOO_SHORT;
+			}
+		}
+
+		uint32_t getSerializedSize(const T *object) {
+			return sizeof(T);
+		}
+
+	};
+
+	template<typename T>
+	class InternalSerializeAdapter<T, 1> {
+	public:
+		ReturnValue_t serialize(const T *object, uint8_t **buffer,
+				size_t *size, size_t max_size,
+				SerializeIF::Endianness streamEndianness) const {
+			size_t ignoredSize = 0;
+			if (size == NULL) {
+				size = &ignoredSize;
+			}
+			return object->serialize(buffer, size, max_size, streamEndianness);
+		}
+		uint32_t getSerializedSize(const T *object) const {
+			return object->getSerializedSize();
+		}
+
+		ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+				size_t *size, SerializeIF::Endianness streamEndianness) {
+			return object->deSerialize(buffer, size, streamEndianness);
+		}
+	};
 };
 
 #endif /* SERIALIZEADAPTER_H_ */
diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index db7db20a..22e9838c 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -9,41 +9,43 @@
  * \ingroup serialize
  */
 template<typename T>
-class SerializeElement : public SerializeIF, public LinkedElement<SerializeIF> {
+class SerializeElement: public SerializeIF, public LinkedElement<SerializeIF> {
 public:
-	template<typename... Args>
-	SerializeElement(Args... args) : LinkedElement<SerializeIF>(this), entry(std::forward<Args>(args)...) {
+	template<typename ... Args>
+	SerializeElement(Args ... args) :
+			LinkedElement<SerializeIF>(this), entry(std::forward<Args>(args)...) {
 
 	}
-	SerializeElement() : LinkedElement<SerializeIF>(this) {
+	SerializeElement() :
+			LinkedElement<SerializeIF>(this) {
 	}
 	T entry;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&entry, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize(&entry, buffer, size, maxSize,
+				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&entry);
+	uint32_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&entry);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&entry, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&entry, buffer, size,
+				streamEndianness);
 	}
 	operator T() {
 		return entry;
 	}
 
-	SerializeElement<T> &operator=(T newValue) {
+	SerializeElement<T>& operator=(T newValue) {
 		entry = newValue;
 		return *this;
 	}
-	T *operator->() {
+	T* operator->() {
 		return &entry;
 	}
 };
 
-
-
 #endif /* SERIALIZEELEMENT_H_ */
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 701fbf56..6c875a5c 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -2,6 +2,7 @@
 #define SERIALIZEIF_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <stddef.h>
 
 /**
  * \defgroup serialize Serialization
@@ -14,6 +15,10 @@
  */
 class SerializeIF {
 public:
+	enum class Endianness : uint8_t {
+		BIG, LITTLE, MACHINE
+	};
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF;
 	static const ReturnValue_t BUFFER_TOO_SHORT = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2);
@@ -22,13 +27,13 @@ public:
 	virtual ~SerializeIF() {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const = 0;
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t max_size, Endianness streamEndianness) const = 0;
 
-	virtual uint32_t getSerializedSize() const = 0;
+	virtual size_t getSerializedSize() const = 0;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) = 0;
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) = 0;
 
 };
 
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index e1ec544b..ef706dd7 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -169,7 +169,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 		if (result == RETURN_OK) {
 			Mode_t fallbackId;
 			int32_t size = sizeRead;
-			result = SerializeAdapter<Mode_t>::deSerialize(&fallbackId,
+			result = SerializeAdapter::deSerialize(&fallbackId,
 					&pointer, &size, true);
 			if (result == RETURN_OK) {
 				result = SerialArrayListAdapter<ModeListEntry>::deSerialize(
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index 8e7531f3..3e749dd8 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -23,26 +23,26 @@ public:
 
 		ReturnValue_t result;
 
-		result = SerializeAdapter<uint32_t>::serialize(&value1, buffer, size,
+		result = SerializeAdapter::serialize(&value1, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint32_t>::serialize(&value2, buffer, size,
+		result = SerializeAdapter::serialize(&value2, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::serialize(&value3, buffer, size,
+		result = SerializeAdapter::serialize(&value3, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 
-		result = SerializeAdapter<uint8_t>::serialize(&value4, buffer, size,
+		result = SerializeAdapter::serialize(&value4, buffer, size,
 				max_size, bigEndian);
 
 		return result;
@@ -57,25 +57,25 @@ public:
 	bool bigEndian) {
 		ReturnValue_t result;
 
-		result = SerializeAdapter<uint32_t>::deSerialize(&value1, buffer, size,
+		result = SerializeAdapter::deSerialize(&value1, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint32_t>::deSerialize(&value2, buffer, size,
+		result = SerializeAdapter::deSerialize(&value2, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::deSerialize(&value3, buffer, size,
+		result = SerializeAdapter::deSerialize(&value3, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::deSerialize(&value4, buffer, size,
+		result = SerializeAdapter::deSerialize(&value4, buffer, size,
 				bigEndian);
 
 		return result;
diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp
index bf6f7398..93513e16 100644
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@@ -47,13 +47,13 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
 		return MonitoringIF::INVALID_SIZE;
 	}
 	int32_t readSize = size;
-	SerializeAdapter<float>::deSerialize(&nopParameters.lowerNopLimit, &data,
+	SerializeAdapter::deSerialize(&nopParameters.lowerNopLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&parameters.lowerOpLimit, &data,
+	SerializeAdapter::deSerialize(&parameters.lowerOpLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&parameters.upperOpLimit, &data,
+	SerializeAdapter::deSerialize(&parameters.upperOpLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&nopParameters.upperNopLimit, &data,
+	SerializeAdapter::deSerialize(&nopParameters.upperNopLimit, &data,
 			&readSize, true);
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index 6eea6f58..4e7160fb 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -34,12 +34,12 @@ public:
 	uint16_t ssc;
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&apid,
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,
 				buffer, size, max_size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<uint16_t>::serialize(&ssc, buffer, size,
+		return SerializeAdapter::serialize(&ssc, buffer, size,
 				max_size, bigEndian);
 
 	}
@@ -50,12 +50,12 @@ public:
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 	bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<uint16_t>::deSerialize(&apid,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&apid,
 				buffer, size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<uint16_t>::deSerialize(&ssc, buffer, size,
+		return SerializeAdapter::deSerialize(&ssc, buffer, size,
 				bigEndian);
 	}
 };
@@ -220,23 +220,23 @@ public:
 
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = AutoSerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -246,11 +246,11 @@ public:
 
 	uint32_t getSerializedSize() const {
 		uint32_t size = 0;
-		size += AutoSerializeAdapter::getSerializedSize(&apid);
-		size += AutoSerializeAdapter::getSerializedSize(&sourceSequenceCount);
-		size += AutoSerializeAdapter::getSerializedSize(&serviceType);
-		size += AutoSerializeAdapter::getSerializedSize(&serviceSubtype);
-		size += AutoSerializeAdapter::getSerializedSize(&subCounter);
+		size += SerializeAdapter::getSerializedSize(&apid);
+		size += SerializeAdapter::getSerializedSize(&sourceSequenceCount);
+		size += SerializeAdapter::getSerializedSize(&serviceType);
+		size += SerializeAdapter::getSerializedSize(&serviceSubtype);
+		size += SerializeAdapter::getSerializedSize(&subCounter);
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
 		size += adapter.getSerializedSize();
 		return size;
@@ -259,27 +259,27 @@ public:
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 	bool bigEndian) {
-		ReturnValue_t result = AutoSerializeAdapter::deSerialize(&apid, buffer,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&apid, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
+		result = SerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&serviceType, buffer, size,
+		result = SerializeAdapter::deSerialize(&serviceType, buffer, size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&serviceSubtype, buffer,
+		result = SerializeAdapter::deSerialize(&serviceSubtype, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&subCounter, buffer, size,
+		result = SerializeAdapter::deSerialize(&subCounter, buffer, size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h
index 1f194968..d5d96f2d 100644
--- a/tmtcpacket/packetmatcher/ApidMatcher.h
+++ b/tmtcpacket/packetmatcher/ApidMatcher.h
@@ -24,14 +24,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint16_t>::serialize(&apid, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&apid, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint16_t>::getSerializedSize(&apid);
+		return SerializeAdapter::getSerializedSize(&apid);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint16_t>::deSerialize(&apid, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&apid, buffer, size, bigEndian);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h
index 1a6781b4..b0623780 100644
--- a/tmtcpacket/packetmatcher/ServiceMatcher.h
+++ b/tmtcpacket/packetmatcher/ServiceMatcher.h
@@ -24,14 +24,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint8_t>::serialize(&service, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&service, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint8_t>::getSerializedSize(&service);
+		return SerializeAdapter::getSerializedSize(&service);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint8_t>::deSerialize(&service, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&service, buffer, size, bigEndian);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h
index 1b589b20..90370af1 100644
--- a/tmtcpacket/packetmatcher/SubserviceMatcher.h
+++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h
@@ -22,14 +22,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint8_t>::serialize(&subService, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&subService, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint8_t>::getSerializedSize(&subService);
+		return SerializeAdapter::getSerializedSize(&subService);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint8_t>::deSerialize(&subService, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&subService, buffer, size, bigEndian);
 	}
 private:
 	uint8_t subService;
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index d70b9042..5b9e7b68 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -236,7 +236,7 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	uint8_t buffer[sizeof(object_id_t)];
 	uint8_t* pBuffer = buffer;
 	uint32_t size = 0;
-	SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
+	SerializeAdapter::serialize(&objectId, &pBuffer, &size,
 			sizeof(object_id_t), true);
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, buffer, size);
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index 1bc53c2a..e1dad2be 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -108,12 +108,12 @@ PusSuccessReport::PusSuccessReport(uint16_t setPacketId,
 		uint16_t setSequenceControl, uint8_t setStep) :
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
-	SerializeAdapter<uint16_t>::serialize(&setPacketId, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint16_t>::serialize(&setSequenceControl, &pBuffer,
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
 	if (setStep != 0) {
-		SerializeAdapter<uint8_t>::serialize(&setStep, &pBuffer, &reportSize,
+		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
 				sizeof(reportBuffer), true);
 	}
 }
@@ -135,19 +135,19 @@ PusFailureReport::PusFailureReport(uint16_t setPacketId,
 		uint8_t setStep, uint32_t parameter1, uint32_t parameter2) :
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
-	SerializeAdapter<uint16_t>::serialize(&setPacketId, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint16_t>::serialize(&setSequenceControl, &pBuffer,
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
 	if (setStep != 0) {
-		SerializeAdapter<uint8_t>::serialize(&setStep, &pBuffer, &reportSize,
+		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
 				sizeof(reportBuffer), true);
 	}
-	SerializeAdapter<ReturnValue_t>::serialize(&setErrorCode, &pBuffer,
+	SerializeAdapter::serialize(&setErrorCode, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
-	SerializeAdapter<uint32_t>::serialize(&parameter1, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&parameter1, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint32_t>::serialize(&parameter2, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&parameter2, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
 }
 

From 6553450b4b85ea7ec53e88850195af35d76d85b2 Mon Sep 17 00:00:00 2001
From: Uli <uli@vnks.de>
Date: Tue, 21 Apr 2020 22:28:43 +0200
Subject: [PATCH 002/307] Actually, not that horrible, thanks to sed

---
 action/ActionHelper.cpp                      |   6 +-
 action/CommandActionHelper.cpp               |  39 ++++---
 container/FixedMap.h                         |  22 ++--
 container/IndexedRingMemoryArray.h           |  60 +++++------
 datapool/DataPool.cpp                        |   4 +-
 datapool/DataPoolAdmin.cpp                   |   6 +-
 datapool/DataPoolParameterWrapper.cpp        |  20 ++--
 datapool/DataPoolParameterWrapper.h          |  10 +-
 datapool/DataSet.cpp                         |  18 ++--
 datapool/DataSet.h                           |  10 +-
 datapool/PoolRawAccess.cpp                   |   6 +-
 datapool/PoolRawAccess.h                     |   6 +-
 datapool/PoolVariable.h                      |   6 +-
 datapool/PoolVector.h                        |  14 +--
 devicehandlers/DeviceTmReportingWrapper.cpp  |  18 ++--
 devicehandlers/DeviceTmReportingWrapper.h    |  10 +-
 events/eventmatching/EventRangeMatcherBase.h |  14 +--
 globalfunctions/Type.cpp                     |  22 ++--
 globalfunctions/conversion.cpp               | 104 -------------------
 globalfunctions/conversion.h                 |  24 -----
 globalfunctions/matching/MatchTree.h         |  20 ++--
 globalfunctions/matching/RangeMatcher.h      |  10 +-
 health/HealthTable.cpp                       |  10 +-
 health/HealthTable.h                         |   2 +-
 monitoring/LimitViolationReporter.cpp        |   6 +-
 osal/rtems/CpuUsage.cpp                      |  36 +++----
 osal/rtems/CpuUsage.h                        |  20 ++--
 parameters/ParameterHelper.cpp               |   6 +-
 parameters/ParameterWrapper.cpp              |  92 ++++++++--------
 parameters/ParameterWrapper.h                |  22 ++--
 power/Fuse.cpp                               |  14 +--
 power/Fuse.h                                 |  27 ++---
 power/PowerComponent.cpp                     |  20 ++--
 power/PowerComponent.h                       |  10 +-
 serialize/SerialArrayListAdapter.h           |  30 +++---
 serialize/SerialBufferAdapter.cpp            |  12 +--
 serialize/SerialBufferAdapter.h              |  10 +-
 serialize/SerialFixedArrayListAdapter.h      |  14 +--
 serialize/SerializeElement.h                 |   2 +-
 serialize/SerializeIF.h                      |   2 +-
 subsystem/Subsystem.cpp                      |  39 ++++---
 subsystem/modes/ModeDefinitions.h            |  26 ++---
 thermal/ThermalComponent.cpp                 |  10 +-
 tmstorage/TmStorePackets.h                   |  52 +++++-----
 tmtcpacket/packetmatcher/ApidMatcher.h       |  14 +--
 tmtcpacket/packetmatcher/ServiceMatcher.h    |  14 +--
 tmtcpacket/packetmatcher/SubserviceMatcher.h |  14 +--
 tmtcpacket/pus/TmPacketStored.cpp            |  33 +++---
 tmtcservices/CommandingServiceBase.cpp       |   4 +-
 tmtcservices/PusVerificationReport.cpp       |  28 ++---
 tmtcservices/PusVerificationReport.h         |   6 +-
 51 files changed, 458 insertions(+), 566 deletions(-)
 delete mode 100644 globalfunctions/conversion.cpp
 delete mode 100644 globalfunctions/conversion.h

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 9c1475f1..f93afaa8 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -71,18 +71,18 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
 	CommandMessage reply;
 	store_address_t storeAddress;
 	uint8_t *dataPtr;
-	uint32_t maxSize = data->getSerializedSize();
+	size_t maxSize = data->getSerializedSize();
 	if (maxSize == 0) {
 		//No error, there's simply nothing to report.
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
 			&dataPtr);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = data->serialize(&dataPtr, &size, maxSize, true);
+	result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		ipcStore->deleteData(storeAddress);
 		return result;
diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp
index 05eb9346..6a26453c 100644
--- a/action/CommandActionHelper.cpp
+++ b/action/CommandActionHelper.cpp
@@ -4,30 +4,31 @@
 #include <framework/action/HasActionsIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 
-CommandActionHelper::CommandActionHelper(CommandsActionsIF* setOwner) :
+CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
 		owner(setOwner), queueToUse(NULL), ipcStore(
-				NULL), commandCount(0), lastTarget(0) {
+		NULL), commandCount(0), lastTarget(0) {
 }
 
 CommandActionHelper::~CommandActionHelper() {
 }
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
-		ActionId_t actionId, SerializeIF* data) {
-	HasActionsIF* receiver = objectManager->get<HasActionsIF>(commandTo);
+		ActionId_t actionId, SerializeIF *data) {
+	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
 	if (receiver == NULL) {
 		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
 	}
 	store_address_t storeId;
-	uint8_t* storePointer;
-	uint32_t maxSize = data->getSerializedSize();
+	uint8_t *storePointer;
+	size_t maxSize = data->getSerializedSize();
 	ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
 			&storePointer);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	uint32_t size = 0;
-	result = data->serialize(&storePointer, &size, maxSize, true);
+	size_t size = 0;
+	result = data->serialize(&storePointer, &size, maxSize,
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -35,11 +36,11 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
 }
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
-		ActionId_t actionId, const uint8_t* data, uint32_t size) {
+		ActionId_t actionId, const uint8_t *data, uint32_t size) {
 //	if (commandCount != 0) {
 //		return CommandsFunctionsIF::ALREADY_COMMANDING;
 //	}
-	HasActionsIF* receiver = objectManager->get<HasActionsIF>(commandTo);
+	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
 	if (receiver == NULL) {
 		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
 	}
@@ -71,13 +72,13 @@ ReturnValue_t CommandActionHelper::initialize() {
 	}
 
 	queueToUse = owner->getCommandQueuePtr();
-	if(queueToUse == NULL){
+	if (queueToUse == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
+ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
 	if (reply->getSender() != lastTarget) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -88,7 +89,8 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::COMPLETION_FAILED:
 		commandCount--;
-		owner->completionFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getReturnCode(reply));
+		owner->completionFailedReceived(ActionMessage::getActionId(reply),
+				ActionMessage::getReturnCode(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::STEP_SUCCESS:
 		owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
@@ -96,11 +98,13 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::STEP_FAILED:
 		commandCount--;
-		owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
+		owner->stepFailedReceived(ActionMessage::getActionId(reply),
+				ActionMessage::getStep(reply),
 				ActionMessage::getReturnCode(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::DATA_REPLY:
-		extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
+		extractDataForOwner(ActionMessage::getActionId(reply),
+				ActionMessage::getStoreId(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
@@ -111,8 +115,9 @@ uint8_t CommandActionHelper::getCommandCount() const {
 	return commandCount;
 }
 
-void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-	const uint8_t * data = NULL;
+void CommandActionHelper::extractDataForOwner(ActionId_t actionId,
+		store_address_t storeId) {
+	const uint8_t *data = NULL;
 	uint32_t size = 0;
 	ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/container/FixedMap.h b/container/FixedMap.h
index eaf8a24c..ac170bd2 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -148,22 +148,22 @@ public:
 		return theMap.maxSize();
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 		ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
 			result = SerializeAdapter::serialize(&theMap[i].first, buffer,
-					size, max_size, bigEndian);
+					size, maxSize, streamEndianness);
 			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		uint32_t printSize = sizeof(_size);
 		uint32_t i = 0;
 
@@ -176,19 +176,19 @@ public:
 		return printSize;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (this->_size > theMap.maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
 			result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
-					size, bigEndian);
+					size, streamEndianness);
 			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		return result;
diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h
index 32b61c2d..6e7f330c 100644
--- a/container/IndexedRingMemoryArray.h
+++ b/container/IndexedRingMemoryArray.h
@@ -68,46 +68,46 @@ public:
 		return this->storedPackets;
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const {
+		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = indexType.serialize(buffer,size,max_size,bigEndian);
+		result = indexType.serialize(buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,maxSize,streamEndianness);
 		return result;
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian){
-		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness){
+		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = indexType.deSerialize(buffer,size,bigEndian);
+		result = indexType.deSerialize(buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		return result;
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress);
 		size += indexType.getSerializedSize();
 		size += SerializeAdapter::getSerializedSize(&this->size);
@@ -485,22 +485,22 @@ public:
 	 * Parameters according to HasSerializeIF
 	 * @param buffer
 	 * @param size
-	 * @param max_size
-	 * @param bigEndian
+	 * @param maxSize
+	 * @param streamEndianness
 	 * @return
 	 */
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const{
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const{
 		uint8_t* crcBuffer = *buffer;
 		uint32_t oldSize = *size;
 		if(additionalInfo!=NULL){
-			additionalInfo->serialize(buffer,size,max_size,bigEndian);
+			additionalInfo->serialize(buffer,size,maxSize,streamEndianness);
 		}
-		ReturnValue_t result = currentWriteBlock->serialize(buffer,size,max_size,bigEndian);
+		ReturnValue_t result = currentWriteBlock->serialize(buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
-		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -508,14 +508,14 @@ public:
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
 			result = SerializeAdapter::serialize(&this->entries[i], buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize));
-		result = SerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&crc,buffer,size,maxSize,streamEndianness);
 		return result;
 	}
 
@@ -524,7 +524,7 @@ public:
 	 * Get the serialized Size of the index
 	 * @return The serialized size of the index
 	 */
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 
 		uint32_t size = 0;
 		if(additionalInfo!=NULL){
@@ -542,28 +542,28 @@ public:
 	 * CRC Has to be checked before!
 	 * @param buffer
 	 * @param size
-	 * @param bigEndian
+	 * @param streamEndianness
 	 * @return
 	 */
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian){
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness){
 
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		if(additionalInfo!=NULL){
-			result = additionalInfo->deSerialize(buffer,size,bigEndian);
+			result = additionalInfo->deSerialize(buffer,size,streamEndianness);
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 
 		Index<T> tempIndex;
-		result = tempIndex.deSerialize(buffer,size,bigEndian);
+		result = tempIndex.deSerialize(buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 		uint32_t tempSize = 0;
-		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -574,7 +574,7 @@ public:
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
 			result = SerializeAdapter::deSerialize(
 					&this->entries[i], buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
index 89543d77..6604dc23 100644
--- a/datapool/DataPool.cpp
+++ b/datapool/DataPool.cpp
@@ -39,10 +39,10 @@ PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
 	}
 }
 
-//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t max_size ) {
+//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() <= max_size ) {
+//		if ( it->second->getByteSize() <= maxSize ) {
 //			*size = it->second->getByteSize();
 //			memcpy( address, it->second->getRawData(), *size );
 //			return DP_SUCCESSFUL;
diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp
index fe6b9215..8bf7f6b3 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapool/DataPoolAdmin.cpp
@@ -261,7 +261,7 @@ ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
 //identical to ParameterHelper::sendParameter()
 ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 		const DataPoolParameterWrapper* wrapper) {
-	uint32_t serializedSize = wrapper->getSerializedSize();
+	size_t serializedSize = wrapper->getSerializedSize();
 
 	uint8_t *storeElement;
 	store_address_t address;
@@ -272,10 +272,10 @@ ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	uint32_t storeElementSize = 0;
+	size_t storeElementSize = 0;
 
 	result = wrapper->serialize(&storeElement, &storeElementSize,
-			serializedSize, true);
+			serializedSize, SerializeIF::Endianness::BIG);
 
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		storage->deleteData(address);
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp
index 10fb5392..e08eba5b 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapool/DataPoolParameterWrapper.cpp
@@ -36,22 +36,22 @@ ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
 }
 
 ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
-		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
 	result = SerializeAdapter::serialize(&columns, buffer, size,
-			max_size, bigEndian);
+			maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -60,7 +60,7 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 		DataSet mySet;
 		PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
 		mySet.read();
-		result = raw.serialize(buffer,size,max_size,bigEndian);
+		result = raw.serialize(buffer,size,maxSize,streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -69,8 +69,8 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 }
 
 //same as ParameterWrapper
-uint32_t DataPoolParameterWrapper::getSerializedSize() const {
-	uint32_t serializedSize = 0;
+size_t DataPoolParameterWrapper::getSerializedSize() const {
+	size_t serializedSize = 0;
 	serializedSize += type.getSerializedSize();
 	serializedSize += sizeof(rows);
 	serializedSize += sizeof(columns);
@@ -80,7 +80,7 @@ uint32_t DataPoolParameterWrapper::getSerializedSize() const {
 }
 
 ReturnValue_t DataPoolParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
diff --git a/datapool/DataPoolParameterWrapper.h b/datapool/DataPoolParameterWrapper.h
index faadf659..a3dbdc04 100644
--- a/datapool/DataPoolParameterWrapper.h
+++ b/datapool/DataPoolParameterWrapper.h
@@ -11,13 +11,13 @@ public:
 
 	ReturnValue_t set(uint8_t domainId, uint16_t parameterId);
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
 			uint16_t startWritingAtIndex);
diff --git a/datapool/DataSet.cpp b/datapool/DataSet.cpp
index b4725c73..94cdcf0c 100644
--- a/datapool/DataSet.cpp
+++ b/datapool/DataSet.cpp
@@ -106,12 +106,12 @@ uint8_t DataSet::lockDataPool() {
 	return ::dataPool.lockDataPool();
 }
 
-ReturnValue_t DataSet::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+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, max_size,
-				bigEndian);
+		result = registeredVariables[count]->serialize(buffer, size, maxSize,
+				streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
@@ -119,8 +119,8 @@ ReturnValue_t DataSet::serialize(uint8_t** buffer, uint32_t* size,
 	return result;
 }
 
-uint32_t DataSet::getSerializedSize() const {
-	uint32_t size = 0;
+size_t DataSet::getSerializedSize() const {
+	size_t size = 0;
 	for (uint16_t count = 0; count < fill_count; count++) {
 		size += registeredVariables[count]->getSerializedSize();
 	}
@@ -136,12 +136,12 @@ void DataSet::setValid(uint8_t valid) {
 	}
 }
 
-ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+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,
-				bigEndian);
+				streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
diff --git a/datapool/DataSet.h b/datapool/DataSet.h
index 982be692..3d211537 100644
--- a/datapool/DataSet.h
+++ b/datapool/DataSet.h
@@ -146,13 +146,13 @@ public:
 	 */
 	void setValid(uint8_t valid);
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 };
 
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index 2053498b..94766d87 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -69,12 +69,12 @@ uint8_t* PoolRawAccess::getEntry() {
 }
 
 ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
-		uint32_t* writtenBytes, uint32_t max_size) {
+		uint32_t* writtenBytes, uint32_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 > max_size)
+	if (typeSize > maxSize)
 		return INCORRECT_SIZE;
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
@@ -149,7 +149,7 @@ ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
 		size_t maxSize, Endianness streamEndianness) const {
 	//TODO integer overflow
 	if (typeSize + *size <= maxSize) {
-#error use endian swapper
+#warning use endian swapper
 		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 190c38a9..8cc8f3f0 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -90,15 +90,15 @@ public:
 	 * \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.
+	 * 			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 max_size	The maximum size that the function may write to buffer.
+	 * \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, uint32_t *size,
-			uint32_t max_size);
+			uint32_t maxSize);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
 	 * @param buffer	Pointer to the data to set
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
index ce073426..c1a57539 100644
--- a/datapool/PoolVariable.h
+++ b/datapool/PoolVariable.h
@@ -195,12 +195,12 @@ public:
 	}
 
 	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t max_size, Endianness streamEndianness) const override {
-		return SerializeAdapter::serialize<T>(&value, buffer, size, max_size,
+			size_t maxSize, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize<T>(&value, buffer, size, maxSize,
 				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const override {
+	virtual size_t getSerializedSize() const override {
 		return SerializeAdapter::getSerializedSize(&value);
 	}
 
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
index 3809f93b..50724054 100644
--- a/datapool/PoolVector.h
+++ b/datapool/PoolVector.h
@@ -197,13 +197,13 @@ public:
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	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,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
@@ -211,17 +211,17 @@ public:
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return vector_size * SerializeAdapter::getSerializedSize(value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	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,
-					bigEndian);
+					streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index 55861c3c..ce5eb109 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -12,35 +12,35 @@ DeviceTmReportingWrapper::~DeviceTmReportingWrapper() {
 }
 
 ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer,
-		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&objectId,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::serialize(&actionId, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return data->serialize(buffer, size, max_size, bigEndian);
+	return data->serialize(buffer, size, maxSize, streamEndianness);
 }
 
-uint32_t DeviceTmReportingWrapper::getSerializedSize() const {
+size_t DeviceTmReportingWrapper::getSerializedSize() const {
 	return sizeof(objectId) + sizeof(ActionId_t) + data->getSerializedSize();
 }
 
 ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&objectId,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&actionId, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return data->deSerialize(buffer, size, bigEndian);
+	return data->deSerialize(buffer, size, streamEndianness);
 }
diff --git a/devicehandlers/DeviceTmReportingWrapper.h b/devicehandlers/DeviceTmReportingWrapper.h
index 1cd9470d..4432b7f1 100644
--- a/devicehandlers/DeviceTmReportingWrapper.h
+++ b/devicehandlers/DeviceTmReportingWrapper.h
@@ -11,13 +11,13 @@ public:
 			SerializeIF *data);
 	virtual ~DeviceTmReportingWrapper();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 private:
 	object_id_t objectId;
 	ActionId_t actionId;
diff --git a/events/eventmatching/EventRangeMatcherBase.h b/events/eventmatching/EventRangeMatcherBase.h
index 921a5d6a..587669ba 100644
--- a/events/eventmatching/EventRangeMatcherBase.h
+++ b/events/eventmatching/EventRangeMatcherBase.h
@@ -11,16 +11,16 @@ class EventRangeMatcherBase: public SerializeableMatcherIF<EventMessage*> {
 public:
 	EventRangeMatcherBase(T from, T till, bool inverted) : rangeMatcher(from, till, inverted) {	}
 	virtual ~EventRangeMatcherBase() { }
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return rangeMatcher.serialize(buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return rangeMatcher.serialize(buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return rangeMatcher.getSerializedSize();
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return rangeMatcher.deSerialize(buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return rangeMatcher.deSerialize(buffer, size, streamEndianness);
 	}
 protected:
 	RangeMatcher<T> rangeMatcher;
diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index b7b7fd82..a481f768 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -59,8 +59,8 @@ uint8_t Type::getSize() const {
 	}
 }
 
-ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t Type::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	uint8_t ptc;
 	uint8_t pfc;
 	ReturnValue_t result = getPtcPfc(&ptc, &pfc);
@@ -68,36 +68,36 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&ptc, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&ptc, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&pfc, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&pfc, buffer, size, maxSize,
+			streamEndianness);
 
 	return result;
 
 }
 
-uint32_t Type::getSerializedSize() const {
+size_t Type::getSerializedSize() const {
 	uint8_t dontcare = 0;
 	return 2 * SerializeAdapter::getSerializedSize(&dontcare);
 }
 
-ReturnValue_t Type::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+ReturnValue_t Type::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 	uint8_t ptc;
 	uint8_t pfc;
 	ReturnValue_t result = SerializeAdapter::deSerialize(&ptc, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
 	result = SerializeAdapter::deSerialize(&pfc, buffer, size,
-			bigEndian);
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/globalfunctions/conversion.cpp b/globalfunctions/conversion.cpp
deleted file mode 100644
index d4f542bd..00000000
--- a/globalfunctions/conversion.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-#include <framework/globalfunctions/conversion.h>
-#include <framework/osal/Endiness.h>
-#include <cstring>
-
-
-
-//SHOULDDO: This shall be optimized (later)!
-void convertToByteStream( uint16_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF00) >> 8;
-	buffer[1] = (value & 0x00FF);
-	*size += 2;
-}
-
-void convertToByteStream( uint32_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF000000) >> 24;
-	buffer[1] = (value & 0x00FF0000) >> 16;
-	buffer[2] = (value & 0x0000FF00) >> 8;
-	buffer[3] = (value & 0x000000FF);
-	*size +=4;
-}
-
-void convertToByteStream( int16_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF00) >> 8;
-	buffer[1] = (value & 0x00FF);
-	*size += 2;
-}
-
-void convertToByteStream( int32_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF000000) >> 24;
-	buffer[1] = (value & 0x00FF0000) >> 16;
-	buffer[2] = (value & 0x0000FF00) >> 8;
-	buffer[3] = (value & 0x000000FF);
-	*size += 4;
-}
-
-//void convertToByteStream( uint64_t value, uint8_t* buffer, uint32_t* size ) {
-//	buffer[0] = (value & 0xFF00000000000000) >> 56;
-//	buffer[1] = (value & 0x00FF000000000000) >> 48;
-//	buffer[2] = (value & 0x0000FF0000000000) >> 40;
-//	buffer[3] = (value & 0x000000FF00000000) >> 32;
-//	buffer[4] = (value & 0x00000000FF000000) >> 24;
-//	buffer[5] = (value & 0x0000000000FF0000) >> 16;
-//	buffer[6] = (value & 0x000000000000FF00) >> 8;
-//	buffer[7] = (value & 0x00000000000000FF);
-//	*size+=8;
-//}
-//
-//void convertToByteStream( int64_t value, uint8_t* buffer, uint32_t* size ) {
-//	buffer[0] = (value & 0xFF00000000000000) >> 56;
-//	buffer[1] = (value & 0x00FF000000000000) >> 48;
-//	buffer[2] = (value & 0x0000FF0000000000) >> 40;
-//	buffer[3] = (value & 0x000000FF00000000) >> 32;
-//	buffer[4] = (value & 0x00000000FF000000) >> 24;
-//	buffer[5] = (value & 0x0000000000FF0000) >> 16;
-//	buffer[6] = (value & 0x000000000000FF00) >> 8;
-//	buffer[7] = (value & 0x00000000000000FF);
-//	*size+=8;
-//}
-
-void convertToByteStream( float in_value, uint8_t* buffer, uint32_t* size ) {
-#ifndef BYTE_ORDER_SYSTEM
-	#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	union float_union {
-		float value;
-		uint8_t chars[4];
-	};
-	float_union temp;
-	temp.value = in_value;
-	buffer[0] = temp.chars[3];
-	buffer[1] = temp.chars[2];
-	buffer[2] = temp.chars[1];
-	buffer[3] = temp.chars[0];
-	*size += 4;
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, &in_value, sizeof(in_value));
-	*size += sizeof(in_value);
-#endif
-}
-
-void convertToByteStream( double in_value, uint8_t* buffer, uint32_t* size ) {
-#ifndef BYTE_ORDER_SYSTEM
-	#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	union double_union {
-		double value;
-		uint8_t chars[8];
-	};
-	double_union temp;
-	temp.value = in_value;
-	buffer[0] = temp.chars[7];
-	buffer[1] = temp.chars[6];
-	buffer[2] = temp.chars[5];
-	buffer[3] = temp.chars[4];
-	buffer[4] = temp.chars[3];
-	buffer[5] = temp.chars[2];
-	buffer[6] = temp.chars[1];
-	buffer[7] = temp.chars[0];
-	*size += 8;
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, &in_value, sizeof(in_value));
-	*size += sizeof(in_value);
-#endif
-}
diff --git a/globalfunctions/conversion.h b/globalfunctions/conversion.h
deleted file mode 100644
index 0d1ca1a6..00000000
--- a/globalfunctions/conversion.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef CONVERSION_H_
-#define CONVERSION_H_
-
-
-#include <stdint.h>
-
-
-void convertToByteStream( uint16_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( uint32_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( int16_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( int32_t value, uint8_t* buffer, uint32_t* size );
-
-//void convertToByteStream( uint64_t value, uint8_t* buffer, uint32_t* size );
-//
-//void convertToByteStream( int64_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( float value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( double value, uint8_t* buffer, uint32_t* size );
-
-#endif /* CONVERSION_H_ */
diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h
index 0ee3890b..b54f5492 100644
--- a/globalfunctions/matching/MatchTree.h
+++ b/globalfunctions/matching/MatchTree.h
@@ -45,38 +45,38 @@ public:
 		return matchSubtree(iter, number);
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, SerializeIF::Endianness streamEndianness) const override {
 		iterator iter = this->begin();
 		uint8_t count = this->countRight(iter);
 		ReturnValue_t result = SerializeAdapter::serialize(&count,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		if (iter == this->end()) {
 			return HasReturnvaluesIF::RETURN_OK;
 		}
-		result = iter->serialize(buffer, size, max_size, bigEndian);
+		result = iter->serialize(buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		if (maxDepth > 0) {
 			MatchTree<T> temp(iter.left(), maxDepth - 1);
-			result = temp.serialize(buffer, size, max_size, bigEndian);
+			result = temp.serialize(buffer, size, maxSize, streamEndianness);
 		}
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		iter = iter.right();
 		while (iter != this->end()) {
-			result = iter->serialize(buffer, size, max_size, bigEndian);
+			result = iter->serialize(buffer, size, maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
 			if (maxDepth > 0) {
 				MatchTree<T> temp(iter.left(), maxDepth - 1);
-				result = temp.serialize(buffer, size, max_size, bigEndian);
+				result = temp.serialize(buffer, size, maxSize, streamEndianness);
 			}
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
@@ -86,7 +86,7 @@ public:
 		return result;
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const override {
 		//Analogous to serialize!
 		uint32_t size = 1; //One for count
 		iterator iter = this->begin();
@@ -115,8 +115,8 @@ public:
 		return size;
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			SerializeIF::Endianness streamEndianness) override {
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h
index c30406f6..6fee1f52 100644
--- a/globalfunctions/matching/RangeMatcher.h
+++ b/globalfunctions/matching/RangeMatcher.h
@@ -26,23 +26,23 @@ public:
 		}
 	}
 
-	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t max_size,
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
 			SerializeIF::Endianness streamEndianness) const override {
 		ReturnValue_t result = SerializeAdapter::serialize(&lowerBound, buffer,
-				size, max_size, streamEndianness);
+				size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&upperBound, buffer, size,
-				max_size, streamEndianness);
+				maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter::serialize(&inverted, buffer, size, max_size,
+		return SerializeAdapter::serialize(&inverted, buffer, size, maxSize,
 				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const override {
+	size_t getSerializedSize() const override {
 		return sizeof(lowerBound) + sizeof(upperBound) + sizeof(bool);
 	}
 
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index 48ee6679..bd6606db 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -63,21 +63,21 @@ bool HealthTable::hasHealth(object_id_t object) {
 	return exits;
 }
 
-void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
+void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
 	mutex->lockMutex(MutexIF::NO_TIMEOUT);
-	uint32_t size = 0;
+	size_t size = 0;
 	uint16_t count = healthMap.size();
 	ReturnValue_t result = SerializeAdapter::serialize(&count,
-			&pointer, &size, maxSize, true);
+			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
 	HealthMap::iterator iter;
 	for (iter = healthMap.begin();
 			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
 			++iter) {
 		result = SerializeAdapter::serialize(&iter->first,
-				&pointer, &size, maxSize, true);
+				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
 		uint8_t health = iter->second;
 		result = SerializeAdapter::serialize(&health, &pointer, &size,
-				maxSize, true);
+				maxSize, SerializeIF::Endianness::BIG);
 	}
 	mutex->unlockMutex();
 }
diff --git a/health/HealthTable.h b/health/HealthTable.h
index 32a7eee2..2c74bda4 100644
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@@ -21,7 +21,7 @@ public:
 	virtual HasHealthIF::HealthState getHealth(object_id_t);
 
 	virtual uint32_t getPrintSize();
-	virtual void printAll(uint8_t *pointer, uint32_t maxSize);
+	virtual void printAll(uint8_t *pointer, size_t maxSize);
 
 protected:
 	MutexIF* mutex;
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index 760e8b93..489a8f9e 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -17,7 +17,7 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	}
 	store_address_t storeId;
 	uint8_t* dataTarget = NULL;
-	uint32_t maxSize = data->getSerializedSize();
+	size_t maxSize = data->getSerializedSize();
 	if (maxSize > MonitoringIF::VIOLATION_REPORT_MAX_SIZE) {
 		return MonitoringIF::INVALID_SIZE;
 	}
@@ -26,8 +26,8 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	uint32_t size = 0;
-	result = data->serialize(&dataTarget, &size, maxSize, true);
+	size_t size = 0;
+	result = data->serialize(&dataTarget, &size, maxSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index 903a4d0e..61b66c3d 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -89,15 +89,15 @@ void CpuUsage::clear() {
 	threadData.clear();
 }
 
-ReturnValue_t CpuUsage::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t CpuUsage::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(
-			&timeSinceLastReset, buffer, size, max_size, bigEndian);
+			&timeSinceLastReset, buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	return SerialArrayListAdapter<ThreadData>::serialize(&threadData, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 }
 
 uint32_t CpuUsage::getSerializedSize() const {
@@ -109,37 +109,37 @@ uint32_t CpuUsage::getSerializedSize() const {
 	return size;
 }
 
-ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(
-			&timeSinceLastReset, buffer, size, bigEndian);
+			&timeSinceLastReset, buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	return SerialArrayListAdapter<ThreadData>::deSerialize(&threadData, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 }
 
-ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&id, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	if (*size + MAX_LENGTH_OF_THREAD_NAME > max_size) {
+	if (*size + MAX_LENGTH_OF_THREAD_NAME > maxSize) {
 		return BUFFER_TOO_SHORT;
 	}
 	memcpy(*buffer, name, MAX_LENGTH_OF_THREAD_NAME);
 	*size += MAX_LENGTH_OF_THREAD_NAME;
 	*buffer += MAX_LENGTH_OF_THREAD_NAME;
 	result = SerializeAdapter::serialize(&timeRunning,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::serialize(&percentUsage,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -158,9 +158,9 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 }
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		int32_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -170,12 +170,12 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 	memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);
 	*buffer -= MAX_LENGTH_OF_THREAD_NAME;
 	result = SerializeAdapter::deSerialize(&timeRunning,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&percentUsage,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/rtems/CpuUsage.h b/osal/rtems/CpuUsage.h
index 3d317e4e..eb03c5e3 100644
--- a/osal/rtems/CpuUsage.h
+++ b/osal/rtems/CpuUsage.h
@@ -18,13 +18,13 @@ public:
 		float timeRunning;
 		float percentUsage;
 
-		virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const;
+		virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const override;
 
-		virtual uint32_t getSerializedSize() const;
+		virtual size_t getSerializedSize() const override;
 
-		virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian);
+		virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness) override;
 	};
 
 	CpuUsage();
@@ -41,13 +41,13 @@ public:
 
 	void clear();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 };
 
 #endif /* CPUUSAGE_H_ */
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 75b71a7e..725fa1d7 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -83,7 +83,7 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 
 ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 		const ParameterWrapper* description) {
-	uint32_t serializedSize = description->getSerializedSize();
+	size_t serializedSize = description->getSerializedSize();
 
 	uint8_t *storeElement;
 	store_address_t address;
@@ -94,10 +94,10 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	uint32_t storeElementSize = 0;
+	size_t storeElementSize = 0;
 
 	result = description->serialize(&storeElement, &storeElementSize,
-			serializedSize, true);
+			serializedSize, SerializeIF::Endianness::BIG);
 
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		storage->deleteData(address);
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 9dcbc6d5..602ec361 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -2,41 +2,41 @@
 
 ParameterWrapper::ParameterWrapper() :
 		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
-				NULL), readonlyData(NULL) {
+		NULL), readonlyData(NULL) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
-		void* data) :
+		void *data) :
 		pointsToStream(false), type(type), rows(rows), columns(columns), data(
 				data), readonlyData(data) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
-		const void* data) :
+		const void *data) :
 		pointsToStream(false), type(type), rows(rows), columns(columns), data(
-				NULL), readonlyData(data) {
+		NULL), readonlyData(data) {
 }
 
 ParameterWrapper::~ParameterWrapper() {
 }
 
-ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t ParameterWrapper::serialize(uint8_t **buffer, size_t *size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&columns, buffer, size,
-			max_size, bigEndian);
+	result = SerializeAdapter::serialize(&columns, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -47,28 +47,33 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 	}
 	switch (type) {
 	case Type::UINT8_T:
-		result = serializeData<uint8_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint8_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT8_T:
-		result = serializeData<int8_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int8_t>(buffer, size, maxSize, streamEndianness);
 		break;
 	case Type::UINT16_T:
-		result = serializeData<uint16_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint16_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT16_T:
-		result = serializeData<int16_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int16_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::UINT32_T:
-		result = serializeData<uint32_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint32_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT32_T:
-		result = serializeData<int32_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int32_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::FLOAT:
-		result = serializeData<float>(buffer, size, max_size, bigEndian);
+		result = serializeData<float>(buffer, size, maxSize, streamEndianness);
 		break;
 	case Type::DOUBLE:
-		result = serializeData<double>(buffer, size, max_size, bigEndian);
+		result = serializeData<double>(buffer, size, maxSize, streamEndianness);
 		break;
 	default:
 		result = UNKNOW_DATATYPE;
@@ -77,7 +82,7 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 	return result;
 }
 
-uint32_t ParameterWrapper::getSerializedSize() const {
+size_t ParameterWrapper::getSerializedSize() const {
 	uint32_t serializedSize = 0;
 	serializedSize += type.getSerializedSize();
 	serializedSize += sizeof(rows);
@@ -88,14 +93,14 @@ uint32_t ParameterWrapper::getSerializedSize() const {
 }
 
 template<typename T>
-ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t ParameterWrapper::serializeData(uint8_t **buffer, size_t *size,
+		size_t maxSize, Endianness streamEndianness) const {
 	const T *element = (const T*) readonlyData;
 	ReturnValue_t result;
 	uint16_t dataSize = columns * rows;
 	while (dataSize != 0) {
-		result = SerializeAdapter::serialize(element, buffer, size, max_size,
-				bigEndian);
+		result = SerializeAdapter::serialize(element, buffer, size, maxSize,
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
@@ -111,21 +116,21 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 		uint8_t fromColumns) {
 
 	//treat from as a continuous Stream as we copy all of it
-	const uint8_t *fromAsStream = (const uint8_t *) from;
-	int32_t streamSize = fromRows * fromColumns * sizeof(T);
+	const uint8_t *fromAsStream = (const uint8_t*) from;
+	size_t streamSize = fromRows * fromColumns * sizeof(T);
 
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
 	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
 
 		//get the start element of this row in data
-		T *dataWithDataType = ((T *) data)
+		T *dataWithDataType = ((T*) data)
 				+ (((startingRow + fromRow) * columns) + startingColumn);
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
 			result = SerializeAdapter::deSerialize(
 					dataWithDataType + fromColumn, &fromAsStream, &streamSize,
-					true);
+					SerializeIF::Endianness::BIG);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
@@ -136,13 +141,14 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 
 }
 
-ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
-	return deSerialize(buffer, size, bigEndian, 0);
+ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
+		size_t *size, Endianness streamEndianness) {
+	return deSerialize(buffer, size, streamEndianness, 0);
 }
 
-ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian, uint16_t startWritingAtIndex) {
+ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
+		size_t *size, Endianness streamEndianness,
+		uint16_t startWritingAtIndex) {
 	ParameterWrapper streamDescription;
 
 	ReturnValue_t result = streamDescription.set(*buffer, *size, buffer, size);
@@ -153,26 +159,26 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
 	return copyFrom(&streamDescription, startWritingAtIndex);
 }
 
-ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
-		const uint8_t **remainingStream, int32_t *remainingSize) {
+ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
+		const uint8_t **remainingStream, size_t *remainingSize) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
-			&streamSize, true);
+			&streamSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::deSerialize(&columns, &stream,
-			&streamSize, true);
+	result = SerializeAdapter::deSerialize(&columns, &stream, &streamSize,
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&rows, &stream, &streamSize,
-			true);
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	int32_t dataSize = type.getSize() * rows * columns;
+	size_t dataSize = type.getSize() * rows * columns;
 
 	if (streamSize < dataSize) {
 		return SerializeIF::STREAM_TOO_SHORT;
@@ -194,7 +200,7 @@ ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper* from,
+ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		uint16_t startWritingAtIndex) {
 	if (data == NULL) {
 		return READONLY;
@@ -261,7 +267,7 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper* from,
 		}
 	} else {
 		//need a type to do arithmetic
-		uint8_t *toDataWithType = (uint8_t *) data;
+		uint8_t *toDataWithType = (uint8_t*) data;
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
 			memcpy(
 					toDataWithType
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index e6d29c59..a00c997c 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -25,16 +25,16 @@ public:
 			const void *data);
 	virtual ~ParameterWrapper();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian, uint16_t startWritingAtIndex = 0);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
 
 	template<typename T>
 	ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
@@ -111,8 +111,8 @@ public:
 	void setMatrix(const T& member) {
 		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
 	}
-	ReturnValue_t set(const uint8_t *stream, int32_t streamSize,
-			const uint8_t **remainingStream = NULL, int32_t *remainingSize =
+	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
+			const uint8_t **remainingStream = NULL, size_t *remainingSize =
 					NULL);
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
@@ -128,8 +128,8 @@ private:
 	const void *readonlyData;
 
 	template<typename T>
-	ReturnValue_t serializeData(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const;
 
 	template<typename T>
 	ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn,
diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index dd5d3e3f..db24100b 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -86,12 +86,12 @@ ReturnValue_t Fuse::check() {
 	return result;
 }
 
-ReturnValue_t Fuse::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t Fuse::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = RETURN_FAILED;
 	for (DeviceList::const_iterator iter = devices.begin();
 			iter != devices.end(); iter++) {
-		result = (*iter)->serialize(buffer, size, max_size, bigEndian);
+		result = (*iter)->serialize(buffer, size, maxSize, streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
@@ -99,7 +99,7 @@ ReturnValue_t Fuse::serialize(uint8_t** buffer, uint32_t* size,
 	return RETURN_OK;
 }
 
-uint32_t Fuse::getSerializedSize() const {
+size_t Fuse::getSerializedSize() const {
 	uint32_t size = 0;
 	for (DeviceList::const_iterator iter = devices.begin();
 			iter != devices.end(); iter++) {
@@ -108,12 +108,12 @@ uint32_t Fuse::getSerializedSize() const {
 	return size;
 }
 
-ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, int32_t* size,
-bool bigEndian) {
+ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, size_t* size,
+Endianness streamEndianness) {
 	ReturnValue_t result = RETURN_FAILED;
 	for (DeviceList::iterator iter = devices.begin(); iter != devices.end();
 			iter++) {
-		result = (*iter)->deSerialize(buffer, size, bigEndian);
+		result = (*iter)->deSerialize(buffer, size, streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
diff --git a/power/Fuse.h b/power/Fuse.h
index 6da24178..4e22e3ed 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -11,14 +11,15 @@
 #include <framework/parameters/ParameterHelper.h>
 #include <list>
 
-namespace Factory{
+namespace Factory {
 void setStaticFrameworkObjectIds();
 }
 
 class Fuse: public SystemObject,
 		public HasHealthIF,
 		public HasReturnvaluesIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public SerializeIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 private:
 	static constexpr float RESIDUAL_POWER = 0.005 * 28.5; //!< This is the upper limit of residual power lost by fuses and switches. Worst case is Fuse and one of two switches on. See PCDU ICD 1.9 p29 bottom
@@ -40,7 +41,7 @@ public:
 	Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
 			float maxCurrent, uint16_t confirmationCount = 2);
 	virtual ~Fuse();
-	void addDevice(PowerComponentIF* set);
+	void addDevice(PowerComponentIF *set);
 	float getPower();
 
 	bool isPowerValid();
@@ -49,11 +50,11 @@ public:
 	uint8_t getFuseId() const;
 	ReturnValue_t initialize();
 	DeviceList devices;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
-	uint32_t getSerializedSize() const;
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			SerializeIF::Endianness streamEndianness) const override;
+	size_t getSerializedSize() const override;
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			SerializeIF::Endianness streamEndianness) override;
 	void setAllMonitorsToUnchecked();
 	ReturnValue_t performOperation(uint8_t opCode);
 	MessageQueueId_t getCommandQueue() const;
@@ -62,13 +63,13 @@ public:
 	HasHealthIF::HealthState getHealth();
 
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-				ParameterWrapper *parameterWrapper,
-				const ParameterWrapper *newValues, uint16_t startAtIndex);
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
 
 private:
 	uint8_t oldFuseState;
 	uint8_t fuseId;
-	PowerSwitchIF* powerIF; //could be static in our case.
+	PowerSwitchIF *powerIF; //could be static in our case.
 	AbsLimitMonitor<float> currentLimit;
 	class PowerMonitor: public MonitorReporter<float> {
 	public:
@@ -88,11 +89,11 @@ private:
 	PIDReader<float> current;
 	PIDReader<uint8_t> state;
 	db_float_t power;
-	MessageQueueIF* commandQueue;
+	MessageQueueIF *commandQueue;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
 	static object_id_t powerSwitchId;
-	void calculatePowerLimits(float* low, float* high);
+	void calculatePowerLimits(float *low, float *high);
 	void calculateFusePower();
 	void checkFuseState();
 	void reportEvents(Event event);
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index 53bb06c8..cd116a86 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -17,18 +17,18 @@ PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, f
 				twoSwitches), min(min), max(max), moduleId(moduleId) {
 }
 
-ReturnValue_t PowerComponent::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&min, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter::serialize(&max, buffer, size, max_size,
-			bigEndian);
+	return SerializeAdapter::serialize(&max, buffer, size, maxSize,
+			streamEndianness);
 }
 
-uint32_t PowerComponent::getSerializedSize() const {
+size_t PowerComponent::getSerializedSize() const {
 	return sizeof(min) + sizeof(max);
 }
 
@@ -56,14 +56,14 @@ float PowerComponent::getMax() {
 	return max;
 }
 
-ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, int32_t* size,
-bool bigEndian) {
+ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
+Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter::deSerialize(&max, buffer, size, bigEndian);
+	return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness);
 }
 
 ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
diff --git a/power/PowerComponent.h b/power/PowerComponent.h
index a82fe1d7..61ab3674 100644
--- a/power/PowerComponent.h
+++ b/power/PowerComponent.h
@@ -19,13 +19,13 @@ public:
 	float getMin();
 	float getMax();
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 				ParameterWrapper *parameterWrapper,
diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index ab0c6c6f..bcd99818 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -20,25 +20,25 @@ public:
 	SerialArrayListAdapter(ArrayList<T, count_t> *adaptee) : adaptee(adaptee) {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return serialize(adaptee, buffer, size, max_size, bigEndian);
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return serialize(adaptee, buffer, size, maxSize, streamEndianness);
 	}
 
-	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) {
+	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
 			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return getSerializedSize(adaptee);
 	}
 
@@ -53,16 +53,16 @@ public:
 		return printSize;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return deSerialize(adaptee, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return deSerialize(adaptee, buffer, size, streamEndianness);
 	}
 
-	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
@@ -71,7 +71,7 @@ public:
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
 			result = SerializeAdapter::deSerialize(
 					&list->front()[i], buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		return result;
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index f78ec8ac..d4d8d1c7 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -22,19 +22,19 @@ SerialBufferAdapter<T>::~SerialBufferAdapter() {
 }
 
 template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	uint32_t serializedLength = bufferLength;
 	if (serializeLength) {
 		serializedLength += SerializeAdapter::getSerializedSize(
 				&bufferLength);
 	}
-	if (*size + serializedLength > max_size) {
+	if (*size + serializedLength > maxSize) {
 		return BUFFER_TOO_SHORT;
 	} else {
 		if (serializeLength) {
 			SerializeAdapter::serialize(&bufferLength, buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 		}
 		if (this->constBuffer != NULL) {
 			memcpy(*buffer, this->constBuffer, bufferLength);
@@ -50,7 +50,7 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 }
 
 template<typename T>
-uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
+size_t SerialBufferAdapter<T>::getSerializedSize() const {
 	if (serializeLength) {
 		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
 	} else {
@@ -59,7 +59,7 @@ uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
 }
 template<typename T>
 ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	//TODO Ignores Endian flag!
 	if (buffer != NULL) {
 		if(serializeLength){
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index 7cd75d55..78d42b80 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -16,13 +16,13 @@ public:
 
 	virtual ~SerialBufferAdapter();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 private:
 	bool serializeLength;
 	const uint8_t *constBuffer;
diff --git a/serialize/SerialFixedArrayListAdapter.h b/serialize/SerialFixedArrayListAdapter.h
index 16919b62..a2e683bf 100644
--- a/serialize/SerialFixedArrayListAdapter.h
+++ b/serialize/SerialFixedArrayListAdapter.h
@@ -13,16 +13,16 @@ public:
 	template<typename... Args>
 	SerialFixedArrayListAdapter(Args... args) : FixedArrayList<T, MAX_SIZE, count_t>(std::forward<Args>(args)...) {
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerialArrayListAdapter<T, count_t>::getSerializedSize(this);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index 22e9838c..3941e9fb 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -26,7 +26,7 @@ public:
 				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const override {
+	size_t getSerializedSize() const override {
 		return SerializeAdapter::getSerializedSize(&entry);
 	}
 
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 6c875a5c..14244a7a 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -28,7 +28,7 @@ public:
 	}
 
 	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t max_size, Endianness streamEndianness) const = 0;
+			size_t maxSize, Endianness streamEndianness) const = 0;
 
 	virtual size_t getSerializedSize() const = 0;
 
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index ef706dd7..2e8a325a 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -13,7 +13,7 @@ Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
 				false), uptimeStartTable(0), currentTargetTable(), targetMode(
 				0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables(
 				maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore(
-				NULL)
+		NULL)
 #ifdef USE_MODESTORE
 ,modeStore(NULL)
 #endif
@@ -75,7 +75,8 @@ void Subsystem::performChildOperation() {
 	if (isInTransition) {
 		if (commandsOutstanding <= 0) { //all children of the current table were commanded and replied
 			if (currentSequenceIterator.value == NULL) { //we're through with this sequence
-				if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
+				if (checkStateAgainstTable(currentTargetTable, targetSubmode)
+						== RETURN_OK) {
 					setMode(targetMode, targetSubmode);
 					isInTransition = false;
 					return;
@@ -86,7 +87,8 @@ void Subsystem::performChildOperation() {
 				}
 			}
 			if (currentSequenceIterator->checkSuccess()) {
-				if (checkStateAgainstTable(getCurrentTable(), targetSubmode) != RETURN_OK) {
+				if (checkStateAgainstTable(getCurrentTable(), targetSubmode)
+						!= RETURN_OK) {
 					transitionFailed(TABLE_CHECK_FAILED,
 							currentSequenceIterator->getTableId());
 					return;
@@ -117,7 +119,8 @@ void Subsystem::performChildOperation() {
 			childrenChangedHealth = false;
 			startTransition(mode, submode);
 		} else if (childrenChangedMode) {
-			if (checkStateAgainstTable(currentTargetTable, submode) != RETURN_OK) {
+			if (checkStateAgainstTable(currentTargetTable, submode)
+					!= RETURN_OK) {
 				triggerEvent(CANT_KEEP_MODE, mode, submode);
 				cantKeepMode();
 			}
@@ -147,7 +150,7 @@ HybridIterator<ModeListEntry> Subsystem::getTable(Mode_t id) {
 	}
 }
 
-ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
+ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
 	ReturnValue_t result;
 	switch (message->getCommand()) {
 	case HealthMessage::HEALTH_INFO: {
@@ -168,12 +171,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 				&sizeRead);
 		if (result == RETURN_OK) {
 			Mode_t fallbackId;
-			int32_t size = sizeRead;
-			result = SerializeAdapter::deSerialize(&fallbackId,
-					&pointer, &size, true);
+			size_t size = sizeRead;
+			result = SerializeAdapter::deSerialize(&fallbackId, &pointer, &size,
+					SerializeIF::Endianness::BIG);
 			if (result == RETURN_OK) {
 				result = SerialArrayListAdapter<ModeListEntry>::deSerialize(
-						&sequence, &pointer, &size, true);
+						&sequence, &pointer, &size,
+						SerializeIF::Endianness::BIG);
 				if (result == RETURN_OK) {
 					result = addSequence(&sequence,
 							ModeSequenceMessage::getSequenceId(message),
@@ -193,9 +197,9 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);
 		if (result == RETURN_OK) {
-			int32_t size = sizeRead;
+			size_t size = sizeRead;
 			result = SerialArrayListAdapter<ModeListEntry>::deSerialize(&table,
-					&pointer, &size, true);
+					&pointer, &size, SerializeIF::Endianness::BIG);
 			if (result == RETURN_OK) {
 				result = addTable(&table,
 						ModeSequenceMessage::getSequenceId(message));
@@ -339,7 +343,7 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
 	}
 }
 
-ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry>* sequence,
+ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 		Mode_t id, Mode_t fallbackSequence, bool inStore, bool preInit) {
 
 	ReturnValue_t result;
@@ -507,7 +511,7 @@ MessageQueueId_t Subsystem::getSequenceCommandQueue() const {
 }
 
 ReturnValue_t Subsystem::checkModeCommand(Mode_t mode, Submode_t submode,
-		uint32_t* msToReachTheMode) {
+		uint32_t *msToReachTheMode) {
 	//Need to accept all submodes to be able to inherit submodes
 //	if (submode != SUBMODE_NONE) {
 //		return INVALID_SUBMODE;
@@ -599,15 +603,15 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode,
 }
 
 void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
-		SerializeIF** elements, uint8_t count) {
+		SerializeIF **elements, uint8_t count) {
 	ReturnValue_t result;
-	uint32_t maxSize = 0;
+	size_t maxSize = 0;
 	for (uint8_t i = 0; i < count; i++) {
 		maxSize += elements[i]->getSerializedSize();
 	}
 	uint8_t *storeBuffer;
 	store_address_t address;
-	uint32_t size = 0;
+	size_t size = 0;
 
 	result = IPCStore->getFreeElement(&address, maxSize, &storeBuffer);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -615,7 +619,8 @@ void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
 		return;
 	}
 	for (uint8_t i = 0; i < count; i++) {
-		elements[i]->serialize(&storeBuffer, &size, maxSize, true);
+		elements[i]->serialize(&storeBuffer, &size, maxSize,
+				SerializeIF::Endianness::BIG);
 	}
 	CommandMessage reply;
 	ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index 3e749dd8..153710af 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -18,65 +18,65 @@ public:
 	uint8_t value3;
 	uint8_t value4;
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 
 		ReturnValue_t result;
 
 		result = SerializeAdapter::serialize(&value1, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&value2, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&value3, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 
 		result = SerializeAdapter::serialize(&value4, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		return result;
 
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return sizeof(value1) + sizeof(value2) + sizeof(value3) + sizeof(value4);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result;
 
 		result = SerializeAdapter::deSerialize(&value1, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value2, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value3, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value4, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		return result;
 	}
diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp
index 93513e16..5dcd0bc6 100644
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@@ -46,15 +46,15 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
 	if (size != 4 * sizeof(parameters.lowerOpLimit)) {
 		return MonitoringIF::INVALID_SIZE;
 	}
-	int32_t readSize = size;
+	size_t readSize = size;
 	SerializeAdapter::deSerialize(&nopParameters.lowerNopLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&parameters.lowerOpLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&parameters.upperOpLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&nopParameters.upperNopLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index 4e7160fb..16768e68 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -32,31 +32,31 @@ public:
 	}
 	uint16_t apid;
 	uint16_t ssc;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 		ReturnValue_t result = SerializeAdapter::serialize(&apid,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		return SerializeAdapter::serialize(&ssc, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return sizeof(apid) + sizeof(ssc);
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&apid,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		return SerializeAdapter::deSerialize(&ssc, buffer, size,
-				bigEndian);
+				streamEndianness);
 	}
 };
 
@@ -218,33 +218,33 @@ public:
 	}
 
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceType,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&subCounter,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
-		return adapter.serialize(buffer,size,max_size,bigEndian);
+		return adapter.serialize(buffer,size,maxSize,streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		uint32_t size = 0;
 		size += SerializeAdapter::getSerializedSize(&apid);
 		size += SerializeAdapter::getSerializedSize(&sourceSequenceCount);
@@ -257,35 +257,35 @@ public:
 
 	};
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&apid, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&serviceType, buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&serviceSubtype, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&subCounter, buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
-		return adapter.deSerialize(buffer,size,bigEndian);
+		return adapter.deSerialize(buffer,size,streamEndianness);
 	}
 
 private:
diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h
index d5d96f2d..3080ffef 100644
--- a/tmtcpacket/packetmatcher/ApidMatcher.h
+++ b/tmtcpacket/packetmatcher/ApidMatcher.h
@@ -22,16 +22,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&apid, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&apid, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&apid);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&apid, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&apid, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h
index b0623780..f6e9e360 100644
--- a/tmtcpacket/packetmatcher/ServiceMatcher.h
+++ b/tmtcpacket/packetmatcher/ServiceMatcher.h
@@ -22,16 +22,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&service, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&service, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&service);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&service, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&service, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h
index 90370af1..2e8b82b2 100644
--- a/tmtcpacket/packetmatcher/SubserviceMatcher.h
+++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h
@@ -20,16 +20,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&subService, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&subService, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&subService);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&subService, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&subService, buffer, size, streamEndianness);
 	}
 private:
 	uint8_t subService;
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index f2c1eb28..32f9c431 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -10,14 +10,14 @@ TmPacketStored::TmPacketStored(store_address_t setAddress) :
 }
 
 TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, const uint8_t* data,
-		uint32_t size, const uint8_t* headerData, uint32_t headerSize) :
+		uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
+		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	if (!checkAndSetStore()) {
 		return;
 	}
-	uint8_t* pData = NULL;
+	uint8_t *pData = NULL;
 	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
 			(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
 
@@ -34,21 +34,21 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 }
 
 TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, SerializeIF* content,
-		SerializeIF* header) :
+		uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
+		SerializeIF *header) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	if (!checkAndSetStore()) {
 		return;
 	}
-	uint32_t sourceDataSize = 0;
+	size_t sourceDataSize = 0;
 	if (content != NULL) {
 		sourceDataSize += content->getSerializedSize();
 	}
 	if (header != NULL) {
 		sourceDataSize += header->getSerializedSize();
 	}
-	uint8_t* p_data = NULL;
+	uint8_t *p_data = NULL;
 	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
 			(TmPacketBase::TM_PACKET_MIN_SIZE + sourceDataSize), &p_data);
 	if (returnValue != store->RETURN_OK) {
@@ -56,13 +56,15 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 	}
 	setData(p_data);
 	initializeTmPacket(apid, service, subservice, packetSubcounter);
-	uint8_t* putDataHere = getSourceData();
-	uint32_t size = 0;
+	uint8_t *putDataHere = getSourceData();
+	size_t size = 0;
 	if (header != NULL) {
-		header->serialize(&putDataHere, &size, sourceDataSize, true);
+		header->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
 	}
 	if (content != NULL) {
-		content->serialize(&putDataHere, &size, sourceDataSize, true);
+		content->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
 	}
 	setPacketDataLength(
 			sourceDataSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
@@ -80,7 +82,7 @@ void TmPacketStored::deletePacket() {
 
 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
-	const uint8_t* temp_data = NULL;
+	const uint8_t *temp_data = NULL;
 	uint32_t temp_size;
 	if (!checkAndSetStore()) {
 		return;
@@ -106,8 +108,8 @@ bool TmPacketStored::checkAndSetStore() {
 	return true;
 }
 
-StorageManagerIF* TmPacketStored::store = NULL;
-InternalErrorReporterIF* TmPacketStored::internalErrorReporter = NULL;
+StorageManagerIF *TmPacketStored::store = NULL;
+InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
 
 ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		MessageQueueId_t sentFrom, bool doErrorReporting) {
@@ -116,7 +118,8 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	TmTcMessage tmMessage(getStoreAddress());
-	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination, &tmMessage, sentFrom);
+	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination,
+			&tmMessage, sentFrom);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		deletePacket();
 		if (doErrorReporting) {
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 5b9e7b68..aa41f334 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -235,9 +235,9 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 		object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
 	uint8_t buffer[sizeof(object_id_t)];
 	uint8_t* pBuffer = buffer;
-	uint32_t size = 0;
+	size_t size = 0;
 	SerializeAdapter::serialize(&objectId, &pBuffer, &size,
-			sizeof(object_id_t), true);
+			sizeof(object_id_t), SerializeIF::Endianness::BIG);
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, buffer, size);
 	ReturnValue_t result = tmPacketStored.sendPacket(
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index e1dad2be..07631801 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -33,7 +33,7 @@ PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t set_error_code, uint8_t set_step, uint32_t parameter1,
 		uint32_t parameter2) {
-	uint8_t* data = this->getBuffer();
+	uint8_t *data = this->getBuffer();
 	data[messageSize] = set_report_id;
 	messageSize += sizeof(set_report_id);
 	data[messageSize] = ackFlags;
@@ -109,12 +109,12 @@ PusSuccessReport::PusSuccessReport(uint16_t setPacketId,
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
 	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
-	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	if (setStep != 0) {
 		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
-				sizeof(reportBuffer), true);
+				sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	}
 }
 
@@ -136,25 +136,25 @@ PusFailureReport::PusFailureReport(uint16_t setPacketId,
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
 	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
-	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	if (setStep != 0) {
 		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
-				sizeof(reportBuffer), true);
+				sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	}
-	SerializeAdapter::serialize(&setErrorCode, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+	SerializeAdapter::serialize(&setErrorCode, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	SerializeAdapter::serialize(&parameter1, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	SerializeAdapter::serialize(&parameter2, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 }
 
 PusFailureReport::~PusFailureReport() {
 }
 
-uint32_t PusFailureReport::getSize() {
+size_t PusFailureReport::getSize() {
 	return reportSize;
 }
 
diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h
index 7a173be9..ee84f0c1 100644
--- a/tmtcservices/PusVerificationReport.h
+++ b/tmtcservices/PusVerificationReport.h
@@ -49,7 +49,7 @@ class PusSuccessReport {
 private:
 	static const uint16_t MAX_SIZE = 7;
 	uint8_t reportBuffer[MAX_SIZE];
-	uint32_t reportSize;
+	size_t reportSize;
 	uint8_t * pBuffer;
 public:
 	PusSuccessReport(uint16_t setPacketId, uint16_t setSequenceControl,
@@ -63,14 +63,14 @@ class PusFailureReport {
 private:
 	static const uint16_t MAX_SIZE = 16;
 	uint8_t reportBuffer[MAX_SIZE];
-	uint32_t reportSize;
+	size_t reportSize;
 	uint8_t * pBuffer;
 public:
 	PusFailureReport(uint16_t setPacketId, uint16_t setSequenceControl,
 			ReturnValue_t setErrorCode, uint8_t setStep = 0,
 			uint32_t parameter1 = 0, uint32_t parameter2 = 0);
 	~PusFailureReport();
-	uint32_t getSize();
+	size_t getSize();
 	uint8_t* getReport();
 };
 

From 1158c9d675278db0dcecf80d711073b8ad625932 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 4 May 2020 17:01:48 +0200
Subject: [PATCH 003/307] storagemanager refactoring

---
 storagemanager/LocalPool.h        | 368 +++++-------------------------
 storagemanager/LocalPool.tpp      | 260 +++++++++++++++++++++
 storagemanager/PoolManager.h      |  84 ++-----
 storagemanager/PoolManager.tpp    |  50 ++++
 storagemanager/StorageManagerIF.h |  22 +-
 5 files changed, 407 insertions(+), 377 deletions(-)
 create mode 100644 storagemanager/LocalPool.tpp
 create mode 100644 storagemanager/PoolManager.tpp

diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index 08cb017f..3af37371 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -39,7 +39,64 @@ public:
 	 * @brief	This definition generally sets the number of different sized pools.
 	 * @details This must be less than the maximum number of pools (currently 0xff).
 	 */
-//	static const uint32_t NUMBER_OF_POOLS;
+	//	static const uint32_t NUMBER_OF_POOLS;
+	/**
+	 * @brief	This is the default constructor for a pool manager instance.
+	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
+	 * 			allocates memory (with \c new) for store and size_list. These
+	 * 			regions are all set to zero on start up.
+	 * @param setObjectId	The object identifier to be set. This allows for
+	 * 						multiple instances of LocalPool in the system.
+	 * @param element_sizes	An array of size NUMBER_OF_POOLS in which the size
+	 * 						of a single element in each pool is determined.
+	 * 						<b>The sizes must be provided in ascending order.
+	 * 						</b>
+	 * @param n_elements	An array of size NUMBER_OF_POOLS in which the
+	 * 						number of elements for each pool is determined.
+	 * 						The position of these values correspond to those in
+	 * 						element_sizes.
+	 * @param registered	Register the pool in object manager or not. Default is false (local pool).
+	 * @param spillsToHigherPools
+	 * 						A variable to determine whether higher n pools are used if the store is full.
+	 */
+	LocalPool(object_id_t setObjectId,
+			const uint16_t element_sizes[NUMBER_OF_POOLS],
+			const uint16_t n_elements[NUMBER_OF_POOLS],
+			bool registered = false,
+			bool spillsToHigherPools = false);
+	/**
+	 * @brief	In the LocalPool's destructor all allocated memory is freed.
+	 */
+	virtual ~LocalPool(void);
+
+	/**
+	 * Documentation: See StorageManagerIF.h
+	 */
+	ReturnValue_t addData(store_address_t* storageId, const uint8_t * data,
+			size_t size, bool ignoreFault = false) override;
+	ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size,
+			uint8_t** p_data, bool ignoreFault = false) override;
+	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
+			size_t * size) override;
+	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
+			size_t * size) override;
+	virtual ReturnValue_t deleteData(store_address_t) override;
+	virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size,
+			store_address_t* storeId = NULL) override;
+	void clearStore() override;
+	ReturnValue_t initialize() override;
+protected:
+	/**
+	 * With this helper method, a free element of \c size is reserved.
+	 * @param size	The minimum packet size that shall be reserved.
+	 * @param[out] address Storage ID of the reserved data.
+	 * @return	- #RETURN_OK on success,
+	 * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
+	 */
+	virtual ReturnValue_t reserveSpace(const uint32_t size,
+			store_address_t* address, bool ignoreFault);
+
+	InternalErrorReporterIF *internalErrorReporter;
 private:
 	/**
 	 * Indicates that this element is free.
@@ -78,7 +135,7 @@ private:
 	 * @param data		The data to be stored.
 	 * @param size		The size of the data to be stored.
 	 */
-	void write(store_address_t packet_id, const uint8_t* data, uint32_t size);
+	void write(store_address_t packet_id, const uint8_t* data, size_t size);
 	/**
 	 * @brief	A helper method to read the element size of a certain pool.
 	 * @param pool_index	The pool in which to look.
@@ -101,7 +158,8 @@ private:
 	 * @return	- #RETURN_OK on success,
 	 * 			- #DATA_TOO_LARGE otherwise.
 	 */
-	ReturnValue_t getPoolIndex(uint32_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex = 0);
+	ReturnValue_t getPoolIndex(size_t packet_size, uint16_t* poolIndex,
+			uint16_t startAtIndex = 0);
 	/**
 	 * @brief	This helper method calculates the true array position in store
 	 * 			of a given packet id.
@@ -121,310 +179,8 @@ private:
 	 * 			- #DATA_STORAGE_FULL if the store is full
 	 */
 	ReturnValue_t findEmpty(uint16_t pool_index, uint16_t* element);
-protected:
-	/**
-	 * With this helper method, a free element of \c size is reserved.
-	 * @param size	The minimum packet size that shall be reserved.
-	 * @param[out] address Storage ID of the reserved data.
-	 * @return	- #RETURN_OK on success,
-	 * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
-	 */
-	virtual ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault);
-
-	InternalErrorReporterIF *internalErrorReporter;
-public:
-	/**
-	 * @brief	This is the default constructor for a pool manager instance.
-	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
-	 * 			allocates memory (with \c new) for store and size_list. These
-	 * 			regions are all set to zero on start up.
-	 * @param setObjectId	The object identifier to be set. This allows for
-	 * 						multiple instances of LocalPool in the system.
-	 * @param element_sizes	An array of size NUMBER_OF_POOLS in which the size
-	 * 						of a single element in each pool is determined.
-	 * 						<b>The sizes must be provided in ascending order.
-	 * 						</b>
-	 * @param n_elements	An array of size NUMBER_OF_POOLS in which the
-	 * 						number of elements for each pool is determined.
-	 * 						The position of these values correspond to those in
-	 * 						element_sizes.
-	 * @param registered	Register the pool in object manager or not. Default is false (local pool).
-	 */
-	LocalPool(object_id_t setObjectId,
-			const uint16_t element_sizes[NUMBER_OF_POOLS],
-			const uint16_t n_elements[NUMBER_OF_POOLS],
-			bool registered = false,
-			bool spillsToHigherPools = false);
-	/**
-	 * @brief	In the LocalPool's destructor all allocated memory is freed.
-	 */
-	virtual ~LocalPool(void);
-	ReturnValue_t addData(store_address_t* storageId, const uint8_t * data,
-			uint32_t size, bool ignoreFault = false);
-
-	/**
-	 * With this helper method, a free element of \c size is reserved.
-	 *
-	 * @param size	The minimum packet size that shall be reserved.
-	 * @return	Returns the storage identifier within the storage or
-	 * 			StorageManagerIF::INVALID_ADDRESS (in raw).
-	 */
-	ReturnValue_t getFreeElement(store_address_t* storageId,
-			const uint32_t size, uint8_t** p_data, bool ignoreFault = false);
-	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
-			uint32_t* size);
-	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
-			uint32_t* size);
-	virtual ReturnValue_t deleteData(store_address_t);
-	virtual ReturnValue_t deleteData(uint8_t* ptr, uint32_t size,
-			store_address_t* storeId = NULL);
-	void clearStore();
-	ReturnValue_t initialize();
 };
 
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::findEmpty(uint16_t pool_index,
-		uint16_t* element) {
-	ReturnValue_t status = DATA_STORAGE_FULL;
-	for (uint16_t foundElement = 0; foundElement < n_elements[pool_index];
-			foundElement++) {
-		if (size_list[pool_index][foundElement] == STORAGE_FREE) {
-			*element = foundElement;
-			status = RETURN_OK;
-			break;
-		}
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void LocalPool<NUMBER_OF_POOLS>::write(store_address_t packet_id,
-		const uint8_t* data, uint32_t size) {
-	uint8_t* ptr;
-	uint32_t packet_position = getRawPosition(packet_id);
-
-	//check size? -> Not necessary, because size is checked before calling this function.
-	ptr = &store[packet_id.pool_index][packet_position];
-	memcpy(ptr, data, size);
-	size_list[packet_id.pool_index][packet_id.packet_index] = size;
-}
-
-//Returns page size of 0 in case store_index is illegal
-template<uint8_t NUMBER_OF_POOLS>
-inline uint32_t LocalPool<NUMBER_OF_POOLS>::getPageSize(uint16_t pool_index) {
-	if (pool_index < NUMBER_OF_POOLS) {
-		return element_sizes[pool_index];
-	} else {
-		return 0;
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getPoolIndex(
-		uint32_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex) {
-	for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
-//		debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " << n << ", Element Size: " << element_sizes[n] << std::endl;
-		if (element_sizes[n] >= packet_size) {
-			*poolIndex = n;
-			return RETURN_OK;
-		}
-	}
-	return DATA_TOO_LARGE;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline uint32_t LocalPool<NUMBER_OF_POOLS>::getRawPosition(
-		store_address_t packet_id) {
-	return packet_id.packet_index * element_sizes[packet_id.pool_index];
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
-		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
-	if (status != RETURN_OK) {
-		error << "LocalPool( " << std::hex << getObjectId() << std::dec
-				<< " )::reserveSpace: Packet too large." << std::endl;
-		return status;
-	}
-	status = findEmpty(address->pool_index, &address->packet_index);
-	while (status != RETURN_OK && spillsToHigherPools) {
-		status = getPoolIndex(size, &address->pool_index, address->pool_index + 1);
-		if (status != RETURN_OK) {
-			//We don't find any fitting pool anymore.
-			break;
-		}
-		status = findEmpty(address->pool_index, &address->packet_index);
-	}
-	if (status == RETURN_OK) {
-//		if (getObjectId() == objects::IPC_STORE && address->pool_index >= 3) {
-//			debug << "Reserve: Pool: " << std::dec << address->pool_index << " Index: " << address->packet_index << std::endl;
-//		}
-
-		size_list[address->pool_index][address->packet_index] = size;
-	} else {
-		if (!ignoreFault) {
-			internalErrorReporter->storeFull();
-		}
-//		error << "LocalPool( " << std::hex << getObjectId() << std::dec
-//				<< " )::reserveSpace: Packet store is full." << std::endl;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
-		const uint16_t element_sizes[NUMBER_OF_POOLS],
-		const uint16_t n_elements[NUMBER_OF_POOLS], bool registered, bool spillsToHigherPools) :
-		SystemObject(setObjectId, registered), spillsToHigherPools(spillsToHigherPools), internalErrorReporter(NULL) {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		this->element_sizes[n] = element_sizes[n];
-		this->n_elements[n] = n_elements[n];
-		store[n] = new uint8_t[n_elements[n] * element_sizes[n]];
-		size_list[n] = new uint32_t[n_elements[n]];
-		memset(store[n], 0x00, (n_elements[n] * element_sizes[n]));
-		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list))); //TODO checkme
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		delete[] store[n];
-		delete[] size_list[n];
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
-		store_address_t* storageId, const uint8_t* data, uint32_t size, bool ignoreFault) {
-	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
-	if (status == RETURN_OK) {
-		write(*storageId, data, size);
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
-		store_address_t* storageId, const uint32_t size, uint8_t** p_data, bool ignoreFault) {
-	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
-	if (status == RETURN_OK) {
-		*p_data = &store[storageId->pool_index][getRawPosition(*storageId)];
-	} else {
-		*p_data = NULL;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
-		store_address_t packet_id, const uint8_t** packet_ptr, uint32_t* size) {
-	uint8_t* tempData = NULL;
-	ReturnValue_t status = modifyData(packet_id, &tempData, size);
-	*packet_ptr = tempData;
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(store_address_t packet_id,
-		uint8_t** packet_ptr, uint32_t* size) {
-	ReturnValue_t status = RETURN_FAILED;
-	if (packet_id.pool_index >= NUMBER_OF_POOLS) {
-		return ILLEGAL_STORAGE_ID;
-	}
-	if ((packet_id.packet_index >= n_elements[packet_id.pool_index])) {
-		return ILLEGAL_STORAGE_ID;
-	}
-	if (size_list[packet_id.pool_index][packet_id.packet_index]
-			!= STORAGE_FREE) {
-		uint32_t packet_position = getRawPosition(packet_id);
-		*packet_ptr = &store[packet_id.pool_index][packet_position];
-		*size = size_list[packet_id.pool_index][packet_id.packet_index];
-		status = RETURN_OK;
-	} else {
-		status = DATA_DOES_NOT_EXIST;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
-		store_address_t packet_id) {
-
-//	if (getObjectId() == objects::IPC_STORE && packet_id.pool_index >= 3) {
-//		debug << "Delete: Pool: " << std::dec << packet_id.pool_index << " Index: " << packet_id.packet_index << std::endl;
-//	}
-	ReturnValue_t status = RETURN_OK;
-	uint32_t page_size = getPageSize(packet_id.pool_index);
-	if ((page_size != 0)
-			&& (packet_id.packet_index < n_elements[packet_id.pool_index])) {
-		uint16_t packet_position = getRawPosition(packet_id);
-		uint8_t* ptr = &store[packet_id.pool_index][packet_position];
-		memset(ptr, 0, page_size);
-		//Set free list
-		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
-	} else {
-		//pool_index or packet_index is too large
-		error << "LocalPool:deleteData failed." << std::endl;
-		status = ILLEGAL_STORAGE_ID;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void LocalPool<NUMBER_OF_POOLS>::clearStore() {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));//TODO checkme
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(uint8_t* ptr,
-		uint32_t size, store_address_t* storeId) {
-	store_address_t localId;
-	ReturnValue_t result = ILLEGAL_ADDRESS;
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		//Not sure if new allocates all stores in order. so better be careful.
-		if ((store[n] <= ptr) && (&store[n][n_elements[n]*element_sizes[n]]) > ptr) {
-			localId.pool_index = n;
-			uint32_t deltaAddress = ptr - store[n];
-			//Getting any data from the right "block" is ok. This is necessary, as IF's sometimes don't point to the first element of an object.
-			localId.packet_index = deltaAddress / element_sizes[n];
-			result = deleteData(localId);
-//			if (deltaAddress % element_sizes[n] != 0) {
-//				error << "Pool::deleteData: address not aligned!" << std::endl;
-//			}
-			break;
-		}
-	}
-	if (storeId != NULL) {
-		*storeId = localId;
-	}
-	return result;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	internalErrorReporter = objectManager->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-	if (internalErrorReporter == NULL){
-		return RETURN_FAILED;
-	}
-
-	//Check if any pool size is large than the maximum allowed.
-	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
-		if (element_sizes[count] >= STORAGE_FREE) {
-			error
-					<< "LocalPool::initialize: Pool is too large! Max. allowed size is: "
-					<< (STORAGE_FREE - 1) << std::endl;
-			return RETURN_FAILED;
-		}
-	}
-	return RETURN_OK;
-}
+#include <framework/storagemanager/LocalPool.tpp>
 
 #endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */
diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
new file mode 100644
index 00000000..649ec88a
--- /dev/null
+++ b/storagemanager/LocalPool.tpp
@@ -0,0 +1,260 @@
+#ifndef LOCALPOOL_TPP
+#define LOCALPOOL_TPP
+
+template<uint8_t NUMBER_OF_POOLS>
+inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
+		const uint16_t element_sizes[NUMBER_OF_POOLS],
+		const uint16_t n_elements[NUMBER_OF_POOLS], bool registered,
+		bool spillsToHigherPools) :
+		SystemObject(setObjectId, registered),  internalErrorReporter(nullptr),
+		spillsToHigherPools(spillsToHigherPools)
+{
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		this->element_sizes[n] = element_sizes[n];
+		this->n_elements[n] = n_elements[n];
+		store[n] = new uint8_t[n_elements[n] * element_sizes[n]];
+		size_list[n] = new uint32_t[n_elements[n]];
+		memset(store[n], 0x00, (n_elements[n] * element_sizes[n]));
+		//TODO checkme
+		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
+	}
+}
+
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::findEmpty(uint16_t pool_index,
+		uint16_t* element) {
+	ReturnValue_t status = DATA_STORAGE_FULL;
+	for (uint16_t foundElement = 0; foundElement < n_elements[pool_index];
+			foundElement++) {
+		if (size_list[pool_index][foundElement] == STORAGE_FREE) {
+			*element = foundElement;
+			status = RETURN_OK;
+			break;
+		}
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline void LocalPool<NUMBER_OF_POOLS>::write(store_address_t packet_id,
+		const uint8_t* data, size_t size) {
+	uint8_t* ptr;
+	uint32_t packet_position = getRawPosition(packet_id);
+
+	//check size? -> Not necessary, because size is checked before calling this function.
+	ptr = &store[packet_id.pool_index][packet_position];
+	memcpy(ptr, data, size);
+	size_list[packet_id.pool_index][packet_id.packet_index] = size;
+}
+
+//Returns page size of 0 in case store_index is illegal
+template<uint8_t NUMBER_OF_POOLS>
+inline uint32_t LocalPool<NUMBER_OF_POOLS>::getPageSize(uint16_t pool_index) {
+	if (pool_index < NUMBER_OF_POOLS) {
+		return element_sizes[pool_index];
+	} else {
+		return 0;
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getPoolIndex(
+		size_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex) {
+	for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
+		//debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " <<
+		//		n << ", Element Size: " << element_sizes[n] << std::endl;
+		if (element_sizes[n] >= packet_size) {
+			*poolIndex = n;
+			return RETURN_OK;
+		}
+	}
+	return DATA_TOO_LARGE;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline uint32_t LocalPool<NUMBER_OF_POOLS>::getRawPosition(
+		store_address_t packet_id) {
+	return packet_id.packet_index * element_sizes[packet_id.pool_index];
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
+		const uint32_t size, store_address_t* address, bool ignoreFault) {
+	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
+	if (status != RETURN_OK) {
+		error << "LocalPool( " << std::hex << getObjectId() << std::dec
+				<< " )::reserveSpace: Packet too large." << std::endl;
+		return status;
+	}
+	status = findEmpty(address->pool_index, &address->packet_index);
+	while (status != RETURN_OK && spillsToHigherPools) {
+		status = getPoolIndex(size, &address->pool_index, address->pool_index + 1);
+		if (status != RETURN_OK) {
+			//We don't find any fitting pool anymore.
+			break;
+		}
+		status = findEmpty(address->pool_index, &address->packet_index);
+	}
+	if (status == RETURN_OK) {
+		// if (getObjectId() == objects::IPC_STORE && address->pool_index >= 3) {
+		//	   debug << "Reserve: Pool: " << std::dec << address->pool_index <<
+		//				" Index: " << address->packet_index << std::endl;
+		// }
+
+		size_list[address->pool_index][address->packet_index] = size;
+	} else {
+		if (!ignoreFault and internalErrorReporter != nullptr) {
+			internalErrorReporter->storeFull();
+		}
+		// error << "LocalPool( " << std::hex << getObjectId() << std::dec
+		// 			<< " )::reserveSpace: Packet store is full." << std::endl;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		delete[] store[n];
+		delete[] size_list[n];
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(store_address_t* storageId,
+		const uint8_t* data, size_t size, bool ignoreFault) {
+	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+	if (status == RETURN_OK) {
+		write(*storageId, data, size);
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
+		store_address_t* storageId, const size_t size,
+		uint8_t** p_data, bool ignoreFault) {
+	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+	if (status == RETURN_OK) {
+		*p_data = &store[storageId->pool_index][getRawPosition(*storageId)];
+	} else {
+		*p_data = NULL;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
+		store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
+	uint8_t* tempData = NULL;
+	ReturnValue_t status = modifyData(packet_id, &tempData, size);
+	*packet_ptr = tempData;
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
+		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
+	ReturnValue_t status = RETURN_FAILED;
+	if (packet_id.pool_index >= NUMBER_OF_POOLS) {
+		return ILLEGAL_STORAGE_ID;
+	}
+	if ((packet_id.packet_index >= n_elements[packet_id.pool_index])) {
+		return ILLEGAL_STORAGE_ID;
+	}
+	if (size_list[packet_id.pool_index][packet_id.packet_index]
+			!= STORAGE_FREE) {
+		uint32_t packet_position = getRawPosition(packet_id);
+		*packet_ptr = &store[packet_id.pool_index][packet_position];
+		*size = size_list[packet_id.pool_index][packet_id.packet_index];
+		status = RETURN_OK;
+	} else {
+		status = DATA_DOES_NOT_EXIST;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
+		store_address_t packet_id) {
+	//if (getObjectId() == objects::IPC_STORE && packet_id.pool_index >= 3) {
+	//	debug << "Delete: Pool: " << std::dec << packet_id.pool_index << " Index: "
+	//	         << packet_id.packet_index << std::endl;
+	//}
+	ReturnValue_t status = RETURN_OK;
+	uint32_t page_size = getPageSize(packet_id.pool_index);
+	if ((page_size != 0)
+			&& (packet_id.packet_index < n_elements[packet_id.pool_index])) {
+		uint16_t packet_position = getRawPosition(packet_id);
+		uint8_t* ptr = &store[packet_id.pool_index][packet_position];
+		memset(ptr, 0, page_size);
+		//Set free list
+		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
+	} else {
+		//pool_index or packet_index is too large
+		error << "LocalPool:deleteData failed." << std::endl;
+		status = ILLEGAL_STORAGE_ID;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline void LocalPool<NUMBER_OF_POOLS>::clearStore() {
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		//TODO checkme
+		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(uint8_t* ptr,
+		size_t size, store_address_t* storeId) {
+	store_address_t localId;
+	ReturnValue_t result = ILLEGAL_ADDRESS;
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		//Not sure if new allocates all stores in order. so better be careful.
+		if ((store[n] <= ptr) && (&store[n][n_elements[n]*element_sizes[n]]) > ptr) {
+			localId.pool_index = n;
+			uint32_t deltaAddress = ptr - store[n];
+			// Getting any data from the right "block" is ok.
+			// This is necessary, as IF's sometimes don't point to the first
+			// element of an object.
+			localId.packet_index = deltaAddress / element_sizes[n];
+			result = deleteData(localId);
+			//if (deltaAddress % element_sizes[n] != 0) {
+			//	error << "Pool::deleteData: address not aligned!" << std::endl;
+			//}
+			break;
+		}
+	}
+	if (storeId != NULL) {
+		*storeId = localId;
+	}
+	return result;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			objects::INTERNAL_ERROR_REPORTER);
+	if (internalErrorReporter == NULL){
+		return RETURN_FAILED;
+	}
+
+	//Check if any pool size is large than the maximum allowed.
+	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
+		if (element_sizes[count] >= STORAGE_FREE) {
+			error << "LocalPool::initialize: Pool is too large! "
+					"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
+			return RETURN_FAILED;
+		}
+	}
+	return RETURN_OK;
+}
+
+#endif
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 68a7addc..6e6c7613 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -1,12 +1,3 @@
-/**
- *	@file	PoolManager
- *
- *  @date	02.02.2012
- *	@author	Bastian Baetz
- *
- *	@brief	This file contains the definition of the PoolManager class.
- */
-
 #ifndef POOLMANAGER_H_
 #define POOLMANAGER_H_
 
@@ -17,70 +8,39 @@
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
  * 			a fixed pool size policy for inter-process communication.
- * \details	Uses local pool, but is thread-safe.
+ * @details	Uses local pool calls but is thread safe by protecting the call
+ * 			with a lock.
  */
 
 template <uint8_t NUMBER_OF_POOLS = 5>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
-protected:
-	/**
-	 * Overwritten for thread safety.
-	 * Locks during execution.
-	 */
-	virtual ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault);
-
-	/**
-	 * \brief	The mutex is created in the constructor and makes access mutual exclusive.
-	 * \details	Locking and unlocking is done during searching for free slots and deleting existing slots.
-	 */
-	MutexIF*	mutex;
 public:
-	PoolManager( object_id_t setObjectId, const uint16_t element_sizes[NUMBER_OF_POOLS], const uint16_t n_elements[NUMBER_OF_POOLS] );
+	PoolManager( object_id_t setObjectId, const uint16_t element_sizes[NUMBER_OF_POOLS],
+			const uint16_t n_elements[NUMBER_OF_POOLS] );
 	/**
 	 * @brief	In the PoolManager's destructor all allocated memory is freed.
 	 */
-	virtual ~PoolManager( void );
+	virtual ~PoolManager();
+
+	ReturnValue_t deleteData(store_address_t) override;
+	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
+			store_address_t* storeId = NULL) override;
+
+	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
+				size_t* size) override;
+protected:
+	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
+			bool ignoreFault) override;
+
 	/**
-	 * Overwritten for thread safety.
+	 * @brief	The mutex is created in the constructor and makes
+	 * 			access mutual exclusive.
+	 * @details	Locking and unlocking is done during searching for free slots
+	 * 			and deleting existing slots.
 	 */
-	virtual ReturnValue_t deleteData(store_address_t);
-	virtual ReturnValue_t deleteData(uint8_t* buffer, uint32_t size, store_address_t* storeId = NULL);
+	MutexIF* mutex;
 };
 
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,address,ignoreFault);
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
-		const uint16_t element_sizes[NUMBER_OF_POOLS],
-		const uint16_t n_elements[NUMBER_OF_POOLS]) : LocalPool<NUMBER_OF_POOLS>(setObjectId, element_sizes, n_elements, true) {
-	mutex = MutexFactory::instance()->createMutex();
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
-	MutexFactory::instance()->deleteMutex(mutex);
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
-		store_address_t packet_id) {
-	//	debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store " << packet_id.pool_index << ". id is " << packet_id.packet_index << std::endl;
-		MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-		ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
-		return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer, uint32_t size,
-		store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, size, storeId);
-	return status;
-}
+#include "PoolManager.tpp"
 
 #endif /* POOLMANAGER_H_ */
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
new file mode 100644
index 00000000..ed340b91
--- /dev/null
+++ b/storagemanager/PoolManager.tpp
@@ -0,0 +1,50 @@
+template<uint8_t NUMBER_OF_POOLS>
+inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
+		const uint16_t element_sizes[NUMBER_OF_POOLS],
+		const uint16_t n_elements[NUMBER_OF_POOLS]) :
+		LocalPool<NUMBER_OF_POOLS>(setObjectId, element_sizes, n_elements, true) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
+	MutexFactory::instance()->deleteMutex(mutex);
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
+		const uint32_t size, store_address_t* address, bool ignoreFault) {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
+			address,ignoreFault);
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
+		store_address_t packet_id) {
+	// debug << "PoolManager( " << translateObject(getObjectId()) <<
+	//       " )::deleteData from store " << packet_id.pool_index <<
+	//       ". id is "<< packet_id.packet_index << std::endl;
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
+		size_t size, store_address_t* storeId) {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
+			size, storeId);
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
+		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id,
+				packet_ptr, size);
+	return status;
+}
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index 575e9caa..d85fe86f 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -6,9 +6,9 @@
 #include <stddef.h>
 
 /**
- * This union defines the type that identifies where a data packet is stored in the store.
- * It comprises of a raw part to read it as raw value and a structured part to use it in
- * pool-like stores.
+ * This union defines the type that identifies where a data packet is
+ * stored in the store. It comprises of a raw part to read it as raw value and
+ * a structured part to use it in pool-like stores.
  */
 union store_address_t {
 	/**
@@ -94,7 +94,8 @@ public:
 	 * 					@li	RETURN_FAILED if data could not be added.
 	 * 						storageId is unchanged then.
 	 */
-	virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t * data, uint32_t size, bool ignoreFault = false) = 0;
+	virtual ReturnValue_t addData(store_address_t* storageId,
+			const uint8_t * data, size_t size, bool ignoreFault = false) = 0;
 	/**
 	 * @brief	With deleteData, the storageManager frees the memory region
 	 * 			identified by packet_id.
@@ -105,14 +106,16 @@ public:
 	 */
 	virtual ReturnValue_t deleteData(store_address_t packet_id) = 0;
 	/**
-	 * @brief	Another deleteData which uses the pointer and size of the stored data to delete the content.
+	 * @brief	Another deleteData which uses the pointer and size of the
+	 * 			stored data to delete the content.
 	 * @param buffer	Pointer to the data.
 	 * @param size		Size of data to be stored.
 	 * @param storeId	Store id of the deleted element (optional)
 	 * @return	@li RETURN_OK on success.
 	 * 			@li	failure code if deletion did not work
 	 */
-	virtual ReturnValue_t deleteData(uint8_t* buffer, uint32_t size, store_address_t* storeId = NULL) = 0;
+	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
+			store_address_t* storeId = nullptr) = 0;
 	/**
 	 * @brief	getData returns an address to data and the size of the data
 	 * 			for a given packet_id.
@@ -125,12 +128,12 @@ public:
 	 * 				(e.g. an illegal packet_id was passed).
 	 */
 	virtual ReturnValue_t getData(store_address_t packet_id,
-			const uint8_t** packet_ptr, uint32_t* size) = 0;
+			const uint8_t** packet_ptr, size_t* size) = 0;
 	/**
 	 * Same as above, but not const and therefore modifiable.
 	 */
 	virtual ReturnValue_t modifyData(store_address_t packet_id,
-			uint8_t** packet_ptr, uint32_t* size) = 0;
+			uint8_t** packet_ptr, size_t* size) = 0;
 	/**
 	 * This method reserves an element of \c size.
 	 *
@@ -144,7 +147,8 @@ public:
 	 * 					@li	RETURN_FAILED if data could not be added.
 	 * 						storageId is unchanged then.
 	 */
-	virtual ReturnValue_t getFreeElement(store_address_t* storageId, const uint32_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t getFreeElement(store_address_t* storageId,
+			const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
 	/**
 	 * Clears the whole store.
 	 * Use with care!

From c7856da81c77fca6caa31873f942e0998f9b4586 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 4 May 2020 16:53:04 +0200
Subject: [PATCH 004/307] size_t replacements

---
 action/ActionHelper.cpp              | 2 +-
 action/CommandActionHelper.cpp       | 2 +-
 action/SimpleActionHelper.cpp        | 2 +-
 datapool/DataPoolAdmin.cpp           | 2 +-
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 memory/MemoryHelper.cpp              | 2 +-
 parameters/ParameterHelper.cpp       | 2 +-
 subsystem/Subsystem.cpp              | 4 ++--
 tcdistribution/CCSDSDistributor.cpp  | 2 +-
 tmtcpacket/pus/TcPacketStored.cpp    | 4 ++--
 tmtcpacket/pus/TmPacketStored.cpp    | 2 +-
 11 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 9c1475f1..18e46fba 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -49,7 +49,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
 		store_address_t dataAddress) {
 	const uint8_t* dataPtr = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		CommandMessage reply;
diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp
index 05eb9346..ceb97d3b 100644
--- a/action/CommandActionHelper.cpp
+++ b/action/CommandActionHelper.cpp
@@ -113,7 +113,7 @@ uint8_t CommandActionHelper::getCommandCount() const {
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
 	const uint8_t * data = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return;
diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp
index 6de372fb..6861fc28 100644
--- a/action/SimpleActionHelper.cpp
+++ b/action/SimpleActionHelper.cpp
@@ -44,7 +44,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
 		queueToUse->sendMessage(commandedBy, &reply);
 	}
 	const uint8_t* dataPtr = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		ActionMessage::setStepReply(&reply, actionId, 0, result);
diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp
index fe6b9215..99d2b51b 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapool/DataPoolAdmin.cpp
@@ -215,7 +215,7 @@ ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
 				ParameterMessage::getParameterId(command));
 
 		const uint8_t *storedStream;
-		uint32_t storedStreamSize;
+		size_t storedStreamSize;
 		result = storage->getData(ParameterMessage::getStoreId(command),
 				&storedStream, &storedStreamSize);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 22d49d37..aa2305fe 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -558,7 +558,7 @@ void DeviceHandlerBase::doGetRead() {
 
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 		uint8_t * *data, uint32_t * len) {
-	uint32_t lenTmp;
+	size_t lenTmp;
 
 	if (IPCStore == NULL) {
 		*data = NULL;
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 69830084..b204ea42 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -152,7 +152,7 @@ void MemoryHelper::handleMemoryLoad(CommandMessage* message) {
 	ipcAddress = MemoryMessage::getStoreID(message);
 	const uint8_t* p_data = NULL;
 	uint8_t* dataPointer = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t returnCode = ipcStore->getData(ipcAddress, &p_data, &size);
 	if (returnCode == RETURN_OK) {
 		returnCode = workOnThis->handleMemoryLoad(address, p_data, size,
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 75b71a7e..9e4fc493 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -37,7 +37,7 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 				ParameterMessage::getParameterId(message));
 
 		const uint8_t *storedStream;
-		uint32_t storedStreamSize;
+		size_t storedStreamSize;
 		result = storage->getData(
 				ParameterMessage::getStoreId(message), &storedStream,
 				&storedStreamSize);
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index e1ec544b..2d7d9c44 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -162,7 +162,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 	case ModeSequenceMessage::ADD_SEQUENCE: {
 		FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> sequence;
 		const uint8_t *pointer;
-		uint32_t sizeRead;
+		size_t sizeRead;
 		result = IPCStore->getData(
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);
@@ -188,7 +188,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 	case ModeSequenceMessage::ADD_TABLE: {
 		FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> table;
 		const uint8_t *pointer;
-		uint32_t sizeRead;
+		size_t sizeRead;
 		result = IPCStore->getData(
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);
diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp
index ecd7702e..878b8f7d 100644
--- a/tcdistribution/CCSDSDistributor.cpp
+++ b/tcdistribution/CCSDSDistributor.cpp
@@ -13,7 +13,7 @@ CCSDSDistributor::~CCSDSDistributor() {
 iterator_t CCSDSDistributor::selectDestination() {
 //	debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
 	const uint8_t* p_packet = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	//TODO check returncode?
 	this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
 	SpacePacketBase current_packet( p_packet );
diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp
index 1f31a763..4bfd0e37 100644
--- a/tmtcpacket/pus/TcPacketStored.cpp
+++ b/tmtcpacket/pus/TcPacketStored.cpp
@@ -59,7 +59,7 @@ bool TcPacketStored::checkAndSetStore() {
 void TcPacketStored::setStoreAddress(store_address_t setAddress) {
 	this->storeAddress = setAddress;
 	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
 	if (this->checkAndSetStore()) {
 		status = this->store->getData(this->storeAddress, &temp_data,
@@ -79,7 +79,7 @@ store_address_t TcPacketStored::getStoreAddress() {
 
 bool TcPacketStored::isSizeCorrect() {
 	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
 			&temp_size);
 	if (status == StorageManagerIF::RETURN_OK) {
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index f2c1eb28..529f8f8d 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -81,7 +81,7 @@ void TmPacketStored::deletePacket() {
 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
 	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	if (!checkAndSetStore()) {
 		return;
 	}

From 3ebc25796881bc8b2b75e6bfdba30ce5dc705d8f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 7 May 2020 23:00:09 +0200
Subject: [PATCH 005/307] some little formatting stuff

---
 storagemanager/LocalPool.h        | 19 ++++++++-----------
 storagemanager/PoolManager.h      | 12 ++++++------
 storagemanager/StorageManagerIF.h | 11 ++++++-----
 3 files changed, 20 insertions(+), 22 deletions(-)

diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index 3af37371..3ddcc491 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -1,14 +1,11 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-
 /**
  *	@file	LocalPool
- *
  *  @date	02.02.2012
  *	@author	Bastian Baetz
- *
  *	@brief	This file contains the definition of the LocalPool class.
  */
+#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
+#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
@@ -20,7 +17,7 @@
 /**
  * @brief	The LocalPool class provides an intermediate data storage with
  * 			a fixed pool size policy.
- * \details	The class implements the StorageManagerIF interface. While the
+ * @details	The class implements the StorageManagerIF interface. While the
  * 			total number of pools is fixed, the element sizes in one pool and
  * 			the number of pool elements per pool are set on construction.
  * 			The full amount of memory is allocated on construction.
@@ -31,7 +28,6 @@
  * 			It is possible to store empty packets in the pool.
  * 			The local pool is NOT thread-safe.
  */
-
 template<uint8_t NUMBER_OF_POOLS = 5>
 class LocalPool: public SystemObject, public StorageManagerIF {
 public:
@@ -55,9 +51,10 @@ public:
 	 * 						number of elements for each pool is determined.
 	 * 						The position of these values correspond to those in
 	 * 						element_sizes.
-	 * @param registered	Register the pool in object manager or not. Default is false (local pool).
-	 * @param spillsToHigherPools
-	 * 						A variable to determine whether higher n pools are used if the store is full.
+	 * @param registered	Register the pool in object manager or not.
+	 * Default is false (local pool).
+	 * @param spillsToHigherPools A variable to determine whether
+	 * higher n pools are used if the store is full.
 	 */
 	LocalPool(object_id_t setObjectId,
 			const uint16_t element_sizes[NUMBER_OF_POOLS],
@@ -117,7 +114,7 @@ private:
 	/**
 	 * @brief	store represents the actual memory pool.
 	 * @details	It is an array of pointers to memory, which was allocated with
-	 * 			a \c new call on construction.
+	 * 			a @c new call on construction.
 	 */
 	uint8_t* store[NUMBER_OF_POOLS];
 	/**
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 6e6c7613..67534cc5 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -15,17 +15,17 @@
 template <uint8_t NUMBER_OF_POOLS = 5>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
 public:
-	PoolManager( object_id_t setObjectId, const uint16_t element_sizes[NUMBER_OF_POOLS],
-			const uint16_t n_elements[NUMBER_OF_POOLS] );
-	/**
-	 * @brief	In the PoolManager's destructor all allocated memory is freed.
-	 */
+	PoolManager(object_id_t setObjectId,
+			const uint16_t element_sizes[NUMBER_OF_POOLS],
+			const uint16_t n_elements[NUMBER_OF_POOLS]);
+
+	//! @brief	In the PoolManager's destructor all allocated memory is freed.
 	virtual ~PoolManager();
 
+	//! @brief LocalPool overrides for thread-safety.
 	ReturnValue_t deleteData(store_address_t) override;
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = NULL) override;
-
 	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
 				size_t* size) override;
 protected:
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index d85fe86f..c29ffb70 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -6,8 +6,9 @@
 #include <stddef.h>
 
 /**
- * This union defines the type that identifies where a data packet is
- * stored in the store. It comprises of a raw part to read it as raw value and
+ * @brief 	This union defines the type that identifies where a data packet is
+ * 			stored in the store.
+ * It consists of a raw part to read it as raw value and
  * a structured part to use it in pool-like stores.
  */
 union store_address_t {
@@ -15,9 +16,9 @@ union store_address_t {
 	 * Default Constructor, initializing to INVALID_ADDRESS
 	 */
 	store_address_t():raw(0xFFFFFFFF){}
+
 	/**
 	 * Constructor to create an address object using the raw address
-	 *
 	 * @param rawAddress
 	 */
 	store_address_t(uint32_t rawAddress):raw(rawAddress){}
@@ -30,7 +31,8 @@ union store_address_t {
 	 * @param packetIndex
 	 */
 	store_address_t(uint16_t poolIndex, uint16_t packetIndex):
-		pool_index(poolIndex),packet_index(packetIndex){}
+			pool_index(poolIndex),packet_index(packetIndex) {}
+
 	/**
 	 * A structure with two elements to access the store address pool-like.
 	 */
@@ -154,7 +156,6 @@ public:
 	 * Use with care!
 	 */
 	virtual void clearStore() = 0;
-
 };
 
 #endif /* STORAGEMANAGERIF_H_ */

From 3f79450b19a2ae9ae07e4e02743cb16dde2751fc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 11 May 2020 12:00:30 +0200
Subject: [PATCH 006/307] removed config include, new retvals, nullptr check

---
 objectmanager/ObjectManagerIF.h | 28 +++++++++++++++++++---------
 1 file changed, 19 insertions(+), 9 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index aca24a24..3575fc16 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -9,9 +9,9 @@
 #define OBJECTMANAGERIF_H_
 
 #include <framework/objectmanager/frameworkObjects.h>
-#include <config/objects/systemObjectList.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 /**
  * @brief	This class provides an interface to the global object manager.
@@ -24,9 +24,12 @@
  */
 class ObjectManagerIF : public HasReturnvaluesIF {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
-	static const ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
-	static const ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
+	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
+	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
+	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
+
 protected:
 	/**
 	 * @brief	This method is used to hide the template-based get call from
@@ -78,15 +81,22 @@ public:
 	virtual void printList() = 0;
 };
 
-template <typename T>
-T* ObjectManagerIF::get( object_id_t id ) {
-	SystemObjectIF* temp = this->getSystemObject(id);
-	return dynamic_cast<T*>(temp);
-}
 
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
 extern ObjectManagerIF *objectManager;
 
+/*Documentation can be found in the class method declaration above.*/
+template <typename T>
+T* ObjectManagerIF::get( object_id_t id ) {
+	if(objectManager == nullptr) {
+		sif::error << "ObjectManagerIF: Global object manager has not "
+				"been initialized yet!" << std::endl;
+		std::exit(0);
+	}
+	SystemObjectIF* temp = this->getSystemObject(id);
+	return dynamic_cast<T*>(temp);
+}
+
 #endif /* OBJECTMANAGERIF_H_ */

From a6e0ab61eaf221b8ff6d25b5fa80dd50284653c6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 15 May 2020 18:54:14 +0200
Subject: [PATCH 007/307] printer fixes

---
 globalfunctions/printer.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/globalfunctions/printer.cpp b/globalfunctions/printer.cpp
index df98568e..5af4346b 100644
--- a/globalfunctions/printer.cpp
+++ b/globalfunctions/printer.cpp
@@ -20,15 +20,17 @@ void printer::printHex(uint8_t *data, size_t size) {
 		}
 	}
 	sif::info << std::dec;
-	sif::info << " ] " << std::endl;
+	sif::info << "]" << std::endl;
 }
 
 void printer::printDec(uint8_t *data, size_t size) {
+	sif::info << std::dec;
 	for(size_t i = 0; i < size; i++) {
 		sif::info << "0x" << static_cast<int>(data[i]);
 		if(i < size - 1){
 			sif::info << " , ";
 		}
 	}
+	sif::info << "]" << std::endl;
 }
 

From d6cc0892619b86bd8356e14dd210a1e8022bd840 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 15 May 2020 18:56:39 +0200
Subject: [PATCH 008/307] removed StorageAccessor prefiremoved StorageAccessor
 prefixx

---
 globalfunctions/printer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/globalfunctions/printer.cpp b/globalfunctions/printer.cpp
index 5af4346b..bf4c5848 100644
--- a/globalfunctions/printer.cpp
+++ b/globalfunctions/printer.cpp
@@ -2,7 +2,7 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 void printer::print(uint8_t *data, size_t size, OutputType type) {
-	sif::info << "StorageAccessor: Printing data with size " << size << ": [";
+	sif::info << "Printing data with size " << size << ": [";
 	if(type == OutputType::HEX) {
 		printer::printHex(data, size);
 	}

From a0cb3a9b6b620d883d996713aaf7a27ced1e2b01 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 17:13:43 +0200
Subject: [PATCH 009/307] changed cast to be comptaible with newer freeRTOS

---
 osal/FreeRTOS/MessageQueue.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index e5da0442..18e7aa3d 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -97,7 +97,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 
-	BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
+	BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
+			reinterpret_cast<const void*>(message->getBuffer()), 0);
 	if (result != pdPASS) {
 		if (!ignoreFault) {
 			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(

From 5482b71b3cec697fc7becf3aae6925feea6c394c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 19 May 2020 19:52:35 +0200
Subject: [PATCH 010/307] improved printer

---
 globalfunctions/printer.cpp | 24 +++++++++++++++++-------
 globalfunctions/printer.h   |  7 ++++---
 2 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/globalfunctions/printer.cpp b/globalfunctions/printer.cpp
index bf4c5848..01ec532c 100644
--- a/globalfunctions/printer.cpp
+++ b/globalfunctions/printer.cpp
@@ -1,36 +1,46 @@
 #include <framework/globalfunctions/printer.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-void printer::print(uint8_t *data, size_t size, OutputType type) {
-	sif::info << "Printing data with size " << size << ": [";
+void printer::print(uint8_t *data, size_t size, OutputType type, bool printInfo,
+		size_t maxCharPerLine) {
+	if(printInfo) {
+		sif::info << "Printing data with size " << size << ": ";
+	}
+	sif::info << "[";
 	if(type == OutputType::HEX) {
-		printer::printHex(data, size);
+		printer::printHex(data, size, maxCharPerLine);
 	}
 	else {
-		printer::printDec(data, size);
+		printer::printDec(data, size, maxCharPerLine);
 	}
 }
 
-void printer::printHex(uint8_t *data, size_t size) {
+void printer::printHex(uint8_t *data, size_t size, size_t maxCharPerLine) {
 	sif::info << std::hex;
 	for(size_t i = 0; i < size; i++) {
 		sif::info << "0x" << static_cast<int>(data[i]);
 		if(i < size - 1){
 			sif::info << " , ";
+			if(i > 0 and i % maxCharPerLine == 0) {
+				sif::info << std::endl;
+			}
 		}
+
 	}
 	sif::info << std::dec;
 	sif::info << "]" << std::endl;
 }
 
-void printer::printDec(uint8_t *data, size_t size) {
+void printer::printDec(uint8_t *data, size_t size, size_t maxCharPerLine) {
 	sif::info << std::dec;
 	for(size_t i = 0; i < size; i++) {
 		sif::info << "0x" << static_cast<int>(data[i]);
 		if(i < size - 1){
 			sif::info << " , ";
+			if(i > 0 and i % maxCharPerLine == 0) {
+				sif::info << std::endl;
+			}
 		}
 	}
 	sif::info << "]" << std::endl;
 }
-
diff --git a/globalfunctions/printer.h b/globalfunctions/printer.h
index 3c9d6aa0..db9f343f 100644
--- a/globalfunctions/printer.h
+++ b/globalfunctions/printer.h
@@ -10,9 +10,10 @@ enum class OutputType {
 	HEX
 };
 
-void print(uint8_t* data, size_t size, OutputType type = OutputType::HEX);
-void printHex(uint8_t* data, size_t size);
-void printDec(uint8_t* data, size_t size);
+void print(uint8_t* data, size_t size, OutputType type = OutputType::HEX,
+		bool printInfo = true, size_t maxCharPerLine = 12);
+void printHex(uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+void printDec(uint8_t* data, size_t size, size_t maxCharPerLine = 12);
 }
 
 #endif /* FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_ */

From e2e6ec28c0cac7f79ff301481cd803fbfe8bbc7f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 19 May 2020 20:26:12 +0200
Subject: [PATCH 011/307] printer fixes and improvements

---
 globalfunctions/printer.cpp | 12 +++++++-----
 globalfunctions/printer.h   |  6 +++---
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/globalfunctions/printer.cpp b/globalfunctions/printer.cpp
index 01ec532c..b71d70b8 100644
--- a/globalfunctions/printer.cpp
+++ b/globalfunctions/printer.cpp
@@ -1,8 +1,8 @@
 #include <framework/globalfunctions/printer.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-void printer::print(uint8_t *data, size_t size, OutputType type, bool printInfo,
-		size_t maxCharPerLine) {
+void printer::print(const uint8_t *data, size_t size, OutputType type,
+		bool printInfo, size_t maxCharPerLine) {
 	if(printInfo) {
 		sif::info << "Printing data with size " << size << ": ";
 	}
@@ -15,7 +15,8 @@ void printer::print(uint8_t *data, size_t size, OutputType type, bool printInfo,
 	}
 }
 
-void printer::printHex(uint8_t *data, size_t size, size_t maxCharPerLine) {
+void printer::printHex(const uint8_t *data, size_t size,
+		size_t maxCharPerLine) {
 	sif::info << std::hex;
 	for(size_t i = 0; i < size; i++) {
 		sif::info << "0x" << static_cast<int>(data[i]);
@@ -31,10 +32,11 @@ void printer::printHex(uint8_t *data, size_t size, size_t maxCharPerLine) {
 	sif::info << "]" << std::endl;
 }
 
-void printer::printDec(uint8_t *data, size_t size, size_t maxCharPerLine) {
+void printer::printDec(const uint8_t *data, size_t size,
+		size_t maxCharPerLine) {
 	sif::info << std::dec;
 	for(size_t i = 0; i < size; i++) {
-		sif::info << "0x" << static_cast<int>(data[i]);
+		sif::info << static_cast<int>(data[i]);
 		if(i < size - 1){
 			sif::info << " , ";
 			if(i > 0 and i % maxCharPerLine == 0) {
diff --git a/globalfunctions/printer.h b/globalfunctions/printer.h
index db9f343f..76d28e5f 100644
--- a/globalfunctions/printer.h
+++ b/globalfunctions/printer.h
@@ -10,10 +10,10 @@ enum class OutputType {
 	HEX
 };
 
-void print(uint8_t* data, size_t size, OutputType type = OutputType::HEX,
+void print(const uint8_t* data, size_t size, OutputType type = OutputType::HEX,
 		bool printInfo = true, size_t maxCharPerLine = 12);
-void printHex(uint8_t* data, size_t size, size_t maxCharPerLine = 12);
-void printDec(uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
 }
 
 #endif /* FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_ */

From 6961b5e8663df1775b994553a1b7d5a63d01f318 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 19 May 2020 23:08:17 +0200
Subject: [PATCH 012/307] bin printer added

---
 globalfunctions/printer.cpp | 15 ++++++++++++++-
 globalfunctions/printer.h   |  4 +++-
 2 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/globalfunctions/printer.cpp b/globalfunctions/printer.cpp
index b71d70b8..a68a91ee 100644
--- a/globalfunctions/printer.cpp
+++ b/globalfunctions/printer.cpp
@@ -1,5 +1,6 @@
 #include <framework/globalfunctions/printer.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <bitset>
 
 void printer::print(const uint8_t *data, size_t size, OutputType type,
 		bool printInfo, size_t maxCharPerLine) {
@@ -10,9 +11,12 @@ void printer::print(const uint8_t *data, size_t size, OutputType type,
 	if(type == OutputType::HEX) {
 		printer::printHex(data, size, maxCharPerLine);
 	}
-	else {
+	else if (type == OutputType::DEC) {
 		printer::printDec(data, size, maxCharPerLine);
 	}
+	else if(type == OutputType::BIN) {
+	    printer::printBin(data, size);
+	}
 }
 
 void printer::printHex(const uint8_t *data, size_t size,
@@ -46,3 +50,12 @@ void printer::printDec(const uint8_t *data, size_t size,
 	}
 	sif::info << "]" << std::endl;
 }
+
+void printer::printBin(const uint8_t *data, size_t size) {
+    sif::info << "\n" << std::flush;
+    for(size_t i = 0; i < size; i++) {
+        sif::info << "Byte " << i + 1 << ": 0b"<<
+                std::bitset<8>(data[i]) << ",\n" << std::flush;
+    }
+    sif::info << "]" << std::endl;
+}
diff --git a/globalfunctions/printer.h b/globalfunctions/printer.h
index 76d28e5f..33a382ec 100644
--- a/globalfunctions/printer.h
+++ b/globalfunctions/printer.h
@@ -7,13 +7,15 @@ namespace printer {
 
 enum class OutputType {
 	DEC,
-	HEX
+	HEX,
+	BIN
 };
 
 void print(const uint8_t* data, size_t size, OutputType type = OutputType::HEX,
 		bool printInfo = true, size_t maxCharPerLine = 12);
 void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
 void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+void printBin(const uint8_t* data, size_t size);
 }
 
 #endif /* FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_ */

From 71e103e2b6ce2623fba150aa77c907719863d5ed Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 20 May 2020 14:40:50 +0200
Subject: [PATCH 013/307] better include guards

---
 storagemanager/LocalPool.tpp   | 4 ++--
 storagemanager/PoolManager.tpp | 5 +++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
index 649ec88a..6c4a7d6a 100644
--- a/storagemanager/LocalPool.tpp
+++ b/storagemanager/LocalPool.tpp
@@ -1,5 +1,5 @@
-#ifndef LOCALPOOL_TPP
-#define LOCALPOOL_TPP
+#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
+#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 
 template<uint8_t NUMBER_OF_POOLS>
 inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index ed340b91..26eb2270 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -1,3 +1,6 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
+#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
+
 template<uint8_t NUMBER_OF_POOLS>
 inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
 		const uint16_t element_sizes[NUMBER_OF_POOLS],
@@ -48,3 +51,5 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
 				packet_ptr, size);
 	return status;
 }
+
+#endif

From 3a6b7f48959ca8648cc5f770873283dcea37ed81 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 20 May 2020 14:42:52 +0200
Subject: [PATCH 014/307] added new cast for MQ

---
 osal/FreeRTOS/MessageQueue.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index e5da0442..18e7aa3d 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -97,7 +97,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 
-	BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
+	BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
+			reinterpret_cast<const void*>(message->getBuffer()), 0);
 	if (result != pdPASS) {
 		if (!ignoreFault) {
 			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(

From 91acc471b64a337c3d87fe90022f48deb662368c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 20 May 2020 14:47:58 +0200
Subject: [PATCH 015/307] include guard fix, sif replacements

---
 storagemanager/LocalPool.tpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
index 6c4a7d6a..08685de2 100644
--- a/storagemanager/LocalPool.tpp
+++ b/storagemanager/LocalPool.tpp
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
+#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
+#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
 
 template<uint8_t NUMBER_OF_POOLS>
 inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
@@ -83,7 +83,7 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
 	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
 	if (status != RETURN_OK) {
-		error << "LocalPool( " << std::hex << getObjectId() << std::dec
+		sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
 				<< " )::reserveSpace: Packet too large." << std::endl;
 		return status;
 	}
@@ -193,7 +193,7 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
 		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
 	} else {
 		//pool_index or packet_index is too large
-		error << "LocalPool:deleteData failed." << std::endl;
+		sif::error << "LocalPool:deleteData failed." << std::endl;
 		status = ILLEGAL_STORAGE_ID;
 	}
 	return status;
@@ -249,7 +249,7 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
 	//Check if any pool size is large than the maximum allowed.
 	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
 		if (element_sizes[count] >= STORAGE_FREE) {
-			error << "LocalPool::initialize: Pool is too large! "
+			sif::error << "LocalPool::initialize: Pool is too large! "
 					"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
 			return RETURN_FAILED;
 		}

From 2030415adbb8b18cda2337beaa5686e6219b8be5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:17:46 +0200
Subject: [PATCH 016/307] added back include, but header needs to

be included from build system now, which allows multiple config folders
---
 objectmanager/ObjectManagerIF.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index 3575fc16..b5cab408 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -8,6 +8,7 @@
 #ifndef OBJECTMANAGERIF_H_
 #define OBJECTMANAGERIF_H_
 
+#include "systemObjectList.h"
 #include <framework/objectmanager/frameworkObjects.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>

From c8a36a79de45c228e7071cc827423e0b4a383998 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 31 May 2020 00:23:38 +0200
Subject: [PATCH 017/307] corrected doc for task factory interface

---
 osal/FreeRTOS/FixedTimeslotTask.h | 19 +++++++++-------
 tasks/TaskFactory.h               | 36 ++++++++++++++-----------------
 2 files changed, 27 insertions(+), 28 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 1ab8724f..fe93daff 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -10,15 +10,18 @@
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
+
 	/**
-	 * @brief	The standard constructor of the class.
-	 *
-	 * @details	This is the general constructor of the class. In addition to the TaskBase parameters,
-	 * 			the following variables are passed:
-	 *
-	 * @param	(*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
-	 *
-	 * @param	getPst The object id of the completely initialized polling sequence.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
+	 * @param setPriority Number of priorities specified by
+	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
+	 * @param setStack	Stack size in words (not bytes!).
+	 * Lower limit specified by configMINIMAL_STACK_SIZE
+	 * @param overallPeriod		Period in seconds.
+	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
+	 * @return Pointer to the newly created task.
 	 */
 	FixedTimeslotTask(const char *name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h
index f7afa4a2..e1e2f5e2 100644
--- a/tasks/TaskFactory.h
+++ b/tasks/TaskFactory.h
@@ -19,16 +19,14 @@ public:
 	static TaskFactory* instance();
 
 	/**
-	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
-	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * @param name_ Name of the task, lenght limited by configMAX_TASK_NAME_LEN
-	 * @param taskPriority_ Number of priorities specified by
-	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
-	 * @param stackSize_ 	Stack size in words (not bytes!).
-	 * Lower limit specified by configMINIMAL_STACK_SIZE
-	 * @param period_		Period in seconds.
-	 * @param deadLineMissedFunction_ Callback if a deadline was missed.
-	 * @return Pointer to the newly created task.
+	 * Generic interface to create a periodic task
+	 * @param name_ Name of the task
+	 * @param taskPriority_ Priority of the task
+	 * @param stackSize_ Stack size if the task
+	 * @param periodInSeconds_ Period in seconds
+	 * @param deadLineMissedFunction_ This function is called if a deadline was
+	 * missed
+	 * @return Pointer to the created periodic task class
 	 */
 	PeriodicTaskIF* createPeriodicTask(TaskName name_,
 			TaskPriority taskPriority_, TaskStackSize stackSize_,
@@ -36,16 +34,14 @@ public:
 			TaskDeadlineMissedFunction deadLineMissedFunction_);
 
 	/**
-	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
-	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * @param name_ Name of the task, lenght limited by configMAX_TASK_NAME_LEN
-	 * @param taskPriority_ Number of priorities specified by
-	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
-	 * @param stackSize_ 	Stack size in words (not bytes!).
-	 * Lower limit specified by configMINIMAL_STACK_SIZE
-	 * @param period_		Period in seconds.
-	 * @param deadLineMissedFunction_ Callback if a deadline was missed.
-	 * @return Pointer to the newly created task.
+	 * Generic interface to create a fixed timeslot task
+	 * @param name_ Name of the task
+	 * @param taskPriority_ Priority of the task
+	 * @param stackSize_ Stack size if the task
+	 * @param periodInSeconds_ Period in seconds
+	 * @param deadLineMissedFunction_ This function is called if a deadline was
+	 * missed
+	 * @return Pointer to the created periodic task class
 	 */
 	FixedTimeslotTaskIF* createFixedTimeslotTask(TaskName name_,
 			TaskPriority taskPriority_, TaskStackSize stackSize_,

From 42f0687a6bcf0f1c947ef00dfeea95fa3e060af8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 31 May 2020 23:28:51 +0200
Subject: [PATCH 018/307] self deletion nullptr

---
 osal/FreeRTOS/TaskFactory.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp
index 6b18d7a8..663b0531 100644
--- a/osal/FreeRTOS/TaskFactory.cpp
+++ b/osal/FreeRTOS/TaskFactory.cpp
@@ -34,9 +34,9 @@ FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
-	if (task == NULL) {
+	if (task == nullptr) {
 		//delete self
-		vTaskDelete(NULL);
+		vTaskDelete(nullptr);
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
 		//TODO not implemented

From de6ed5c0859e528b798fdb214cf62b7a3143762e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 2 Jun 2020 15:57:04 +0200
Subject: [PATCH 019/307] improved include guard and removed old comment

---
 osal/FreeRTOS/PeriodicTask.h | 31 +++++++++++++++----------------
 1 file changed, 15 insertions(+), 16 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 4ece20b3..a449328e 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,5 +1,5 @@
-#ifndef PERIODICTASK_H_
-#define PERIODICTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
@@ -17,8 +17,6 @@ class ExecutableObjectIF;
 /**
  * @brief 	This class represents a specialized task for
  * 			periodic activities of multiple objects.
- * @details
- *
  * @ingroup task_handling
  */
 class PeriodicTask: public PeriodicTaskIF {
@@ -26,24 +24,25 @@ public:
 	/**
 	 * @brief	Standard constructor of the class.
 	 * @details
-	 * The class is initialized without allocated objects. These need to be added
-	 * with #addComponent. In the underlying TaskBase class, a new operating
-	 * system task is created. In addition to the TaskBase parameters,
-	 * the period, the pointer to the aforementioned initialization function and
-	 * an optional "deadline-missed" function pointer is passed.
-	 * @param priority		Sets the priority of a task. Values depend on
-	 * freeRTOS configuration, high number means high priority.
-	 * @param stack_size	The stack size reserved by the operating system for the task.
-	 * @param setPeriod The length of the period with which the task's
+	 * The class is initialized without allocated objects.
+	 * These need to be added with #addComponent.
+	 * @param priority
+	 * Sets the priority of a task. Values depend on freeRTOS configuration,
+	 * high number means high priority.
+	 * @param stack_size
+	 * The stack size reserved by the operating system for the task.
+	 * @param setPeriod
+	 * The length of the period with which the task's
 	 * functionality will be executed. It is expressed in clock ticks.
 	 * @param setDeadlineMissedFunc
-	 * The function pointer to the deadline missed function that shall be assigned.
+	 * The function pointer to the deadline missed function that shall
+	 * be assigned.
 	 */
 	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
 			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
 	/**
-	 * @brief	Currently, the executed object's lifetime is not coupled with the task object's
-	 * 			lifetime, so the destructor is empty.
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
 	 */
 	virtual ~PeriodicTask(void);
 

From f0a25b5e2b0e26e549145ff429fc707a5f7c6bb3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 2 Jun 2020 22:10:34 +0200
Subject: [PATCH 020/307] new timeout values for MUtexIF and SemaphIF

---
 ipc/MutexIF.h       | 17 +++++++++++++++--
 tasks/SemaphoreIF.h | 19 +++++++++++++++----
 2 files changed, 30 insertions(+), 6 deletions(-)

diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index dcb1cf33..29e59e58 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -12,8 +12,21 @@
  */
 class MutexIF {
 public:
-	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.
-	static const uint32_t MAX_TIMEOUT;
+	/**
+	 * @brief 	Timeout value used for polling lock attempt.
+	 * @details
+	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
+	 * immediately. Value needs to be defined in implementation.
+	 */
+	static const uint32_t POLLING;
+	/**
+	 * @brief 	Timeout value used for permanent blocking lock attempt.
+	 * @details
+	 * The task will be blocked (indefinitely) until the mutex is unlocked.
+	 * Value needs to be defined in implementation.
+	 */
+	static const uint32_t BLOCKING;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
 	 * The system lacked the necessary resources (other than memory) to initialize another mutex.
diff --git a/tasks/SemaphoreIF.h b/tasks/SemaphoreIF.h
index a7c5a97b..4fc92ebd 100644
--- a/tasks/SemaphoreIF.h
+++ b/tasks/SemaphoreIF.h
@@ -21,10 +21,21 @@
 class SemaphoreIF {
 public:
 	virtual~ SemaphoreIF() {};
-	//! Needs to be defined in implementation. No blocking time
-	static const uint32_t NO_TIMEOUT;
-	//! Needs to be defined in implementation. Blocks indefinitely.
-	static const uint32_t MAX_TIMEOUT;
+	/**
+	 * @brief 	Timeout value used for polling lock attempt.
+	 * @details
+	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
+	 * immediately. Value needs to be defined in implementation.
+	 */
+	static const uint32_t POLLING;
+	/**
+	 * @brief 	Timeout value used for permanent blocking lock attempt.
+	 * @details
+	 * The task will be blocked (indefinitely) until the mutex is unlocked.
+	 * Value needs to be defined in implementation.
+	 */
+	static const uint32_t BLOCKING;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
 	//! Semaphore timeout
 	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);

From 986dc2047e7ef0f52ebe8bd54fdf7f0fd565a518 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 2 Jun 2020 22:19:48 +0200
Subject: [PATCH 021/307] replaced mutexIF and semaphoreIF name for timeouts

---
 datapoolglob/GlobalDataPool.cpp           |  2 +-
 events/EventManager.cpp                   |  2 +-
 health/HealthTable.cpp                    | 12 ++++++------
 internalError/InternalErrorReporter.cpp   | 18 +++++++++---------
 osal/FreeRTOS/BinSemaphUsingTask.cpp      |  8 ++++----
 osal/FreeRTOS/BinSemaphUsingTask.h        |  4 ++--
 osal/FreeRTOS/BinarySemaphore.cpp         |  8 ++++----
 osal/FreeRTOS/BinarySemaphore.h           |  4 ++--
 osal/FreeRTOS/Clock.cpp                   |  4 ++--
 osal/FreeRTOS/CountingSemaphUsingTask.cpp |  8 ++++----
 osal/FreeRTOS/CountingSemaphUsingTask.h   |  4 ++--
 osal/FreeRTOS/Mutex.cpp                   | 12 ++++++------
 osal/FreeRTOS/Mutex.h                     |  2 +-
 osal/FreeRTOS/SemaphoreFactory.cpp        |  4 ++--
 storagemanager/PoolManager.tpp            |  6 +++---
 15 files changed, 49 insertions(+), 49 deletions(-)

diff --git a/datapoolglob/GlobalDataPool.cpp b/datapoolglob/GlobalDataPool.cpp
index e13765ba..18780904 100644
--- a/datapoolglob/GlobalDataPool.cpp
+++ b/datapoolglob/GlobalDataPool.cpp
@@ -54,7 +54,7 @@ ReturnValue_t GlobalDataPool::freeDataPoolLock() {
 }
 
 ReturnValue_t GlobalDataPool::lockDataPool() {
-	ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	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;
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index bff15e3c..73e77e94 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -151,7 +151,7 @@ void EventManager::printEvent(EventMessage* message) {
 #endif
 
 void EventManager::lockMutex() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 }
 
 void EventManager::unlockMutex() {
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index 94b7cf0b..5d9f5c61 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -26,7 +26,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 
 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
@@ -36,7 +36,7 @@ void HealthTable::setHealth(object_id_t object,
 
 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
@@ -46,7 +46,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 }
 
 uint32_t HealthTable::getPrintSize() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	uint32_t size = healthMap.size() * 5 + 2;
 	mutex->unlockMutex();
 	return size;
@@ -54,7 +54,7 @@ uint32_t HealthTable::getPrintSize() {
 
 bool HealthTable::hasHealth(object_id_t object) {
 	bool exits = false;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		exits = true;
@@ -64,7 +64,7 @@ bool HealthTable::hasHealth(object_id_t object) {
 }
 
 void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
 	ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&count,
@@ -85,7 +85,7 @@ void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
 ReturnValue_t HealthTable::iterate(
 		std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}
diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 30a02b44..8944553d 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -53,7 +53,7 @@ void InternalErrorReporter::lostTm() {
 
 uint32_t InternalErrorReporter::getAndResetQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = queueHits;
 	queueHits = 0;
 	mutex->unlockMutex();
@@ -62,21 +62,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
 
 uint32_t InternalErrorReporter::getQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = queueHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementQueueHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	queueHits++;
 	mutex->unlockMutex();
 }
 
 uint32_t InternalErrorReporter::getAndResetTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = tmHits;
 	tmHits = 0;
 	mutex->unlockMutex();
@@ -85,14 +85,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
 
 uint32_t InternalErrorReporter::getTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = tmHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementTmHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	tmHits++;
 	mutex->unlockMutex();
 }
@@ -103,7 +103,7 @@ void InternalErrorReporter::storeFull() {
 
 uint32_t InternalErrorReporter::getAndResetStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = storeHits;
 	storeHits = 0;
 	mutex->unlockMutex();
@@ -112,14 +112,14 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
 
 uint32_t InternalErrorReporter::getStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = storeHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementStoreHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	storeHits++;
 	mutex->unlockMutex();
 }
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp
index 8f5fd4d8..d3351888 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@@ -17,11 +17,11 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
 }
 
 ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
-	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
-		timeout = SemaphoreIF::MAX_TIMEOUT;
+	TickType_t timeout = SemaphoreIF::POLLING;
+	if(timeoutMs == SemaphoreIF::BLOCKING) {
+		timeout = SemaphoreIF::BLOCKING;
 	}
-	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	else if(timeoutMs > SemaphoreIF::POLLING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 	return acquireWithTickTimeout(timeout);
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 48c1cd12..43772e5a 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -26,7 +26,7 @@ public:
 	virtual~ BinarySemaphoreUsingTask();
 
 	ReturnValue_t acquire(uint32_t timeoutMs =
-	        SemaphoreIF::NO_TIMEOUT) override;
+	        SemaphoreIF::BLOCKING) override;
 	ReturnValue_t release() override;
 	uint8_t getSemaphoreCounter() const override;
 	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
@@ -40,7 +40,7 @@ public:
 	 *         - @c RETURN_FAILED on failure
 	 */
 	ReturnValue_t acquireWithTickTimeout(TickType_t timeoutTicks =
-	        SemaphoreIF::NO_TIMEOUT);
+	        SemaphoreIF::BLOCKING);
 
 	/**
 	 * Get handle to the task related to the semaphore.
diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
index b6687bb7..e6d2f92f 100644
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -36,11 +36,11 @@ BinarySemaphore& BinarySemaphore::operator =(
 }
 
 ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
-	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
-	    timeout = SemaphoreIF::MAX_TIMEOUT;
+	TickType_t timeout = SemaphoreIF::POLLING;
+	if(timeoutMs == SemaphoreIF::BLOCKING) {
+	    timeout = SemaphoreIF::BLOCKING;
 	}
-	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	else if(timeoutMs > SemaphoreIF::POLLING){
 	    timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 	return acquireWithTickTimeout(timeout);
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
index 0938dee6..2a372cd2 100644
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -53,7 +53,7 @@ public:
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
 	ReturnValue_t acquire(uint32_t timeoutMs =
-	       	   SemaphoreIF::NO_TIMEOUT) override;
+			SemaphoreIF::BLOCKING) override;
 
 	/**
 	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
@@ -62,7 +62,7 @@ public:
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
 	ReturnValue_t  acquireWithTickTimeout(TickType_t timeoutTicks =
-	        BinarySemaphore::NO_TIMEOUT);
+			SemaphoreIF::BLOCKING);
 
 	/**
 	 * Release the binary semaphore.
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index dce20265..ec07b662 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -155,7 +155,7 @@ 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);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -170,7 +170,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if (timeMutex == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
index d0f63f3f..f33c7a0d 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -38,11 +38,11 @@ CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
 }
 
 ReturnValue_t CountingSemaphoreUsingTask::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
-	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
-		timeout = SemaphoreIF::MAX_TIMEOUT;
+	TickType_t timeout = SemaphoreIF::POLLING;
+	if(timeoutMs == SemaphoreIF::BLOCKING) {
+		timeout = SemaphoreIF::BLOCKING;
 	}
-	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	else if(timeoutMs > SemaphoreIF::POLLING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 	return acquireWithTickTimeout(timeout);
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
index 797e864b..f1d82c1d 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.h
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -31,7 +31,7 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
-	ReturnValue_t acquire(uint32_t timeoutMs = SemaphoreIF::NO_TIMEOUT) override;
+	ReturnValue_t acquire(uint32_t timeoutMs = SemaphoreIF::BLOCKING) override;
 
 	/**
 	 * Release a semaphore, increasing the number of available counting
@@ -61,7 +61,7 @@ public:
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
 	ReturnValue_t acquireWithTickTimeout(
-			TickType_t timeoutTicks = SemaphoreIF::NO_TIMEOUT);
+			TickType_t timeoutTicks = SemaphoreIF::BLOCKING);
 
 	/**
 	 * Get handle to the task related to the semaphore.
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index cc2f865f..6d90c3f6 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -2,8 +2,8 @@
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
-const uint32_t MutexIF::MAX_TIMEOUT = portMAX_DELAY;
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
@@ -23,11 +23,11 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = MutexIF::NO_TIMEOUT;
-	if(timeoutMs == MutexIF::MAX_TIMEOUT) {
-		timeout = MutexIF::MAX_TIMEOUT;
+	TickType_t timeout = MutexIF::POLLING;
+	if(timeoutMs == MutexIF::BLOCKING) {
+		timeout = MutexIF::BLOCKING;
 	}
-	else if(timeoutMs > MutexIF::NO_TIMEOUT){
+	else if(timeoutMs > MutexIF::POLLING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index 90e82467..d6e0aab9 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -18,7 +18,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
 	ReturnValue_t unlockMutex() override;
 private:
 	SemaphoreHandle_t handle;
diff --git a/osal/FreeRTOS/SemaphoreFactory.cpp b/osal/FreeRTOS/SemaphoreFactory.cpp
index 05a898cd..caf984f2 100644
--- a/osal/FreeRTOS/SemaphoreFactory.cpp
+++ b/osal/FreeRTOS/SemaphoreFactory.cpp
@@ -6,8 +6,8 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
-const uint32_t SemaphoreIF::MAX_TIMEOUT = portMAX_DELAY;
+const uint32_t SemaphoreIF::POLLING= 0;
+const uint32_t SemaphoreIF::BLOCKING = portMAX_DELAY;
 
 static const uint32_t USE_REGULAR_SEMAPHORES = 0;
 static const uint32_t USE_TASK_NOTIFICATIONS = 1;
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index 29b2b82a..9fb11776 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -21,7 +21,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
 			address,ignoreFault);
 	return status;
@@ -33,7 +33,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 	// debug << "PoolManager( " << translateObject(getObjectId()) <<
 	//       " )::deleteData from store " << packet_id.pool_index <<
 	//       ". id is "<< packet_id.packet_index << std::endl;
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 	return status;
 }
@@ -41,7 +41,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 		size_t size, store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
 			size, storeId);
 	return status;

From 54edeacb2d20dcd5a01c0a11e3337b18fb3cf364 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 2 Jun 2020 22:25:28 +0200
Subject: [PATCH 022/307] changed names for linux

---
 osal/FreeRTOS/SemaphoreFactory.cpp | 2 +-
 osal/linux/BinarySemaphore.cpp     | 6 +++---
 osal/linux/BinarySemaphore.h       | 2 +-
 osal/linux/Clock.cpp               | 4 ++--
 osal/linux/Mutex.cpp               | 5 +++--
 osal/linux/SemaphoreFactory.cpp    | 4 ++--
 6 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/osal/FreeRTOS/SemaphoreFactory.cpp b/osal/FreeRTOS/SemaphoreFactory.cpp
index caf984f2..78427f6c 100644
--- a/osal/FreeRTOS/SemaphoreFactory.cpp
+++ b/osal/FreeRTOS/SemaphoreFactory.cpp
@@ -6,7 +6,7 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-const uint32_t SemaphoreIF::POLLING= 0;
+const uint32_t SemaphoreIF::POLLING = 0;
 const uint32_t SemaphoreIF::BLOCKING = portMAX_DELAY;
 
 static const uint32_t USE_REGULAR_SEMAPHORES = 0;
diff --git a/osal/linux/BinarySemaphore.cpp b/osal/linux/BinarySemaphore.cpp
index 7c76a5c4..e2ad9b58 100644
--- a/osal/linux/BinarySemaphore.cpp
+++ b/osal/linux/BinarySemaphore.cpp
@@ -27,13 +27,13 @@ BinarySemaphore& BinarySemaphore::operator =(
 
 ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
 	int result = 0;
-	if(timeoutMs == SemaphoreIF::NO_TIMEOUT) {
+	if(timeoutMs == SemaphoreIF::POLLING) {
 		result = sem_trywait(&handle);
 	}
-	else if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
+	else if(timeoutMs == SemaphoreIF::BLOCKING) {
 	    result = sem_wait(&handle);
 	}
-	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	else if(timeoutMs > SemaphoreIF::POLLING){
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
diff --git a/osal/linux/BinarySemaphore.h b/osal/linux/BinarySemaphore.h
index 7836cd41..9d4ed1cd 100644
--- a/osal/linux/BinarySemaphore.h
+++ b/osal/linux/BinarySemaphore.h
@@ -50,7 +50,7 @@ public:
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
 	ReturnValue_t acquire(uint32_t timeoutMs =
-	       	   SemaphoreIF::NO_TIMEOUT) override;
+	       	   SemaphoreIF::BLOCKING) override;
 
 	/**
 	 * Release the binary semaphore.
diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index 630b2cf4..eda5b7af 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -179,7 +179,7 @@ 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);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -194,7 +194,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if(timeMutex==NULL){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index b4773267..bdcf3439 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -2,7 +2,8 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
+const uint32_t MutexIF::BLOCKING = 0xffffffff;
+const uint32_t MutexIF::POLLING = 0;
 uint8_t Mutex::count = 0;
 
 
@@ -41,7 +42,7 @@ Mutex::~Mutex() {
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	int status = 0;
-	if (timeoutMs != MutexIF::NO_TIMEOUT) {
+	if (timeoutMs != MutexIF::BLOCKING) {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
diff --git a/osal/linux/SemaphoreFactory.cpp b/osal/linux/SemaphoreFactory.cpp
index 5aec84ea..4fbd60d9 100644
--- a/osal/linux/SemaphoreFactory.cpp
+++ b/osal/linux/SemaphoreFactory.cpp
@@ -3,8 +3,8 @@
 #include <framework/osal/linux/CountingSemaphore.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
-const uint32_t SemaphoreIF::MAX_TIMEOUT = 0xFFFFFFFF;
+const uint32_t SemaphoreIF::POLLING = 0;
+const uint32_t SemaphoreIF::BLOCKING = 0xffffffff;
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
 

From 6972e72fbf2a1a5f9dd1adae9c8274ecb1119581 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 2 Jun 2020 23:52:31 +0200
Subject: [PATCH 023/307] fixed order

---
 ipc/FwMessageTypes.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ipc/FwMessageTypes.h b/ipc/FwMessageTypes.h
index 07e3d245..b59319aa 100644
--- a/ipc/FwMessageTypes.h
+++ b/ipc/FwMessageTypes.h
@@ -14,8 +14,9 @@ enum FW_MESSAGE_TYPE {
 	MONITORING,
 	MEMORY,
 	PARAMETER,
+	FILE_SYSTEM_MESSAGE,
 	FW_MESSAGES_COUNT,
-	FILE_SYSTEM_MESSAGE
+
 };
 }
 

From 5036cdbef3f23cc878c2ce09f66fc648fd34bbe5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 2 Jun 2020 23:54:24 +0200
Subject: [PATCH 024/307] queue factory first param uint32_t again

---
 ipc/QueueFactory.h             | 2 +-
 osal/FreeRTOS/QueueFactory.cpp | 2 +-
 osal/linux/QueueFactory.cpp    | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index 9a883fd8..09259ae3 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -18,7 +18,7 @@ public:
 	 */
 	static QueueFactory* instance();
 
-	MessageQueueIF* createMessageQueue(size_t messageDepth = 3,
+	MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
 			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
 
 	void deleteMessageQueue(MessageQueueIF* queue);
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index a4ee5cf3..372d0d41 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -26,7 +26,7 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
 	return new MessageQueue(messageDepth, maxMessageSize);
 }
diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index 2bacb815..268d0b99 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -28,7 +28,7 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
 	return new MessageQueue(messageDepth, maxMessageSize);
 }

From 3483dff2abf171f85f61e498c6ce3c10131783ff Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 22:56:03 +0200
Subject: [PATCH 025/307] some more interface improvements

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 87 ++++++++++++---------
 serviceinterface/ServiceInterfaceBuffer.h   | 50 ++++++++----
 serviceinterface/ServiceInterfaceStream.cpp | 12 ++-
 serviceinterface/ServiceInterfaceStream.h   | 29 +++++--
 4 files changed, 119 insertions(+), 59 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 2a97ab90..b0abb929 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -3,9 +3,42 @@
 #include <cstring>
 
 // to be implemented by bsp
-extern "C" void printChar(const char*);
+extern "C" void printChar(const char*, bool errStream);
+
+#ifndef UT699
+
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
+        bool errStream, bool addCrToPreamble, uint16_t port):
+		isActive(true), logMessage(setMessage),
+		addCrToPreamble(addCrToPreamble), errStream(errStream) {
+	if(not errStream) {
+		// Set pointers if the stream is buffered.
+		setp( buf, buf + BUF_SIZE );
+	}
+}
+
+void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+	char array[BUF_SIZE];
+	uint32_t length = end - begin;
+	if (length > sizeof(array)) {
+		length = sizeof(array);
+	}
+	memcpy(array, begin, length);
+
+	for(; begin != end; begin++){
+		printChar(begin, false);
+	}
+}
+
+#endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
+	if(errStream) {
+		if (c != Traits::eof()) {
+			printChar(reinterpret_cast<const char*>(&c), true);
+		}
+		return 0;
+	}
 	// Handle output
 	putChars(pbase(), pptr());
 	if (c != Traits::eof()) {
@@ -20,18 +53,13 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
+	if(errStream) {
+		return 0;
+	}
+
 	if (this->isActive) {
-		Clock::TimeOfDay_t loggerTime;
-		Clock::getDateAndTime(&loggerTime);
-		std::string preamble;
-		if(addCrToPreamble) {
-			preamble += "\r";
-		}
-		preamble += log_message + ": | " + zero_padded(loggerTime.hour, 2)
-				+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-				+ zero_padded(loggerTime.second, 2) + "."
-				+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
-		// Write log_message and time
+		auto preamble = getPreamble();
+		// Write logMessage and time
 		this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
 		// Handle output
 		this->putChars(pbase(), pptr());
@@ -42,31 +70,20 @@ int ServiceInterfaceBuffer::sync(void) {
 }
 
 
-
-#ifndef UT699
-
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
-        uint16_t port, bool addCrToPreamble) {
-	this->addCrToPreamble = addCrToPreamble;
-	this->log_message = set_message;
-	this->isActive = true;
-	setp( buf, buf + BUF_SIZE );
+std::string ServiceInterfaceBuffer::getPreamble() {
+	Clock::TimeOfDay_t loggerTime;
+	Clock::getDateAndTime(&loggerTime);
+	std::string preamble;
+	if(addCrToPreamble) {
+		preamble += "\r";
+	}
+	preamble += logMessage + ": | " + zero_padded(loggerTime.hour, 2)
+							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+							+ zero_padded(loggerTime.second, 2) + "."
+							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+	return preamble;
 }
 
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-	char array[BUF_SIZE];
-	uint32_t length = end - begin;
-	if (length > sizeof(array)) {
-		length = sizeof(array);
-	}
-	memcpy(array, begin, length);
-
-	for(; begin != end; begin++){
-		printChar(begin);
-	}
-
-}
-#endif
 
 
 #ifdef UT699
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index a2bc4f4b..74facafe 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -3,43 +3,64 @@
 
 #include <iostream>
 #include <sstream>
-#include <cstdio>
 #include <iomanip>
 
 #ifndef UT699
+
+/**
+ * @brief 	This is the underlying stream buffer which implements the
+ * 			streambuf class and overloads the overflow() and sync() methods
+ * @details
+ * This class is used to modify the output of the stream, for example by adding.
+ * It also calls the char printing function which is implemented in the
+ * board supply package (BSP).
+ */
 class ServiceInterfaceBuffer:
-        public std::basic_streambuf<char,std::char_traits<char>> {
+        public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string set_message, uint16_t port,
-			bool addCrToPreamble);
+	ServiceInterfaceBuffer(std::string setMessage, bool errStream,
+			bool addCrToPreamble, uint16_t port);
+
 protected:
 	bool isActive;
-	// This is called when buffer becomes full. If
-	// buffer is not used, then this is called every
-	// time when characters are put to stream.
+	//! This is called when buffer becomes full. If
+	//! buffer is not used, then this is called every
+	//! time when characters are put to stream.
 	int overflow(int c = Traits::eof()) override;
 
-	// This function is called when stream is flushed,
-	// for example when std::endl is put to stream.
+	//! This function is called when stream is flushed,
+	//! for example when std::endl is put to stream.
 	int sync(void) override;
 
 private:
-	// For additional message information
-	std::string log_message;
+	//! For additional message information
+	std::string logMessage;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
-	// This is useful for some terminal programs which do not have
-	// implicit carriage return with newline characters.
+	//! This is useful for some terminal programs which do not have
+	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
+	//! This specifies to print to stderr and work in unbuffered mode.
+	bool errStream;
 
 	// Work in buffer mode. It is also possible to work without buffer.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 
-	// In this function, the characters are parsed.
+	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
+	std::string getPreamble();
+
+	/**
+	 * This helper function returns the zero padded string version of a number.
+	 * The type is deduced automatically.
+	 * @tparam T
+	 * @param num
+	 * @param width
+	 * @return
+	 */
 	template<typename T>
 	std::string zero_padded(const T& num, uint8_t width) {
 	    std::ostringstream string_to_pad;
@@ -52,6 +73,7 @@ private:
 	    return result;
 	}
 };
+
 #endif
 
 
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 40f52f1f..78371548 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -1,11 +1,15 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
+		bool errStream, bool addCrToPreamble, uint16_t port) :
+		std::ostream(&buf),
+		buf(setMessage, errStream, addCrToPreamble, port) {
+}
+
 void ServiceInterfaceStream::setActive( bool myActive) {
 	this->buf.isActive = myActive;
 }
 
-ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
-		bool addCrToPreamble, uint16_t port) :
-		std::basic_ostream<char, std::char_traits<char>>(&buf),
-		buf(set_message, port, addCrToPreamble) {
+std::string ServiceInterfaceStream::getPreamble() {
+	return buf.getPreamble();
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index a445dced..52ac1310 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -3,11 +3,9 @@
 
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <iostream>
-#include <iosfwd>
-#include <sstream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of log_fe
+// Unfortunately, there must be a forward declaration of the log front end
 // (MUST be defined in main), to let the system know where to write to.
 namespace sif {
 extern std::ostream debug;
@@ -18,13 +16,32 @@ extern std::ostream error;
 
 
 class ServiceInterfaceStream :
-        public std::basic_ostream<char, std::char_traits<char>> {
+        public std::ostream {
 protected:
     ServiceInterfaceBuffer buf;
 public:
-    ServiceInterfaceStream( std::string set_message,
-    		bool addCrToPreamble = false, uint16_t port = 1234);
+    /**
+     * This constructor is used by specifying the preamble message.
+     * Optionally, the output can be directed to stderr and a CR character
+     * can be prepended to the preamble.
+     * @param set_message
+     * @param errStream
+     * @param addCrToPreamble
+     * @param port
+     */
+    ServiceInterfaceStream(std::string setMessage,
+    		bool errStream = false, bool addCrToPreamble = false,
+			uint16_t port = 1234);
+
+    //! An inactive stream will not print anything.
 	void setActive( bool );
+
+	/**
+	 * This can be used to retrieve the preamble in case it should be printed in
+	 * the unbuffered mode.
+	 * @return Preamle consisting of log message and timestamp.
+	 */
+	std::string getPreamble();
 };
 
 

From 1c0ca4c329c99caa75f438745b53a53f2978cd30 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:02:23 +0200
Subject: [PATCH 026/307] some changes to take care of activity

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index b0abb929..93de88b3 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -33,7 +33,7 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 #endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
-	if(errStream) {
+	if(errStream and this->isActive) {
 		if (c != Traits::eof()) {
 			printChar(reinterpret_cast<const char*>(&c), true);
 		}
@@ -53,17 +53,18 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if(errStream) {
+	if(not this->isActive or errStream) {
+		if(not errStream) {
+			setp(buf, buf + BUF_SIZE - 1);
+		}
 		return 0;
 	}
 
-	if (this->isActive) {
-		auto preamble = getPreamble();
-		// Write logMessage and time
-		this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
-		// Handle output
-		this->putChars(pbase(), pptr());
-	}
+	auto preamble = getPreamble();
+	// Write logMessage and time
+	this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
+	// Handle output
+	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
 	setp(buf, buf + BUF_SIZE - 1);
 	return 0;

From 5b93799ea659b0b93bd769657c0d00c390786e26 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:10:04 +0200
Subject: [PATCH 027/307] added forward declarations for service interface
 streams

---
 serviceinterface/ServiceInterfaceStream.h | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 52ac1310..aecd45c3 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -44,5 +44,13 @@ public:
 	std::string getPreamble();
 };
 
+// Forward declaration of interface streams. These are needed so the public
+// functions can be used by including this header
+namespace sif {
+extern ServiceInterfaceStream debugStream;
+extern ServiceInterfaceStream infoStream;
+extern ServiceInterfaceStream warningStream;
+extern ServiceInterfaceStream errorStream;
+}
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

From 0a512abc3364855116a4756e42aeac33c0aa2fe2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:26:27 +0200
Subject: [PATCH 028/307] additional clarification comment

---
 serviceinterface/ServiceInterfaceStream.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index aecd45c3..32437d81 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -7,6 +7,9 @@
 
 // Unfortunately, there must be a forward declaration of the log front end
 // (MUST be defined in main), to let the system know where to write to.
+// The ServiceInterfaceStream instances (declared below and instantiated in main)
+// can be passed to these front ends by passing their underlying buffers
+// with .rdbuf()
 namespace sif {
 extern std::ostream debug;
 extern std::ostream info;

From 5eb3d77bdbb1f4537c95d5c6919a0792b8f274e6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:29:00 +0200
Subject: [PATCH 029/307] clarfiying comment

---
 serviceinterface/ServiceInterfaceStream.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 32437d81..375a1875 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -5,11 +5,11 @@
 #include <iostream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of the log front end
-// (MUST be defined in main), to let the system know where to write to.
-// The ServiceInterfaceStream instances (declared below and instantiated in main)
-// can be passed to these front ends by passing their underlying buffers
-// with .rdbuf()
+/* Unfortunately, there must be a forward declaration of the log front end
+ * (MUST be defined in main), to let the system know where to write to.
+ * The ServiceInterfaceStream instances, which are declared below and
+ * can instantaited somewhere else can be passed to these front ends by passing
+ * their underlying buffers with .rdbuf() */
 namespace sif {
 extern std::ostream debug;
 extern std::ostream info;

From 17ed9b77967f6a8ba2deb281a730df3b33fdadb3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:38:02 +0200
Subject: [PATCH 030/307] OS renamed to OS_FSFW (nameclash with system
 variable)

---
 framework.mk | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/framework.mk b/framework.mk
index cb3e4f22..f2107a4c 100644
--- a/framework.mk
+++ b/framework.mk
@@ -28,11 +28,11 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 
 # select the OS
-ifeq ($(OS),rtems)
+ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
-else ifeq ($(OS),linux)
+else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
-else ifeq ($(OS),freeRTOS)
+else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
 else
 $(error invalid OS specified, valid OS are rtems, linux, freeRTOS)

From 925a54dec965b0c52d312616f9f42902fd5fac2e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 01:06:03 +0200
Subject: [PATCH 031/307] more improvements for servicei nterface

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 28 +++++++----
 serviceinterface/ServiceInterfaceBuffer.h   |  5 +-
 serviceinterface/ServiceInterfaceStream.cpp | 22 ++++++++-
 serviceinterface/ServiceInterfaceStream.h   | 51 +++++++++++----------
 4 files changed, 69 insertions(+), 37 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 93de88b3..92f08cae 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -8,10 +8,11 @@ extern "C" void printChar(const char*, bool errStream);
 #ifndef UT699
 
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
-        bool errStream, bool addCrToPreamble, uint16_t port):
+		bool addCrToPreamble, bool buffered , bool errStream, uint16_t port):
 		isActive(true), logMessage(setMessage),
-		addCrToPreamble(addCrToPreamble), errStream(errStream) {
-	if(not errStream) {
+		addCrToPreamble(addCrToPreamble), buffered(buffered),
+		errStream(errStream) {
+	if(buffered) {
 		// Set pointers if the stream is buffered.
 		setp( buf, buf + BUF_SIZE );
 	}
@@ -26,16 +27,27 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 	memcpy(array, begin, length);
 
 	for(; begin != end; begin++){
-		printChar(begin, false);
+		if(errStream) {
+			printChar(begin, true);
+		}
+		else {
+			printChar(begin, false);
+		}
+
 	}
 }
 
 #endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
-	if(errStream and this->isActive) {
+	if(not buffered and this->isActive) {
 		if (c != Traits::eof()) {
-			printChar(reinterpret_cast<const char*>(&c), true);
+			if(errStream) {
+				printChar(reinterpret_cast<const char*>(&c), true);
+			}
+			else {
+				printChar(reinterpret_cast<const char*>(&c), false);
+			}
 		}
 		return 0;
 	}
@@ -53,8 +65,8 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if(not this->isActive or errStream) {
-		if(not errStream) {
+	if(not this->isActive) {
+		if(not buffered) {
 			setp(buf, buf + BUF_SIZE - 1);
 		}
 		return 0;
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 74facafe..e3927007 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -19,8 +19,8 @@ class ServiceInterfaceBuffer:
         public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string setMessage, bool errStream,
-			bool addCrToPreamble, uint16_t port);
+	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
+			bool buffered, bool errStream, uint16_t port);
 
 protected:
 	bool isActive;
@@ -41,6 +41,7 @@ private:
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
+	bool buffered;
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
 
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 78371548..bef8136e 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -1,9 +1,9 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
-		bool errStream, bool addCrToPreamble, uint16_t port) :
+		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
 		std::ostream(&buf),
-		buf(setMessage, errStream, addCrToPreamble, port) {
+		buf(setMessage, addCrToPreamble, buffered, errStream,  port) {
 }
 
 void ServiceInterfaceStream::setActive( bool myActive) {
@@ -13,3 +13,21 @@ void ServiceInterfaceStream::setActive( bool myActive) {
 std::string ServiceInterfaceStream::getPreamble() {
 	return buf.getPreamble();
 }
+
+void ServiceInterfaceStream::print(std::string error,
+		bool withPreamble, bool withNewline, bool flush) {
+	if(not buffered and withPreamble) {
+		*this << getPreamble() << error;
+	}
+	else {
+		*this << error;
+	}
+
+	if(withNewline) {
+		*this << "\n";
+	}
+	// if mode is non-buffered, no need to flush.
+	if(flush and buffered) {
+		this->flush();
+	}
+}
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 375a1875..9b8b5b6e 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -5,19 +5,11 @@
 #include <iostream>
 #include <cstdio>
 
-/* Unfortunately, there must be a forward declaration of the log front end
- * (MUST be defined in main), to let the system know where to write to.
- * The ServiceInterfaceStream instances, which are declared below and
- * can instantaited somewhere else can be passed to these front ends by passing
- * their underlying buffers with .rdbuf() */
-namespace sif {
-extern std::ostream debug;
-extern std::ostream info;
-extern std::ostream warning;
-extern std::ostream error;
-}
-
-
+/**
+ * Generic service interface stream which can be used like std::cout or
+ * std::cerr but has additional capability. Add preamble and timestamp
+ * to output. Can be run in buffered or unbuffered mode.
+ */
 class ServiceInterfaceStream :
         public std::ostream {
 protected:
@@ -27,14 +19,14 @@ public:
      * This constructor is used by specifying the preamble message.
      * Optionally, the output can be directed to stderr and a CR character
      * can be prepended to the preamble.
-     * @param set_message
-     * @param errStream
-     * @param addCrToPreamble
-     * @param port
+     * @param setMessage message of preamble.
+     * @param addCrToPreamble Useful for applications like Puttty.
+     * @param buffered specify whether to use buffered mode.
+     * @param errStream specify which output stream to use (stderr or stdout).
      */
     ServiceInterfaceStream(std::string setMessage,
-    		bool errStream = false, bool addCrToPreamble = false,
-			uint16_t port = 1234);
+    		bool addCrToPreamble = false, bool buffered = true,
+			bool errStream = false, uint16_t port = 1234);
 
     //! An inactive stream will not print anything.
 	void setActive( bool );
@@ -45,15 +37,24 @@ public:
 	 * @return Preamle consisting of log message and timestamp.
 	 */
 	std::string getPreamble();
+
+	/**
+	 * This prints an error with a preamble. Useful if using the unbuffered
+	 * mode. Flushes in default mode (prints immediately).
+	 */
+	void print(std::string error, bool withPreamble = true,
+			bool withNewline = true, bool flush = true);
+
+	bool buffered = false;
 };
 
-// Forward declaration of interface streams. These are needed so the public
-// functions can be used by including this header
+// Forward declaration of interface streams. These should be instantiated in
+// main. They can then be used like std::cout or std::cerr.
 namespace sif {
-extern ServiceInterfaceStream debugStream;
-extern ServiceInterfaceStream infoStream;
-extern ServiceInterfaceStream warningStream;
-extern ServiceInterfaceStream errorStream;
+extern ServiceInterfaceStream debug;
+extern ServiceInterfaceStream info;
+extern ServiceInterfaceStream warning;
+extern ServiceInterfaceStream error;
 }
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

From 05435a3ea3d4775b856debfbaa9f8ae487bc3f20 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 14:11:08 +0200
Subject: [PATCH 032/307] includde removed

---
 objectmanager/ObjectManagerIF.h | 15 ++++-----------
 1 file changed, 4 insertions(+), 11 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index b5cab408..57b2faa7 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -1,14 +1,6 @@
-/**
- * @file	ObjectManagerIF.h
- * @brief	This file contains the implementation of the ObjectManagerIF interface
- * @date	19.09.2012
- * @author	Bastian Baetz
- */
+#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
-#ifndef OBJECTMANAGERIF_H_
-#define OBJECTMANAGERIF_H_
-
-#include "systemObjectList.h"
 #include <framework/objectmanager/frameworkObjects.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
@@ -21,7 +13,8 @@
  * 			inserted, removed and retrieved from the list. On getting the
  * 			object, the call checks if the object implements the requested
  * 			interface.
- * \ingroup system_objects
+ * @author	Bastian Baetz
+ * @ingroup system_objects
  */
 class ObjectManagerIF : public HasReturnvaluesIF {
 public:

From 93ef4eb56b8fbd172bfba25ebe0b3616c2d99f9d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 14:13:24 +0200
Subject: [PATCH 033/307] exti code is one

---
 objectmanager/ObjectManagerIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index 57b2faa7..0dfb7f30 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -87,7 +87,7 @@ T* ObjectManagerIF::get( object_id_t id ) {
 	if(objectManager == nullptr) {
 		sif::error << "ObjectManagerIF: Global object manager has not "
 				"been initialized yet!" << std::endl;
-		std::exit(0);
+		std::exit(1);
 	}
 	SystemObjectIF* temp = this->getSystemObject(id);
 	return dynamic_cast<T*>(temp);

From a115bf1186d075ea8c6b98c03ba847f22d41251b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 14:43:33 +0200
Subject: [PATCH 034/307] store access improvements

---
 storagemanager/LocalPool.h        | 10 +++++-----
 storagemanager/PoolManager.h      |  3 ++-
 storagemanager/PoolManager.tpp    |  1 -
 storagemanager/StorageManagerIF.h |  3 ++-
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index 2d61dea5..bb94a3be 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -24,7 +24,6 @@
  * 			The local pool is NOT thread-safe.
  * @author 	Bastian Baetz
  */
-
 template<uint8_t NUMBER_OF_POOLS = 5>
 class LocalPool: public SystemObject, public StorageManagerIF {
 public:
@@ -48,9 +47,10 @@ public:
 	 * 						number of elements for each pool is determined.
 	 * 						The position of these values correspond to those in
 	 * 						element_sizes.
-	 * @param registered	Register the pool in object manager or not. Default is false (local pool).
-	 * @param spillsToHigherPools
-	 * 						A variable to determine whether higher n pools are used if the store is full.
+	 * @param registered	Register the pool in object manager or not.
+	 * Default is false (local pool).
+	 * @param spillsToHigherPools A variable to determine whether
+	 * higher n pools are used if the store is full.
 	 */
 	LocalPool(object_id_t setObjectId,
 			const uint16_t element_sizes[NUMBER_OF_POOLS],
@@ -117,7 +117,7 @@ private:
 	/**
 	 * @brief	store represents the actual memory pool.
 	 * @details	It is an array of pointers to memory, which was allocated with
-	 * 			a \c new call on construction.
+	 * 			a @c new call on construction.
 	 */
 	uint8_t* store[NUMBER_OF_POOLS];
 	/**
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index c74e95c0..7c2e8a71 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -12,7 +12,7 @@
  * 			with a lock.
  * @author 	Bastian Baetz
  */
-template <uint8_t NUMBER_OF_POOLS>
+template <uint8_t NUMBER_OF_POOLS = 5>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
 public:
 	PoolManager(object_id_t setObjectId,
@@ -27,6 +27,7 @@ public:
 	ReturnValue_t deleteData(store_address_t) override;
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) override;
+
 protected:
 	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
 			bool ignoreFault) override;
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index 9fb11776..a35b810c 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -48,4 +48,3 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 }
 
 #endif
-
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index d5ac5818..f8aee819 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -11,7 +11,6 @@
 using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
 using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
 
-
 /**
  * @brief	This class provides an interface for intermediate data storage.
  * @details	The Storage manager classes shall be used to store larger chunks of
@@ -80,6 +79,7 @@ public:
 	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) = 0;
 
+
 	/**
 	 * @brief 	Access the data by supplying a store ID.
 	 * @details
@@ -100,6 +100,7 @@ public:
 	virtual ReturnValue_t getData(store_address_t storeId,
 			ConstStorageAccessor& constAccessor) = 0;
 
+
 	/**
 	 * @brief	getData returns an address to data and the size of the data
 	 * 			for a given packet_id.

From 6ff1cf46c5cda5e6c9ecb85926acc68c8825b1ad Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:40:43 +0200
Subject: [PATCH 035/307] new service interface stream

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 46 ++++++++++++++++-----
 serviceinterface/ServiceInterfaceBuffer.h   | 36 +++-------------
 serviceinterface/ServiceInterfaceStream.cpp | 13 +++---
 serviceinterface/ServiceInterfaceStream.h   | 32 +++++++-------
 4 files changed, 63 insertions(+), 64 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 92f08cae..f1332637 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -1,6 +1,7 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <cstring>
+#include <inttypes.h>
 
 // to be implemented by bsp
 extern "C" void printChar(const char*, bool errStream);
@@ -16,6 +17,8 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
 		// Set pointers if the stream is buffered.
 		setp( buf, buf + BUF_SIZE );
 	}
+	preamble.reserve(96);
+	preamble.resize(96);
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
@@ -65,16 +68,22 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if(not this->isActive) {
+	if(not this->isActive and not buffered) {
 		if(not buffered) {
 			setp(buf, buf + BUF_SIZE - 1);
 		}
 		return 0;
 	}
+	if(not buffered) {
+		return 0;
+	}
 
-	auto preamble = getPreamble();
+	size_t preambleSize  = 0;
+	auto preamble = getPreamble(&preambleSize);
+	uint8_t debugArray[96];
+	memcpy(debugArray, preamble.data(), preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
+	this->putChars(preamble.data(), preamble.data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -82,18 +91,35 @@ int ServiceInterfaceBuffer::sync(void) {
 	return 0;
 }
 
+bool ServiceInterfaceBuffer::isBuffered() const {
+	return buffered;
+}
 
-std::string ServiceInterfaceBuffer::getPreamble() {
+std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
-	std::string preamble;
+	std::string preamble (96, 0);
+	size_t currentSize = 0;
+	char* parsePosition = &preamble[0];
 	if(addCrToPreamble) {
-		preamble += "\r";
+		preamble[0] = '\r';
+		currentSize += 1;
+		parsePosition += 1;
+	}
+	int32_t charCount = sprintf(parsePosition,
+			"%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ",
+					this->logMessage.c_str(), loggerTime.hour,
+					loggerTime.minute,
+					loggerTime.second,
+					loggerTime.usecond /1000);
+	if(charCount < 0) {
+		printf("ServiceInterfaceBuffer: Failure parsing preamble");
+		return "";
+	}
+	currentSize += charCount;
+	if(preambleSize != nullptr) {
+		*preambleSize = currentSize;
 	}
-	preamble += logMessage + ": | " + zero_padded(loggerTime.hour, 2)
-							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-							+ zero_padded(loggerTime.second, 2) + "."
-							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
 	return preamble;
 }
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index e3927007..00a8e74a 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <iostream>
 #include <sstream>
 #include <iomanip>
@@ -33,18 +34,20 @@ protected:
 	//! for example when std::endl is put to stream.
 	int sync(void) override;
 
+	bool isBuffered() const;
 private:
 	//! For additional message information
 	std::string logMessage;
+	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
-	bool buffered;
+
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
-
+	bool buffered;
 	// Work in buffer mode. It is also possible to work without buffer.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
@@ -52,39 +55,12 @@ private:
 	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
-	std::string getPreamble();
-
-	/**
-	 * This helper function returns the zero padded string version of a number.
-	 * The type is deduced automatically.
-	 * @tparam T
-	 * @param num
-	 * @param width
-	 * @return
-	 */
-	template<typename T>
-	std::string zero_padded(const T& num, uint8_t width) {
-	    std::ostringstream string_to_pad;
-	    string_to_pad << std::setw(width) << std::setfill('0') << num;
-	    std::string result = string_to_pad.str();
-	    if (result.length() > width)
-	    {
-	        result.erase(0, result.length() - width);
-	    }
-	    return result;
-	}
+	std::string getPreamble(size_t * preambleSize = nullptr);
 };
 
 #endif
 
 
-
-
-
-
-
-
-
 #ifdef UT699
 class ServiceInterfaceBuffer: public std::basic_streambuf<char,
 		std::char_traits<char> > {
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index bef8136e..76481ed1 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -2,21 +2,20 @@
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
 		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
-		std::ostream(&buf),
-		buf(setMessage, addCrToPreamble, buffered, errStream,  port) {
-}
+		std::ostream(&streambuf),
+		streambuf(setMessage, addCrToPreamble, buffered, errStream, port) {}
 
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->buf.isActive = myActive;
+	this->streambuf.isActive = myActive;
 }
 
 std::string ServiceInterfaceStream::getPreamble() {
-	return buf.getPreamble();
+	return streambuf.getPreamble();
 }
 
 void ServiceInterfaceStream::print(std::string error,
 		bool withPreamble, bool withNewline, bool flush) {
-	if(not buffered and withPreamble) {
+	if(not streambuf.isBuffered() and withPreamble) {
 		*this << getPreamble() << error;
 	}
 	else {
@@ -27,7 +26,7 @@ void ServiceInterfaceStream::print(std::string error,
 		*this << "\n";
 	}
 	// if mode is non-buffered, no need to flush.
-	if(flush and buffered) {
+	if(flush and streambuf.isBuffered()) {
 		this->flush();
 	}
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 9b8b5b6e..9e19c228 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -10,25 +10,22 @@
  * std::cerr but has additional capability. Add preamble and timestamp
  * to output. Can be run in buffered or unbuffered mode.
  */
-class ServiceInterfaceStream :
-        public std::ostream {
-protected:
-    ServiceInterfaceBuffer buf;
+class ServiceInterfaceStream : public std::ostream {
 public:
-    /**
-     * This constructor is used by specifying the preamble message.
-     * Optionally, the output can be directed to stderr and a CR character
-     * can be prepended to the preamble.
-     * @param setMessage message of preamble.
-     * @param addCrToPreamble Useful for applications like Puttty.
-     * @param buffered specify whether to use buffered mode.
-     * @param errStream specify which output stream to use (stderr or stdout).
-     */
-    ServiceInterfaceStream(std::string setMessage,
-    		bool addCrToPreamble = false, bool buffered = true,
+	/**
+	 * This constructor is used by specifying the preamble message.
+	 * Optionally, the output can be directed to stderr and a CR character
+	 * can be prepended to the preamble.
+	 * @param setMessage message of preamble.
+	 * @param addCrToPreamble Useful for applications like Puttty.
+	 * @param buffered specify whether to use buffered mode.
+	 * @param errStream specify which output stream to use (stderr or stdout).
+	 */
+	ServiceInterfaceStream(std::string setMessage,
+			bool addCrToPreamble = false, bool buffered = true,
 			bool errStream = false, uint16_t port = 1234);
 
-    //! An inactive stream will not print anything.
+	//! An inactive stream will not print anything.
 	void setActive( bool );
 
 	/**
@@ -45,7 +42,8 @@ public:
 	void print(std::string error, bool withPreamble = true,
 			bool withNewline = true, bool flush = true);
 
-	bool buffered = false;
+protected:
+	ServiceInterfaceBuffer streambuf;
 };
 
 // Forward declaration of interface streams. These should be instantiated in

From 4d59ddc3db6d9382e61bc4492e51c63283174489 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:50:26 +0200
Subject: [PATCH 036/307] some fixes, check for preamble size

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 15 ++++++++-------
 serviceinterface/ServiceInterfaceBuffer.h   |  9 +++++++--
 2 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index f1332637..5c80862c 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -17,8 +17,8 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
 		// Set pointers if the stream is buffered.
 		setp( buf, buf + BUF_SIZE );
 	}
-	preamble.reserve(96);
-	preamble.resize(96);
+	preamble.reserve(MAX_PREAMBLE_SIZE);
+	preamble.resize(MAX_PREAMBLE_SIZE);
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
@@ -36,7 +36,6 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 		else {
 			printChar(begin, false);
 		}
-
 	}
 }
 
@@ -80,8 +79,6 @@ int ServiceInterfaceBuffer::sync(void) {
 
 	size_t preambleSize  = 0;
 	auto preamble = getPreamble(&preambleSize);
-	uint8_t debugArray[96];
-	memcpy(debugArray, preamble.data(), preambleSize);
 	// Write logMessage and time
 	this->putChars(preamble.data(), preamble.data() + preambleSize);
 	// Handle output
@@ -98,7 +95,6 @@ bool ServiceInterfaceBuffer::isBuffered() const {
 std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
-	std::string preamble (96, 0);
 	size_t currentSize = 0;
 	char* parsePosition = &preamble[0];
 	if(addCrToPreamble) {
@@ -113,7 +109,12 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 					loggerTime.second,
 					loggerTime.usecond /1000);
 	if(charCount < 0) {
-		printf("ServiceInterfaceBuffer: Failure parsing preamble");
+		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
+		return "";
+	}
+	if(charCount > MAX_PREAMBLE_SIZE) {
+		printf("ServiceInterfaceBuffer: Char count too large for maximum "
+				"preamble size");
 		return "";
 	}
 	currentSize += charCount;
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 00a8e74a..39ea25c2 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -20,6 +20,8 @@ class ServiceInterfaceBuffer:
         public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
+	static constexpr uint8_t MAX_PREAMBLE_SIZE = 40;
+
 	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
 			bool buffered, bool errStream, uint16_t port);
 
@@ -41,14 +43,17 @@ private:
 	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
+
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
 
+	//! Specifies whether the stream operates in buffered or unbuffered mode.
+	bool buffered;
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
-	bool buffered;
-	// Work in buffer mode. It is also possible to work without buffer.
+
+	//! Needed for buffered mode.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 

From 3eca16ff785b928f7015444d987a5dbed0ce99dd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 20:59:52 +0200
Subject: [PATCH 037/307] removed exit clause

---
 objectmanager/ObjectManagerIF.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index 3575fc16..b523727c 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -93,7 +93,6 @@ T* ObjectManagerIF::get( object_id_t id ) {
 	if(objectManager == nullptr) {
 		sif::error << "ObjectManagerIF: Global object manager has not "
 				"been initialized yet!" << std::endl;
-		std::exit(0);
 	}
 	SystemObjectIF* temp = this->getSystemObject(id);
 	return dynamic_cast<T*>(temp);

From 71487d60ca524042c95dffdf1582252f028f35e2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:01:09 +0200
Subject: [PATCH 038/307] onj managerIF update

---
 objectmanager/ObjectManagerIF.h | 14 ++++----------
 1 file changed, 4 insertions(+), 10 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index b523727c..90a1ce3b 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -1,12 +1,5 @@
-/**
- * @file	ObjectManagerIF.h
- * @brief	This file contains the implementation of the ObjectManagerIF interface
- * @date	19.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef OBJECTMANAGERIF_H_
-#define OBJECTMANAGERIF_H_
+#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
 #include <framework/objectmanager/frameworkObjects.h>
 #include <framework/objectmanager/SystemObjectIF.h>
@@ -20,7 +13,8 @@
  * 			inserted, removed and retrieved from the list. On getting the
  * 			object, the call checks if the object implements the requested
  * 			interface.
- * \ingroup system_objects
+ * @author	Bastian Baetz
+ * @ingroup system_objects
  */
 class ObjectManagerIF : public HasReturnvaluesIF {
 public:

From 849053b830d92ccd463779569cb6c450033b47c1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:04:24 +0200
Subject: [PATCH 039/307] small fix for object manager.cpp

---
 objectmanager/ObjectManager.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 1912715d..67cf5c1c 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -23,8 +23,8 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 	} else {
 		sif::error << "ObjectManager::insert: Object id " << std::hex
 		           << (int)id << std::dec << " is already in use!" << std::endl;
-		exit(0); //This is very severe and difficult to handle in other places.
-		return this->INSERTION_FAILED;
+		//This is very severe and difficult to handle in other places.
+		std::exit(INSERTION_FAILED);
 	}
 }
 

From 365f9f8434f4811b2681612793e222b430a21c8a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:05:08 +0200
Subject: [PATCH 040/307] small improvements for object manager.cpp

exit removed for get function
---
 objectmanager/ObjectManager.cpp | 10 +++++-----
 objectmanager/ObjectManagerIF.h |  1 -
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 2f99e1a5..67cf5c1c 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -23,8 +23,8 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 	} else {
 		sif::error << "ObjectManager::insert: Object id " << std::hex
 		           << (int)id << std::dec << " is already in use!" << std::endl;
-		exit(0); //This is very severe and difficult to handle in other places.
-		return this->INSERTION_FAILED;
+		//This is very severe and difficult to handle in other places.
+		std::exit(INSERTION_FAILED);
 	}
 }
 
@@ -67,9 +67,9 @@ void ObjectManager::initialize() {
 		return_value = it->second->initialize();
 		if ( return_value != RETURN_OK ) {
 			object_id_t var = it->first;
-			sif::error << "Object " << std::hex <<  (int) var
-			        << " failed to initialize with code 0x" << return_value
-			        << std::dec << std::endl;
+			sif::error << "Object 0x" << std::hex <<  std::setw(8) <<
+					std::setfill('0')<< var << " failed to initialize " <<
+					"with code 0x" << return_value << std::dec << std::endl;
 			error_count++;
 		}
 	}
diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index 0dfb7f30..90a1ce3b 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -87,7 +87,6 @@ T* ObjectManagerIF::get( object_id_t id ) {
 	if(objectManager == nullptr) {
 		sif::error << "ObjectManagerIF: Global object manager has not "
 				"been initialized yet!" << std::endl;
-		std::exit(1);
 	}
 	SystemObjectIF* temp = this->getSystemObject(id);
 	return dynamic_cast<T*>(temp);

From a37a2197d1622cc99b3bb2841b17f033e4e77138 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:10:56 +0200
Subject: [PATCH 041/307] some form improvements for object manager .cpp

---
 objectmanager/ObjectManager.cpp | 34 +++++++++++++++------------------
 1 file changed, 15 insertions(+), 19 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 67cf5c1c..3e0bfed6 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -2,21 +2,19 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <cstdlib>
 
-ObjectManager::ObjectManager( void (*setProducer)() ) : produceObjects(setProducer) {
+ObjectManager::ObjectManager( void (*setProducer)() ):
+		produceObjects(setProducer) {
 	//There's nothing special to do in the constructor.
 }
 
 
 ObjectManager::~ObjectManager() {
-	std::map<object_id_t, SystemObjectIF*>::iterator it;
-	for (it = this->objectList.begin(); it != this->objectList.end(); it++) {
-		delete it->second;
-	}
+	// Map is STL object and deletes its own pointers.
 }
 
 ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
-	bool insert_return = this->objectList.insert( std::pair< object_id_t, SystemObjectIF* >( id, object ) ).second;
-	if (insert_return == true) {
+	auto returnPair = objectList.emplace(id, object);
+	if (returnPair.second) {
 	    // sif::debug << "ObjectManager::insert: Object " << std::hex
 	    //            << (int)id << std::dec << " inserted." << std::endl;
 		return this->RETURN_OK;
@@ -44,18 +42,15 @@ ReturnValue_t ObjectManager::remove( object_id_t id ) {
 
 
 SystemObjectIF* ObjectManager::getSystemObject( object_id_t id ) {
-	std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.find( id );
-	if (it == this->objectList.end() ) {
-		//Changed for testing different method.
-//		SystemObjectIF* object = this->produceObjects( id );
-//		return object;
-		return NULL;
+	auto listIter = this->objectList.find( id );
+	if (listIter == this->objectList.end() ) {
+		return nullptr;
 	} else {
-		return it->second;
+		return listIter->second;
 	}
 }
 
-ObjectManager::ObjectManager( ) : produceObjects(NULL) {
+ObjectManager::ObjectManager() : produceObjects(nullptr) {
 
 }
 
@@ -63,7 +58,7 @@ void ObjectManager::initialize() {
 	this->produceObjects();
 	ReturnValue_t return_value = RETURN_FAILED;
 	uint32_t error_count = 0;
-	for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) {
+	for (auto it = this->objectList.begin(); it != objectList.end(); it++ ) {
 		return_value = it->second->initialize();
 		if ( return_value != RETURN_OK ) {
 			object_id_t var = it->first;
@@ -79,10 +74,11 @@ void ObjectManager::initialize() {
 	}
 	//Init was successful. Now check successful interconnections.
 	error_count = 0;
-	for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) {
-		return_value = it->second->checkObjectConnections();
+	for (auto listIter = this->objectList.begin();
+			listIter != objectList.end(); listIter++ ) {
+		return_value = listIter->second->checkObjectConnections();
 		if ( return_value != RETURN_OK ) {
-			sif::error << "Object " << std::hex <<  (int) it->first
+			sif::error << "Object " << std::hex <<  (int) listIter->first
 			        << " connection check failed with code 0x" << return_value
 			        << std::dec << std::endl;
 			error_count++;

From 569724843e7196d5c7ca0b324cd575b6aa9aa9ba Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:11:49 +0200
Subject: [PATCH 042/307] object manager improvements

---
 objectmanager/ObjectManager.cpp | 34 +++++++++++++++------------------
 1 file changed, 15 insertions(+), 19 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 67cf5c1c..3e0bfed6 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -2,21 +2,19 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <cstdlib>
 
-ObjectManager::ObjectManager( void (*setProducer)() ) : produceObjects(setProducer) {
+ObjectManager::ObjectManager( void (*setProducer)() ):
+		produceObjects(setProducer) {
 	//There's nothing special to do in the constructor.
 }
 
 
 ObjectManager::~ObjectManager() {
-	std::map<object_id_t, SystemObjectIF*>::iterator it;
-	for (it = this->objectList.begin(); it != this->objectList.end(); it++) {
-		delete it->second;
-	}
+	// Map is STL object and deletes its own pointers.
 }
 
 ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
-	bool insert_return = this->objectList.insert( std::pair< object_id_t, SystemObjectIF* >( id, object ) ).second;
-	if (insert_return == true) {
+	auto returnPair = objectList.emplace(id, object);
+	if (returnPair.second) {
 	    // sif::debug << "ObjectManager::insert: Object " << std::hex
 	    //            << (int)id << std::dec << " inserted." << std::endl;
 		return this->RETURN_OK;
@@ -44,18 +42,15 @@ ReturnValue_t ObjectManager::remove( object_id_t id ) {
 
 
 SystemObjectIF* ObjectManager::getSystemObject( object_id_t id ) {
-	std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.find( id );
-	if (it == this->objectList.end() ) {
-		//Changed for testing different method.
-//		SystemObjectIF* object = this->produceObjects( id );
-//		return object;
-		return NULL;
+	auto listIter = this->objectList.find( id );
+	if (listIter == this->objectList.end() ) {
+		return nullptr;
 	} else {
-		return it->second;
+		return listIter->second;
 	}
 }
 
-ObjectManager::ObjectManager( ) : produceObjects(NULL) {
+ObjectManager::ObjectManager() : produceObjects(nullptr) {
 
 }
 
@@ -63,7 +58,7 @@ void ObjectManager::initialize() {
 	this->produceObjects();
 	ReturnValue_t return_value = RETURN_FAILED;
 	uint32_t error_count = 0;
-	for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) {
+	for (auto it = this->objectList.begin(); it != objectList.end(); it++ ) {
 		return_value = it->second->initialize();
 		if ( return_value != RETURN_OK ) {
 			object_id_t var = it->first;
@@ -79,10 +74,11 @@ void ObjectManager::initialize() {
 	}
 	//Init was successful. Now check successful interconnections.
 	error_count = 0;
-	for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) {
-		return_value = it->second->checkObjectConnections();
+	for (auto listIter = this->objectList.begin();
+			listIter != objectList.end(); listIter++ ) {
+		return_value = listIter->second->checkObjectConnections();
 		if ( return_value != RETURN_OK ) {
-			sif::error << "Object " << std::hex <<  (int) it->first
+			sif::error << "Object " << std::hex <<  (int) listIter->first
 			        << " connection check failed with code 0x" << return_value
 			        << std::dec << std::endl;
 			error_count++;

From d423c001156916fe62b3113c539dee9931f359fb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:14:35 +0200
Subject: [PATCH 043/307] additional nullptr check

---
 objectmanager/ObjectManager.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 3e0bfed6..a5895098 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -55,6 +55,11 @@ ObjectManager::ObjectManager() : produceObjects(nullptr) {
 }
 
 void ObjectManager::initialize() {
+	if(produceObjects == nullptr) {
+		sif::error << "ObjectManager: Passed produceObjects functions is"
+				"nullptr!" << std::endl;
+		return;
+	}
 	this->produceObjects();
 	ReturnValue_t return_value = RETURN_FAILED;
 	uint32_t error_count = 0;

From 5d3b3bae168667f86b53c034ed0d9b8f2bf3bc1a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:14:53 +0200
Subject: [PATCH 044/307] addtiional nullptr check

---
 objectmanager/ObjectManager.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 3e0bfed6..a5895098 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -55,6 +55,11 @@ ObjectManager::ObjectManager() : produceObjects(nullptr) {
 }
 
 void ObjectManager::initialize() {
+	if(produceObjects == nullptr) {
+		sif::error << "ObjectManager: Passed produceObjects functions is"
+				"nullptr!" << std::endl;
+		return;
+	}
 	this->produceObjects();
 	ReturnValue_t return_value = RETURN_FAILED;
 	uint32_t error_count = 0;

From e4944a067c3624a669c4703bfa0d5dce5f1b4119 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:24:44 +0200
Subject: [PATCH 045/307] change made was wrong (pointers in map are not
 deleted!)

---
 objectmanager/ObjectManager.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index a5895098..b12c66d9 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -9,7 +9,9 @@ ObjectManager::ObjectManager( void (*setProducer)() ):
 
 
 ObjectManager::~ObjectManager() {
-	// Map is STL object and deletes its own pointers.
+	for (auto const& iter : objectList) {
+		delete iter.second;
+	}
 }
 
 ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
@@ -99,7 +101,7 @@ void ObjectManager::initialize() {
 void ObjectManager::printList() {
 	std::map<object_id_t, SystemObjectIF*>::iterator it;
 	sif::debug << "ObjectManager: Object List contains:" << std::endl;
-	for (it = this->objectList.begin(); it != this->objectList.end(); it++) {
-		sif::debug << std::hex << it->first << " | " << it->second << std::endl;
+	for (auto const& it : objectList) {
+		sif::debug << std::hex << it.first << " | " << it.second << std::endl;
 	}
 }

From 0ac3cf8fadd15d155ecc3df9ca2ba0344bbd3859 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:25:14 +0200
Subject: [PATCH 046/307] reverted wrong change

---
 objectmanager/ObjectManager.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index a5895098..b12c66d9 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -9,7 +9,9 @@ ObjectManager::ObjectManager( void (*setProducer)() ):
 
 
 ObjectManager::~ObjectManager() {
-	// Map is STL object and deletes its own pointers.
+	for (auto const& iter : objectList) {
+		delete iter.second;
+	}
 }
 
 ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
@@ -99,7 +101,7 @@ void ObjectManager::initialize() {
 void ObjectManager::printList() {
 	std::map<object_id_t, SystemObjectIF*>::iterator it;
 	sif::debug << "ObjectManager: Object List contains:" << std::endl;
-	for (it = this->objectList.begin(); it != this->objectList.end(); it++) {
-		sif::debug << std::hex << it->first << " | " << it->second << std::endl;
+	for (auto const& it : objectList) {
+		sif::debug << std::hex << it.first << " | " << it.second << std::endl;
 	}
 }

From fd0cc2a8ca84c2eba0aac60cf62e7d9747f94427 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:26:56 +0200
Subject: [PATCH 047/307] simplified all iterations through obj list

---
 objectmanager/ObjectManager.cpp | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index b12c66d9..2f47950f 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -65,10 +65,10 @@ void ObjectManager::initialize() {
 	this->produceObjects();
 	ReturnValue_t return_value = RETURN_FAILED;
 	uint32_t error_count = 0;
-	for (auto it = this->objectList.begin(); it != objectList.end(); it++ ) {
-		return_value = it->second->initialize();
+	for (auto const& it : objectList) {
+		return_value = it.second->initialize();
 		if ( return_value != RETURN_OK ) {
-			object_id_t var = it->first;
+			object_id_t var = it.first;
 			sif::error << "Object 0x" << std::hex <<  std::setw(8) <<
 					std::setfill('0')<< var << " failed to initialize " <<
 					"with code 0x" << return_value << std::dec << std::endl;
@@ -81,11 +81,10 @@ void ObjectManager::initialize() {
 	}
 	//Init was successful. Now check successful interconnections.
 	error_count = 0;
-	for (auto listIter = this->objectList.begin();
-			listIter != objectList.end(); listIter++ ) {
-		return_value = listIter->second->checkObjectConnections();
+	for (auto const& it : objectList) {
+		return_value = it.second->checkObjectConnections();
 		if ( return_value != RETURN_OK ) {
-			sif::error << "Object " << std::hex <<  (int) listIter->first
+			sif::error << "Object " << std::hex <<  (int) it.first
 			        << " connection check failed with code 0x" << return_value
 			        << std::dec << std::endl;
 			error_count++;

From dd193fd64d302e5592dfddc8a4395101d921b61b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 21:27:37 +0200
Subject: [PATCH 048/307] obj manager.cpp improvements

---
 objectmanager/ObjectManager.cpp | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index b12c66d9..2f47950f 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -65,10 +65,10 @@ void ObjectManager::initialize() {
 	this->produceObjects();
 	ReturnValue_t return_value = RETURN_FAILED;
 	uint32_t error_count = 0;
-	for (auto it = this->objectList.begin(); it != objectList.end(); it++ ) {
-		return_value = it->second->initialize();
+	for (auto const& it : objectList) {
+		return_value = it.second->initialize();
 		if ( return_value != RETURN_OK ) {
-			object_id_t var = it->first;
+			object_id_t var = it.first;
 			sif::error << "Object 0x" << std::hex <<  std::setw(8) <<
 					std::setfill('0')<< var << " failed to initialize " <<
 					"with code 0x" << return_value << std::dec << std::endl;
@@ -81,11 +81,10 @@ void ObjectManager::initialize() {
 	}
 	//Init was successful. Now check successful interconnections.
 	error_count = 0;
-	for (auto listIter = this->objectList.begin();
-			listIter != objectList.end(); listIter++ ) {
-		return_value = listIter->second->checkObjectConnections();
+	for (auto const& it : objectList) {
+		return_value = it.second->checkObjectConnections();
 		if ( return_value != RETURN_OK ) {
-			sif::error << "Object " << std::hex <<  (int) listIter->first
+			sif::error << "Object " << std::hex <<  (int) it.first
 			        << " connection check failed with code 0x" << return_value
 			        << std::dec << std::endl;
 			error_count++;

From 904721cc3638ffac5a1c4758e84395726d2a415b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 13:44:11 +0200
Subject: [PATCH 049/307] improved pool entry iF

---
 datapool/PoolEntry.cpp |  38 ++++++++------
 datapool/PoolEntry.h   | 115 ++++++++++++++++++++++++++---------------
 datapool/PoolEntryIF.h |  32 ++++++------
 3 files changed, 110 insertions(+), 75 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index d07c516d..a87a6c4e 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,30 +1,37 @@
 #include <framework/datapool/PoolEntry.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/printer.h>
+#include <cstring>
 
 template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t set_length,
-		uint8_t set_valid ) : length(set_length), valid(set_valid) {
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t setLength,
+		bool setValid ) : length(setLength), valid(setValid) {
 	this->address = new T[this->length];
 	if(initValue.size() == 0) {
-		memset(this->address, 0, this->getByteSize());
+		std::memset(this->address, 0, this->getByteSize());
+	}
+	else if (initValue.size() != setLength){
+		sif::warning << "PoolEntry: setLength is not equal to initializer list"
+				"length! Performing zero initialization with given setLength"
+				<< std::endl;
+		std::memset(this->address, 0, this->getByteSize());
 	}
 	else {
-		memcpy(this->address, initValue.begin(), this->getByteSize());
+		std::copy(initValue.begin(), initValue.end(), this->address);
 	}
 }
 
 template <typename T>
-PoolEntry<T>::PoolEntry( T* initValue, uint8_t set_length, uint8_t set_valid ) :
-		length(set_length), valid(set_valid) {
+PoolEntry<T>::PoolEntry( T* initValue, uint8_t setLength, bool setValid ) :
+		length(setLength), valid(setValid) {
 	this->address = new T[this->length];
-	if (initValue != NULL) {
-		memcpy(this->address, initValue, this->getByteSize() );
+	if (initValue != nullptr) {
+		std::memcpy(this->address, initValue, this->getByteSize() );
 	} else {
-		memset(this->address, 0, this->getByteSize() );
+		std::memset(this->address, 0, this->getByteSize() );
 	}
 }
 
-
 //As the data pool is global, this dtor is only be called on program exit.
 //Warning! Never copy pool entries!
 template <typename T>
@@ -48,21 +55,20 @@ void* PoolEntry<T>::getRawData() {
 }
 
 template <typename T>
-void PoolEntry<T>::setValid( uint8_t isValid ) {
+void PoolEntry<T>::setValid(bool isValid) {
 	this->valid = isValid;
 }
 
 template <typename T>
-uint8_t PoolEntry<T>::getValid() {
+bool PoolEntry<T>::getValid() {
 	return valid;
 }
 
 template <typename T>
 void PoolEntry<T>::print() {
-	for (uint8_t size = 0; size < this->length; size++ ) {
-		sif::debug << "| " << std::hex << (double)this->address[size]
-		           << (this->valid? " (valid) " : " (invalid) ");
-	}
+	 sif::debug << "Pool Entry Validity: " <<
+			 (this->valid? " (valid) " : " (invalid) ") << std::endl;
+	printer::print(reinterpret_cast<uint8_t*>(address), length);
 	sif::debug << std::dec << std::endl;
 }
 
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index 4971ee45..1a22bb63 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -1,95 +1,126 @@
-#ifndef POOLENTRY_H_
-#define POOLENTRY_H_
-
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
 
 #include <framework/datapool/PoolEntryIF.h>
-#include <stddef.h>
-#include <cstring>
+
 #include <initializer_list>
 #include <type_traits>
+#include <cstddef>
+
 /**
  * @brief	This is a small helper class that defines a single data pool entry.
  * @details
  * The helper is used to store all information together with the data as a
- * single data pool entry.The content's type is defined by the template argument.
- * It is prepared for use with plain old data types, but may be extended to
- * complex types if necessary. It can be initialized with a certain value,
- * size and validity flag. It holds a pointer to the real data and offers
- * methods to access this data and to acquire additional information
- * (such as validity and array/byte size). It is NOT intended to be used
- * outside the DataPool class.
- * @author	Bastian Baetz
- * @ingroup data_pool
+ * single data pool entry. The content's type is defined by the template
+ * argument.
  *
+ * It is prepared for use with plain old data types, but may be
+ * extended to complex types if necessary. It can be initialized with a
+ * certain value, size and validity flag.
+ *
+ * It holds a pointer to the real data and offers methods to access this data
+ * and to acquire additional information (such as validity and array/byte size).
+ * It is NOT intended to be used outside DataPool implementations as it performs
+ * dynamic memory allocation.
+ *
+ * @ingroup data_pool
  */
 template <typename T>
 class PoolEntry : public PoolEntryIF {
 public:
 	static_assert(not std::is_same<T, bool>::value,
-			"Do not use boolean for the PoolEntry type, use uint8_t instead!"
-			"Warum? Darum :-)");
+				"Do not use boolean for the PoolEntry type, use uint8_t "
+				"instead! The ECSS standard defines a boolean as a one bit "
+				"field. Therefore it is preferred to store a boolean as an "
+				"uint8_t");
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
-	 * @param initValue	Initializer list with values to initialize with
-	 * @param set_length	Defines the array length of this entry.
-	 * @param set_valid		Sets the initialization flag. It is invalid (0) by default.
+	 * @details
+	 * Not passing any arguments will initialize an non-array pool entry
+	 * (setLength = 1) with an initial invalid state.
+	 * Please note that if an initializer list is passed, the correct
+	 * corresponding length should be passed too, otherwise a zero
+	 * initialization will be performed with the given setLength.
+	 * @param initValue
+	 * Initializer list with values to initialize with, for example {0,0} to
+	 * initialize the two entries to zero.
+	 * @param setLength
+	 * Defines the array length of this entry. Should be equal to the
+	 * intializer list length.
+	 * @param setValid
+	 * Sets the initialization flag. It is invalid by default.
 	 */
-	PoolEntry( std::initializer_list<T> initValue = {}, uint8_t set_length = 1, uint8_t set_valid = 0 );
+	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t setLength = 1,
+			bool setValid = false);
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
-	 * @param initValue		A pointer to the single value or array that holds the init value.
-	 * 						With the default value (NULL), the entry is initalized with all 0.
-	 * @param set_length	Defines the array length of this entry.
-	 * @param set_valid		Sets the initialization flag. It is invalid (0) by default.
+	 * @param initValue
+	 * A pointer to the single value or array that holds the init value.
+	 * With the default value (nullptr), the entry is initalized with all 0.
+	 * @param setLength
+	 * Defines the array length of this entry.
+	 * @param setValid
+	 * Sets the initialization flag. It is invalid by default.
 	 */
-	PoolEntry( T* initValue = NULL, uint8_t set_length = 1, uint8_t set_valid = 0 );
+	PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
+
+	//! Explicitely deleted copy ctor, copying is not allowed!
+	PoolEntry(const PoolEntry&) = delete;
+	//! Explicitely deleted copy assignment, copying is not allowed!
+	PoolEntry& operator=(const PoolEntry&) = delete;
 
 	/**
-	 * \brief	The allocated memory for the variable is freed in the destructor.
-	 * \details	As the data pool is global, this dtor is only called on program exit.
-	 * 			PoolEntries shall never be copied, as a copy might delete the variable on the heap.
+	 * @brief	The allocated memory for the variable is freed
+	 * 			in the destructor.
+	 * @details
+	 * As the data pool is global, this dtor is only called on program exit.
+	 * PoolEntries shall never be copied, as a copy might delete the variable
+	 * on the heap.
 	 */
 	~PoolEntry();
+
 	/**
-	 * \brief	This is the address pointing to the allocated memory.
+	 * @brief	This is the address pointing to the allocated memory.
 	 */
 	T* address;
 	/**
-	 * \brief	This attribute stores the length information.
+	 * @brief	This attribute stores the length information.
 	 */
 	uint8_t length;
 	/**
-	 * \brief	Here, the validity information for a variable is stored.
+	 * @brief	Here, the validity information for a variable is stored.
 	 * 			Every entry (single variable or vector) has one valid flag.
 	 */
 	uint8_t valid;
 	/**
-	 * \brief	getSize returns the array size of the entry.
-	 * \details	A single parameter has size 1.
+	 * @brief	getSize returns the array size of the entry.
+	 * @details	A single parameter has size 1.
 	 */
 	uint8_t getSize();
 	/**
-	 * \brief	This operation returns the size in bytes.
-	 * \details	The size is calculated by sizeof(type) * array_size.
+	 * @brief	This operation returns the size in bytes.
+	 * @details	The size is calculated by sizeof(type) * array_size.
 	 */
 	uint16_t getByteSize();
 	/**
-	 * \brief	This operation returns a the address pointer casted to void*.
+	 * @brief	This operation returns a the address pointer casted to void*.
 	 */
 	void* getRawData();
 	/**
-	 * \brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information
+	 * 			of the pool entry.
 	 */
-	void setValid( uint8_t isValid );
+	void setValid( bool isValid );
 	/**
-	 * \brief	This method allows to get the valid information of the pool entry.
+	 * @brief	This method allows to get the valid information
+	 * 			of the pool entry.
 	 */
-	uint8_t getValid();
+	bool getValid();
 	/**
-	 * \brief	This is a debug method that prints all values and the valid information to the screen.
-	 * 			It prints all array entries in a row.
+	 * @brief	This is a debug method that prints all values and the valid
+	 * 			information to the screen. It prints all array entries in a row.
 	 */
 	void print();
 
diff --git a/datapool/PoolEntryIF.h b/datapool/PoolEntryIF.h
index d24d553a..a075436e 100644
--- a/datapool/PoolEntryIF.h
+++ b/datapool/PoolEntryIF.h
@@ -1,5 +1,5 @@
-#ifndef POOLENTRYIF_H_
-#define POOLENTRYIF_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 
 #include <framework/globalfunctions/Type.h>
 #include <cstdint>
@@ -9,55 +9,53 @@
  * 			single data pool entry.
  * @details
  * The interface provides methods to determine the size and the validity
- * information of a value. It also defines a method to receive a pointer to
- * the raw data content. It is mainly used by DataPool itself, but also as a
+ * information of a value. It also defines a method to receive a pointer to the
+ * raw data content. It is mainly used by DataPool itself, but also as a
  * return pointer.
- * @author 	Bastian Baetz
+ *
+ * @author	Bastian Baetz
  * @ingroup data_pool
+ *
  */
 class PoolEntryIF {
 public:
 	/**
 	 * @brief	This is an empty virtual destructor,
-	 * 			as it is proposed for C++ interfaces.
+	 * 			as it is required for C++ interfaces.
 	 */
-	virtual ~PoolEntryIF() {}
-
+	virtual ~PoolEntryIF() {
+	}
 	/**
 	 * @brief	getSize returns the array size of the entry.
 	 * 			A single variable parameter has size 1.
 	 */
 	virtual uint8_t getSize() = 0;
-
 	/**
 	 * @brief	This operation returns the size in bytes, which is calculated by
 	 * 			sizeof(type) * array_size.
 	 */
 	virtual uint16_t getByteSize() = 0;
-
 	/**
 	 * @brief	This operation returns a the address pointer casted to void*.
 	 */
 	virtual void* getRawData() = 0;
-
 	/**
 	 * @brief	This method allows to set the valid information of the pool entry.
 	 */
-	virtual void setValid(uint8_t isValid) = 0;
-
+	virtual void setValid(bool isValid) = 0;
 	/**
 	 * @brief	This method allows to set the valid information of the pool entry.
 	 */
-	virtual uint8_t getValid() = 0;
-
+	virtual bool getValid() = 0;
 	/**
 	 * @brief	This is a debug method that prints all values and the valid
 	 * 			information to the screen. It prints all array entries in a row.
+	 * @details
+	 * Also displays whether the pool entry is valid or invalid.
 	 */
 	virtual void print() = 0;
-
 	/**
-	 * @brief 	Returns the type of the entry.
+	 * Returns the type of the entry.
 	 */
 	virtual Type getType() = 0;
 };

From dd210e99af8ece3866bc898ec3daa631d90b8d9d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 13:45:18 +0200
Subject: [PATCH 050/307] additional include which was missing

---
 datapoolglob/PoolRawAccess.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp
index cc04f9b9..b10ee04c 100644
--- a/datapoolglob/PoolRawAccess.cpp
+++ b/datapoolglob/PoolRawAccess.cpp
@@ -3,6 +3,8 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/osal/Endiness.h>
 
+#include <cstring>
+
 PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
 		DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode) :
 		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false),

From d7036edb94e7d64626e3cacf3d205c2b9db143a9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 15:53:20 +0200
Subject: [PATCH 051/307] hotfix

---
 serialize/SerialBufferAdapter.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 3df2abe9..e13e7eb6 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -82,7 +82,7 @@ ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 			}
 		}
 		//No Else If, go on with buffer
-		if (bufferLength >= *size) {
+		if (bufferLength <= *size) {
 			*size -= bufferLength;
 			memcpy(m_buffer, *buffer, bufferLength);
 			(*buffer) += bufferLength;

From b20ee0965a264dacfbc1299f0dffd79338e697bf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 16:44:00 +0200
Subject: [PATCH 052/307] renamed printer to arrayprinter

---
 .../{printer.cpp => arrayprinter.cpp}            | 16 ++++++++--------
 globalfunctions/{printer.h => arrayprinter.h}    |  9 ++++-----
 2 files changed, 12 insertions(+), 13 deletions(-)
 rename globalfunctions/{printer.cpp => arrayprinter.cpp} (71%)
 rename globalfunctions/{printer.h => arrayprinter.h} (70%)

diff --git a/globalfunctions/printer.cpp b/globalfunctions/arrayprinter.cpp
similarity index 71%
rename from globalfunctions/printer.cpp
rename to globalfunctions/arrayprinter.cpp
index a68a91ee..e8fce56c 100644
--- a/globalfunctions/printer.cpp
+++ b/globalfunctions/arrayprinter.cpp
@@ -1,25 +1,25 @@
-#include <framework/globalfunctions/printer.h>
+#include <framework/globalfunctions/arrayprinter.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <bitset>
 
-void printer::print(const uint8_t *data, size_t size, OutputType type,
+void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
 		bool printInfo, size_t maxCharPerLine) {
 	if(printInfo) {
 		sif::info << "Printing data with size " << size << ": ";
 	}
 	sif::info << "[";
 	if(type == OutputType::HEX) {
-		printer::printHex(data, size, maxCharPerLine);
+		arrayprinter::printHex(data, size, maxCharPerLine);
 	}
 	else if (type == OutputType::DEC) {
-		printer::printDec(data, size, maxCharPerLine);
+		arrayprinter::printDec(data, size, maxCharPerLine);
 	}
 	else if(type == OutputType::BIN) {
-	    printer::printBin(data, size);
+	    arrayprinter::printBin(data, size);
 	}
 }
 
-void printer::printHex(const uint8_t *data, size_t size,
+void arrayprinter::printHex(const uint8_t *data, size_t size,
 		size_t maxCharPerLine) {
 	sif::info << std::hex;
 	for(size_t i = 0; i < size; i++) {
@@ -36,7 +36,7 @@ void printer::printHex(const uint8_t *data, size_t size,
 	sif::info << "]" << std::endl;
 }
 
-void printer::printDec(const uint8_t *data, size_t size,
+void arrayprinter::printDec(const uint8_t *data, size_t size,
 		size_t maxCharPerLine) {
 	sif::info << std::dec;
 	for(size_t i = 0; i < size; i++) {
@@ -51,7 +51,7 @@ void printer::printDec(const uint8_t *data, size_t size,
 	sif::info << "]" << std::endl;
 }
 
-void printer::printBin(const uint8_t *data, size_t size) {
+void arrayprinter::printBin(const uint8_t *data, size_t size) {
     sif::info << "\n" << std::flush;
     for(size_t i = 0; i < size; i++) {
         sif::info << "Byte " << i + 1 << ": 0b"<<
diff --git a/globalfunctions/printer.h b/globalfunctions/arrayprinter.h
similarity index 70%
rename from globalfunctions/printer.h
rename to globalfunctions/arrayprinter.h
index 33a382ec..e57d8e04 100644
--- a/globalfunctions/printer.h
+++ b/globalfunctions/arrayprinter.h
@@ -1,16 +1,15 @@
-#ifndef FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_
-#define FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_
+#ifndef FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_
+#define FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_
 #include <cstdint>
 #include <cstddef>
 
-namespace printer {
-
 enum class OutputType {
 	DEC,
 	HEX,
 	BIN
 };
 
+namespace arrayprinter {
 void print(const uint8_t* data, size_t size, OutputType type = OutputType::HEX,
 		bool printInfo = true, size_t maxCharPerLine = 12);
 void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
@@ -18,4 +17,4 @@ void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
 void printBin(const uint8_t* data, size_t size);
 }
 
-#endif /* FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_ */
+#endif /* FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_ */

From abcd818f2f48f6805ca1bfadf9d9694078e6a963 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 16:44:31 +0200
Subject: [PATCH 053/307] printer renamed to arrayprinter

---
 globalfunctions/arrayprinter.cpp | 61 ++++++++++++++++++++++++++++++++
 globalfunctions/arrayprinter.h   | 20 +++++++++++
 2 files changed, 81 insertions(+)
 create mode 100644 globalfunctions/arrayprinter.cpp
 create mode 100644 globalfunctions/arrayprinter.h

diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp
new file mode 100644
index 00000000..e8fce56c
--- /dev/null
+++ b/globalfunctions/arrayprinter.cpp
@@ -0,0 +1,61 @@
+#include <framework/globalfunctions/arrayprinter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <bitset>
+
+void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
+		bool printInfo, size_t maxCharPerLine) {
+	if(printInfo) {
+		sif::info << "Printing data with size " << size << ": ";
+	}
+	sif::info << "[";
+	if(type == OutputType::HEX) {
+		arrayprinter::printHex(data, size, maxCharPerLine);
+	}
+	else if (type == OutputType::DEC) {
+		arrayprinter::printDec(data, size, maxCharPerLine);
+	}
+	else if(type == OutputType::BIN) {
+	    arrayprinter::printBin(data, size);
+	}
+}
+
+void arrayprinter::printHex(const uint8_t *data, size_t size,
+		size_t maxCharPerLine) {
+	sif::info << std::hex;
+	for(size_t i = 0; i < size; i++) {
+		sif::info << "0x" << static_cast<int>(data[i]);
+		if(i < size - 1){
+			sif::info << " , ";
+			if(i > 0 and i % maxCharPerLine == 0) {
+				sif::info << std::endl;
+			}
+		}
+
+	}
+	sif::info << std::dec;
+	sif::info << "]" << std::endl;
+}
+
+void arrayprinter::printDec(const uint8_t *data, size_t size,
+		size_t maxCharPerLine) {
+	sif::info << std::dec;
+	for(size_t i = 0; i < size; i++) {
+		sif::info << static_cast<int>(data[i]);
+		if(i < size - 1){
+			sif::info << " , ";
+			if(i > 0 and i % maxCharPerLine == 0) {
+				sif::info << std::endl;
+			}
+		}
+	}
+	sif::info << "]" << std::endl;
+}
+
+void arrayprinter::printBin(const uint8_t *data, size_t size) {
+    sif::info << "\n" << std::flush;
+    for(size_t i = 0; i < size; i++) {
+        sif::info << "Byte " << i + 1 << ": 0b"<<
+                std::bitset<8>(data[i]) << ",\n" << std::flush;
+    }
+    sif::info << "]" << std::endl;
+}
diff --git a/globalfunctions/arrayprinter.h b/globalfunctions/arrayprinter.h
new file mode 100644
index 00000000..e57d8e04
--- /dev/null
+++ b/globalfunctions/arrayprinter.h
@@ -0,0 +1,20 @@
+#ifndef FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_
+#define FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_
+#include <cstdint>
+#include <cstddef>
+
+enum class OutputType {
+	DEC,
+	HEX,
+	BIN
+};
+
+namespace arrayprinter {
+void print(const uint8_t* data, size_t size, OutputType type = OutputType::HEX,
+		bool printInfo = true, size_t maxCharPerLine = 12);
+void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+void printBin(const uint8_t* data, size_t size);
+}
+
+#endif /* FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_ */

From 4ebd937fe036e5a9427f2bda8683bfca58d5207b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 16:47:46 +0200
Subject: [PATCH 054/307] deleted old printer file

---
 datapool/PoolEntry.cpp      |  4 +--
 globalfunctions/printer.cpp | 61 -------------------------------------
 globalfunctions/printer.h   | 21 -------------
 3 files changed, 2 insertions(+), 84 deletions(-)
 delete mode 100644 globalfunctions/printer.cpp
 delete mode 100644 globalfunctions/printer.h

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index a87a6c4e..d535a72b 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,6 +1,6 @@
 #include <framework/datapool/PoolEntry.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/globalfunctions/printer.h>
+#include <framework/globalfunctions/arrayprinter.h>
 #include <cstring>
 
 template <typename T>
@@ -68,7 +68,7 @@ template <typename T>
 void PoolEntry<T>::print() {
 	 sif::debug << "Pool Entry Validity: " <<
 			 (this->valid? " (valid) " : " (invalid) ") << std::endl;
-	printer::print(reinterpret_cast<uint8_t*>(address), length);
+	arrayprinter::print(reinterpret_cast<uint8_t*>(address), length);
 	sif::debug << std::dec << std::endl;
 }
 
diff --git a/globalfunctions/printer.cpp b/globalfunctions/printer.cpp
deleted file mode 100644
index a68a91ee..00000000
--- a/globalfunctions/printer.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-#include <framework/globalfunctions/printer.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <bitset>
-
-void printer::print(const uint8_t *data, size_t size, OutputType type,
-		bool printInfo, size_t maxCharPerLine) {
-	if(printInfo) {
-		sif::info << "Printing data with size " << size << ": ";
-	}
-	sif::info << "[";
-	if(type == OutputType::HEX) {
-		printer::printHex(data, size, maxCharPerLine);
-	}
-	else if (type == OutputType::DEC) {
-		printer::printDec(data, size, maxCharPerLine);
-	}
-	else if(type == OutputType::BIN) {
-	    printer::printBin(data, size);
-	}
-}
-
-void printer::printHex(const uint8_t *data, size_t size,
-		size_t maxCharPerLine) {
-	sif::info << std::hex;
-	for(size_t i = 0; i < size; i++) {
-		sif::info << "0x" << static_cast<int>(data[i]);
-		if(i < size - 1){
-			sif::info << " , ";
-			if(i > 0 and i % maxCharPerLine == 0) {
-				sif::info << std::endl;
-			}
-		}
-
-	}
-	sif::info << std::dec;
-	sif::info << "]" << std::endl;
-}
-
-void printer::printDec(const uint8_t *data, size_t size,
-		size_t maxCharPerLine) {
-	sif::info << std::dec;
-	for(size_t i = 0; i < size; i++) {
-		sif::info << static_cast<int>(data[i]);
-		if(i < size - 1){
-			sif::info << " , ";
-			if(i > 0 and i % maxCharPerLine == 0) {
-				sif::info << std::endl;
-			}
-		}
-	}
-	sif::info << "]" << std::endl;
-}
-
-void printer::printBin(const uint8_t *data, size_t size) {
-    sif::info << "\n" << std::flush;
-    for(size_t i = 0; i < size; i++) {
-        sif::info << "Byte " << i + 1 << ": 0b"<<
-                std::bitset<8>(data[i]) << ",\n" << std::flush;
-    }
-    sif::info << "]" << std::endl;
-}
diff --git a/globalfunctions/printer.h b/globalfunctions/printer.h
deleted file mode 100644
index 33a382ec..00000000
--- a/globalfunctions/printer.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_
-#define FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_
-#include <cstdint>
-#include <cstddef>
-
-namespace printer {
-
-enum class OutputType {
-	DEC,
-	HEX,
-	BIN
-};
-
-void print(const uint8_t* data, size_t size, OutputType type = OutputType::HEX,
-		bool printInfo = true, size_t maxCharPerLine = 12);
-void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
-void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
-void printBin(const uint8_t* data, size_t size);
-}
-
-#endif /* FRAMEWORK_GLOBALFUNCTIONS_PRINTER_H_ */

From dbeb04895b2d86731be07c4f6af7b1f7f09316fc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 17:55:03 +0200
Subject: [PATCH 055/307] added hosted OSAL

---
 framework.mk                   |   4 +-
 osal/host/Clock.cpp            | 227 ++++++++++++++++++++++++++++++++
 osal/host/MessageQueue.cpp     | 144 +++++++++++++++++++++
 osal/host/MessageQueue.h       | 230 +++++++++++++++++++++++++++++++++
 osal/host/Mutex.cpp            |  40 ++++++
 osal/host/Mutex.h              |  28 ++++
 osal/host/MutexFactory.cpp     |  28 ++++
 osal/host/PeriodicTask.cpp     | 176 +++++++++++++++++++++++++
 osal/host/PeriodicTask.h       | 122 +++++++++++++++++
 osal/host/QueueFactory.cpp     |  41 ++++++
 osal/host/QueueMapManager.cpp  |  46 +++++++
 osal/host/QueueMapManager.h    |  47 +++++++
 osal/host/SemaphoreFactory.cpp |  40 ++++++
 osal/host/TaskFactory.cpp      |  55 ++++++++
 14 files changed, 1227 insertions(+), 1 deletion(-)
 create mode 100644 osal/host/Clock.cpp
 create mode 100644 osal/host/MessageQueue.cpp
 create mode 100644 osal/host/MessageQueue.h
 create mode 100644 osal/host/Mutex.cpp
 create mode 100644 osal/host/Mutex.h
 create mode 100644 osal/host/MutexFactory.cpp
 create mode 100644 osal/host/PeriodicTask.cpp
 create mode 100644 osal/host/PeriodicTask.h
 create mode 100644 osal/host/QueueFactory.cpp
 create mode 100644 osal/host/QueueMapManager.cpp
 create mode 100644 osal/host/QueueMapManager.h
 create mode 100644 osal/host/SemaphoreFactory.cpp
 create mode 100644 osal/host/TaskFactory.cpp

diff --git a/framework.mk b/framework.mk
index f2107a4c..2092c2fe 100644
--- a/framework.mk
+++ b/framework.mk
@@ -34,8 +34,10 @@ else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
 else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS_FSFW),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
diff --git a/osal/host/Clock.cpp b/osal/host/Clock.cpp
new file mode 100644
index 00000000..78bbc58a
--- /dev/null
+++ b/osal/host/Clock.cpp
@@ -0,0 +1,227 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/timemanager/Clock.h>
+
+#include <chrono>
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <fstream>
+#endif
+
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = NULL;
+
+using SystemClock = std::chrono::system_clock;
+
+uint32_t Clock::getTicksPerSecond(void){
+	sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
+	return 0;
+	//return CLOCKS_PER_SEC;
+	//uint32_t ticks = sysconf(_SC_CLK_TCK);
+	//return ticks;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::setClock: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setClock(const timeval* time) {
+	// do some magic with chrono
+#if defined(WIN32)
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+
+#endif
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t Clock::getClock_timeval(timeval* time) {
+#if defined(WIN32)
+	auto now  = std::chrono::system_clock::now();
+	auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto epoch = now.time_since_epoch();
+	time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
+	auto fraction = now - secondsChrono;
+	time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	        fraction).count();
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	timespec timeUnix;
+	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
+	if(status!=0){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	time->tv_sec = timeUnix.tv_sec;
+	time->tv_usec = timeUnix.tv_nsec / 1000.0;
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+timeval Clock::getUptime() {
+	timeval timeval;
+#if defined(WIN32)
+	auto uptime  = std::chrono::milliseconds(GetTickCount64());
+	auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
+	timeval.tv_sec = secondsChrono.count();
+	auto fraction = uptime - secondsChrono;
+	timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	            fraction).count();
+#elif defined(LINUX)
+	double uptimeSeconds;
+	if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
+	{
+		// value is rounded down automatically
+		timeval.tv_sec = uptimeSeconds;
+		timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
+	}
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+#endif
+	return timeval;
+}
+
+ReturnValue_t Clock::getUptime(timeval* uptime) {
+	*uptime = getUptime();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
+	timeval uptime = getUptime();
+	*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+	// do some magic with chrono (C++20!)
+	// Right now, the library doesn't have the new features yet.
+	// so we work around that for now.
+	auto now = SystemClock::now();
+	auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto fraction = now - seconds;
+	time_t tt = SystemClock::to_time_t(now);
+	struct tm* timeInfo;
+	timeInfo = gmtime(&tt);
+	time->year = timeInfo->tm_year + 1900;
+	time->month = timeInfo->tm_mon+1;
+	time->day = timeInfo->tm_mday;
+	time->hour = timeInfo->tm_hour;
+	time->minute = timeInfo->tm_min;
+	time->second = timeInfo->tm_sec;
+	auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
+	time->usecond = usecond.count();
+
+	//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
+		timeval* to) {
+	struct tm time_tm;
+
+	time_tm.tm_year = from->year - 1900;
+	time_tm.tm_mon = from->month - 1;
+	time_tm.tm_mday = from->day;
+
+	time_tm.tm_hour = from->hour;
+	time_tm.tm_min = from->minute;
+	time_tm.tm_sec = from->second;
+
+	time_t seconds = mktime(&time_tm);
+
+	to->tv_sec = seconds;
+	to->tv_usec = from->usecond;
+	//Fails in 2038..
+	return HasReturnvaluesIF::RETURN_OK;
+	sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+	*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
+			/ 3600.;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
+	//SHOULDDO: works not for dates in the past (might have less leap seconds)
+	if (timeMutex == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint16_t leapSeconds;
+	ReturnValue_t result = getLeapSeconds(&leapSeconds);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	timeval leapSeconds_timeval = { 0, 0 };
+	leapSeconds_timeval.tv_sec = leapSeconds;
+
+	//initial offset between UTC and TAI
+	timeval UTCtoTAI1972 = { 10, 0 };
+
+	timeval TAItoTT = { 32, 184000 };
+
+	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+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;
+	}
+
+	leapSeconds = leapSeconds_;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
+	if(timeMutex == nullptr){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	*leapSeconds_ = leapSeconds;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::checkOrCreateClockMutex(){
+	if(timeMutex == nullptr){
+		MutexFactory* mutexFactory = MutexFactory::instance();
+		if (mutexFactory == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		timeMutex = mutexFactory->createMutex();
+		if (timeMutex == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
new file mode 100644
index 00000000..7d5e4d97
--- /dev/null
+++ b/osal/host/MessageQueue.cpp
@@ -0,0 +1,144 @@
+#include <framework/osal/host/MessageQueue.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/osal/host/QueueMapManager.h>
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		messageSize(maxMessageSize), messageDepth(messageDepth) {
+	queueLock = MutexFactory::instance()->createMutex();
+	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "MessageQueue: Could not be created" << std::endl;
+	}
+}
+
+MessageQueue::~MessageQueue() {
+	MutexFactory::instance()->deleteMutex(queueLock);
+}
+
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+		MessageQueueMessage* message, bool ignoreFault) {
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+	return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+	if (this->lastPartner != 0) {
+		return sendMessageFrom(this->lastPartner, message, this->getId());
+	} else {
+		return MessageQueueIF::NO_REPLY_PARTNER;
+	}
+}
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
+			ignoreFault);
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+		MessageQueueId_t* receivedFrom) {
+	ReturnValue_t status = this->receiveMessage(message);
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
+	return status;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+	if(messageQueue.empty()) {
+		return MessageQueueIF::EMPTY;
+	}
+	// not sure this will work..
+	//*message = std::move(messageQueue.front());
+	MessageQueueMessage* currentMessage = &messageQueue.front();
+	std::copy(currentMessage->getBuffer(),
+			currentMessage->getBuffer() + messageSize, message->getBuffer());
+	messageQueue.pop();
+	// The last partner is the first uint32_t field in the message
+	this->lastPartner = message->getSender();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getLastPartner() const {
+	return lastPartner;
+}
+
+ReturnValue_t MessageQueue::flush(uint32_t* count) {
+	*count = messageQueue.size();
+	// Clears the queue.
+	messageQueue = std::queue<MessageQueueMessage>();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getId() const {
+	return mqId;
+}
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	defaultDestinationSet = true;
+	this->defaultDestination = defaultDestination;
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const {
+	return defaultDestination;
+}
+
+bool MessageQueue::isDefaultDestinationSet() const {
+	return defaultDestinationSet;
+}
+
+
+// static core function to send messages.
+ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+        MessageQueueMessage *message, MessageQueueId_t sentFrom,
+        bool ignoreFault) {
+	if(message->messageSize > MessageQueueMessage::MAX_DATA_SIZE) {
+		// Actually, this should never happen or an error will be emitted
+		// in MessageQueueMessage.
+		// But I will still return a failure here.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
+			QueueMapManager::instance()->getMessageQueue(sendTo));
+	if(targetQueue == nullptr) {
+		if(not ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
+							objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != nullptr) {
+				internalErrorReporter->queueMessageNotSent();
+			}
+		}
+		// TODO: Better returnvalue
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
+		MutexHelper mutexLock(targetQueue->queueLock, 20);
+		targetQueue->messageQueue.push(*message);
+	}
+	else {
+		return MessageQueueIF::FULL;
+	}
+    message->setSender(sentFrom);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::lockQueue(millis_t lockTimeout) {
+	return queueLock->lockMutex(lockTimeout);
+}
+
+ReturnValue_t MessageQueue::unlockQueue() {
+	return queueLock->unlockMutex();
+}
diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h
new file mode 100644
index 00000000..a0cce001
--- /dev/null
+++ b/osal/host/MessageQueue.h
@@ -0,0 +1,230 @@
+#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+
+#include <framework/internalError/InternalErrorReporterIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/ipc/MessageQueueMessage.h>
+#include <framework/ipc/MutexIF.h>
+#include <framework/timemanager/Clock.h>
+
+#include <queue>
+#include <memory>
+
+/**
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
+ *
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
+ */
+class MessageQueue : public MessageQueueIF {
+	friend class MessageQueueSenderIF;
+public:
+	/**
+	 * @brief	The constructor initializes and configures the message queue.
+	 * @details
+	 * By making use of the according operating system call, a message queue is
+	 * created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
+	 */
+	MessageQueue(size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
+	/**
+	 * @brief	The destructor deletes the formerly created message queue.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
+	 */
+	virtual ~MessageQueue();
+
+	/**
+	 * @brief	This operation sends a message to the given destination.
+	 * @details	It directly uses the sendMessage call of the MessageQueueSender
+	 * parent, but passes its queue id as "sentFrom" parameter.
+	 * @param sendTo	This parameter specifies the message queue id of the
+	 *  destination message queue.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 * @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) override;
+	/**
+	 * @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) override;
+	/**
+	 * @brief	This operation sends a message to the last communication partner.
+	 * @details	This operation simplifies answering an incoming message by using
+	 * the stored lastPartner information as destination. If there was no
+	 * message received yet (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) override;
+
+	/**
+	 * @brief	With the sendMessage call, a queue message is sent to a
+	 * 			receiving queue.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 *  The OS's return value is returned.
+	 * @param sendTo	This parameter specifies the message queue id to send
+	 * the message to.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @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.
+	 * @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) override;
+
+	/**
+	 * @brief	The sendToDefault method sends a queue message to the default
+	 * 			destination.
+	 * @details
+	 * In all other aspects, it works identical to the sendMessage method.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @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) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue
+	 * 			and returns the sender.
+	 * @details
+	 * It works identically to the other receiveMessage call, but in  addition
+	 * returns the sender's queue id.
+	 * @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,
+			MessageQueueId_t *receivedFrom) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue.
+	 * @details
+	 * If data is available it is stored in the passed message pointer.
+	 * The message's original content is overwritten and the sendFrom
+	 * information is stored in the lastPartner attribute. Else, the lastPartner
+	 * information remains untouched, the 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) override;
+	/**
+	 * Deletes all pending messages in the queue.
+	 * @param count The number of flushed messages.
+	 * @return RETURN_OK on success.
+	 */
+	ReturnValue_t flush(uint32_t* count) override;
+	/**
+	 * @brief	This method returns the message queue id of the last
+	 * 			communication partner.
+	 */
+	MessageQueueId_t getLastPartner() const override;
+	/**
+	 * @brief	This method returns the message queue id of this class's
+	 * 			message queue.
+	 */
+	MessageQueueId_t getId() const override;
+
+	/**
+	 * @brief	This method is a simple setter for the default destination.
+	 */
+	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+	/**
+	 * @brief	This method is a simple getter for the default destination.
+	 */
+	MessageQueueId_t getDefaultDestination() const override;
+
+	bool isDefaultDestinationSet() const override;
+
+	ReturnValue_t lockQueue(millis_t lockTimeout);
+	ReturnValue_t unlockQueue();
+protected:
+	/**
+	 * @brief 	Implementation to be called from any send Call within
+	 * 			MessageQueue and MessageQueueSenderIF.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 * The OS's return value is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @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.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter  is not incremented
+	 * if queue is full.
+	 * @param context Specify whether call is made from task or from an ISR.
+	 */
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false);
+
+	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
+private:
+	std::queue<MessageQueueMessage> messageQueue;
+	/**
+	 * @brief	The class stores the queue id it got assigned.
+	 * 			If initialization fails, the queue id is set to zero.
+	 */
+	MessageQueueId_t mqId = 0;
+	size_t messageSize = 0;
+	size_t messageDepth = 0;
+
+	MutexIF* queueLock;
+
+	bool defaultDestinationSet = false;
+	MessageQueueId_t defaultDestination = 0;
+	MessageQueueId_t lastPartner = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
new file mode 100644
index 00000000..0e6e652d
--- /dev/null
+++ b/osal/host/Mutex.cpp
@@ -0,0 +1,40 @@
+#include <framework/osal/host/Mutex.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+const uint32_t MutexIF::NO_TIMEOUT = 0;
+const uint32_t MutexIF::MAX_TIMEOUT = 0xffffffff;
+
+ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::MAX_TIMEOUT) {
+		mutex.lock();
+		locked = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else if(timeoutMs == MutexIF::NO_TIMEOUT) {
+		if(mutex.try_lock()) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	else if(timeoutMs > MutexIF::NO_TIMEOUT){
+		auto chronoMs = std::chrono::milliseconds(timeoutMs);
+		if(mutex.try_lock_for(chronoMs)) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	return MutexIF::MUTEX_TIMEOUT;
+}
+
+ReturnValue_t Mutex::unlockMutex() {
+	if(not locked) {
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
+	}
+	mutex.unlock();
+	locked = false;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+std::timed_mutex* Mutex::getMutexHandle() {
+	return &mutex;
+}
diff --git a/osal/host/Mutex.h b/osal/host/Mutex.h
new file mode 100644
index 00000000..dce2a9dc
--- /dev/null
+++ b/osal/host/Mutex.h
@@ -0,0 +1,28 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+#define FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+
+#include <framework/ipc/MutexIF.h>
+
+#include <mutex>
+
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
+class Mutex : public MutexIF {
+public:
+	Mutex() = default;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override;
+	ReturnValue_t unlockMutex() override;
+
+	std::timed_mutex* getMutexHandle();
+private:
+	bool locked = false;
+	std::timed_mutex mutex;
+};
+
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
diff --git a/osal/host/MutexFactory.cpp b/osal/host/MutexFactory.cpp
new file mode 100644
index 00000000..25d9fa46
--- /dev/null
+++ b/osal/host/MutexFactory.cpp
@@ -0,0 +1,28 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/osal/host/Mutex.h>
+
+//TODO: Different variant than the lazy loading in QueueFactory.
+//What's better and why? -> one is on heap the other on bss/data
+//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
+MutexFactory* MutexFactory::factoryInstance = nullptr;
+
+MutexFactory::MutexFactory() {
+}
+
+MutexFactory::~MutexFactory() {
+}
+
+MutexFactory* MutexFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new MutexFactory();
+	}
+	return MutexFactory::factoryInstance;
+}
+
+MutexIF* MutexFactory::createMutex() {
+	return new Mutex();
+}
+
+void MutexFactory::deleteMutex(MutexIF* mutex) {
+	delete mutex;
+}
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
new file mode 100644
index 00000000..57898ac2
--- /dev/null
+++ b/osal/host/PeriodicTask.cpp
@@ -0,0 +1,176 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/osal/host/Mutex.h>
+#include <framework/osal/host/PeriodicTask.h>
+
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), taskName(name), period(setPeriod),
+		deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+	terminateThread = true;
+	if(mainThread.joinable()) {
+		mainThread.join();
+	}
+	delete this;
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+
+
+	if (not originalTask->started) {
+		// we have to suspend/block here until the task is started.
+		// if semaphores are implemented, use them here.
+		std::unique_lock<std::mutex> lock(initMutex);
+		initCondition.wait(lock);
+	}
+
+	this->taskFunctionality();
+	sif::debug << "PeriodicTask::taskEntryPoint: "
+			"Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// Notify task to start.
+	std::lock_guard<std::mutex> lock(initMutex);
+	initCondition.notify_one();
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
+	auto currentStartTime {
+	    std::chrono::duration_cast<std::chrono::milliseconds>(
+	    std::chrono::system_clock::now().time_since_epoch())
+	};
+	auto nextStartTime{ currentStartTime };
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		if(terminateThread.load()) {
+			break;
+		}
+		for (ObjectList::iterator it = objectList.begin();
+				it != objectList.end(); ++it) {
+			(*it)->performOperation();
+		}
+		if(not delayUntil(&currentStartTime, periodChrono)) {
+			sif::warning << "PeriodicTask: " << taskName <<
+					" missed deadline!\n" << std::flush;
+			if(deadlineMissedFunc != nullptr) {
+				this->deadlineMissedFunc();
+			}
+		}
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+bool PeriodicTask::delayUntil(std::chrono::milliseconds * previousWakeTimeMs,
+        const std::chrono::milliseconds interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<std::chrono::milliseconds>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
diff --git a/osal/host/PeriodicTask.h b/osal/host/PeriodicTask.h
new file mode 100644
index 00000000..19c06b52
--- /dev/null
+++ b/osal/host/PeriodicTask.h
@@ -0,0 +1,122 @@
+#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
+#include <framework/tasks/Typedef.h>
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @details
+ *
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF {
+public:
+	/**
+	 * @brief	Standard constructor of the class.
+	 * @details
+	 * The class is initialized without allocated objects. These need to be
+	 * added with #addComponent.
+	 * @param priority
+	 * @param stack_size
+	 * @param setPeriod
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall be
+	 * assigned.
+	 */
+	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
+			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask(void);
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 *  -@c RETURN_OK on success
+	 *  -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object);
+
+	uint32_t getPeriodMs() const;
+
+	ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+	bool started;
+	//!< Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
+	std::thread mainThread;
+	std::atomic<bool> terminateThread = false;
+
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+
+	std::condition_variable initCondition;
+	std::mutex initMutex;
+	std::string taskName;
+	/**
+	 * @brief	The period of the task.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
+	 */
+	TaskPeriod period;
+	/**
+	 * @brief	The pointer to the deadline-missed function.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed. So, each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the function executed in the new task's context.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context.
+	 * The taskFunctionality method is called afterwards.
+	 * @param	A pointer to the task object itself is passed as argument.
+	 */
+
+	void taskEntryPoint(void* argument);
+	/**
+	 * @brief	The function containing the actual functionality of the task.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called. Afterwards
+	 * the checkAndRestartPeriod system call blocks the task until the next
+	 *  period. On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	void taskFunctionality(void);
+
+	bool delayUntil(std::chrono::milliseconds * previousWakeTimeMs,
+	        const std::chrono::milliseconds interval);
+};
+
+#endif /* PERIODICTASK_H_ */
diff --git a/osal/host/QueueFactory.cpp b/osal/host/QueueFactory.cpp
new file mode 100644
index 00000000..691249c3
--- /dev/null
+++ b/osal/host/QueueFactory.cpp
@@ -0,0 +1,41 @@
+#include <framework/ipc/QueueFactory.h>
+#include <framework/osal/host/MessageQueue.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <cstring>
+
+QueueFactory* QueueFactory::factoryInstance = nullptr;
+
+
+ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+QueueFactory* QueueFactory::instance() {
+	if (factoryInstance == nullptr) {
+		factoryInstance = new QueueFactory;
+	}
+	return factoryInstance;
+}
+
+QueueFactory::QueueFactory() {
+}
+
+QueueFactory::~QueueFactory() {
+}
+
+MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
+		size_t maxMessageSize) {
+	// A thread-safe queue can be implemented  by using a combination
+	// of std::queue and std::mutex. This uses dynamic memory allocation
+	// which could be alleviated by using a custom allocator, external library
+	// (etl::queue) or simply using std::queue, we're on a host machine anyway.
+	return new MessageQueue(messageDepth, maxMessageSize);
+}
+
+void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
+	delete queue;
+}
diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
new file mode 100644
index 00000000..a57d2c0c
--- /dev/null
+++ b/osal/host/QueueMapManager.cpp
@@ -0,0 +1,46 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+#include <framework/osal/host/QueueMapManager.h>
+
+QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
+
+QueueMapManager::QueueMapManager() {}
+
+QueueMapManager* QueueMapManager::instance() {
+	if (mqManagerInstance == nullptr){
+		mqManagerInstance = new QueueMapManager();
+	}
+	return QueueMapManager::mqManagerInstance;
+}
+
+ReturnValue_t QueueMapManager::addMessageQueue(
+		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
+	uint32_t currentId = queueCounter++;
+	auto returnPair = queueMap.emplace(currentId, queueToInsert);
+	if(not returnPair.second) {
+		// this should never happen for the atomic variable.
+		sif::error << "QueueMapManager: This ID is already inside the map!"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if (id != nullptr) {
+		*id = currentId;
+	}
+	mapLock = MutexFactory::instance()->createMutex();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* QueueMapManager::getMessageQueue(
+		MessageQueueId_t messageQueueId) const {
+	MutexHelper(mapLock, 50);
+	auto queueIter = queueMap.find(messageQueueId);
+	if(queueIter != queueMap.end()) {
+		return queueIter->second;
+	}
+	else {
+		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
+				messageQueueId << " does not exists in the map" << std::endl;
+		return nullptr;
+	}
+}
+
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
new file mode 100644
index 00000000..34f0fc95
--- /dev/null
+++ b/osal/host/QueueMapManager.h
@@ -0,0 +1,47 @@
+#ifndef FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+#define FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+
+#include <framework/ipc/MessageQueueSenderIF.h>
+#include <framework/osal/host/MessageQueue.h>
+#include <unordered_map>
+#include <atomic>
+
+using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
+
+
+/**
+ * An internal map to map message queue IDs to message queues.
+ * This propably should be a singleton..
+ */
+class QueueMapManager {
+public:
+	//! Returns the single instance of SemaphoreFactory.
+	static QueueMapManager* instance();
+
+	/**
+	 * Insert a message queue into the map and returns a message queue ID
+	 * @param queue The message queue to insert.
+	 * @param id The passed value will be set unless a nullptr is passed
+	 * @return
+	 */
+	ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
+			id = nullptr);
+	/**
+	 * Get the message queue handle by providing a message queue ID.
+	 * @param messageQueueId
+	 * @return
+	 */
+	MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
+
+private:
+	//! External instantiation is forbidden.
+	QueueMapManager();
+	std::atomic<uint32_t> queueCounter = MessageQueueIF::NO_QUEUE + 1;
+	MutexIF* mapLock;
+	QueueMap queueMap;
+	static QueueMapManager* mqManagerInstance;
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_QUEUEMAP_H_ */
diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp
new file mode 100644
index 00000000..3719a883
--- /dev/null
+++ b/osal/host/SemaphoreFactory.cpp
@@ -0,0 +1,40 @@
+#include <framework/tasks/SemaphoreFactory.h>
+#include <framework/osal/linux/BinarySemaphore.h>
+#include <framework/osal/linux/CountingSemaphore.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
+const uint32_t SemaphoreIF::MAX_TIMEOUT = 0xFFFFFFFF;
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
+			" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
+				" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}
diff --git a/osal/host/TaskFactory.cpp b/osal/host/TaskFactory.cpp
new file mode 100644
index 00000000..a13844c4
--- /dev/null
+++ b/osal/host/TaskFactory.cpp
@@ -0,0 +1,55 @@
+#include <framework/osal/host/PeriodicTask.h>
+#include <framework/tasks/TaskFactory.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
+
+#include <chrono>
+
+TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
+
+// Will propably not be used for hosted implementation
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
+
+TaskFactory::TaskFactory() {
+}
+
+TaskFactory::~TaskFactory() {
+}
+
+TaskFactory* TaskFactory::instance() {
+	return TaskFactory::factoryInstance;
+}
+
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+			deadLineMissedFunction_);
+}
+
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	sif::warning << "TaskFactory::createFixedTimeslotTask: Not implemented "
+			"yet" << std::endl;
+	return nullptr;
+}
+
+ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
+	// This might block for some time!
+	delete task;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
+	std::this_thread::sleep_for(std::chrono::milliseconds(delayMs));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+

From ef3e5c4582df70896758e775bed5383b7c415689 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 18:20:21 +0200
Subject: [PATCH 056/307] very important bugfix for serial buffer adapter

---
 serialize/SerialBufferAdapter.cpp | 39 ++++++++++++-------------------
 serialize/SerialBufferAdapter.h   |  9 +++----
 2 files changed, 20 insertions(+), 28 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index e13e7eb6..db91a93f 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -3,22 +3,17 @@
 #include <cstring>
 
 template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(const void* buffer,
+SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
 		count_t bufferLength, bool serializeLength) :
 		serializeLength(serializeLength),
-		constBuffer(static_cast<const uint8_t *>(buffer)), m_buffer(nullptr),
-		bufferLength(bufferLength) {
-
-}
+		constBuffer(buffer), buffer(nullptr),
+		bufferLength(bufferLength) {}
 
 template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(void* buffer,
+SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
 		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength), bufferLength(bufferLength) {
-	uint8_t * member_buffer = static_cast<uint8_t *>(buffer);
-	m_buffer = member_buffer;
-	constBuffer = member_buffer;
-}
+		serializeLength(serializeLength), buffer(buffer), constBuffer(buffer),
+		bufferLength(bufferLength) {}
 
 
 template<typename count_t>
@@ -42,8 +37,8 @@ ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
 		}
 		if (constBuffer != nullptr) {
 			memcpy(*buffer, constBuffer, bufferLength);
-		} else if (m_buffer != nullptr) {
-			memcpy(*buffer, m_buffer, bufferLength);
+		} else if (buffer != nullptr) {
+			memcpy(*buffer, buffer, bufferLength);
 		} else {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
@@ -66,14 +61,11 @@ template<typename count_t>
 ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 		size_t* size, bool bigEndian) {
 	//TODO Ignores Endian flag!
-	// (Robin) the one of the buffer? wouldn't that be an issue for serialize
-	// as well? SerialFixedArrayListAdapter implements swapping of buffer
-	// fields (if buffer type is not uint8_t)
 	if (buffer != nullptr) {
 		if(serializeLength) {
 			count_t serializedSize = AutoSerializeAdapter::getSerializedSize(
 					&bufferLength);
-			if(bufferLength + serializedSize >= *size) {
+			if(bufferLength + serializedSize <= *size) {
 				*buffer +=  serializedSize;
 				*size -= serializedSize;
 			}
@@ -84,7 +76,7 @@ ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 		//No Else If, go on with buffer
 		if (bufferLength <= *size) {
 			*size -= bufferLength;
-			memcpy(m_buffer, *buffer, bufferLength);
+			memcpy(buffer, *buffer, bufferLength);
 			(*buffer) += bufferLength;
 			return HasReturnvaluesIF::RETURN_OK;
 		}
@@ -99,28 +91,27 @@ ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 
 template<typename count_t>
 uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
-	if(m_buffer == nullptr) {
+	if(buffer == nullptr) {
 		sif::error << "Wrong access function for stored type !"
 				 " Use getConstBuffer()" << std::endl;
 		return nullptr;
 	}
-	return m_buffer;
+	return buffer;
 }
 
 template<typename count_t>
 const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
 	if(constBuffer == nullptr) {
-		sif::error << "Wrong access function for stored type !"
-				 " Use getBuffer()" << std::endl;
+		sif::error << "SerialBufferAdapter: Buffers are unitialized!" << std::endl;
 		return nullptr;
 	}
 	return constBuffer;
 }
 
 template<typename count_t>
-void SerialBufferAdapter<count_t>::setBuffer(void * buffer,
+void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
 		count_t buffer_length) {
-	m_buffer = static_cast<uint8_t *>(buffer);
+	this->buffer = buffer;
 	bufferLength = buffer_length;
 }
 
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index d414573c..cb799be5 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -29,7 +29,7 @@ public:
 	 * @param bufferLength
 	 * @param serializeLength
 	 */
-	SerialBufferAdapter(const void* buffer, count_t bufferLength,
+	SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
 			bool serializeLength = false);
 
 	/**
@@ -40,7 +40,8 @@ public:
 	 * @param bufferLength
 	 * @param serializeLength Length field will be serialized with size count_t
 	 */
-	SerialBufferAdapter(void* buffer, count_t bufferLength, bool serializeLength = false);
+	SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
+			bool serializeLength = false);
 
 	virtual ~SerialBufferAdapter();
 
@@ -66,11 +67,11 @@ public:
 
 	uint8_t * getBuffer();
 	const uint8_t * getConstBuffer();
-	void setBuffer(void* buffer_, count_t bufferLength_);
+	void setBuffer(uint8_t* buffer_, count_t bufferLength_);
 private:
 	bool serializeLength = false;
 	const uint8_t *constBuffer = nullptr;
-	uint8_t *m_buffer = nullptr;
+	uint8_t *buffer = nullptr;
 	count_t bufferLength = 0;
 };
 

From 872c350a9296999af94ad2c275fd2bf34abec1b0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 18:36:22 +0200
Subject: [PATCH 057/307] another small bugfix (this-> was missing)

---
 serialize/SerialBufferAdapter.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index db91a93f..ad4ec358 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -76,7 +76,7 @@ ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 		//No Else If, go on with buffer
 		if (bufferLength <= *size) {
 			*size -= bufferLength;
-			memcpy(buffer, *buffer, bufferLength);
+			memcpy(this->buffer, *buffer, bufferLength);
 			(*buffer) += bufferLength;
 			return HasReturnvaluesIF::RETURN_OK;
 		}

From 8d3ac33b0ef0b22e35dc102f9d715878780d50df Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:18:38 +0200
Subject: [PATCH 058/307] reordering init list for compiler

---
 serialize/SerialBufferAdapter.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index ad4ec358..e409686f 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -12,7 +12,7 @@ SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
 template<typename count_t>
 SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
 		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength), buffer(buffer), constBuffer(buffer),
+		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
 		bufferLength(bufferLength) {}
 
 

From 9fd5ef0194ebad3e2fe1bfc90b705fe7438ac29b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:28:06 +0200
Subject: [PATCH 059/307] updated datapool files

---
 datapool/DataSetBase.cpp  | 65 ++++++++++++++++++++++-----------------
 datapool/DataSetBase.h    | 48 ++++++++++++++++++-----------
 datapool/DataSetIF.h      |  8 +++--
 datapool/PoolVariableIF.h | 52 +++++++++++++++++++++++--------
 4 files changed, 112 insertions(+), 61 deletions(-)

diff --git a/datapool/DataSetBase.cpp b/datapool/DataSetBase.cpp
index 6ff2fc83..9104c8e7 100644
--- a/datapool/DataSetBase.cpp
+++ b/datapool/DataSetBase.cpp
@@ -31,20 +31,14 @@ ReturnValue_t DataSetBase::registerVariable(
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t DataSetBase::read() {
+ReturnValue_t DataSetBase::read(uint32_t lockTimeout) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 	if (state == States::DATA_SET_UNINITIALISED) {
-		lockDataPool();
+		lockDataPool(lockTimeout);
 		for (uint16_t count = 0; count < fillCount; count++) {
-			if (registeredVariables[count]->getReadWriteMode()
-					!= PoolVariableIF::VAR_WRITE
-					&& registeredVariables[count]->getDataPoolId()
-					!= PoolVariableIF::NO_PARAMETER) {
-				ReturnValue_t status = registeredVariables[count]->read();
-				if (status !=  HasReturnvaluesIF::RETURN_OK) {
-					result = INVALID_PARAMETER_DEFINITION;
-					break;
-				}
+			ReturnValue_t result = readVariable(count);
+			if(result != RETURN_OK) {
+				break;
 			}
 		}
 		state = States::DATA_SET_WAS_READ;
@@ -58,47 +52,53 @@ ReturnValue_t DataSetBase::read() {
 	return result;
 }
 
-ReturnValue_t DataSetBase::commit() {
+ReturnValue_t DataSetBase::readVariable(uint16_t count) {
+	ReturnValue_t result = DataSetIF::INVALID_PARAMETER_DEFINITION;
+	// 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();
+	}
+	return result;
+}
+
+ReturnValue_t DataSetBase::commit(uint32_t lockTimeout) {
 	if (state == States::DATA_SET_WAS_READ) {
-		handleAlreadyReadDatasetCommit();
+		handleAlreadyReadDatasetCommit(lockTimeout);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	else {
-		return handleUnreadDatasetCommit();
+		return handleUnreadDatasetCommit(lockTimeout);
 	}
 }
 
-ReturnValue_t DataSetBase::lockDataPool() {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t DataSetBase::unlockDataPool() {
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-void DataSetBase::handleAlreadyReadDatasetCommit() {
-	lockDataPool();
+void DataSetBase::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]->commit();
+			registeredVariables[count]->commitWithoutLock();
 		}
 	}
 	state = States::DATA_SET_UNINITIALISED;
 	unlockDataPool();
 }
 
-ReturnValue_t DataSetBase::handleUnreadDatasetCommit() {
+ReturnValue_t DataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	lockDataPool();
+	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]->commit();
+			registeredVariables[count]->commitWithoutLock();
 		} else if (registeredVariables[count]->getDataPoolId()
 				!= PoolVariableIF::NO_PARAMETER) {
 			if (result != COMMITING_WITHOUT_READING) {
@@ -113,6 +113,15 @@ ReturnValue_t DataSetBase::handleUnreadDatasetCommit() {
 	return result;
 }
 
+
+ReturnValue_t DataSetBase::lockDataPool(uint32_t timeoutMs) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DataSetBase::unlockDataPool() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t DataSetBase::serialize(uint8_t** buffer, size_t* size,
 		const size_t maxSize, bool bigEndian) const {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
diff --git a/datapool/DataSetBase.h b/datapool/DataSetBase.h
index 6b468c11..8bf9a99a 100644
--- a/datapool/DataSetBase.h
+++ b/datapool/DataSetBase.h
@@ -2,6 +2,7 @@
 #define FRAMEWORK_DATAPOOL_DATASETBASE_H_
 #include <framework/datapool/DataSetIF.h>
 #include <framework/datapool/PoolVariableIF.h>
+#include <framework/ipc/MutexIF.h>
 
 /**
  * @brief	The DataSetBase class manages a set of locally checked out variables.
@@ -21,7 +22,8 @@
  * 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 lockDataPo
+ * 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
  */
@@ -49,14 +51,15 @@ public:
 	 *
 	 * 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
+	 * @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();
-
+	virtual ReturnValue_t read(uint32_t lockTimeout =
+			MutexIF::BLOCKING) override;
 	/**
 	 * @brief	The commit call initializes writing back the registered variables.
 	 * @details
@@ -67,23 +70,30 @@ public:
 	 * 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.
+	 * 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();
+	virtual ReturnValue_t commit(uint32_t lockTimeout =
+			MutexIF::BLOCKING) override;
 
-	/* DataSetIF implementation */
+	/**
+	 * 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() override;
+	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
@@ -98,12 +108,12 @@ public:
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			bool bigEndian) override;
 
-	//SHOULDDO we could use a linked list of datapool variables
+	// SHOULDDO we could use a linked list of datapool variables
 	//!< This definition sets the maximum number of variables to
 	//! register in one DataSet.
 	static const uint8_t DATA_SET_MAX_SIZE = 63;
-protected:
 
+protected:
 	/**
 	 * @brief	The fill_count attribute ensures that the variables
 	 * 			register in the correct array position and that the maximum
@@ -128,8 +138,10 @@ protected:
 	 */
 	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE] = { };
 
-	void handleAlreadyReadDatasetCommit();
-	ReturnValue_t handleUnreadDatasetCommit();
+private:
+	ReturnValue_t readVariable(uint16_t count);
+	void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
+	ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
 };
 
 #endif /* FRAMEWORK_DATAPOOL_DATASETBASE_H_ */
diff --git a/datapool/DataSetIF.h b/datapool/DataSetIF.h
index d9cc4966..9c5b13c8 100644
--- a/datapool/DataSetIF.h
+++ b/datapool/DataSetIF.h
@@ -2,6 +2,7 @@
 #define DATASETIF_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/timemanager/Clock.h>
 class PoolVariableIF;
 
 /**
@@ -33,20 +34,23 @@ public:
 	 */
 	virtual ~DataSetIF() {}
 
+	virtual ReturnValue_t read(uint32_t lockTimeout) = 0;
+	virtual ReturnValue_t commit(uint32_t lockTimeout) = 0;
 	/**
 	 * @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 ReturnValue_t registerVariable( PoolVariableIF* variable ) = 0;
+	virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
 
+private:
 	/**
 	 * @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() = 0;
+	virtual ReturnValue_t lockDataPool(uint32_t timeoutMs) = 0;
 	/**
 	 * @brief   Unlock call corresponding to the lock call.
 	 * @return Unlock operation result
diff --git a/datapool/PoolVariableIF.h b/datapool/PoolVariableIF.h
index 0cbc18c5..3086bbe8 100644
--- a/datapool/PoolVariableIF.h
+++ b/datapool/PoolVariableIF.h
@@ -21,18 +21,10 @@ class PoolVariableIF : public SerializeIF {
 	friend class DataSetBase;
 	friend class GlobDataSet;
 	friend class LocalDataSet;
-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;
 public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
+	static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
+
 	static constexpr bool VALID = 1;
 	static constexpr bool INVALID = 0;
 	static constexpr uint32_t NO_PARAMETER = 0;
@@ -61,9 +53,43 @@ public:
 	/**
 	 * @brief	With this call, the valid information of the variable is set.
 	 */
-	// why not just use a boolean here?
-	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;
 };
 
 using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;

From e04e6a6f1506ca90498803bbce49e854e5ed5d4b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:33:57 +0200
Subject: [PATCH 060/307] datapoolglob update

---
 datapoolglob/GlobalDataPool.cpp     | 10 ++---
 datapoolglob/GlobalDataPool.h       |  4 +-
 datapoolglob/GlobalDataSet.cpp      | 14 +++----
 datapoolglob/GlobalDataSet.h        |  7 ++--
 datapoolglob/GlobalPoolVariable.h   | 64 +++++++++++++++++++----------
 datapoolglob/GlobalPoolVariable.tpp | 36 ++++++++++++++--
 datapoolglob/GlobalPoolVector.h     | 40 ++++++++++++++----
 datapoolglob/GlobalPoolVector.tpp   | 36 +++++++++++++++-
 datapoolglob/PIDReader.h            | 24 +++++++++--
 datapoolglob/PoolRawAccess.cpp      | 34 +++++++++++++--
 datapoolglob/PoolRawAccess.h        | 48 +++++++++++++++-------
 11 files changed, 244 insertions(+), 73 deletions(-)

diff --git a/datapoolglob/GlobalDataPool.cpp b/datapoolglob/GlobalDataPool.cpp
index 18780904..25acaab3 100644
--- a/datapoolglob/GlobalDataPool.cpp
+++ b/datapoolglob/GlobalDataPool.cpp
@@ -44,18 +44,18 @@ PoolEntryIF* GlobalDataPool::getRawData( uint32_t data_pool_id ) {
 	}
 }
 
-ReturnValue_t GlobalDataPool::freeDataPoolLock() {
+ReturnValue_t GlobalDataPool::unlockDataPool() {
 	ReturnValue_t status = mutex->unlockMutex();
-	if ( status != RETURN_OK ) {
+	if(status != RETURN_OK) {
 		sif::error << "DataPool::DataPool: unlock of mutex failed with"
 				" error code: " << status << std::endl;
 	}
 	return status;
 }
 
-ReturnValue_t GlobalDataPool::lockDataPool() {
-	ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
-	if ( status != RETURN_OK ) {
+ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) {
+	ReturnValue_t status = mutex->lockMutex(timeoutMs);
+	if(status != RETURN_OK) {
 		sif::error << "DataPool::DataPool: lock of mutex failed "
 				"with error code: " << status << std::endl;
 	}
diff --git a/datapoolglob/GlobalDataPool.h b/datapoolglob/GlobalDataPool.h
index 42921a77..b9c1436f 100644
--- a/datapoolglob/GlobalDataPool.h
+++ b/datapoolglob/GlobalDataPool.h
@@ -95,12 +95,12 @@ public:
 	 * @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();
+	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 freeDataPoolLock();
+	ReturnValue_t unlockDataPool();
 	/**
 	 * @brief	The print call is a simple debug method.
 	 * @details	It prints the current content of the data pool.
diff --git a/datapoolglob/GlobalDataSet.cpp b/datapoolglob/GlobalDataSet.cpp
index 503d068e..9da8d524 100644
--- a/datapoolglob/GlobalDataSet.cpp
+++ b/datapoolglob/GlobalDataSet.cpp
@@ -8,22 +8,22 @@ GlobDataSet::GlobDataSet(): DataSetBase() {}
 // (Destructor is already called)
 GlobDataSet::~GlobDataSet() {}
 
-ReturnValue_t GlobDataSet::commit(bool valid) {
+ReturnValue_t GlobDataSet::commit(bool valid, uint32_t lockTimeout) {
 	setEntriesValid(valid);
 	setSetValid(valid);
-	return commit();
+	return commit(lockTimeout);
 }
 
-ReturnValue_t GlobDataSet::commit() {
-	return DataSetBase::commit();
+ReturnValue_t GlobDataSet::commit(uint32_t lockTimeout) {
+	return DataSetBase::commit(lockTimeout);
 }
 
 ReturnValue_t GlobDataSet::unlockDataPool() {
-	return glob::dataPool.freeDataPoolLock();
+	return glob::dataPool.unlockDataPool();
 }
 
-ReturnValue_t GlobDataSet::lockDataPool() {
-	return glob::dataPool.lockDataPool();
+ReturnValue_t GlobDataSet::lockDataPool(uint32_t timeoutMs) {
+	return glob::dataPool.lockDataPool(timeoutMs);
 }
 
 void GlobDataSet::setEntriesValid(bool valid) {
diff --git a/datapoolglob/GlobalDataSet.h b/datapoolglob/GlobalDataSet.h
index c2e0b577..f0bf7daa 100644
--- a/datapoolglob/GlobalDataSet.h
+++ b/datapoolglob/GlobalDataSet.h
@@ -44,8 +44,8 @@ public:
 	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
 	 * 			     contains non write-only variables
 	 */
-	ReturnValue_t commit(bool valid);
-	ReturnValue_t commit() override;
+	ReturnValue_t commit(bool valid, uint32_t lockTimeout = MutexIF::BLOCKING);
+	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
 
 	/**
 	 * Set all entries
@@ -74,8 +74,7 @@ private:
 	 * @details
 	 * It makes use of the lockDataPool method offered by the DataPool class.
 	 */
-	ReturnValue_t lockDataPool() override;
-
+	ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
 	/**
 	 * @brief	This is a small helper function to facilitate
 	 * 			unlocking the global data pool
diff --git a/datapoolglob/GlobalPoolVariable.h b/datapoolglob/GlobalPoolVariable.h
index eb44c307..9e3eea0c 100644
--- a/datapoolglob/GlobalPoolVariable.h
+++ b/datapoolglob/GlobalPoolVariable.h
@@ -72,7 +72,49 @@ public:
 	 */
 	~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.
@@ -91,26 +133,6 @@ protected:
 	 */
 	pool_rwm_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() 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.
-	 *
-	 */
-	ReturnValue_t commit() override;
-
 	/**
 	 * Empty ctor for List initialization
 	 */
@@ -138,7 +160,7 @@ public:
 
 	uint8_t getValid();
 
-	void setValid(uint8_t valid);
+	void setValid(bool valid) override;
 
 	operator T() {
 		return value;
diff --git a/datapoolglob/GlobalPoolVariable.tpp b/datapoolglob/GlobalPoolVariable.tpp
index d55ea4e0..d61d605d 100644
--- a/datapoolglob/GlobalPoolVariable.tpp
+++ b/datapoolglob/GlobalPoolVariable.tpp
@@ -12,8 +12,38 @@ inline GlobPoolVar<T>::GlobPoolVar(uint32_t set_id,
 	}
 }
 
+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>::read() {
+inline ReturnValue_t GlobPoolVar<T>::readWithoutLock() {
 	PoolEntry<T>* read_out = glob::dataPool.getData<T>(dataPoolId, 1);
 	if (read_out != NULL) {
 		valid = read_out->valid;
@@ -29,7 +59,7 @@ inline ReturnValue_t GlobPoolVar<T>::read() {
 }
 
 template <class T>
-inline ReturnValue_t GlobPoolVar<T>::commit() {
+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;
@@ -80,7 +110,7 @@ inline uint8_t GlobPoolVar<T>::getValid() {
 }
 
 template <class T>
-inline void GlobPoolVar<T>::setValid(uint8_t valid) {
+inline void GlobPoolVar<T>::setValid(bool valid) {
 	this->valid = valid;
 }
 
diff --git a/datapoolglob/GlobalPoolVector.h b/datapoolglob/GlobalPoolVector.h
index 24303457..93092228 100644
--- a/datapoolglob/GlobalPoolVector.h
+++ b/datapoolglob/GlobalPoolVector.h
@@ -102,7 +102,7 @@ public:
 		else
 			return false;
 	}
-	void setValid(uint8_t valid) {this->valid = valid;}
+	void setValid(bool valid) {this->valid = valid;}
 	uint8_t getValid() {return valid;}
 
 	T &operator [](int i) {return value[i];}
@@ -113,7 +113,7 @@ public:
 	virtual size_t getSerializedSize() const override;
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			bool bigEndian) override;
-protected:
+
 	/**
 	 * @brief	This is a call to read the array's values
 	 * 			from the global data pool.
@@ -122,19 +122,43 @@ protected:
 	 * 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.
+	 * 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();
-
+	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 operation does NOT provide any mutual exclusive protection by itself.
+	 * 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();
+	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,
diff --git a/datapoolglob/GlobalPoolVector.tpp b/datapoolglob/GlobalPoolVector.tpp
index 0b43191b..5710da57 100644
--- a/datapoolglob/GlobalPoolVector.tpp
+++ b/datapoolglob/GlobalPoolVector.tpp
@@ -12,8 +12,40 @@ inline GlobPoolVector<T, vectorSize>::GlobPoolVector(uint32_t set_id,
 	}
 }
 
+
 template<typename T, uint16_t vectorSize>
-inline ReturnValue_t GlobPoolVector<T, vectorSize>::read() {
+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) {
@@ -33,7 +65,7 @@ inline ReturnValue_t GlobPoolVector<T, vectorSize>::read() {
 }
 
 template<typename T, uint16_t vectorSize>
-inline ReturnValue_t GlobPoolVector<T, vectorSize>::commit() {
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::commitWithoutLock() {
 	PoolEntry<T>* writeBack = glob::dataPool.getData<T>(this->dataPoolId,
 			vectorSize);
 	if ((writeBack != nullptr) && (this->readWriteMode != VAR_READ)) {
diff --git a/datapoolglob/PIDReader.h b/datapoolglob/PIDReader.h
index 11206611..359b871f 100644
--- a/datapoolglob/PIDReader.h
+++ b/datapoolglob/PIDReader.h
@@ -15,7 +15,8 @@ class PIDReader: public PoolVariableIF {
 protected:
 	uint32_t parameterId;
 	uint8_t valid;
-	ReturnValue_t read() {
+
+	ReturnValue_t readWithoutLock() {
 		uint8_t arrayIndex = GlobalDataPool::PIDToArrayIndex(parameterId);
 		PoolEntry<T>* read_out = glob::dataPool.getData<T>(
 				GlobalDataPool::PIDToDataPoolId(parameterId), arrayIndex);
@@ -36,9 +37,13 @@ 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
 	 */
@@ -71,6 +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.
 	 */
@@ -113,7 +131,7 @@ public:
 		return valid;
 	}
 
-	void setValid(uint8_t valid) {
+	void setValid(bool valid) {
 		this->valid = valid;
 	}
 
diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp
index b10ee04c..39cfd58c 100644
--- a/datapoolglob/PoolRawAccess.cpp
+++ b/datapoolglob/PoolRawAccess.cpp
@@ -18,7 +18,21 @@ PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
 
 PoolRawAccess::~PoolRawAccess() {}
 
-ReturnValue_t PoolRawAccess::read() {
+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) {
@@ -75,7 +89,21 @@ void PoolRawAccess::handleReadError(ReturnValue_t result) {
 	memset(value, 0, sizeof(value));
 }
 
-ReturnValue_t PoolRawAccess::commit() {
+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);
@@ -189,7 +217,7 @@ bool PoolRawAccess::isValid() const {
 		return false;
 }
 
-void PoolRawAccess::setValid(uint8_t valid) {
+void PoolRawAccess::setValid(bool valid) {
 	this->valid = valid;
 }
 
diff --git a/datapoolglob/PoolRawAccess.h b/datapoolglob/PoolRawAccess.h
index 452b5397..60e3c71e 100644
--- a/datapoolglob/PoolRawAccess.h
+++ b/datapoolglob/PoolRawAccess.h
@@ -124,7 +124,7 @@ public:
 	 */
 	bool isValid() const;
 
-	void setValid(uint8_t valid);
+	void setValid(bool valid);
 	/**
 	 * Getter for the remaining size.
 	 */
@@ -135,31 +135,49 @@ public:
 	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			bool bigEndian);
 
-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 !
-	 * 			If reading from the data pool without information about the type is desired,
-	 * 			initialize the raw pool access by supplying a data set and using the data set
-	 * 			read function, which calls this read function.
+	 * @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();
+	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 operation does NOT provide any mutual exclusive protection by itself.
+	 * @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();
+	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);

From 319fa9ddb6237c58d9fe8b0e5763b0b463ec82a4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:34:34 +0200
Subject: [PATCH 061/307] datapoollocal update

---
 datapoollocal/LocalDataSet.cpp      |  69 +++-------
 datapoollocal/LocalDataSet.h        | 141 +++------------------
 datapoollocal/LocalPoolVariable.h   | 143 +++++++++++++++------
 datapoollocal/LocalPoolVariable.tpp |  83 +++++++++---
 datapoollocal/LocalPoolVector.h     | 189 ++++++++++++++++++++++++++++
 datapoollocal/LocalPoolVector.tpp   | 185 +++++++++++++++++++++++++++
 6 files changed, 582 insertions(+), 228 deletions(-)
 create mode 100644 datapoollocal/LocalPoolVector.h
 create mode 100644 datapoollocal/LocalPoolVector.tpp

diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index 07f86e18..988f254a 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -1,66 +1,35 @@
 #include <framework/datapoollocal/LocalDataSet.h>
+#include <framework/housekeeping/HousekeepingManager.h>
 
-LocalDataSet::LocalDataSet():
-		fill_count(0), state(DATA_SET_UNINITIALISED)
-{
-	for (unsigned count = 0; count < DATA_SET_MAX_SIZE; count++) {
-		registeredVariables[count] = nullptr;
+LocalDataSet::LocalDataSet(HasHkPoolParametersIF *hkOwner): DataSetBase() {
+	if(hkOwner != nullptr) {
+		hkManager = hkOwner->getHkManagerHandle();
+	}
+	else {
+		// config error, error output here.
 	}
 }
 
-// who has the responsibility to lock the mutex? the local pool variable
-// has access to the HK manager and could call its mutex lock function.
-ReturnValue_t LocalDataSet::registerVariable(
-		PoolVariableIF *variable) {
-	return RETURN_OK;
+LocalDataSet::LocalDataSet(object_id_t ownerId): DataSetBase()  {
+	HasHkPoolParametersIF* hkOwner = objectManager->get<HasHkPoolParametersIF>(
+			ownerId);
+	if(hkOwner == nullptr) {
+		// config error, error output here.
+	}
+	hkManager = hkOwner->getHkManagerHandle();
 }
 
 LocalDataSet::~LocalDataSet() {
 }
 
-ReturnValue_t LocalDataSet::read() {
-	return RETURN_OK;
-}
-
-ReturnValue_t LocalDataSet::commit(void) {
-	return RETURN_OK;
-}
-
-ReturnValue_t LocalDataSet::commit(bool valid) {
-	return RETURN_OK;
-}
-
-void LocalDataSet::setSetValid(bool valid) {
-}
-
-void LocalDataSet::setEntriesValid(bool valid) {
-}
-
-ReturnValue_t LocalDataSet::serialize(uint8_t **buffer,
-		size_t *size, const size_t max_size, bool bigEndian) const {
-	return RETURN_OK;
-}
-
-size_t LocalDataSet::getSerializedSize() const {
-	return 0;
-}
-
-ReturnValue_t LocalDataSet::deSerialize(const uint8_t **buffer,
-		size_t *size, bool bigEndian) {
-	return RETURN_OK;
-}
-
-ReturnValue_t LocalDataSet::lockDataPool() {
-	return RETURN_OK;
+ReturnValue_t LocalDataSet::lockDataPool(uint32_t timeoutMs) {
+	MutexIF* mutex = hkManager->getMutexHandle();
+	return mutex->lockMutex(timeoutMs);
 }
 
 ReturnValue_t LocalDataSet::unlockDataPool() {
-	return RETURN_OK;
+	MutexIF* mutex = hkManager->getMutexHandle();
+	return mutex->unlockMutex();
 }
 
-void LocalDataSet::handleAlreadyReadDatasetCommit() {
-}
 
-ReturnValue_t LocalDataSet::handleUnreadDatasetCommit() {
-	return RETURN_OK;
-}
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index 6110175c..607d10b3 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -1,8 +1,12 @@
 #ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
 #define FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
+#include <framework/datapool/DataSetBase.h>
 #include <framework/datapool/DataSetIF.h>
+#include <framework/housekeeping/HasHkPoolParametersIF.h>
 #include <framework/serialize/SerializeIF.h>
 
+class HousekeepingManager;
+
 /**
  * @brief	The LocalDataSet class manages a set of locally checked out variables
  * 			for local data pools
@@ -24,32 +28,22 @@
  *
  * @ingroup data_pool
  */
-class LocalDataSet:
-		public DataSetIF,
-		public HasReturnvaluesIF,
-		public SerializeIF {
+class LocalDataSet: public DataSetBase {
 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_UNINITIALIZED = 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	The constructor simply sets the fill_count to zero and sets
+	 * @brief	Constructor for the creator of local pool data.
+	 * 			The constructor simply sets the fill_count to zero and sets
 	 *  		the state to "uninitialized".
 	 */
-	LocalDataSet();
+	LocalDataSet(HasHkPoolParametersIF* hkOwner);
 
 	/**
-	 * @brief	This operation is used to register the local variables in the set.
-	 * @details	It stores the pool variable pointer in a variable list.
+	 * @brief	Constructor for users of local pool data. The passed pool
+	 * 			owner should implement the HasHkPoolParametersIF.
+	 * 			The constructor simply sets the fill_count to zero and sets
+	 *  		the state to "uninitialized".
 	 */
-	ReturnValue_t registerVariable(PoolVariableIF* variable) override;
+	LocalDataSet(object_id_t ownerId);
 
 	/**
 	 * @brief	The destructor automatically manages writing the valid
@@ -61,127 +55,30 @@ public:
 	 */
 	~LocalDataSet();
 
-	/**
-	 * @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(bool valid);
-
-	/**
-	 * Set all entries
-	 * @param valid
-	 */
-	void setSetValid(bool valid);
-
-	/**
-	 * 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);
-
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			const size_t max_size, bool bigEndian) const override;
-
-	size_t getSerializedSize() const override;
-
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			bool bigEndian) override;
+protected:
 private:
-	// SHOULDDO we could use a linked list of datapool variables
-	//! This definition sets the maximum number of variables
-	//! to register in one DataSet.
-	static const uint8_t DATA_SET_MAX_SIZE = 63;
-	/**
-	 * @brief	This array represents all pool variables registered in this set.
-	 */
-	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;
-
 	/**
 	 * 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 underlying data data pool structure
+	 * 			the global data pool.
 	 * @details
 	 * It makes use of the lockDataPool method offered by the DataPool class.
 	 */
-	ReturnValue_t lockDataPool() override;
-
+	ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
 	/**
 	 * @brief	This is a small helper function to facilitate
-	 * 			unlocking the underlying data data pool structure
+	 * 			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();
+	HousekeepingManager* hkManager;
 };
 
 #endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */
diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
index 39c92f60..cb373a71 100644
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@@ -3,56 +3,63 @@
 
 #include <framework/datapool/PoolVariableIF.h>
 #include <framework/datapool/DataSetIF.h>
+#include <framework/housekeeping/HasHkPoolParametersIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
 
+#include <framework/serialize/SerializeAdapter.h>
 #include <framework/housekeeping/HousekeepingManager.h>
 
-#include <map>
-/**
- * @brief	This is the access class for non-array local data pool entries.
- *
- * @details
- *
- * 	@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
- */
-
 /**
  * @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
+ * @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 PoolVariableIF, HasReturnvaluesIF {
 public:
-	static constexpr lp_id_t INVALID_POOL_ID = 0xFFFFFFFF;
+	//! 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.
-	 * @param set_id
-	 * @param setReadWriteMode
-	 * @param localPoolMap
-	 * @param dataSet
+	 * 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.
 	 */
 	LocalPoolVar(lp_id_t poolId, HasHkPoolParametersIF* hkOwner,
-			pool_rwm_t setReadWriteMode, DataSetIF* dataSet = nullptr);
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
+			DataSetIF* dataSet = nullptr);
 
 	/**
 	 * 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.
-	 * @param poolId
-	 * @param poolOwner
-	 * @param setReadWriteMode
-	 * @param dataSet
+	 * 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.
 	 */
 	LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
-			pool_rwm_t setReadWriteMode, DataSetIF* dataSet = nullptr);
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
+			DataSetIF* dataSet = nullptr);
 
 	virtual~ LocalPoolVar() {};
 
@@ -63,33 +70,91 @@ public:
 	 */
 	T value = 0;
 
-	ReturnValue_t commit() override;
-	ReturnValue_t read() override;
 	pool_rwm_t getReadWriteMode() const override;
-	uint32_t getDataPoolId() const override;
+
+	lp_id_t getDataPoolId() const override;
+	void setDataPoolId(lp_id_t poolId);
+
 	bool isValid() const override;
-	void setValid(uint8_t validity) override;
+	void setValid(bool validity) override;
+	uint8_t getValid() const;
 
 	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-				const size_t max_size, bool bigEndian) const override;
+			const size_t max_size, bool bigEndian) const override;
 	virtual size_t getSerializedSize() const override;
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-				bool bigEndian) override;
+			bool bigEndian) 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;
+
+	// std::ostream is the type for object std::cout
+//	friend std::ostream& operator<< (std::ostream &out,
+//			const LocalPoolVar &var) {
+//		out << static_cast<int>(value);
+//		return out;
+//	}
+
 private:
-	lp_id_t localPoolId = INVALID_POOL_ID;
+	//! @brief 	Pool ID of pool entry inside the used local pool.
+	lp_id_t localPoolId = PoolVariableIF::NO_PARAMETER;
+	//! @brief 	Read-write mode of the pool variable
 	pool_rwm_t readWriteMode = pool_rwm_t::VAR_READ_WRITE;
+	//! @brief 	Specifies whether the entry is valid or invalid.
 	bool valid = false;
 
-	bool objectValid = true;
 	//! Pointer to the class which manages the HK pool.
 	HousekeepingManager* hkManager;
 };
 
 #include <framework/datapoollocal/LocalPoolVariable.tpp>
-template<class T>
-using lp_variable = LocalPoolVar<T>;
 
-using lp_bool_t = LocalPoolVar<bool>;
+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>;
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index 4bc4c662..b7a0e837 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -1,16 +1,24 @@
 #ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
 #define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
 
-#include <framework/housekeeping/HasHkPoolParametersIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-
-#include <framework/serialize/SerializeAdapter.h>
+#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+#error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
+#endif
 
 template<typename T>
 inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId,
 		HasHkPoolParametersIF* hkOwner, pool_rwm_t setReadWriteMode,
 		DataSetIF* dataSet):
 		localPoolId(poolId),readWriteMode(setReadWriteMode) {
+	if(poolId == PoolVariableIF::NO_PARAMETER) {
+		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
+				"NO_PARAMETER value!" << std::endl;
+	}
+	if(hkOwner == nullptr) {
+		sif::error << "LocalPoolVariable: The supplied pool owner is a nullptr!"
+				<< std::endl;
+		return;
+	}
 	hkManager = hkOwner->getHkManagerHandle();
 	if(dataSet != nullptr) {
 		dataSet->registerVariable(this);
@@ -21,12 +29,15 @@ template<typename T>
 inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
 		pool_rwm_t setReadWriteMode, DataSetIF *dataSet):
 		readWriteMode(readWriteMode) {
+	if(poolId == PoolVariableIF::NO_PARAMETER) {
+		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
+				"NO_PARAMETER value!" << std::endl;
+	}
 	HasHkPoolParametersIF* hkOwner =
 			objectManager->get<HasHkPoolParametersIF>(poolOwner);
 	if(hkOwner == nullptr) {
 		sif::error << "LocalPoolVariable: The supplied pool owner did not implement"
 				"the correct interface HasHkPoolParametersIF!" << std::endl;
-		objectValid = false;
 		return;
 	}
 	hkManager = hkOwner->getHkManagerHandle();
@@ -36,38 +47,59 @@ inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::read() {
+inline ReturnValue_t LocalPoolVar<T>::read(millis_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), 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;
-		// TODO: special return value
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
 	}
-	MutexHelper(hkManager->getMutexHandle(), MutexIF::NO_TIMEOUT);
+
 	PoolEntry<T>* poolEntry = nullptr;
-	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, poolEntry);
-	if(result != RETURN_OK) {
+	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() {
+inline ReturnValue_t LocalPoolVar<T>::commit(millis_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), 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;
-		// TODO: special return value
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
 	}
-	MutexHelper(hkManager->getMutexHandle(), MutexIF::NO_TIMEOUT);
+	// Wait maximum of 50 milliseconds.
+	MutexHelper(hkManager->getMutexHandle(), 50);
 	PoolEntry<T>* poolEntry = nullptr;
-	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, poolEntry);
+	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;
 }
 
@@ -81,16 +113,26 @@ inline lp_id_t LocalPoolVar<T>::getDataPoolId() const {
 	return localPoolId;
 }
 
+template<typename T>
+inline void LocalPoolVar<T>::setDataPoolId(lp_id_t poolId) {
+	this->localPoolId = poolId;
+}
+
 template<typename T>
 inline bool LocalPoolVar<T>::isValid() const {
 	return valid;
 }
 
 template<typename T>
-inline void LocalPoolVar<T>::setValid(uint8_t validity) {
+inline void LocalPoolVar<T>::setValid(bool validity) {
 	this->valid = validity;
 }
 
+template<typename T>
+inline uint8_t LocalPoolVar<T>::getValid() const {
+	return valid;
+}
+
 template<typename T>
 inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
 		const size_t max_size, bool bigEndian) const {
@@ -109,4 +151,11 @@ inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
 	return AutoSerializeAdapter::deSerialize(&value, buffer, size, bigEndian);
 }
 
+//template<typename T>
+//inline friend std::ostream& LocalPoolVar<T>::operator<< (std::ostream &out,
+//		const LocalPoolVar &var) {
+//	out << static_cast<int>(out);
+//}
+
+
 #endif
diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h
new file mode 100644
index 00000000..02c47113
--- /dev/null
+++ b/datapoollocal/LocalPoolVector.h
@@ -0,0 +1,189 @@
+#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+
+#include <framework/datapool/DataSetIF.h>
+#include <framework/datapool/PoolEntry.h>
+#include <framework/datapool/PoolVariableIF.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/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 PoolVariableIF, public HasReturnvaluesIF {
+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(lp_id_t poolId, HasHkPoolParametersIF* hkOwner,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
+			DataSetIF* dataSet = nullptr);
+
+	/**
+	 * 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(lp_id_t poolId, object_id_t poolOwner,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
+			DataSetIF* dataSet = nullptr);
+
+	/**
+	 * @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;
+	}
+
+	uint32_t getDataPoolId() const override;
+	/**
+	 * @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);
+
+	/**
+	 * This method returns if the variable is write-only, read-write or read-only.
+	 */
+	pool_rwm_t getReadWriteMode() const;
+
+	/**
+	 * @brief	With this call, the valid information of the variable is returned.
+	 */
+	bool isValid() const override;
+	void setValid(bool valid) override;
+	uint8_t getValid() const;
+
+	T &operator [](int i);
+	const T &operator [](int i) const;
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			const size_t max_size, bool bigEndian) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			bool bigEndian) 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:
+	/**
+	 * @brief	To access the correct data pool entry on read and commit calls,
+	 * 			the data pool id is stored.
+	 */
+	uint32_t localPoolId;
+	/**
+	 * @brief	The valid information as it was stored in the data pool
+	 * 			is copied to this attribute.
+	 */
+	bool valid;
+	/**
+	 * @brief	The information whether the class is read-write or
+	 * 			read-only is stored here.
+	 */
+	ReadWriteMode_t readWriteMode;
+	//! @brief	Pointer to the class which manages the HK pool.
+	HousekeepingManager* hkManager;
+};
+
+#include <framework/datapoollocal/LocalPoolVector.tpp>
+
+template<typename T, uint16_t vectorSize>
+using lp_vec_t = LocalPoolVector<T, vectorSize>;
+
+#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */
diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp
new file mode 100644
index 00000000..78637eff
--- /dev/null
+++ b/datapoollocal/LocalPoolVector.tpp
@@ -0,0 +1,185 @@
+#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
+#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
+
+#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#error Include LocalPoolVector.h before LocalPoolVector.tpp!
+#endif
+
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
+		HasHkPoolParametersIF* hkOwner, pool_rwm_t setReadWriteMode,
+		DataSetIF* dataSet) :
+		localPoolId(poolId), valid(false), readWriteMode(setReadWriteMode) {
+	if(poolId == PoolVariableIF::NO_PARAMETER) {
+		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
+				"NO_PARAMETER value!" << std::endl;
+	}
+	memset(this->value, 0, vectorSize * sizeof(T));
+	if (dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
+		object_id_t poolOwner, pool_rwm_t setReadWriteMode, DataSetIF *dataSet):
+		readWriteMode(readWriteMode) {
+	if(poolId == PoolVariableIF::NO_PARAMETER) {
+		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
+				"NO_PARAMETER value!" << std::endl;
+	}
+	HasHkPoolParametersIF* hkOwner =
+			objectManager->get<HasHkPoolParametersIF>(poolOwner);
+	if(hkOwner == nullptr) {
+		sif::error << "LocalPoolVariable: The supplied pool owner did not implement"
+				"the correct interface HasHkPoolParametersIF!" << std::endl;
+		return;
+	}
+	hkManager = hkOwner->getHkManagerHandle();
+	if(dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), 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;
+	}
+	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(), 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;
+	}
+	// Wait maximum of 50 milliseconds.
+	MutexHelper(hkManager->getMutexHandle(), 50);
+	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;
+	}
+	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];
+	}
+	sif::warning << "LocalPoolVector: Invalid index" << std::endl;
+	return 0;
+}
+
+template<typename T, uint16_t vectorSize>
+inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
+	if(i <= vectorSize) {
+		return value[i];
+	}
+	sif::warning << "LocalPoolVector: Invalid index" << std::endl;
+	return 0;
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+		size_t* size, const size_t max_size, bool bigEndian) const {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter<T>::serialize(&(value[i]), buffer, size,
+				max_size, bigEndian);
+		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<T>::getSerializedSize(value);
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
+		const uint8_t** buffer, size_t* size, bool bigEndian) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter<T>::deSerialize(&(value[i]), buffer, size,
+				bigEndian);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			break;
+		}
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline pool_rwm_t LocalPoolVector<T, vectorSize>::getReadWriteMode() const {
+	return this->readWriteMode;
+}
+
+
+template<typename T, uint16_t vectorSize>
+inline uint32_t LocalPoolVector<T, vectorSize>::getDataPoolId() const {
+	return localPoolId;
+}
+
+template<typename T, uint16_t vectorSize>
+inline void LocalPoolVector<T, vectorSize>::setDataPoolId(uint32_t poolId) {
+	this->localPoolId = poolId;
+}
+
+template<typename T, uint16_t vectorSize>
+inline void LocalPoolVector<T, vectorSize>::setValid(bool valid) {
+	this->valid = valid;
+}
+
+template<typename T, uint16_t vectorSize>
+inline uint8_t LocalPoolVector<T, vectorSize>::getValid() const {
+	return valid;
+}
+
+template<typename T, uint16_t vectorSize>
+inline bool LocalPoolVector<T, vectorSize>::isValid() const {
+	return valid;
+}
+
+#endif

From 9ec2283d1397b5699796517cc47e3f82e327757a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:35:08 +0200
Subject: [PATCH 062/307] hk folder update

---
 housekeeping/HasHkPoolParametersIF.h | 23 ++++++++-
 housekeeping/HousekeepingManager.cpp | 46 ++++++++++++++---
 housekeeping/HousekeepingManager.h   | 77 +++++++++++++++++-----------
 housekeeping/HousekeepingMessage.cpp | 12 ++---
 housekeeping/HousekeepingMessage.h   | 15 ++----
 5 files changed, 119 insertions(+), 54 deletions(-)

diff --git a/housekeeping/HasHkPoolParametersIF.h b/housekeeping/HasHkPoolParametersIF.h
index ac248cf3..62715a3d 100644
--- a/housekeeping/HasHkPoolParametersIF.h
+++ b/housekeeping/HasHkPoolParametersIF.h
@@ -2,9 +2,11 @@
 #define FRAMEWORK_DATAPOOL_HASHKPOOLPARAMETERSIF_H_
 #include <framework/datapool/PoolEntryIF.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
+#include <framework/housekeeping/HousekeepingMessage.h>
 #include <map>
 
 class HousekeepingManager;
+class DataSetIF;
 /**
  * @brief	Type definition for local pool entries.
  */
@@ -13,17 +15,34 @@ using LocalDataPoolMap =  std::map<lp_id_t, PoolEntryIF*>;
 using LocalDataPoolMapIter = LocalDataPoolMap::iterator;
 
 /**
- * @brief
+ * @brief 		This interface is implemented by classes which posses a local
+ * 				data pool (not the managing class)
+ * @details
+ * Any class implementing this interface shall also have a HousekeepingManager
+ * member class which handles the retrieval of the local pool data.
+ * This is required because the pool entries are templates, which makes
+ * specifying an interface rather difficult.
+ *
+ * This could be circumvented by using a wrapper/accessor function, 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 housekeeping manager.
  */
 class HasHkPoolParametersIF {
 public:
 	virtual~ HasHkPoolParametersIF() {};
 
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING;
+	static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0XA0);
+	static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0xA1);
+
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	virtual ReturnValue_t initializeHousekeepingPoolEntries(
 			LocalDataPoolMap& localDataPoolMap) = 0;
-	virtual float setMinimalHkSamplingFrequency() = 0;
+	//virtual float setMinimalHkSamplingFrequency() = 0;
 	virtual HousekeepingManager* getHkManagerHandle() = 0;
+	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
 };
 
 #endif /* FRAMEWORK_DATAPOOL_HASHKPOOLPARAMETERSIF_H_ */
diff --git a/housekeeping/HousekeepingManager.cpp b/housekeeping/HousekeepingManager.cpp
index 05df0ffc..e8edcc39 100644
--- a/housekeeping/HousekeepingManager.cpp
+++ b/housekeeping/HousekeepingManager.cpp
@@ -1,17 +1,19 @@
+#include <framework/datapoollocal/LocalDataSet.h>
 #include <framework/housekeeping/HousekeepingManager.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/ipc/MutexHelper.h>
 
+#include <array>
+
 HousekeepingManager::HousekeepingManager(HasHkPoolParametersIF* owner) {
-	//todo :: nullptr check owner.
 	if(owner == nullptr) {
 		sif::error << "HkManager: Invalid supplied owner!" << std::endl;
 		std::exit(0);
 	}
 	this->owner = owner;
 	mutex = MutexFactory::instance()->createMutex();
-	owner->setMinimalHkSamplingFrequency();
+	//owner->setMinimalHkSamplingFrequency();
 }
 
 HousekeepingManager::~HousekeepingManager() {}
@@ -24,7 +26,7 @@ ReturnValue_t HousekeepingManager::initializeHousekeepingPoolEntriesOnce() {
 		}
 		return result;
 	}
-	sif::warning << "hk manager says no" << std::endl;
+	sif::warning << "HousekeepingManager: The map" << std::endl;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -33,18 +35,48 @@ ReturnValue_t HousekeepingManager::handleHousekeepingMessage(
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t HousekeepingManager::printPoolEntry(
+		lp_id_t localPoolId) {
+	auto poolIter = localDpMap.find(localPoolId);
+	if (poolIter == localDpMap.end()) {
+		sif::debug << "HousekeepingManager::fechPoolEntry:"
+				" Pool entry not found." << std::endl;
+		return HasHkPoolParametersIF::POOL_ENTRY_NOT_FOUND;
+	}
+	poolIter->second->print();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
 MutexIF* HousekeepingManager::getMutexHandle() {
 	return mutex;
 }
 
-void HousekeepingManager::setMinimalSamplingFrequency(float frequencySeconds) {
-	this->samplingFrequency = frequencySeconds;
+//void HousekeepingManager::setMinimalSamplingFrequency(float frequencySeconds) {
+//	this->samplingFrequency = frequencySeconds;
+//
+//}
 
-}
+void HousekeepingManager::generateHousekeepingPacket(sid_t sid) {
+	LocalDataSet* dataSetToSerialize = dynamic_cast<LocalDataSet*>(
+			owner->getDataSetHandle(sid));
+	if(dataSetToSerialize == nullptr) {
+		sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
+				" Set ID not found" << std::endl;
+		return;
+	}
+	std::array<uint8_t, 256> testBuffer = {};
+	uint8_t* dataPtr = testBuffer.data();
+	size_t size = 0;
+	dataSetToSerialize->serialize(&dataPtr, &size, testBuffer.size(),
+			false);
+	// and now we send it to the TM funnel or somewhere else
 
-void HousekeepingManager::generateHousekeepingPacket(DataSetIF *dataSet) {
 }
 
 void HousekeepingManager::setHkPacketQueue(MessageQueueIF *msgQueue) {
 	this->hkPacketQueue = msgQueue;
 }
+
+const HasHkPoolParametersIF* HousekeepingManager::getOwner() const {
+	return owner;
+}
diff --git a/housekeeping/HousekeepingManager.h b/housekeeping/HousekeepingManager.h
index feec69fc..43922ae6 100644
--- a/housekeeping/HousekeepingManager.h
+++ b/housekeeping/HousekeepingManager.h
@@ -5,6 +5,7 @@
 #include <framework/housekeeping/HasHkPoolParametersIF.h>
 #include <framework/ipc/MutexIF.h>
 
+#include <framework/housekeeping/HousekeepingMessage.h>
 #include <framework/datapool/PoolEntry.h>
 #include <framework/ipc/CommandMessage.h>
 #include <framework/ipc/MessageQueueIF.h>
@@ -14,47 +15,36 @@
 
 
 class HousekeepingManager {
+	template<typename T>
+	friend class LocalPoolVar;
+	template<typename T, uint16_t vecSize>
+	friend class LocalPoolVector;
+	friend class LocalDataSet;
 public:
 	static constexpr float MINIMAL_SAMPLING_FREQUENCY = 0.2;
 
 	HousekeepingManager(HasHkPoolParametersIF* owner);
 	virtual~ HousekeepingManager();
 
-	MutexIF* getMutexHandle();
 
 	// propably will just call respective local data set functions.
-	void generateHousekeepingPacket(DataSetIF* dataSet);
+	void generateHousekeepingPacket(sid_t sid);
 	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
 
-	/**
-	 * 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!
-	 * @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);
-	void setMinimalSamplingFrequency(float frequencySeconds);
-
 	/**
 	 * This function is used to fill the local data pool map with pool
-	 * entries. The default implementation is empty.
+	 * entries. It should only be called once by the pool owner.
 	 * @param localDataPoolMap
 	 * @return
 	 */
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
 	void setHkPacketQueue(MessageQueueIF* msgQueue);
-private:
-	//! this depends on the PST frequency.. maybe it would be better to just
-	//! set this manually with a global configuration value which is also
-	//! passed to the PST. Or force setting this in device handler.
-	float samplingFrequency = MINIMAL_SAMPLING_FREQUENCY;
+	const HasHkPoolParametersIF* getOwner() const;
 
+	ReturnValue_t printPoolEntry(lp_id_t localPoolId);
+
+private:
 	//! This is the map holding the actual data. Should only be initialized
 	//! once !
 	bool mapInitialized = false;
@@ -72,24 +62,53 @@ private:
 	//! message..)
 	MessageQueueIF* hkReplyQueue = nullptr;
 	//! Used for HK packets, which are generated without requests.
+	//! Maybe this will just be the TM funnel.
 	MessageQueueIF* hkPacketQueue = nullptr;
+
+	/**
+	 * Get the pointer to the mutex. Can be used to lock the data pool
+	 * eternally. 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);
+	void setMinimalSamplingFrequency(float frequencySeconds);
+
 };
 
 template<class T> inline
 ReturnValue_t HousekeepingManager::fetchPoolEntry(lp_id_t localPoolId,
-		PoolEntry<T> *poolEntry) {
+		PoolEntry<T> **poolEntry) {
 	auto poolIter = localDpMap.find(localPoolId);
 	if (poolIter == localDpMap.end()) {
-		// todo: special returnvalue.
-		return HasReturnvaluesIF::RETURN_FAILED;
+		sif::debug << "HousekeepingManager::fechPoolEntry:"
+				" Pool entry not found." << std::endl;
+		return HasHkPoolParametersIF::POOL_ENTRY_NOT_FOUND;
 	}
 
-	poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
-	if(poolEntry == nullptr) {
-		// todo: special returnvalue.
-		return HasReturnvaluesIF::RETURN_FAILED;
+	*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
+	if(*poolEntry == nullptr) {
+		sif::debug << "HousekeepingManager::fetchPoolEntry:"
+				" Pool entry not found." << std::endl;
+		return HasHkPoolParametersIF::POOL_ENTRY_TYPE_CONFLICT;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+
 #endif /* FRAMEWORK_HK_HOUSEKEEPINGHELPER_H_ */
diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index 65d87e9e..b0109e5d 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -1,10 +1,10 @@
 #include <framework/housekeeping/HousekeepingMessage.h>
 
-void HousekeepingMessage::setAddHkReportStructMessage(CommandMessage *message,
-		set_t setId, store_address_t packet) {
-	message->setCommand(ADD_HK_REPORT_STRUCT);
-	message->setParameter(setId);
-	message->setParameter2(packet.raw);
-}
+//void HousekeepingMessage::setAddHkReportStructMessage(CommandMessage *message,
+//		set_t setId, store_address_t packet) {
+//	message->setCommand(ADD_HK_REPORT_STRUCT);
+//	message->setParameter(setId);
+//	message->setParameter2(packet.raw);
+//}
 
 //void Housekeeping
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index 80dc83a6..e7ba68ba 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -4,20 +4,15 @@
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <limits>
 
-/**
- * the sid consists of the target object ID and... something else I forgot.
- * Propably a special HK id to distinguish multiple hk pool packages
- * inside a handler or controller
- */
-typedef uint32_t set_t;
-
 union sid_t {
 	static constexpr uint64_t INVALID_ADDRESS = std::numeric_limits<uint64_t>::max();
 	sid_t(): raw(INVALID_ADDRESS) {}
 
 	struct {
 		object_id_t objectId ;
-		set_t hkId;
+		// 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.
@@ -79,8 +74,8 @@ public:
 	static constexpr Command_t MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL =
 			MAKE_COMMAND_ID(32);
 
-	static void setAddHkReportStructMessage(CommandMessage* message,
-			set_t setId, store_address_t packet);
+//	static void setAddHkReportStructMessage(CommandMessage* message,
+//			DevisetId, store_address_t packet);
 };
 
 

From 7247a1af7efde551f6e7d619e66917d9d4717562 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:36:25 +0200
Subject: [PATCH 063/307] new class ids

---
 returnvalues/FwClassIds.h | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index 120d8b8c..870efb46 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -55,12 +55,14 @@ enum {
 	HAS_ACTIONS_IF, //HF
 	DEVICE_COMMUNICATION_IF, //DC
 	BSP, //BSP
-	TIME_STAMPER_IF, //TSI 52
+	TIME_STAMPER_IF, //TSI 53
 	//TODO This will shift all IDs for FLP
-	SGP4PROPAGATOR_CLASS, //SGP4 53
-	MUTEX_IF, //MUX 54
-	MESSAGE_QUEUE_IF,//MQI 55
-	SEMAPHORE_IF, //SPH 56
+	SGP4PROPAGATOR_CLASS, //SGP4 54
+	MUTEX_IF, //MUX 55
+	MESSAGE_QUEUE_IF,//MQI 56
+	SEMAPHORE_IF, //SPH 57
+	HOUSEKEEPING, //HK 58
+	POOL_VARIABLE_IF, //PVA 59
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

From 0d4d4123ab28a10376c8ba6c6cc7bd3be5c54e74 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:37:46 +0200
Subject: [PATCH 064/307] added new message  type (hk)

---
 ipc/FwMessageTypes.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ipc/FwMessageTypes.h b/ipc/FwMessageTypes.h
index b59319aa..7daf8767 100644
--- a/ipc/FwMessageTypes.h
+++ b/ipc/FwMessageTypes.h
@@ -15,6 +15,7 @@ enum FW_MESSAGE_TYPE {
 	MEMORY,
 	PARAMETER,
 	FILE_SYSTEM_MESSAGE,
+	HOUSEKEEPING,
 	FW_MESSAGES_COUNT,
 
 };

From e9a9a543ce3fbf8a9ff57e337513e050e6004c8e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:38:59 +0200
Subject: [PATCH 065/307] fw message count one line further

---
 ipc/FwMessageTypes.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ipc/FwMessageTypes.h b/ipc/FwMessageTypes.h
index 7daf8767..1665747e 100644
--- a/ipc/FwMessageTypes.h
+++ b/ipc/FwMessageTypes.h
@@ -16,8 +16,8 @@ enum FW_MESSAGE_TYPE {
 	PARAMETER,
 	FILE_SYSTEM_MESSAGE,
 	HOUSEKEEPING,
-	FW_MESSAGES_COUNT,
 
+	FW_MESSAGES_COUNT,
 };
 }
 

From 2b646551e96882aac5c62232b9c88a0271209440 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:40:22 +0200
Subject: [PATCH 066/307] mutex helper new output error

---
 ipc/MutexHelper.h | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index 671cd5a6..20760b32 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -9,8 +9,12 @@ public:
 	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
 			internalMutex(mutex) {
 		ReturnValue_t status = mutex->lockMutex(timeoutMs);
-		if(status != HasReturnvaluesIF::RETURN_OK){
-			sif::error << "MutexHelper: Lock of Mutex failed " <<
+		if(status == MutexIF::MUTEX_TIMEOUT) {
+			sif::error << "MutexHelper: Lock of mutex failed with timeout of"
+					<< timeoutMs << " milliseconds!" << std::endl;
+		}
+		else if(status != HasReturnvaluesIF::RETURN_OK){
+			sif::error << "MutexHelper: Lock of Mutex failed with code " <<
 					status << std::endl;
 		}
 	}

From 4b5bb0b3be6e6c14c647800d7ab928a468de02aa Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:59:07 +0200
Subject: [PATCH 067/307] reset setfill

---
 objectmanager/ObjectManager.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 2f47950f..55f7d964 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -70,8 +70,9 @@ void ObjectManager::initialize() {
 		if ( return_value != RETURN_OK ) {
 			object_id_t var = it.first;
 			sif::error << "Object 0x" << std::hex <<  std::setw(8) <<
-					std::setfill('0')<< var << " failed to initialize " <<
-					"with code 0x" << return_value << std::dec << std::endl;
+					std::setfill('0') << var << " failed to initialize " <<
+					"with code 0x" << return_value << std::dec <<
+					std::setfill('') << std::endl;
 			error_count++;
 		}
 	}

From 579115f904e5287ad0bd8d15038b6d707a72523f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 21:36:50 +0200
Subject: [PATCH 068/307] adapting host osal

---
 osal/host/Clock.cpp            |  4 ++--
 osal/host/Mutex.cpp            | 10 +++++-----
 osal/host/Mutex.h              |  2 +-
 osal/host/QueueFactory.cpp     |  2 +-
 osal/host/SemaphoreFactory.cpp |  4 ++--
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/osal/host/Clock.cpp b/osal/host/Clock.cpp
index 78bbc58a..57f2572b 100644
--- a/osal/host/Clock.cpp
+++ b/osal/host/Clock.cpp
@@ -186,7 +186,7 @@ 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);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -201,7 +201,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if(timeMutex == nullptr){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
index 0e6e652d..03948c4c 100644
--- a/osal/host/Mutex.cpp
+++ b/osal/host/Mutex.cpp
@@ -1,22 +1,22 @@
 #include <framework/osal/host/Mutex.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
-const uint32_t MutexIF::MAX_TIMEOUT = 0xffffffff;
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::BLOCKING = 0xffffffff;
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	if(timeoutMs == MutexIF::MAX_TIMEOUT) {
+	if(timeoutMs == MutexIF::BLOCKING) {
 		mutex.lock();
 		locked = true;
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-	else if(timeoutMs == MutexIF::NO_TIMEOUT) {
+	else if(timeoutMs == MutexIF::POLLING) {
 		if(mutex.try_lock()) {
 			locked = true;
 			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
-	else if(timeoutMs > MutexIF::NO_TIMEOUT){
+	else if(timeoutMs > MutexIF::POLLING){
 		auto chronoMs = std::chrono::milliseconds(timeoutMs);
 		if(mutex.try_lock_for(chronoMs)) {
 			locked = true;
diff --git a/osal/host/Mutex.h b/osal/host/Mutex.h
index dce2a9dc..d882c457 100644
--- a/osal/host/Mutex.h
+++ b/osal/host/Mutex.h
@@ -16,7 +16,7 @@
 class Mutex : public MutexIF {
 public:
 	Mutex() = default;
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
 	ReturnValue_t unlockMutex() override;
 
 	std::timed_mutex* getMutexHandle();
diff --git a/osal/host/QueueFactory.cpp b/osal/host/QueueFactory.cpp
index 691249c3..60274c84 100644
--- a/osal/host/QueueFactory.cpp
+++ b/osal/host/QueueFactory.cpp
@@ -27,7 +27,7 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
 	// A thread-safe queue can be implemented  by using a combination
 	// of std::queue and std::mutex. This uses dynamic memory allocation
diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp
index 3719a883..8712d866 100644
--- a/osal/host/SemaphoreFactory.cpp
+++ b/osal/host/SemaphoreFactory.cpp
@@ -3,8 +3,8 @@
 #include <framework/osal/linux/CountingSemaphore.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
-const uint32_t SemaphoreIF::MAX_TIMEOUT = 0xFFFFFFFF;
+const uint32_t SemaphoreIF::POLLING = 0;
+const uint32_t SemaphoreIF::BLOCKING = 0xFFFFFFFF;
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
 

From d74f2c7560452a9b82ddfa4020335b73d971b8a5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 21:40:06 +0200
Subject: [PATCH 069/307] housekeeping folder added to .mk file

---
 framework.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/framework.mk b/framework.mk
index 2092c2fe..404055ee 100644
--- a/framework.mk
+++ b/framework.mk
@@ -10,11 +10,11 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)

From 87f64d99cd1b7eae59b601140d13a5b92565f384 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 23:18:00 +0200
Subject: [PATCH 070/307] implemented fixed timeslot task

---
 osal/host/FixedTimeslotTask.cpp | 191 ++++++++++++++++++++++++++++++++
 osal/host/FixedTimeslotTask.h   | 130 ++++++++++++++++++++++
 osal/host/PeriodicTask.cpp      |   6 +-
 osal/host/PeriodicTask.h        |   5 +-
 osal/host/TaskFactory.cpp       |   6 +-
 5 files changed, 330 insertions(+), 8 deletions(-)
 create mode 100644 osal/host/FixedTimeslotTask.cpp
 create mode 100644 osal/host/FixedTimeslotTask.h

diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
new file mode 100644
index 00000000..48d11843
--- /dev/null
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -0,0 +1,191 @@
+#include <framework/osal/host/FixedTimeslotTask.h>
+
+#include <framework/ipc/MutexFactory.h>
+#include <framework/osal/host/Mutex.h>
+#include <framework/osal/host/FixedTimeslotTask.h>
+
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+        TaskStackSize setStack, TaskPeriod setPeriod,
+        void (*setDeadlineMissedFunc)()) :
+        started(false), pollingSeqTable(setPeriod*1000), taskName(name),
+        period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+    mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+FixedTimeslotTask::~FixedTimeslotTask(void) {
+    //Do not delete objects, we were responsible for ptrs only.
+    terminateThread = true;
+    if(mainThread.joinable()) {
+        mainThread.join();
+    }
+    delete this;
+}
+
+void FixedTimeslotTask::taskEntryPoint(void* argument) {
+    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+
+    if (not originalTask->started) {
+        // we have to suspend/block here until the task is started.
+        // if semaphores are implemented, use them here.
+        std::unique_lock<std::mutex> lock(initMutex);
+        initCondition.wait(lock);
+    }
+
+    this->taskFunctionality();
+    sif::debug << "FixedTimeslotTask::taskEntryPoint: "
+            "Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+    started = true;
+
+    // Notify task to start.
+    std::lock_guard<std::mutex> lock(initMutex);
+    initCondition.notify_one();
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+    // A local iterator for the Polling Sequence Table is created to
+    // find the start time for the first entry.
+    SlotListIter slotListIter = pollingSeqTable.current;
+    // Get start time for first entry.
+    chron_ms interval(slotListIter->pollingTimeMs);
+    auto currentStartTime {
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch())
+    };
+    if(interval.count() > 0) {
+        delayForInterval(&currentStartTime, interval);
+    }
+
+    /* Enter the loop that defines the task behavior. */
+    for (;;) {
+        if(terminateThread.load()) {
+            break;
+        }
+        //The component for this slot is executed and the next one is chosen.
+        this->pollingSeqTable.executeAndAdvance();
+        if (not pollingSeqTable.slotFollowsImmediately()) {
+            // we need to wait before executing the current slot
+            //this gives us the time to wait:
+            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
+            delayForInterval(&currentStartTime, interval);
+            //TODO deadline missed check
+        }
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+        uint32_t slotTimeMs, int8_t executionStep) {
+    if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+        pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, this);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    sif::error << "Component " << std::hex << componentId <<
+            " not found, not adding it to pst" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
+    return pollingSeqTable.checkSequence();
+}
+
+uint32_t FixedTimeslotTask::getPeriodMs() const {
+    return period * 1000;
+}
+
+bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<chron_ms>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
+
+
+
+
diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
new file mode 100644
index 00000000..bb2f757a
--- /dev/null
+++ b/osal/host/FixedTimeslotTask.h
@@ -0,0 +1,130 @@
+#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedTimeslotTaskIF.h>
+#include <framework/tasks/Typedef.h>
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief   This class represents a task for periodic activities with multiple
+ *          steps and strict timeslot requirements for these steps.
+ * @details
+ * @ingroup task_handling
+ */
+class FixedTimeslotTask: public FixedTimeslotTaskIF {
+public:
+    /**
+     * @brief   Standard constructor of the class.
+     * @details
+     * The class is initialized without allocated objects. These need to be
+     * added with #addComponent.
+     * @param priority
+     * @param stack_size
+     * @param setPeriod
+     * @param setDeadlineMissedFunc
+     * The function pointer to the deadline missed function that shall be
+     * assigned.
+     */
+    FixedTimeslotTask(const char *name, TaskPriority setPriority,
+            TaskStackSize setStack, TaskPeriod setPeriod,
+            void (*setDeadlineMissedFunc)());
+    /**
+     * @brief   Currently, the executed object's lifetime is not coupled with
+     *          the task object's lifetime, so the destructor is empty.
+     */
+    virtual ~FixedTimeslotTask(void);
+
+    /**
+     * @brief   The method to start the task.
+     * @details The method starts the task with the respective system call.
+     *          Entry point is the taskEntryPoint method described below.
+     *          The address of the task object is passed as an argument
+     *          to the system call.
+     */
+    ReturnValue_t startTask(void);
+
+    /**
+     * Add timeslot to the polling sequence table.
+     * @param componentId
+     * @param slotTimeMs
+     * @param executionStep
+     * @return
+     */
+    ReturnValue_t addSlot(object_id_t componentId,
+                   uint32_t slotTimeMs, int8_t executionStep);
+
+    ReturnValue_t checkSequence() const;
+
+    uint32_t getPeriodMs() const;
+
+    ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+    using chron_ms = std::chrono::milliseconds;
+
+    bool started;
+    //!< Typedef for the List of objects.
+    typedef std::vector<ExecutableObjectIF*> ObjectList;
+    std::thread mainThread;
+    std::atomic<bool> terminateThread = false;
+
+    //! Polling sequence table which contains the object to execute
+    //! and information like the timeslots and the passed execution step.
+    FixedSlotSequence pollingSeqTable;
+
+    std::condition_variable initCondition;
+    std::mutex initMutex;
+    std::string taskName;
+    /**
+     * @brief   The period of the task.
+     * @details
+     * The period determines the frequency of the task's execution.
+     * It is expressed in clock ticks.
+     */
+    TaskPeriod period;
+
+    /**
+     * @brief   The pointer to the deadline-missed function.
+     * @details
+     * This pointer stores the function that is executed if the task's deadline
+     * is missed. So, each may react individually on a timing failure.
+     * The pointer may be NULL, then nothing happens on missing the deadline.
+     * The deadline is equal to the next execution of the periodic task.
+     */
+    void (*deadlineMissedFunc)(void);
+    /**
+     * @brief   This is the function executed in the new task's context.
+     * @details
+     * It converts the argument back to the thread object type and copies the
+     * class instance to the task context.
+     * The taskFunctionality method is called afterwards.
+     * @param   A pointer to the task object itself is passed as argument.
+     */
+
+    void taskEntryPoint(void* argument);
+    /**
+     * @brief   The function containing the actual functionality of the task.
+     * @details
+     * The method sets and starts the task's period, then enters a loop that is
+     * repeated as long as the isRunning attribute is true. Within the loop,
+     * all performOperation methods of the added objects are called. Afterwards
+     * the checkAndRestartPeriod system call blocks the task until the next
+     *  period. On missing the deadline, the deadlineMissedFunction is executed.
+     */
+    void taskFunctionality(void);
+
+    bool delayForInterval(chron_ms * previousWakeTimeMs,
+            const chron_ms interval);
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index 57898ac2..1a5024ab 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -105,7 +105,7 @@ void PeriodicTask::taskFunctionality() {
 				it != objectList.end(); ++it) {
 			(*it)->performOperation();
 		}
-		if(not delayUntil(&currentStartTime, periodChrono)) {
+		if(not delayForInterval(&currentStartTime, periodChrono)) {
 			sif::warning << "PeriodicTask: " << taskName <<
 					" missed deadline!\n" << std::flush;
 			if(deadlineMissedFunc != nullptr) {
@@ -129,8 +129,8 @@ uint32_t PeriodicTask::getPeriodMs() const {
 	return period * 1000;
 }
 
-bool PeriodicTask::delayUntil(std::chrono::milliseconds * previousWakeTimeMs,
-        const std::chrono::milliseconds interval) {
+bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs,
+        const chron_ms interval) {
     bool shouldDelay = false;
     //Get current wakeup time
     auto currentStartTime =
diff --git a/osal/host/PeriodicTask.h b/osal/host/PeriodicTask.h
index 19c06b52..d97bf089 100644
--- a/osal/host/PeriodicTask.h
+++ b/osal/host/PeriodicTask.h
@@ -64,6 +64,7 @@ public:
 	ReturnValue_t sleepFor(uint32_t ms);
 
 protected:
+	using chron_ms = std::chrono::milliseconds;
 	bool started;
 	//!< Typedef for the List of objects.
 	typedef std::vector<ExecutableObjectIF*> ObjectList;
@@ -115,8 +116,8 @@ protected:
 	 */
 	void taskFunctionality(void);
 
-	bool delayUntil(std::chrono::milliseconds * previousWakeTimeMs,
-	        const std::chrono::milliseconds interval);
+	bool delayForInterval(chron_ms * previousWakeTimeMs,
+	        const chron_ms interval);
 };
 
 #endif /* PERIODICTASK_H_ */
diff --git a/osal/host/TaskFactory.cpp b/osal/host/TaskFactory.cpp
index a13844c4..9db8ac4d 100644
--- a/osal/host/TaskFactory.cpp
+++ b/osal/host/TaskFactory.cpp
@@ -1,3 +1,4 @@
+#include <framework/osal/host/FixedTimeslotTask.h>
 #include <framework/osal/host/PeriodicTask.h>
 #include <framework/tasks/TaskFactory.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
@@ -36,9 +37,8 @@ FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
 		TaskDeadlineMissedFunction deadLineMissedFunction_) {
 	// This is going to be interesting. Time now learn the C++ threading library
 	// :-)
-	sif::warning << "TaskFactory::createFixedTimeslotTask: Not implemented "
-			"yet" << std::endl;
-	return nullptr;
+	return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
+	        periodInSeconds_, deadLineMissedFunction_);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

From d600d488167c891407e27b3d3f545d02e319fb2e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 01:31:08 +0200
Subject: [PATCH 071/307] added the decoupling of DHB from powerSwitcher

+ some first hk maanger changes, might comment them out
---
 devicehandlers/DeviceHandlerBase.cpp          | 232 +++++++++++-------
 devicehandlers/DeviceHandlerBase.h            | 215 ++++++++--------
 .../DeviceHandlerFailureIsolation.cpp         |  34 +--
 .../DeviceHandlerFailureIsolation.h           |   1 +
 4 files changed, 273 insertions(+), 209 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 02c94129..1e3bb16e 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -14,7 +14,7 @@
 
 #include <iomanip>
 
-object_id_t DeviceHandlerBase::powerSwitcherId = 0;
+object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
@@ -26,12 +26,13 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
+		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
+		actionHelper(this, nullptr), hkManager(this),
 		deviceThermalStatePoolId(thermalStatePoolId),
 		deviceThermalRequestPoolId(thermalRequestPoolId),
-		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
 		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
 		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-		switchOffWasReported(false), actionHelper(this, nullptr), cookieInfo(),
+		switchOffWasReported(false), cookieInfo(),
 		childTransitionDelay(5000),
 		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
 		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
@@ -52,7 +53,7 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-	//communicationInterface->close(cookie);
+	delete comCookie;
 	if (defaultFDIRUsed) {
 		delete fdirInstance;
 	}
@@ -129,9 +130,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	defaultRawReceiver = rawReceiver->getDeviceQueue();
 
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	if (powerSwitcher == NULL) {
-		return RETURN_FAILED;
+	if(powerSwitcherId != objects::NO_OBJECT) {
+		powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+		if (powerSwitcher == NULL) {
+			return RETURN_FAILED;
+		}
 	}
 
 	result = healthHelper.initialize();
@@ -162,6 +165,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
+	result = hkManager.initializeHousekeepingPoolEntriesOnce();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
 	fillCommandAndReplyMap();
 
 	//Set temperature target state to NON_OP.
@@ -271,7 +279,8 @@ void DeviceHandlerBase::doStateMachine() {
 	case _MODE_WAIT_ON: {
 		uint32_t currentUptime;
 		Clock::getUptime(&currentUptime);
-		if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
+		if (powerSwitcher != nullptr and currentUptime - timeoutStart >=
+				powerSwitcher->getSwitchDelayMs()) {
 			triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
 					0);
 			setMode(_MODE_POWER_DOWN);
@@ -341,9 +350,10 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic,
-		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
+		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
+		size_t replyLen, bool periodic, bool hasDifferentReplyId,
+		DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
@@ -354,7 +364,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t de
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic) {
+		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
@@ -369,7 +379,8 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(
+		DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
@@ -383,7 +394,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
 }
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
-		uint16_t delayCycles, uint16_t maxDelayCycles, uint8_t periodic) {
+		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
 	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.find(deviceReply);
 	if (iter == deviceReplyMap.end()) {
@@ -576,11 +587,8 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	size_t receivedDataLen;
-	uint8_t *receivedData;
-	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	size_t foundLen = 0;
-	ReturnValue_t result;
+	size_t receivedDataLen = 0;
+	uint8_t *receivedData = nullptr;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
 		cookieInfo.state = COOKIE_UNUSED;
@@ -589,8 +597,8 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(comCookie,
-			&receivedData, &receivedDataLen);
+	ReturnValue_t result = communicationInterface->readReceivedMessage(
+			comCookie, &receivedData, &receivedDataLen);
 
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
@@ -608,44 +616,90 @@ void DeviceHandlerBase::doGetRead() {
 
 	if (mode == MODE_RAW) {
 		replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
-	} else {
-		//The loop may not execute more often than the number of received bytes (worst case).
-		//This approach avoids infinite loops due to buggy scanForReply routines (seen in bug 1077).
-		uint32_t remainingLength = receivedDataLen;
-		for (uint32_t count = 0; count < receivedDataLen; count++) {
-			result = scanForReply(receivedData, remainingLength, &foundId,
-					&foundLen);
-			switch (result) {
-			case RETURN_OK:
-				handleReply(receivedData, foundId, foundLen);
-				break;
-			case APERIODIC_REPLY: {
-				result = interpretDeviceReply(foundId, receivedData);
-				if (result != RETURN_OK) {
-					replyRawReplyIfnotWiretapped(receivedData, foundLen);
-					triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
-							foundId);
-				}
-			}
-				break;
-			case IGNORE_REPLY_DATA:
-				break;
-			case IGNORE_FULL_PACKET:
-				return;
-			default:
-				//We need to wait for timeout.. don't know what command failed and who sent it.
+	}
+	else {
+		parseReply(receivedData, receivedDataLen);
+	}
+}
+
+void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
+		size_t receivedDataLen) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	DeviceCommandId_t foundId = 0xFFFFFFFF;
+	size_t foundLen = 0;
+	// The loop may not execute more often than the number of received bytes
+	// (worst case). This approach avoids infinite loops due to buggy
+	// scanForReply routines.
+	uint32_t remainingLength = receivedDataLen;
+	for (uint32_t count = 0; count < receivedDataLen; count++) {
+		result = scanForReply(receivedData, remainingLength, &foundId,
+				&foundLen);
+		switch (result) {
+		case RETURN_OK:
+			handleReply(receivedData, foundId, foundLen);
+			break;
+		case APERIODIC_REPLY: {
+			result = interpretDeviceReply(foundId, receivedData);
+			if (result != RETURN_OK) {
 				replyRawReplyIfnotWiretapped(receivedData, foundLen);
-				triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
-				break;
-			}
-			receivedData += foundLen;
-			if (remainingLength > foundLen) {
-				remainingLength -= foundLen;
-			} else {
-				return;
+				triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
+						foundId);
 			}
 		}
+		break;
+		case IGNORE_REPLY_DATA:
+			break;
+		case IGNORE_FULL_PACKET:
+			return;
+		default:
+			//We need to wait for timeout.. don't know what command failed and who sent it.
+			replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
+			break;
+		}
+		receivedData += foundLen;
+		if (remainingLength > foundLen) {
+			remainingLength -= foundLen;
+		} else {
+			return;
+		}
+	}
+}
 
+void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
+		DeviceCommandId_t foundId, uint32_t foundLen) {
+	ReturnValue_t result;
+	DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
+
+	if (iter == deviceReplyMap.end()) {
+		replyRawReplyIfnotWiretapped(receivedData, foundLen);
+		triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
+		return;
+	}
+
+	DeviceReplyInfo *info = &(iter->second);
+
+	if (info->delayCycles != 0) {
+
+		if (info->periodic != 0) {
+			info->delayCycles = info->maxDelayCycles;
+		} else {
+			info->delayCycles = 0;
+		}
+		result = interpretDeviceReply(foundId, receivedData);
+		if (result != RETURN_OK) {
+			// Report failed interpretation to FDIR.
+			replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
+		}
+		replyToReply(iter, result);
+	} else {
+		// Other completion failure messages are created by timeout.
+		// Powering down the device might take some time during which periodic
+		// replies may still come in.
+		if (mode != _MODE_WAIT_OFF) {
+			triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
+		}
 	}
 }
 
@@ -724,42 +778,6 @@ MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
 	return commandQueue->getId();
 }
 
-void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
-		DeviceCommandId_t foundId, uint32_t foundLen) {
-	ReturnValue_t result;
-	DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
-
-	if (iter == deviceReplyMap.end()) {
-		replyRawReplyIfnotWiretapped(receivedData, foundLen);
-		triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
-		return;
-	}
-
-	DeviceReplyInfo *info = &(iter->second);
-
-	if (info->delayCycles != 0) {
-
-		if (info->periodic != 0) {
-			info->delayCycles = info->maxDelayCycles;
-		} else {
-			info->delayCycles = 0;
-		}
-		result = interpretDeviceReply(foundId, receivedData);
-		if (result != RETURN_OK) {
-			//Report failed interpretation to FDIR.
-			replyRawReplyIfnotWiretapped(receivedData, foundLen);
-			triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
-		}
-		replyToReply(iter, result);
-	} else {
-		//Other completion failure messages are created by timeout.
-		//Powering down the device might take some time during which periodic replies may still come in.
-		if (mode != _MODE_WAIT_OFF) {
-			triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
-		}
-	}
-}
-
 //ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
 //	DeviceCommunicationIF *newCommunication = objectManager->get<
 //			DeviceCommunicationIF>(newChannelId);
@@ -791,6 +809,9 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 }
 
 void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
+	if(powerSwitcher == nullptr) {
+		return;
+	}
 	const uint8_t *switches;
 	uint8_t numberOfSwitches = 0;
 	ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
@@ -805,9 +826,7 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
 
 ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches,
 		uint8_t *numberOfSwitches) {
-	*switches = &deviceSwitch;
-	*numberOfSwitches = 1;
-	return RETURN_OK;
+	return DeviceHandlerBase::NO_SWITCH;
 }
 
 void DeviceHandlerBase::modeChanged(void) {
@@ -843,6 +862,9 @@ uint32_t DeviceHandlerBase::getTransitionDelayMs(Mode_t modeFrom,
 }
 
 ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
+	if(powerSwitcher == nullptr) {
+		return NO_SWITCH;
+	}
 	uint8_t numberOfSwitches = 0;
 	const uint8_t *switches;
 
@@ -1286,4 +1308,24 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 		object_id_t objectId, uint32_t parameter) {}
 
-void DeviceHandlerBase::performOperationHook() {}
+void DeviceHandlerBase::performOperationHook() {
+}
+
+ReturnValue_t DeviceHandlerBase::initializeHousekeepingPoolEntries(
+		LocalDataPoolMap &localDataPoolMap) {
+	return RETURN_OK;
+}
+
+HousekeepingManager* DeviceHandlerBase::getHkManagerHandle() {
+	return &hkManager;
+}
+
+DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
+	auto iter = deviceReplyMap.find(sid.ownerSetId);
+	if(iter != deviceReplyMap.end()) {
+		return iter->second.dataSet;
+	}
+	else {
+		return nullptr;
+	}
+}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 1debcdcb..47cf0284 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1,5 +1,5 @@
-#ifndef DEVICEHANDLERBASE_H_
-#define DEVICEHANDLERBASE_H_
+#ifndef DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#define DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/tasks/ExecutableObjectIF.h>
@@ -11,12 +11,14 @@
 #include <framework/modes/HasModesIF.h>
 #include <framework/power/PowerSwitchIF.h>
 #include <framework/ipc/MessageQueueIF.h>
+#include <framework/housekeeping/HasHkPoolParametersIF.h>
 
 #include <framework/action/ActionHelper.h>
 #include <framework/health/HealthHelper.h>
 #include <framework/parameters/ParameterHelper.h>
 #include <framework/datapool/HkSwitchHelper.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
+#include <framework/housekeeping/HousekeepingManager.h>
 
 #include <map>
 
@@ -46,14 +48,16 @@ class StorageManagerIF;
  * If data has been received (GET_READ), the data will be interpreted.
  * The action for each step can be defined by the child class but as most
  * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
- * a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
+ * a default implementation is provided.
+ * NOTE: RMAP is a standard which is used for FLP.
  * RMAP communication is not mandatory for projects implementing the FSFW.
  * However, the communication principles are similar to RMAP as there are
  * two write and two send calls involved.
  *
- * Device handler instances should extend this class and implement the abstract functions.
- * Components and drivers can send so called cookies which are used for communication
- * and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
+ * Device handler instances should extend this class and implement the abstract
+ * functions. Components and drivers can send so called cookies which are used
+ * for communication and contain information about the communcation (e.g. slave
+ * address for I2C or RMAP structs).
  * The following abstract methods must be implemented by a device handler:
  *  1. doStartUp()
  *  2. doShutDown()
@@ -82,7 +86,8 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasModesIF,
 		public HasHealthIF,
 		public HasActionsIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public HasHkPoolParametersIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
@@ -150,11 +155,9 @@ public:
 	 * @return
 	 */
 	virtual ReturnValue_t initialize();
-
-	/**
-	 * Destructor.
-	 */
+	/** Destructor. */
 	virtual ~DeviceHandlerBase();
+
 protected:
 	/**
 	 * @brief 	This is used to let the child class handle the transition from
@@ -322,12 +325,11 @@ protected:
 	 *     - @c RETURN_FAILED when the reply could not be interpreted,
 	 *     e.g. logical errors or range violations occurred
 	 */
-
 	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
 			const uint8_t *packet) = 0;
 
 	/**
-	 * @brief fill the #deviceCommandMap
+	 * @brief fill the #DeviceCommandMap and #DeviceReplyMap
 	 *	 	  called by the initialize() of the base class
 	 * @details
 	 * This is used to let the base class know which replies are expected.
@@ -382,7 +384,7 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
+			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = 0,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
 	/**
@@ -396,7 +398,7 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
+			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = 0);
 
 	/**
 	 * @brief 	A simple command to add a command to the commandList.
@@ -422,7 +424,7 @@ protected:
 	 */
 	ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
 			uint16_t delayCycles, uint16_t maxDelayCycles,
-			uint8_t periodic = 0);
+			bool periodic = 0);
 
 	/**
 	 * @brief   Can be implemented by child handler to
@@ -471,6 +473,18 @@ protected:
 	virtual ReturnValue_t getSwitches(const uint8_t **switches,
 			uint8_t *numberOfSwitches);
 
+	/**
+	 * This function is used to initialize the local housekeeping pool
+	 * entries. The default implementation leaves the pool empty.
+	 * @param localDataPoolMap
+	 * @return
+	 */
+	virtual ReturnValue_t initializeHousekeepingPoolEntries(
+				LocalDataPoolMap& localDataPoolMap) override;
+
+	/** Get the HK manager object handle */
+	virtual HousekeepingManager* getHkManagerHandle() override;
+
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
@@ -528,114 +542,136 @@ protected:
 	static const DeviceCommandId_t NO_COMMAND_ID = -2;
 	static const MessageQueueId_t NO_COMMANDER = 0;
 
-	/**
-	 * Pointer to the raw packet that will be sent.
-	 */
+	/** Pointer to the raw packet that will be sent.*/
 	uint8_t *rawPacket = nullptr;
-	/**
-	 * Size of the #rawPacket.
-	 */
+	/** Size of the #rawPacket. */
 	uint32_t rawPacketLen = 0;
 
 	/**
 	 * The mode the device handler is currently in.
-	 *
 	 * This should never be changed directly but only with setMode()
 	 */
 	Mode_t mode;
-
 	/**
 	 * The submode the device handler is currently in.
-	 *
 	 * This should never be changed directly but only with setMode()
 	 */
 	Submode_t submode;
 
-	/**
-	 * This is the counter value from performOperation().
-	 */
+	/** This is the counter value from performOperation(). */
 	uint8_t pstStep = 0;
-
 	/**
-	 * wiretapping flag:
+	 * Wiretapping flag:
 	 *
-	 * indicates either that all raw messages to and from the device should be sent to #theOneWhoWantsToReadRawTraffic
-	 * or that all device TM should be downlinked to #theOneWhoWantsToReadRawTraffic
+	 * indicates either that all raw messages to and from the device should be
+	 * sent to #defaultRawReceiver
+	 * or that all device TM should be downlinked to #defaultRawReceiver.
 	 */
 	enum WiretappingMode {
 		OFF = 0, RAW = 1, TM = 2
 	} wiretappingMode;
-
 	/**
-	 * A message queue that accepts raw replies
+	 * @brief 	A message queue that accepts raw replies
 	 *
-	 * Statically initialized in initialize() to a configurable object. Used when there is no method
-	 * of finding a recipient, ie raw mode and reporting erreonous replies
+	 * Statically initialized in initialize() to a configurable object.
+	 * Used when there is no method of finding a recipient, ie raw mode and
+	 * reporting erroneous replies
 	 */
 	MessageQueueId_t defaultRawReceiver = 0;
-
 	store_address_t storedRawData;
 
 	/**
-	 * the message queue which wants to read all raw traffic
-	 *
-	 * if #isWiretappingActive all raw communication from and to the device will be sent to this queue
+	 * @brief 	The message queue which wants to read all raw traffic
+	 * If #isWiretappingActive all raw communication from and to the device
+	 * will be sent to this queue
 	 */
 	MessageQueueId_t requestedRawTraffic = 0;
 
-	/**
-	 * the object used to set power switches
-	 */
-	PowerSwitchIF *powerSwitcher = nullptr;
-
 	/**
 	 * Pointer to the IPCStore.
-	 *
 	 * This caches the pointer received from the objectManager in the constructor.
 	 */
 	StorageManagerIF *IPCStore = nullptr;
-
-	/**
-	 * cached for init
-	 */
+	/** The comIF object ID is cached for the intialize() function */
 	object_id_t deviceCommunicationId;
-
-	/**
-	 * Communication object used for device communication
-	 */
+	/** Communication object used for device communication */
 	DeviceCommunicationIF * communicationInterface = nullptr;
-
-	/**
-	 * Cookie used for communication
-	 */
+	/** Cookie used for communication */
 	CookieIF * comCookie;
 
+	/** Health helper for HasHealthIF */
+	HealthHelper healthHelper;
+	/** Mode helper for HasModesIF */
+	ModeHelper modeHelper;
+	/** Parameter helper for ReceivesParameterMessagesIF */
+	ParameterHelper parameterHelper;
+	/** Action helper for HasActionsIF */
+	ActionHelper actionHelper;
+	/** Housekeeping Manager */
+	HousekeepingManager hkManager;
+
+	/**
+	 *  @brief Information about commands
+	 */
 	struct DeviceCommandInfo {
-		bool isExecuting; //!< Indicates if the command is already executing.
-		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
-		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
+		//! Indicates if the command is already executing.
+		bool isExecuting;
+		//! Dynamic value to indicate how many replies are expected.
+		//! Inititated with 0.
+		uint8_t expectedReplies;
+		//! if this is != NO_COMMANDER, DHB was commanded externally and shall
+		//! report everything to commander.
+		MessageQueueId_t sendReplyTo;
 	};
 	using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo> ;
+	/**
+	 * Information about commands
+	 */
+	DeviceCommandMap deviceCommandMap;
 
 	/**
 	 * @brief Information about expected replies
-	 *
-	 * This is used to keep track of pending replies
+	 * This is used to keep track of pending replies.
 	 */
 	struct DeviceReplyInfo {
-		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
-		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
+		//! The maximum number of cycles the handler should wait for a reply
+		//! to this command.
+		uint16_t maxDelayCycles;
+		//! The currently remaining cycles the handler should wait for a reply,
+		//! 0 means there is no reply expected
+		uint16_t delayCycles;
 		size_t replyLen = 0; //!< Expected size of the reply.
-		uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
-		DeviceCommandMap::iterator command; //!< The command that expects this reply.
+		//! if this is !=0, the delayCycles will not be reset to 0 but to
+		//! maxDelayCycles
+		bool periodic;
+		//! The dataset used to access housekeeping data related to the
+		//! respective device reply. Will point to a dataset held by
+		//! the child handler (if one is specified)
+		DataSetIF* dataSet;
+		//! The command that expects this reply.
+		DeviceCommandMap::iterator command;
 	};
 
 	using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo> ;
 	using DeviceReplyIter = DeviceReplyMap::iterator;
-
 	/**
-	 * The MessageQueue used to receive device handler commands and to send replies.
+	 * This map is used to check and track correct reception of all replies.
+	 *
+	 * It has multiple use:
+	 * - It stores the information on pending replies. If a command is sent,
+	 * 	 the DeviceCommandInfo.count is incremented.
+	 * - It is used to time-out missing replies. If a command is sent, the
+	 * 	 DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
+	 * - It is queried to check if a reply from the device can be interpreted.
+	 *   scanForReply() returns the id of the command a reply was found for.
+	 * The reply is ignored in the following cases:
+	 *     - No entry for the returned id was found
+	 *     - The deviceReplyInfo.delayCycles is == 0
 	 */
+	DeviceReplyMap deviceReplyMap;
+
+	//! The MessageQueue used to receive device handler commands
+	//! and to send replies.
 	MessageQueueIF* commandQueue = nullptr;
 
 	/**
@@ -652,15 +688,6 @@ protected:
 	 */
 	uint32_t deviceThermalRequestPoolId;
 
-	/**
-	 * Taking care of the health
-	 */
-	HealthHelper healthHelper;
-
-	ModeHelper modeHelper;
-
-	ParameterHelper parameterHelper;
-
 	/**
 	 * Optional Error code
 	 * Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
@@ -966,24 +993,11 @@ protected:
 	bool commandIsExecuting(DeviceCommandId_t commandId);
 
 	/**
-	 * This map is used to check and track correct reception of all replies.
+	 * set all switches returned by getSwitches()
 	 *
-	 * It has multiple use:
-	 * - it stores the information on pending replies. If a command is sent, the DeviceCommandInfo.count is incremented.
-	 * - it is used to time-out missing replies. If a command is sent, the DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
-	 * - it is queried to check if a reply from the device can be interpreted. scanForReply() returns the id of the command a reply was found for.
-	 * The reply is ignored in the following cases:
-	 *     - No entry for the returned id was found
-	 *     - The deviceReplyInfo.delayCycles is == 0
+	 * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
 	 */
-	DeviceReplyMap deviceReplyMap;
-
-	/**
-	 * Information about commands
-	 */
-	DeviceCommandMap deviceCommandMap;
-
-	ActionHelper actionHelper;
+	void commandSwitch(ReturnValue_t onOff);
 private:
 
 	/**
@@ -1016,6 +1030,9 @@ private:
 	 */
 	CookieInfo cookieInfo;
 
+	/** the object used to set power switches*/
+	PowerSwitchIF *powerSwitcher = nullptr;
+
 	/**
 	 * Used for timing out mode transitions.
 	 *
@@ -1148,12 +1165,6 @@ private:
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
 			uint32_t *len);
 
-	/**
-	 * set all switches returned by getSwitches()
-	 *
-	 * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
-	 */
-	void commandSwitch(ReturnValue_t onOff);
 
 	/**
 	 * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
@@ -1178,6 +1189,10 @@ private:
 	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
 
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
+
+	void parseReply(const uint8_t* receivedData,
+			size_t receivedDataLen);
+	DataSetIF* getDataSetHandle(sid_t sid) override;
 };
 
 #endif /* DEVICEHANDLERBASE_H_ */
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 65c40219..9bc2cbe8 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -7,13 +7,15 @@
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0;
 
-DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent) :
-		FailureIsolationBase(owner, parent), strangeReplyCount(MAX_STRANGE_REPLIES,
-				STRANGE_REPLIES_TIME_MS, parameterDomainBase++), missedReplyCount(
-				MAX_MISSED_REPLY_COUNT, MISSED_REPLY_TIME_MS,
-				parameterDomainBase++), recoveryCounter(MAX_REBOOT,
-				REBOOT_TIME_MS, parameterDomainBase++), fdirState(NONE), powerConfirmation(
-				0) {
+DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner,
+		object_id_t parent) :
+		FailureIsolationBase(owner, parent),
+		strangeReplyCount(MAX_STRANGE_REPLIES, STRANGE_REPLIES_TIME_MS,
+				parameterDomainBase++),
+		missedReplyCount( MAX_MISSED_REPLY_COUNT, MISSED_REPLY_TIME_MS,
+				parameterDomainBase++),
+		recoveryCounter(MAX_REBOOT, REBOOT_TIME_MS, parameterDomainBase++),
+		fdirState(NONE), powerConfirmation(0) {
 }
 
 DeviceHandlerFailureIsolation::~DeviceHandlerFailureIsolation() {
@@ -68,9 +70,11 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
 		break;
 		//****Power*****
 	case PowerSwitchIF::SWITCH_WENT_OFF:
-		result = sendConfirmationRequest(event, powerConfirmation);
-		if (result == RETURN_OK) {
-			setFdirState(DEVICE_MIGHT_BE_OFF);
+		if(hasPowerConfirmation) {
+			result = sendConfirmationRequest(event, powerConfirmation);
+			if (result == RETURN_OK) {
+				setFdirState(DEVICE_MIGHT_BE_OFF);
+			}
 		}
 		break;
 	case Fuse::FUSE_WENT_OFF:
@@ -142,7 +146,8 @@ void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
 
 void DeviceHandlerFailureIsolation::wasParentsFault(EventMessage* event) {
 	//We'll better ignore the SWITCH_WENT_OFF event and await a system-wide reset.
-	//This means, no fault message will come through until a MODE_ or HEALTH_INFO message comes through -> Is that ok?
+	//This means, no fault message will come through until a MODE_ or
+	//HEALTH_INFO message comes through -> Is that ok?
 	//Same issue in TxFailureIsolation!
 //	if ((event->getEvent() == PowerSwitchIF::SWITCH_WENT_OFF)
 //			&& (fdirState != RECOVERY_ONGOING)) {
@@ -162,10 +167,11 @@ ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 	}
 	ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
 			powerConfirmationId);
-	if (power == NULL) {
-		return RETURN_FAILED;
+	if (power != nullptr) {
+		powerConfirmation = power->getEventReceptionQueue();
+		hasPowerConfirmation = true;
 	}
-	powerConfirmation = power->getEventReceptionQueue();
+
 	return RETURN_OK;
 }
 
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h
index 91f6ef64..379edae3 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.h
+++ b/devicehandlers/DeviceHandlerFailureIsolation.h
@@ -28,6 +28,7 @@ protected:
 		NONE, RECOVERY_ONGOING, DEVICE_MIGHT_BE_OFF, AWAIT_SHUTDOWN
 	};
 	FDIRState fdirState;
+	bool hasPowerConfirmation = false;
 	MessageQueueId_t powerConfirmation;
 	static object_id_t powerConfirmationId;
 	static const uint32_t MAX_REBOOT = 1;

From b4561465ba273718f03b8f32e73eb4d5ffcb7610 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 01:36:07 +0200
Subject: [PATCH 072/307] some little form improvements

---
 devicehandlers/DeviceHandlerBase.h   | 4 ++--
 framework.mk                         | 4 ++--
 housekeeping/HasHkPoolParametersIF.h | 1 -
 housekeeping/HousekeepingMessage.h   | 1 +
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 47cf0284..9b2bcdf4 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1,5 +1,5 @@
-#ifndef DEVICEHANDLERS_DEVICEHANDLERBASE_H_
-#define DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/tasks/ExecutableObjectIF.h>
diff --git a/framework.mk b/framework.mk
index 404055ee..c8822981 100644
--- a/framework.mk
+++ b/framework.mk
@@ -1,5 +1,5 @@
-# This file needs FRAMEWORK_PATH and API set correctly
-# Valid API settings: rtems, linux, freeRTOS
+# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
+# Valid API settings: rtems, linux, freeRTOS, host
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
diff --git a/housekeeping/HasHkPoolParametersIF.h b/housekeeping/HasHkPoolParametersIF.h
index 62715a3d..9efc6d16 100644
--- a/housekeeping/HasHkPoolParametersIF.h
+++ b/housekeeping/HasHkPoolParametersIF.h
@@ -40,7 +40,6 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	virtual ReturnValue_t initializeHousekeepingPoolEntries(
 			LocalDataPoolMap& localDataPoolMap) = 0;
-	//virtual float setMinimalHkSamplingFrequency() = 0;
 	virtual HousekeepingManager* getHkManagerHandle() = 0;
 	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
 };
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index e7ba68ba..61e6e199 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -19,6 +19,7 @@ union sid_t {
 	 */
 	uint64_t raw;
 };
+
 class HousekeepingMessage {
 public:
 	/**

From 8e7593d68a8bf7f909cf87f2daea6625c6ef4010 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 02:10:21 +0200
Subject: [PATCH 073/307] removed error handling in separate fnctn

---
 osal/linux/MessageQueue.cpp | 74 ++++++++++++++++++++-----------------
 osal/linux/MessageQueue.h   |  4 ++
 2 files changed, 45 insertions(+), 33 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 48ba29e8..d12fa720 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -1,14 +1,14 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/osal/linux/MessageQueue.h>
 #include <fcntl.h>           /* For O_* constants */
 #include <sys/stat.h>        /* For mode constants */
-#include <mqueue.h>
 #include <cstring>
 #include <errno.h>
-#include <framework/osal/linux/MessageQueue.h>
 
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
-		id(0), lastPartner(0), defaultDestination(NO_QUEUE) {
+
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): id(0),
+		lastPartner(0), defaultDestination(NO_QUEUE) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
 	this->id = 0;
@@ -17,40 +17,17 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 	attributes.mq_maxmsg = messageDepth;
 	attributes.mq_msgsize = maxMessageSize;
 	attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
-	//Set the name of the queue
+	//Set the name of the queue. The slash is mandatory!
 	sprintf(name, "/Q%u\n", queueCounter++);
 
-	//Create a nonblocking queue if the name is available (the queue is Read and
-	// writable for the owner as well as the group)
+	// Create a nonblocking queue if the name is available (the queue is read
+	// and writable for the owner as well as the group)
 	mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
 	S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes);
 	if (tempId == -1) {
-		//An error occured during open
-		//We need to distinguish if it is caused by an already created queue
-		if (errno == EEXIST) {
-			//There's another queue with the same name
-			//We unlink the other queue
-			int status = mq_unlink(name);
-			if (status != 0) {
-				sif::error << "mq_unlink Failed with status: " << strerror(errno)
-						   << std::endl;
-			} else {
-				//Successful unlinking, try to open again
-				mqd_t tempId = mq_open(name,
-				O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-				S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, &attributes);
-				if (tempId != -1) {
-					//Successful mq_open
-					this->id = tempId;
-					return;
-				}
-			}
-		}
-		//Failed either the first time or the second time
-		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
-				<< name << std::dec << " failed with status: "
-				<< strerror(errno) << std::endl;
-	} else {
+		ReturnValue_t result = handleError(&attributes);
+	}
+	else {
 		//Successful mq_open call
 		this->id = tempId;
 	}
@@ -69,6 +46,37 @@ MessageQueue::~MessageQueue() {
 	}
 }
 
+ReturnValue_t MessageQueue::handleError(mq_attr* attributes) {
+	// An error occured during open
+	// We need to distinguish if it is caused by an already created queue
+	if (errno == EEXIST) {
+		//There's another queue with the same name
+		//We unlink the other queue
+		int status = mq_unlink(name);
+		if (status != 0) {
+			sif::error << "mq_unlink Failed with status: " << strerror(errno)
+					<< std::endl;
+		}
+		else {
+			// Successful unlinking, try to open again
+			mqd_t tempId = mq_open(name,
+					O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+					S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
+			if (tempId != -1) {
+				//Successful mq_open
+				this->id = tempId;
+				return HasReturnvaluesIF::RETURN_OK;
+			}
+		}
+		// Failed either the first time or the second time
+		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+				<< name << std::dec << " failed with status: "
+				<< strerror(errno) << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+}
+
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
 		MessageQueueMessage* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), false);
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index fdc8dab1..b44ed5c7 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -4,6 +4,8 @@
 #include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/ipc/MessageQueueMessage.h>
+
+#include <mqueue.h>
 /**
  * @brief		This class manages sending and receiving of message queue messages.
  *
@@ -172,6 +174,8 @@ private:
 	char name[5];
 
 	static uint16_t queueCounter;
+
+	ReturnValue_t handleError(mq_attr* attributes);
 };
 
 #endif /* MESSAGEQUEUE_H_ */

From d35524ecbcbcd49d8f95e37180c787f606fad493 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 12:41:17 +0200
Subject: [PATCH 074/307] decoupling from raw reciever, linux mq improvements

---
 devicehandlers/DeviceHandlerBase.cpp | 67 +++++++++++++++++-----------
 devicehandlers/DeviceHandlerBase.h   |  2 +-
 health/HealthHelper.cpp              |  1 +
 osal/linux/MessageQueue.cpp          | 62 +++++++++++++++----------
 osal/linux/MessageQueue.h            |  2 +-
 5 files changed, 82 insertions(+), 52 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 1e3bb16e..d738b3f9 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -15,7 +15,7 @@
 #include <iomanip>
 
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
-object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
+object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
@@ -36,7 +36,7 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		childTransitionDelay(5000),
 		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
 		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
+	commandQueue = QueueFactory::instance()->createMessageQueue(1,
 			CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
@@ -121,15 +121,16 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return RETURN_FAILED;
 	}
 
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+	if(rawDataReceiverId != objects::NO_OBJECT) {
+		AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+				AcceptsDeviceResponsesIF>(rawDataReceiverId);
 
-	if (rawReceiver == NULL) {
-		return RETURN_FAILED;
+		if (rawReceiver == NULL) {
+			return RETURN_FAILED;
+		}
+		defaultRawReceiver = rawReceiver->getDeviceQueue();
 	}
 
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
-
 	if(powerSwitcherId != objects::NO_OBJECT) {
 		powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
 		if (powerSwitcher == NULL) {
@@ -139,6 +140,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	result = healthHelper.initialize();
 	if (result != RETURN_OK) {
+		sif::error << "DeviceHandlerBase::initialize: Health Helper "
+				"initialization failure" << std::endl;
 		return result;
 	}
 
@@ -614,7 +617,7 @@ void DeviceHandlerBase::doGetRead() {
 		replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
 	}
 
-	if (mode == MODE_RAW) {
+	if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
 		replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
 	}
 	else {
@@ -727,7 +730,7 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		MessageQueueId_t sendTo, bool isCommand) {
-	if (IPCStore == NULL || len == 0) {
+	if (IPCStore == NULL || len == 0 || sendTo == MessageQueueIF::NO_QUEUE) {
 		return;
 	}
 	store_address_t address;
@@ -1131,35 +1134,47 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 		return;
 	}
 	DeviceTmReportingWrapper wrapper(getObjectId(), replyId, data);
-	if (iter->second.command != deviceCommandMap.end()) {//replies to a command
+	//replies to a command
+	if (iter->second.command != deviceCommandMap.end())
+	{
 		MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
 		if (queueId != NO_COMMANDER) {
 			//This may fail, but we'll ignore the fault.
 			actionHelper.reportData(queueId, replyId, data);
 		}
+
 		//This check should make sure we get any TM but don't get anything doubled.
 		if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
 			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
-		} else if (forceDirectTm && (defaultRawReceiver != queueId)) {
-
-			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
-			//(progress or completed) it is in
-			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
-			true);
-
 		}
-	} else { //unrequested/aperiodic replies
-		if (wiretappingMode == TM) {
-			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
-		} else if (forceDirectTm) {
-			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
-			//(progress or completed) it is in
+		else if (forceDirectTm and (defaultRawReceiver != queueId) and
+					(defaultRawReceiver != MessageQueueIF::NO_QUEUE))
+		{
+			// hiding of sender needed so the service will handle it as
+			// unexpected Data, no matter what state (progress or completed)
+			// it is in
 			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
-			true);
+					true);
 		}
 	}
-//Try to cast to GlobDataSet and commit data.
+	//unrequested/aperiodic replies
+	else
+	{
+		if (wiretappingMode == TM) {
+			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
+		}
+		else if (forceDirectTm and defaultRawReceiver !=
+				MessageQueueIF::NO_QUEUE)
+		{
+			// hiding of sender needed so the service will handle it as
+			// unexpected Data, no matter what state (progress or completed)
+			// it is in
+			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
+					true);
+		}
+	}
+	//Try to cast to GlobDataSet and commit data.
 	if (!neverInDataPool) {
 		GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
 		if (dataSet != NULL) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 9b2bcdf4..3a43fa74 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -577,7 +577,7 @@ protected:
 	 * Used when there is no method of finding a recipient, ie raw mode and
 	 * reporting erroneous replies
 	 */
-	MessageQueueId_t defaultRawReceiver = 0;
+	MessageQueueId_t defaultRawReceiver = MessageQueueIF::NO_QUEUE;
 	store_address_t storedRawData;
 
 	/**
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index b7d54dc1..3a345287 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -40,6 +40,7 @@ void HealthHelper::setParentQeueue(MessageQueueId_t parentQueue) {
 ReturnValue_t HealthHelper::initialize() {
 	healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
 	eventSender = objectManager->get<EventReportingProxyIF>(objectId);
+	// TODO: Better returnvalues
 	if ((healthTable == NULL) || eventSender == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index d12fa720..08a9ab20 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -7,7 +7,7 @@
 
 
 
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): id(0),
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
 		lastPartner(0), defaultDestination(NO_QUEUE) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
@@ -25,7 +25,7 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): id(0),
 	mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
 	S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes);
 	if (tempId == -1) {
-		ReturnValue_t result = handleError(&attributes);
+		handleError(&attributes);
 	}
 	else {
 		//Successful mq_open call
@@ -47,33 +47,47 @@ MessageQueue::~MessageQueue() {
 }
 
 ReturnValue_t MessageQueue::handleError(mq_attr* attributes) {
-	// An error occured during open
-	// We need to distinguish if it is caused by an already created queue
-	if (errno == EEXIST) {
-		//There's another queue with the same name
-		//We unlink the other queue
-		int status = mq_unlink(name);
-		if (status != 0) {
-			sif::error << "mq_unlink Failed with status: " << strerror(errno)
-					<< std::endl;
-		}
-		else {
-			// Successful unlinking, try to open again
-			mqd_t tempId = mq_open(name,
-					O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-					S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
-			if (tempId != -1) {
-				//Successful mq_open
-				this->id = tempId;
-				return HasReturnvaluesIF::RETURN_OK;
+	switch(errno) {
+	case(EINVAL): {
+		sif::error << "MessageQueue::MessageQueue: Invalid Name " << std::endl;
+		break;
+	}
+	case(EEXIST): {
+		// An error occured during open
+		// We need to distinguish if it is caused by an already created queue
+		if (errno == EEXIST) {
+			//There's another queue with the same name
+			//We unlink the other queue
+			int status = mq_unlink(name);
+			if (status != 0) {
+				sif::error << "mq_unlink Failed with status: " << strerror(errno)
+											<< std::endl;
+			}
+			else {
+				// Successful unlinking, try to open again
+				mqd_t tempId = mq_open(name,
+						O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+						S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
+				if (tempId != -1) {
+					//Successful mq_open
+					this->id = tempId;
+					return HasReturnvaluesIF::RETURN_OK;
+				}
 			}
 		}
+		break;
+	}
+
+	default:
 		// Failed either the first time or the second time
 		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
-				<< name << std::dec << " failed with status: "
-				<< strerror(errno) << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
+		<< name << std::dec << " failed with status: "
+		<< strerror(errno) << std::endl;
+
 	}
+	return HasReturnvaluesIF::RETURN_FAILED;
+
+
 
 }
 
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index b44ed5c7..debf9cd1 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -40,7 +40,7 @@ public:
 	 * @param max_message_size	With this parameter, the maximum message size can be adjusted.
 	 * 							This should be left default.
 	 */
-	MessageQueue(size_t messageDepth = 3,
+	MessageQueue(uint32_t messageDepth = 3,
 			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
 	/**
 	 * @brief	The destructor deletes the formerly created message queue.

From 5289497ab5769fc61ba1816322c4f86377cfd36f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 12:59:43 +0200
Subject: [PATCH 075/307] health helper optional, diagnostic output improved

---
 devicehandlers/DeviceHandlerBase.cpp          | 39 ++++++++++++++-----
 devicehandlers/DeviceHandlerBase.h            |  1 +
 .../DeviceHandlerFailureIsolation.cpp         |  2 +
 fdir/FailureIsolationBase.cpp                 |  4 +-
 objectmanager/ObjectManager.cpp               |  7 ++--
 5 files changed, 39 insertions(+), 14 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index d738b3f9..c73cf618 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -139,10 +139,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	}
 
 	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		sif::error << "DeviceHandlerBase::initialize: Health Helper "
-				"initialization failure" << std::endl;
-		return result;
+	if (result == RETURN_OK) {
+		healthHelperActive = true;
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::initialize: Health Helper "
+				"initialization failure." << std::endl;
 	}
 
 	result = modeHelper.initialize();
@@ -215,9 +217,11 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	result = healthHelper.handleHealthCommand(&message);
-	if (result == RETURN_OK) {
-		return;
+	if(healthHelperActive) {
+		result = healthHelper.handleHealthCommand(&message);
+		if (result == RETURN_OK) {
+			return;
+		}
 	}
 
 	result = modeHelper.handleModeCommand(&message);
@@ -996,7 +1000,9 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
 }
 
 void DeviceHandlerBase::setToExternalControl() {
-	healthHelper.setHealth(EXTERNAL_CONTROL);
+	if(healthHelperActive) {
+		healthHelper.setHealth(EXTERNAL_CONTROL);
+	}
 }
 
 void DeviceHandlerBase::announceMode(bool recursive) {
@@ -1016,11 +1022,24 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
 }
 
 HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
-	return healthHelper.getHealth();
+	if(healthHelperActive) {
+		return healthHelper.getHealth();
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
+				<< std::endl;
+		return HasHealthIF::HEALTHY;
+	}
 }
 
 ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
-	healthHelper.setHealth(health);
+	if(healthHelperActive) {
+		healthHelper.setHealth(health);
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
+				<< std::endl;
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 3a43fa74..b079e469 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -601,6 +601,7 @@ protected:
 
 	/** Health helper for HasHealthIF */
 	HealthHelper healthHelper;
+	bool healthHelperActive = false;
 	/** Mode helper for HasModesIF */
 	ModeHelper modeHelper;
 	/** Parameter helper for ReceivesParameterMessagesIF */
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 9bc2cbe8..1df2afa0 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -163,6 +163,8 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
 ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 	ReturnValue_t result = FailureIsolationBase::initialize();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
+				" initialize FailureIsolationBase." << std::endl;
 		return result;
 	}
 	ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index c65640c2..46114467 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -19,7 +19,9 @@ FailureIsolationBase::~FailureIsolationBase() {
 ReturnValue_t FailureIsolationBase::initialize() {
 	EventManagerIF* manager = objectManager->get<EventManagerIF>(
 			objects::EVENT_MANAGER);
-	if (manager == NULL) {
+	if (manager == nullptr) {
+		sif::error << "FailureIsolationBase::initialize: Event Manager has not"
+				" been initialized!" << std::endl;
 		return RETURN_FAILED;
 	}
 	ReturnValue_t result = manager->registerListener(eventQueue->getId());
diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 2f47950f..fe7adb25 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -69,9 +69,10 @@ void ObjectManager::initialize() {
 		return_value = it.second->initialize();
 		if ( return_value != RETURN_OK ) {
 			object_id_t var = it.first;
-			sif::error << "Object 0x" << std::hex <<  std::setw(8) <<
-					std::setfill('0')<< var << " failed to initialize " <<
-					"with code 0x" << return_value << std::dec << std::endl;
+			sif::error << "ObjectManager::initialize: Object 0x" << std::hex <<
+					std::setw(8) << std::setfill('0')<< var << " failed to "
+					"initialize with code 0x" << return_value << std::dec <<
+					std::endl;
 			error_count++;
 		}
 	}

From 04236859daecfcde5ed24829623d0a5dbf5da070 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 13:03:37 +0200
Subject: [PATCH 076/307] slight improvements to diagnostic ouput

---
 objectmanager/ObjectManager.cpp | 41 ++++++++++++++++-----------------
 1 file changed, 20 insertions(+), 21 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index fe7adb25..606cd369 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -58,44 +58,43 @@ ObjectManager::ObjectManager() : produceObjects(nullptr) {
 
 void ObjectManager::initialize() {
 	if(produceObjects == nullptr) {
-		sif::error << "ObjectManager: Passed produceObjects functions is"
-				"nullptr!" << std::endl;
+		sif::error << "ObjectManager::initialize: Passed produceObjects "
+				"functions is nullptr!" << std::endl;
 		return;
 	}
 	this->produceObjects();
-	ReturnValue_t return_value = RETURN_FAILED;
-	uint32_t error_count = 0;
+	ReturnValue_t result = RETURN_FAILED;
+	uint32_t errorCount = 0;
 	for (auto const& it : objectList) {
-		return_value = it.second->initialize();
-		if ( return_value != RETURN_OK ) {
+		result = it.second->initialize();
+		if ( result != RETURN_OK ) {
 			object_id_t var = it.first;
 			sif::error << "ObjectManager::initialize: Object 0x" << std::hex <<
 					std::setw(8) << std::setfill('0')<< var << " failed to "
-					"initialize with code 0x" << return_value << std::dec <<
-					std::endl;
-			error_count++;
+					"initialize with code 0x" << result << std::dec <<
+					std::setfill(' ') << std::endl;
+			errorCount++;
 		}
 	}
-	if (error_count > 0) {
-		sif::error << "ObjectManager::ObjectManager: Counted " << error_count
+	if (errorCount > 0) {
+		sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
 		           << " failed initializations." << std::endl;
 	}
 	//Init was successful. Now check successful interconnections.
-	error_count = 0;
+	errorCount = 0;
 	for (auto const& it : objectList) {
-		return_value = it.second->checkObjectConnections();
-		if ( return_value != RETURN_OK ) {
-			sif::error << "Object " << std::hex <<  (int) it.first
-			        << " connection check failed with code 0x" << return_value
-			        << std::dec << std::endl;
-			error_count++;
+		result = it.second->checkObjectConnections();
+		if ( result != RETURN_OK ) {
+			sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
+					(int) it.first  << " connection check failed with code 0x"
+					<< result << std::dec << std::endl;
+			errorCount++;
 		}
 	}
-	if (error_count > 0) {
-		sif::error << "ObjectManager::ObjectManager: Counted " << error_count
+	if (errorCount > 0) {
+		sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
 		           << " failed connection checks." << std::endl;
 	}
-
 }
 
 void ObjectManager::printList() {

From d387daa9d669a4a17f02b6e203241070c827c00b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 13:04:29 +0200
Subject: [PATCH 077/307] slight improvements for diagnositc output

---
 objectmanager/ObjectManager.cpp | 45 ++++++++++++++++-----------------
 1 file changed, 22 insertions(+), 23 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 55f7d964..606cd369 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -58,44 +58,43 @@ ObjectManager::ObjectManager() : produceObjects(nullptr) {
 
 void ObjectManager::initialize() {
 	if(produceObjects == nullptr) {
-		sif::error << "ObjectManager: Passed produceObjects functions is"
-				"nullptr!" << std::endl;
+		sif::error << "ObjectManager::initialize: Passed produceObjects "
+				"functions is nullptr!" << std::endl;
 		return;
 	}
 	this->produceObjects();
-	ReturnValue_t return_value = RETURN_FAILED;
-	uint32_t error_count = 0;
+	ReturnValue_t result = RETURN_FAILED;
+	uint32_t errorCount = 0;
 	for (auto const& it : objectList) {
-		return_value = it.second->initialize();
-		if ( return_value != RETURN_OK ) {
+		result = it.second->initialize();
+		if ( result != RETURN_OK ) {
 			object_id_t var = it.first;
-			sif::error << "Object 0x" << std::hex <<  std::setw(8) <<
-					std::setfill('0') << var << " failed to initialize " <<
-					"with code 0x" << return_value << std::dec <<
-					std::setfill('') << std::endl;
-			error_count++;
+			sif::error << "ObjectManager::initialize: Object 0x" << std::hex <<
+					std::setw(8) << std::setfill('0')<< var << " failed to "
+					"initialize with code 0x" << result << std::dec <<
+					std::setfill(' ') << std::endl;
+			errorCount++;
 		}
 	}
-	if (error_count > 0) {
-		sif::error << "ObjectManager::ObjectManager: Counted " << error_count
+	if (errorCount > 0) {
+		sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
 		           << " failed initializations." << std::endl;
 	}
 	//Init was successful. Now check successful interconnections.
-	error_count = 0;
+	errorCount = 0;
 	for (auto const& it : objectList) {
-		return_value = it.second->checkObjectConnections();
-		if ( return_value != RETURN_OK ) {
-			sif::error << "Object " << std::hex <<  (int) it.first
-			        << " connection check failed with code 0x" << return_value
-			        << std::dec << std::endl;
-			error_count++;
+		result = it.second->checkObjectConnections();
+		if ( result != RETURN_OK ) {
+			sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
+					(int) it.first  << " connection check failed with code 0x"
+					<< result << std::dec << std::endl;
+			errorCount++;
 		}
 	}
-	if (error_count > 0) {
-		sif::error << "ObjectManager::ObjectManager: Counted " << error_count
+	if (errorCount > 0) {
+		sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
 		           << " failed connection checks." << std::endl;
 	}
-
 }
 
 void ObjectManager::printList() {

From 95bc5a871b6a3e823cc6ed1c7564e3540456fda0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 13:56:35 +0200
Subject: [PATCH 078/307] improved diagnostic messages for linux

---
 devicehandlers/DeviceHandlerBase.cpp |  2 +-
 osal/linux/MessageQueue.cpp          | 32 ++++++++++++++++++++++------
 osal/linux/MessageQueue.h            |  2 +-
 osal/linux/PosixThread.cpp           |  2 +-
 4 files changed, 29 insertions(+), 9 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index c73cf618..965959af 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -36,7 +36,7 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		childTransitionDelay(5000),
 		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
 		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(1,
+	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 08a9ab20..493c2aca 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -1,12 +1,14 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/osal/linux/MessageQueue.h>
+
+#include <fstream>
+
 #include <fcntl.h>           /* For O_* constants */
 #include <sys/stat.h>        /* For mode constants */
 #include <cstring>
 #include <errno.h>
 
 
-
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
 		lastPartner(0), defaultDestination(NO_QUEUE) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
@@ -22,10 +24,11 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
 
 	// Create a nonblocking queue if the name is available (the queue is read
 	// and writable for the owner as well as the group)
-	mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-	S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes);
+	int oflag = O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL;
+	mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
+	mqd_t tempId = mq_open(name, oflag, mode, &attributes);
 	if (tempId == -1) {
-		handleError(&attributes);
+		handleError(&attributes, messageDepth);
 	}
 	else {
 		//Successful mq_open call
@@ -46,10 +49,27 @@ MessageQueue::~MessageQueue() {
 	}
 }
 
-ReturnValue_t MessageQueue::handleError(mq_attr* attributes) {
+ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
+		uint32_t messageDepth) {
 	switch(errno) {
 	case(EINVAL): {
-		sif::error << "MessageQueue::MessageQueue: Invalid Name " << std::endl;
+		sif::error << "MessageQueue::MessageQueue: Invalid Name or attributes"
+				" for message size" << std::endl;
+		size_t defaultMqMaxMsg;
+		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
+				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
+			// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
+			// This happens if the msg_max value is not large enough
+			// It is ignored if the executable is run in privileged mode.
+			// Run the unlockRealtime script or grant the mode manully by using:
+			// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
+
+			// Permanent solution:
+			// echo msg_max | sudo tee /proc/sys/fs/mqueue/msg_max
+			sif::error << "MessageQueue::MessageQueue: Default MQ size "
+					<< defaultMqMaxMsg << " is too small for requested size "
+					<< messageDepth << std::endl;
+		}
 		break;
 	}
 	case(EEXIST): {
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index debf9cd1..2808d36e 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -175,7 +175,7 @@ private:
 
 	static uint16_t queueCounter;
 
-	ReturnValue_t handleError(mq_attr* attributes);
+	ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
 };
 
 #endif /* MESSAGEQUEUE_H_ */
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 899700f0..e8d624ca 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -138,7 +138,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	void* sp;
 	status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize);
 	if(status != 0){
-		sif::error << "Posix Thread stack init failed with: " <<
+		sif::error << "PosixThread::createTask: Stack init failed with: " <<
 				strerror(status) << std::endl;
 	}
 

From 788f7a37459dbd445253c4876da62d0a2298c2d6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 13:59:00 +0200
Subject: [PATCH 079/307] better name for mq

---
 osal/linux/MessageQueue.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 493c2aca..2456a329 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -20,7 +20,7 @@ MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
 	attributes.mq_msgsize = maxMessageSize;
 	attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
 	//Set the name of the queue. The slash is mandatory!
-	sprintf(name, "/Q%u\n", queueCounter++);
+	sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
 
 	// Create a nonblocking queue if the name is available (the queue is read
 	// and writable for the owner as well as the group)
@@ -53,9 +53,9 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 		uint32_t messageDepth) {
 	switch(errno) {
 	case(EINVAL): {
-		sif::error << "MessageQueue::MessageQueue: Invalid Name or attributes"
+		sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
 				" for message size" << std::endl;
-		size_t defaultMqMaxMsg;
+		size_t defaultMqMaxMsg = 0;
 		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
 				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
 			// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html

From 1965a0e33b76e2bf317db48dee3b3592552403ff Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 15:47:33 +0200
Subject: [PATCH 080/307] linux important bugfix and general improvements

---
 ipc/QueueFactory.h               |   4 +-
 osal/FreeRTOS/QueueFactory.cpp   |   4 +-
 osal/linux/FixedTimeslotTask.cpp |   7 +-
 osal/linux/FixedTimeslotTask.h   |  37 ++++++---
 osal/linux/MessageQueue.cpp      | 130 +++++++++++++++++++++----------
 osal/linux/MessageQueue.h        |  36 +++++----
 osal/linux/PeriodicPosixTask.cpp |  16 ++--
 osal/linux/PeriodicPosixTask.h   |  13 ++++
 osal/linux/PosixThread.cpp       |  43 +++++++---
 osal/linux/PosixThread.h         |  32 ++++----
 osal/linux/QueueFactory.cpp      |  16 ++--
 osal/linux/TaskFactory.cpp       |  16 +++-
 osal/rtems/QueueFactory.cpp      |   6 +-
 13 files changed, 239 insertions(+), 121 deletions(-)

diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index c385b15d..6e7c4a26 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -18,8 +18,8 @@ public:
 	 */
 	static QueueFactory* instance();
 
-	MessageQueueIF* createMessageQueue(uint32_t message_depth = 3,
-			uint32_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
+	MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
 
 	void deleteMessageQueue(MessageQueueIF* queue);
 private:
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index eaf245d3..a0128918 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -25,8 +25,8 @@ QueueFactory::~QueueFactory() {
 }
 
 MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
-		uint32_t max_message_size) {
-	return new MessageQueue(message_depth, max_message_size);
+		size_t maxMessageSize) {
+	return new MessageQueue(message_depth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp
index 098753a7..e5c68f9d 100644
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@@ -1,10 +1,7 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <unistd.h>
-#include <limits.h>
-#include <signal.h>
-#include <errno.h>
 #include <framework/osal/linux/FixedTimeslotTask.h>
 
+#include <limits.h>
 
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
@@ -23,7 +20,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
-	return NULL;
+	return nullptr;
 }
 
 ReturnValue_t FixedTimeslotTask::startTask() {
diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index 6350f347..916e6d6c 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -8,7 +8,20 @@
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
 public:
-	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+	/**
+	 * Create a generic periodic task.
+	 * @param name_
+	 * Name, maximum allowed size of linux is 16 chars, everything else will
+	 * be truncated.
+	 * @param priority_
+	 * Real-time priority, ranges from 1 to 99 for Linux.
+	 * See: https://man7.org/linux/man-pages/man7/sched.7.html
+	 * @param stackSize_
+	 * @param period_
+	 * @param deadlineMissedFunc_
+	 */
+	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
+			uint32_t periodMs_);
 	virtual ~FixedTimeslotTask();
 
 	virtual ReturnValue_t startTask();
@@ -17,7 +30,9 @@ public:
 
 	virtual uint32_t getPeriodMs() const;
 
-	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+			int8_t executionStep);
+
 	virtual ReturnValue_t checkSequence() const;
 
 	/**
@@ -34,11 +49,10 @@ public:
 protected:
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
-	 *
-	 * @details	Holding the main functionality of the task, this method is most important.
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
-	 * 			to keep the timing of the periods.
+	 * @details
+	 * Holding the main functionality of the task, this method is most important.
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
 	 */
 	virtual void taskFunctionality();
 
@@ -46,8 +60,13 @@ private:
 	/**
 	 * @brief	This is the entry point in a new thread.
 	 *
-	 * @details	This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
-	 * 			Needs a valid pointer to the derived class.
+	 * @details
+	 * This method, that is the entry point in the new thread and calls
+	 * taskFunctionality of the child class. Needs a valid pointer to the
+	 * derived class.
+	 *
+	 * The void* returnvalue is not used yet but could be used to return
+	 * arbitrary data.
 	 */
 	static void* taskEntryPoint(void* arg);
 	FixedSlotSequence pst;
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index edabe946..86d1e0d9 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -1,56 +1,36 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <fcntl.h>           /* For O_* constants */
-#include <sys/stat.h>        /* For mode constants */
-#include <mqueue.h>
-#include <cstring>
-#include <errno.h>
 #include <framework/osal/linux/MessageQueue.h>
 
+#include <fstream>
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
-		id(0), lastPartner(0), defaultDestination(NO_QUEUE) {
+#include <fcntl.h>           /* For O_* constants */
+#include <sys/stat.h>        /* For mode constants */
+#include <cstring>
+#include <errno.h>
+
+
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
+		lastPartner(0), defaultDestination(NO_QUEUE) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
 	this->id = 0;
 	//Set attributes
 	attributes.mq_curmsgs = 0;
-	attributes.mq_maxmsg = message_depth;
-	attributes.mq_msgsize = max_message_size;
+	attributes.mq_maxmsg = messageDepth;
+	attributes.mq_msgsize = maxMessageSize;
 	attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
-	//Set the name of the queue
-	sprintf(name, "/Q%u\n", queueCounter++);
+	//Set the name of the queue. The slash is mandatory!
+	sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
 
-	//Create a nonblocking queue if the name is available (the queue is Read and
-	// writable for the owner as well as the group)
-	mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-	S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes);
+	// Create a nonblocking queue if the name is available (the queue is read
+	// and writable for the owner as well as the group)
+	int oflag = O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL;
+	mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
+	mqd_t tempId = mq_open(name, oflag, mode, &attributes);
 	if (tempId == -1) {
-		//An error occured during open
-		//We need to distinguish if it is caused by an already created queue
-		if (errno == EEXIST) {
-			//There's another queue with the same name
-			//We unlink the other queue
-			int status = mq_unlink(name);
-			if (status != 0) {
-				sif::error << "mq_unlink Failed with status: " << strerror(errno)
-						   << std::endl;
-			} else {
-				//Successful unlinking, try to open again
-				mqd_t tempId = mq_open(name,
-				O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-				S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, &attributes);
-				if (tempId != -1) {
-					//Successful mq_open
-					this->id = tempId;
-					return;
-				}
-			}
-		}
-		//Failed either the first time or the second time
-		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
-				<< name << std::dec << " failed with status: "
-				<< strerror(errno) << std::endl;
-	} else {
+		handleError(&attributes, messageDepth);
+	}
+	else {
 		//Successful mq_open call
 		this->id = tempId;
 	}
@@ -69,6 +49,68 @@ MessageQueue::~MessageQueue() {
 	}
 }
 
+ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
+		uint32_t messageDepth) {
+	switch(errno) {
+	case(EINVAL): {
+		sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
+				" for message size" << std::endl;
+		size_t defaultMqMaxMsg = 0;
+		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
+				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
+			// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
+			// This happens if the msg_max value is not large enough
+			// It is ignored if the executable is run in privileged mode.
+			// Run the unlockRealtime script or grant the mode manully by using:
+			// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
+
+			// Permanent solution (EventManager has mq depth of 80):
+			// echo msg_max | sudo tee /proc/sys/fs/mqueue/msg_max
+			sif::error << "MessageQueue::MessageQueue: Default MQ size "
+					<< defaultMqMaxMsg << " is too small for requested size "
+					<< messageDepth << std::endl;
+		}
+		break;
+	}
+	case(EEXIST): {
+		// An error occured during open
+		// We need to distinguish if it is caused by an already created queue
+		if (errno == EEXIST) {
+			//There's another queue with the same name
+			//We unlink the other queue
+			int status = mq_unlink(name);
+			if (status != 0) {
+				sif::error << "mq_unlink Failed with status: " << strerror(errno)
+											<< std::endl;
+			}
+			else {
+				// Successful unlinking, try to open again
+				mqd_t tempId = mq_open(name,
+						O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+						S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
+				if (tempId != -1) {
+					//Successful mq_open
+					this->id = tempId;
+					return HasReturnvaluesIF::RETURN_OK;
+				}
+			}
+		}
+		break;
+	}
+
+	default:
+		// Failed either the first time or the second time
+		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+		<< name << std::dec << " failed with status: "
+		<< strerror(errno) << std::endl;
+
+	}
+	return HasReturnvaluesIF::RETURN_FAILED;
+
+
+
+}
+
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
 		MessageQueueMessage* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), false);
@@ -265,7 +307,11 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			           << strerror(errno) << " in mq_send" << std::endl;
 			/*NO BREAK*/
 		case EMSGSIZE:
-			//The msg_len is greater than the msgsize associated with the specified queue.
+			// The msg_len is greater than the msgsize associated with
+			//the specified queue.
+			sif::error << "MessageQueue::sendMessage: Size error [" <<
+					strerror(errno) << "] in mq_send" << std::endl;
+			/*NO BREAK*/
 		default:
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index b8285dc5..2808d36e 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -4,21 +4,26 @@
 #include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/ipc/MessageQueueMessage.h>
+
+#include <mqueue.h>
 /**
- *	@brief		This class manages sending and receiving of message queue messages.
+ * @brief		This class manages sending and receiving of message queue messages.
  *
- *	@details	Message queues are used to pass asynchronous messages between processes.
- *				They work like post boxes, where all incoming messages are stored in FIFO
- *				order. This class creates a new receiving queue and provides methods to fetch
- *				received messages. Being a child of MessageQueueSender, this class also provides
- *				methods to send a message to a user-defined or a default destination. In addition
- *				it also provides a reply method to answer to the queue it received its last message
- *				from.
- *				The MessageQueue should be used as "post box" for a single owning object. So all
- *				message queue communication is "n-to-one".
- *				For creating the queue, as well as sending and receiving messages, the class makes
- *				use of the operating system calls provided.
- *	\ingroup message_queue
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
+ *
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ *
+ * The creation of message queues, as well as sending and receiving messages,
+ * makes use of the operating system calls provided.
+ *	@ingroup message_queue
  */
 class MessageQueue : public MessageQueueIF {
 	friend class MessageQueueSenderIF;
@@ -35,7 +40,8 @@ public:
 	 * @param max_message_size	With this parameter, the maximum message size can be adjusted.
 	 * 							This should be left default.
 	 */
-	MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
+	MessageQueue(uint32_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
 	/**
 	 * @brief	The destructor deletes the formerly created message queue.
 	 * @details	This is accomplished by using the delete call provided by the operating system.
@@ -168,6 +174,8 @@ private:
 	char name[5];
 
 	static uint16_t queueCounter;
+
+	ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
 };
 
 #endif /* MESSAGEQUEUE_H_ */
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index b754c3f4..df5bbf93 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -3,9 +3,10 @@
 #include <errno.h>
 #include <framework/osal/linux/PeriodicPosixTask.h>
 
-PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):PosixThread(name_,priority_,stackSize_),objectList(),started(false),periodMs(period_),deadlineMissedFunc(
-		deadlineMissedFunc_) {
-
+PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
+		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
+		PosixThread(name_,priority_,stackSize_),objectList(),started(false),
+		periodMs(period_),deadlineMissedFunc(deadlineMissedFunc_) {
 }
 
 PeriodicPosixTask::~PeriodicPosixTask() {
@@ -37,7 +38,8 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 
 ReturnValue_t PeriodicPosixTask::startTask(void){
 	started = true;
-	createTask(&taskEntryPoint,this);
+	//sif::info << stackSize << std::endl;
+	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -56,9 +58,11 @@ void PeriodicPosixTask::taskFunctionality(void){
 			char name[20] = {0};
 			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
 			if(status==0){
-				sif::error << "ObjectTask: " << name << " Deadline missed." << std::endl;
+				sif::error << "PeriodicPosixTask " << name << ": Deadline "
+						"missed." << std::endl;
 			}else{
-				sif::error << "ObjectTask: X Deadline missed. " << status << std::endl;
+				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
+						status << std::endl;
 			}
 			if (this->deadlineMissedFunc != NULL) {
 				this->deadlineMissedFunc();
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index 43647eda..85de0d59 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -9,9 +9,22 @@
 
 class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
 public:
+	/**
+	 * Create a generic periodic task.
+	 * @param name_
+	 * Name, maximum allowed size of linux is 16 chars, everything else will
+	 * be truncated.
+	 * @param priority_
+	 * Real-time priority, ranges from 1 to 99 for Linux.
+	 * See: https://man7.org/linux/man-pages/man7/sched.7.html
+	 * @param stackSize_
+	 * @param period_
+	 * @param deadlineMissedFunc_
+	 */
 	PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
 			uint32_t period_, void(*deadlineMissedFunc_)());
 	virtual ~PeriodicPosixTask();
+
 	/**
 	 * @brief	The method to start the task.
 	 * @details	The method starts the task with the respective system call.
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 899700f0..24545f6f 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -1,8 +1,12 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/osal/linux/PosixThread.h>
 #include <cstring>
 #include <errno.h>
-#include <framework/osal/linux/PosixThread.h>
 
+PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
+		thread(0),priority(priority_),stackSize(stackSize_) {
+	strncpy(name,name_,16);
+}
 
 PosixThread::~PosixThread() {
 	//No deletion and no free of Stack Pointer
@@ -113,12 +117,6 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){
 	return currentTime_ms;
 }
 
-PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
-		thread(0),priority(priority_),stackSize(stackSize_) {
-	strcpy(name,name_);
-}
-
-
 
 void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	//sif::debug << "PosixThread::createTask" << std::endl;
@@ -135,14 +133,24 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 		sif::error << "Posix Thread attribute init failed with: " <<
 				strerror(status) << std::endl;
 	}
-	void* sp;
-	status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize);
+	void* stackPointer;
+	status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
 	if(status != 0){
-		sif::error << "Posix Thread stack init failed with: " <<
+		sif::error << "PosixThread::createTask: Stack init failed with: " <<
 				strerror(status) << std::endl;
+		if(errno == ENOMEM) {
+			uint64_t stackMb = stackSize/10e6;
+			sif::error << "PosixThread::createTask: Insufficient memory for"
+					" the requested " << stackMb << " MB" << std::endl;
+		}
+		else if(errno == EINVAL) {
+			sif::error << "PosixThread::createTask: Wrong alignment argument!"
+					<< std::endl;
+		}
+		return;
 	}
 
-	status = pthread_attr_setstack(&attributes, sp, stackSize);
+	status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
 	if(status != 0){
 		sif::error << "Posix Thread attribute setStack failed with: " <<
 				strerror(status) << std::endl;
@@ -188,8 +196,19 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 
 	status = pthread_setname_np(thread,name);
 	if(status != 0){
-		sif::error << "Posix Thread setname failed with: " <<
+		sif::error << "PosixThread::createTask: setname failed with: " <<
 				strerror(status) << std::endl;
+		if(status == ERANGE) {
+			sif::error << "PosixThread::createTask: Task name length longer"
+					" than 16 chars. Truncating.." << std::endl;
+			name[15] = '\0';
+			status = pthread_setname_np(thread,name);
+			if(status != 0){
+				sif::error << "PosixThread::createTask: Setting name"
+						" did not work.." << std::endl;
+			}
+		}
+
 	}
 
 	status = pthread_attr_destroy(&attributes);
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index d96c4156..07233fe5 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -1,12 +1,11 @@
 #ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 #define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 
-#include <pthread.h>
-#include <sched.h>
-#include <signal.h>
-#include <stdlib.h>
-#include <unistd.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <pthread.h>
+#include <signal.h>
+#include <cstdlib>
+#include <unistd.h>
 
 class PosixThread {
 public:
@@ -54,21 +53,24 @@ protected:
 	pthread_t thread;
 
 	/**
-	 * @brief Function that has to be called by derived class because the derived class pointer has to be valid as argument
-	 * @details This function creates a pthread with the given parameters. As the function requires a pointer to the derived object
-	 * 			it has to be called after the this pointer of the derived object is valid. Sets the taskEntryPoint as
-	 * 			function to be called by new a thread.
-	 * @param name_ Name of the task
-	 * @param priority_ Priority of the task according to POSIX
-	 * @param stackSize_ Size of the stack attached to that task
-	 * @param arg_ argument of the taskEntryPoint function, needs to be this pointer of derived class
+	 * @brief 	Function that has to be called by derived class because the
+	 *  		derived class pointer has to be valid as argument
+	 * @details
+	 * This function creates a pthread with the given parameters. As the
+	 * function requires a pointer to the derived object it has to be called
+	 * after the this pointer of the derived object is valid.
+	 * Sets the taskEntryPoint as function to be called by new a thread.
+	 * @param fnc_ Function which will be executed by the thread.
+	 * @param arg_
+	 * argument of the taskEntryPoint function, needs to be this pointer
+	 * of derived class
 	 */
 	void createTask(void* (*fnc_)(void*),void* arg_);
 
 private:
-	char name[10];
+	char name[16];
 	int priority;
-	size_t stackSize;
+	size_t stackSize = 0;
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */
diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index fc4c9026..268d0b99 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -5,16 +5,18 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <cstring>
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
@@ -26,9 +28,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
-		uint32_t max_message_size) {
-	return new MessageQueue(message_depth, max_message_size);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
+		size_t maxMessageSize) {
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp
index 44f46d90..219630a7 100644
--- a/osal/linux/TaskFactory.cpp
+++ b/osal/linux/TaskFactory.cpp
@@ -13,12 +13,20 @@ TaskFactory* TaskFactory::instance() {
 	return TaskFactory::factoryInstance;
 }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	return static_cast<PeriodicTaskIF*>(new PeriodicPosixTask(name_, taskPriority_,stackSize_,periodInSeconds_ * 1000,deadLineMissedFunction_));
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return new PeriodicPosixTask(name_, taskPriority_,stackSize_,
+			periodInSeconds_ * 1000, deadLineMissedFunction_);
 }
 
-FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,stackSize_,periodInSeconds_*1000));
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return new FixedTimeslotTask(name_, taskPriority_,stackSize_,
+			periodInSeconds_*1000);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp
index 0f2e0ea9..8cc9905c 100644
--- a/osal/rtems/QueueFactory.cpp
+++ b/osal/rtems/QueueFactory.cpp
@@ -49,9 +49,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
-		uint32_t max_message_size) {
-	return new MessageQueue(message_depth, max_message_size);
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
+		size_t maxMessageSize) {
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

From 6ad36ceb24fef5bcc52ae8b5405f74042caba4bf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 16:24:33 +0200
Subject: [PATCH 081/307] variable for max name len

---
 osal/linux/PosixThread.cpp | 2 +-
 osal/linux/PosixThread.h   | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 24545f6f..3845123c 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -5,7 +5,7 @@
 
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
 		thread(0),priority(priority_),stackSize(stackSize_) {
-	strncpy(name,name_,16);
+	strncpy(name, name_, PTHREAD_MAX_NAMELEN);
 }
 
 PosixThread::~PosixThread() {
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index 07233fe5..e9d31728 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -9,6 +9,7 @@
 
 class PosixThread {
 public:
+	static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
 	PosixThread(const char* name_, int priority_, size_t stackSize_);
 	virtual ~PosixThread();
 	/**
@@ -54,7 +55,7 @@ protected:
 
 	/**
 	 * @brief 	Function that has to be called by derived class because the
-	 *  		derived class pointer has to be valid as argument
+	 *  		derived class pointer has to be valid as argument.
 	 * @details
 	 * This function creates a pthread with the given parameters. As the
 	 * function requires a pointer to the derived object it has to be called
@@ -68,7 +69,7 @@ protected:
 	void createTask(void* (*fnc_)(void*),void* arg_);
 
 private:
-	char name[16];
+	char name[PTHREAD_MAX_NAMELEN];
 	int priority;
 	size_t stackSize = 0;
 };

From be066755c0c2e7465149cecac58bab1e1ab49ea7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 14:39:08 +0200
Subject: [PATCH 082/307] even safer and more efficient alternative

---
 osal/linux/PosixThread.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 3845123c..c63dde9f 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -5,7 +5,8 @@
 
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
 		thread(0),priority(priority_),stackSize(stackSize_) {
-	strncpy(name, name_, PTHREAD_MAX_NAMELEN);
+    name[0] = '\0';
+    strncat(name, name_, PTHREAD_MAX_NAMELE - 1);
 }
 
 PosixThread::~PosixThread() {

From 212cd58f9a7a8c7b1ed86b5a4b4f46c09f645022 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 14:45:45 +0200
Subject: [PATCH 083/307] issues with fixed timeslo ttask on linux

---
 osal/linux/MessageQueue.cpp |  2 +-
 osal/linux/PosixThread.cpp  | 26 +++++++++++++++++---------
 osal/linux/PosixThread.h    |  2 +-
 osal/linux/TaskFactory.cpp  | 16 ++++++++++++----
 4 files changed, 31 insertions(+), 15 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 2456a329..86d1e0d9 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -64,7 +64,7 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 			// Run the unlockRealtime script or grant the mode manully by using:
 			// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
 
-			// Permanent solution:
+			// Permanent solution (EventManager has mq depth of 80):
 			// echo msg_max | sudo tee /proc/sys/fs/mqueue/msg_max
 			sif::error << "MessageQueue::MessageQueue: Default MQ size "
 					<< defaultMqMaxMsg << " is too small for requested size "
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index e8d624ca..cfc3ed4d 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -3,6 +3,10 @@
 #include <errno.h>
 #include <framework/osal/linux/PosixThread.h>
 
+PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
+		thread(0),priority(priority_),stackSize(stackSize_) {
+	strcpy(name,name_);
+}
 
 PosixThread::~PosixThread() {
 	//No deletion and no free of Stack Pointer
@@ -113,12 +117,6 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){
 	return currentTime_ms;
 }
 
-PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
-		thread(0),priority(priority_),stackSize(stackSize_) {
-	strcpy(name,name_);
-}
-
-
 
 void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	//sif::debug << "PosixThread::createTask" << std::endl;
@@ -135,14 +133,24 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 		sif::error << "Posix Thread attribute init failed with: " <<
 				strerror(status) << std::endl;
 	}
-	void* sp;
-	status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize);
+	void* stackPointer;
+	status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
 	if(status != 0){
 		sif::error << "PosixThread::createTask: Stack init failed with: " <<
 				strerror(status) << std::endl;
+		if(errno == ENOMEM) {
+			double stackMb = (double)((double)stackSize/(double)10e6);
+			sif::error << "PosixThread::createTask: Insufficient memory for"
+					" the requested " << stackMb << " MB" << std::endl;
+		}
+		else if(errno == EINVAL) {
+			sif::error << "PosixThread::createTask: Wrong alignment argument!"
+					<< std::endl;
+		}
+		return;
 	}
 
-	status = pthread_attr_setstack(&attributes, sp, stackSize);
+	status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
 	if(status != 0){
 		sif::error << "Posix Thread attribute setStack failed with: " <<
 				strerror(status) << std::endl;
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index d96c4156..f10352b4 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -68,7 +68,7 @@ protected:
 private:
 	char name[10];
 	int priority;
-	size_t stackSize;
+	size_t stackSize = 0;
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */
diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp
index 44f46d90..219630a7 100644
--- a/osal/linux/TaskFactory.cpp
+++ b/osal/linux/TaskFactory.cpp
@@ -13,12 +13,20 @@ TaskFactory* TaskFactory::instance() {
 	return TaskFactory::factoryInstance;
 }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	return static_cast<PeriodicTaskIF*>(new PeriodicPosixTask(name_, taskPriority_,stackSize_,periodInSeconds_ * 1000,deadLineMissedFunction_));
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return new PeriodicPosixTask(name_, taskPriority_,stackSize_,
+			periodInSeconds_ * 1000, deadLineMissedFunction_);
 }
 
-FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,stackSize_,periodInSeconds_*1000));
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return new FixedTimeslotTask(name_, taskPriority_,stackSize_,
+			periodInSeconds_*1000);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

From ef01b7814064e6847ce8e90ea00e8ea09bb36111 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 15:01:57 +0200
Subject: [PATCH 084/307] some issue with stack size ..

---
 osal/linux/PeriodicPosixTask.cpp |  3 ++-
 osal/linux/PosixThread.cpp       |  3 +++
 osal/linux/PosixThread.h         | 19 +++++++++++--------
 3 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index f6a74901..df5bbf93 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -38,7 +38,8 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 
 ReturnValue_t PeriodicPosixTask::startTask(void){
 	started = true;
-	createTask(&taskEntryPoint,this);
+	//sif::info << stackSize << std::endl;
+	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index cfc3ed4d..5f91858f 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -128,6 +128,9 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
        default attributes.
 	 */
 	pthread_attr_t attributes;
+	//PeriodicPosixTask* task = reinterpret_cast<PeriodicPosixTask*>(arg_);
+	//sif::info << task->stackSize << std::endl;
+	sif::info << stackSize << std::endl;
 	int status = pthread_attr_init(&attributes);
 	if(status != 0){
 		sif::error << "Posix Thread attribute init failed with: " <<
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index f10352b4..ad403ac4 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -54,14 +54,17 @@ protected:
 	pthread_t thread;
 
 	/**
-	 * @brief Function that has to be called by derived class because the derived class pointer has to be valid as argument
-	 * @details This function creates a pthread with the given parameters. As the function requires a pointer to the derived object
-	 * 			it has to be called after the this pointer of the derived object is valid. Sets the taskEntryPoint as
-	 * 			function to be called by new a thread.
-	 * @param name_ Name of the task
-	 * @param priority_ Priority of the task according to POSIX
-	 * @param stackSize_ Size of the stack attached to that task
-	 * @param arg_ argument of the taskEntryPoint function, needs to be this pointer of derived class
+	 * @brief 	Function that has to be called by derived class because the
+	 *  		derived class pointer has to be valid as argument
+	 * @details
+	 * This function creates a pthread with the given parameters. As the
+	 * function requires a pointer to the derived object it has to be called
+	 * after the this pointer of the derived object is valid.
+	 * Sets the taskEntryPoint as function to be called by new a thread.
+	 * @param fnc_ Function which will be executed by the thread.
+	 * @param arg_
+	 * argument of the taskEntryPoint function, needs to be this pointer
+	 * of derived class
 	 */
 	void createTask(void* (*fnc_)(void*),void* arg_);
 

From b0634ab0a2f53fc7e1e194391f7ef4da80077931 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 15:26:22 +0200
Subject: [PATCH 085/307] fixed bug (critical!)

---
 osal/linux/FixedTimeslotTask.h | 22 +++++++++++++---------
 osal/linux/PosixThread.cpp     | 22 +++++++++++++++-------
 osal/linux/PosixThread.h       |  2 +-
 3 files changed, 29 insertions(+), 17 deletions(-)

diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index 6350f347..6d523ba9 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -8,7 +8,8 @@
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
 public:
-	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
+			uint32_t periodMs_);
 	virtual ~FixedTimeslotTask();
 
 	virtual ReturnValue_t startTask();
@@ -17,7 +18,9 @@ public:
 
 	virtual uint32_t getPeriodMs() const;
 
-	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+			int8_t executionStep);
+
 	virtual ReturnValue_t checkSequence() const;
 
 	/**
@@ -34,11 +37,10 @@ public:
 protected:
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
-	 *
-	 * @details	Holding the main functionality of the task, this method is most important.
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
-	 * 			to keep the timing of the periods.
+	 * @details
+	 * Holding the main functionality of the task, this method is most important.
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
 	 */
 	virtual void taskFunctionality();
 
@@ -46,8 +48,10 @@ private:
 	/**
 	 * @brief	This is the entry point in a new thread.
 	 *
-	 * @details	This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
-	 * 			Needs a valid pointer to the derived class.
+	 * @details
+	 * This method, that is the entry point in the new thread and calls
+	 * taskFunctionality of the child class. Needs a valid pointer to the
+	 * derived class.
 	 */
 	static void* taskEntryPoint(void* arg);
 	FixedSlotSequence pst;
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 5f91858f..24545f6f 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -1,11 +1,11 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/osal/linux/PosixThread.h>
 #include <cstring>
 #include <errno.h>
-#include <framework/osal/linux/PosixThread.h>
 
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
 		thread(0),priority(priority_),stackSize(stackSize_) {
-	strcpy(name,name_);
+	strncpy(name,name_,16);
 }
 
 PosixThread::~PosixThread() {
@@ -128,9 +128,6 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
        default attributes.
 	 */
 	pthread_attr_t attributes;
-	//PeriodicPosixTask* task = reinterpret_cast<PeriodicPosixTask*>(arg_);
-	//sif::info << task->stackSize << std::endl;
-	sif::info << stackSize << std::endl;
 	int status = pthread_attr_init(&attributes);
 	if(status != 0){
 		sif::error << "Posix Thread attribute init failed with: " <<
@@ -142,7 +139,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 		sif::error << "PosixThread::createTask: Stack init failed with: " <<
 				strerror(status) << std::endl;
 		if(errno == ENOMEM) {
-			double stackMb = (double)((double)stackSize/(double)10e6);
+			uint64_t stackMb = stackSize/10e6;
 			sif::error << "PosixThread::createTask: Insufficient memory for"
 					" the requested " << stackMb << " MB" << std::endl;
 		}
@@ -199,8 +196,19 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 
 	status = pthread_setname_np(thread,name);
 	if(status != 0){
-		sif::error << "Posix Thread setname failed with: " <<
+		sif::error << "PosixThread::createTask: setname failed with: " <<
 				strerror(status) << std::endl;
+		if(status == ERANGE) {
+			sif::error << "PosixThread::createTask: Task name length longer"
+					" than 16 chars. Truncating.." << std::endl;
+			name[15] = '\0';
+			status = pthread_setname_np(thread,name);
+			if(status != 0){
+				sif::error << "PosixThread::createTask: Setting name"
+						" did not work.." << std::endl;
+			}
+		}
+
 	}
 
 	status = pthread_attr_destroy(&attributes);
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index ad403ac4..488e1986 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -69,7 +69,7 @@ protected:
 	void createTask(void* (*fnc_)(void*),void* arg_);
 
 private:
-	char name[10];
+	char name[16];
 	int priority;
 	size_t stackSize = 0;
 };

From dc9ef41bec99951a0012cfa1a6ae17edfbff5bd5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 15:31:45 +0200
Subject: [PATCH 086/307] added doc for linux

---
 osal/linux/FixedTimeslotTask.h | 12 ++++++++++++
 osal/linux/PeriodicPosixTask.h | 13 +++++++++++++
 2 files changed, 25 insertions(+)

diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index 6d523ba9..d35b9ecb 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -8,6 +8,18 @@
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
 public:
+	/**
+	 * Create a generic periodic task.
+	 * @param name_
+	 * Name, maximum allowed size of linux is 16 chars, everything else will
+	 * be truncated.
+	 * @param priority_
+	 * Real-time priority, ranges from 1 to 99 for Linux.
+	 * See: https://man7.org/linux/man-pages/man7/sched.7.html
+	 * @param stackSize_
+	 * @param period_
+	 * @param deadlineMissedFunc_
+	 */
 	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
 			uint32_t periodMs_);
 	virtual ~FixedTimeslotTask();
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index 43647eda..85de0d59 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -9,9 +9,22 @@
 
 class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
 public:
+	/**
+	 * Create a generic periodic task.
+	 * @param name_
+	 * Name, maximum allowed size of linux is 16 chars, everything else will
+	 * be truncated.
+	 * @param priority_
+	 * Real-time priority, ranges from 1 to 99 for Linux.
+	 * See: https://man7.org/linux/man-pages/man7/sched.7.html
+	 * @param stackSize_
+	 * @param period_
+	 * @param deadlineMissedFunc_
+	 */
 	PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
 			uint32_t period_, void(*deadlineMissedFunc_)());
 	virtual ~PeriodicPosixTask();
+
 	/**
 	 * @brief	The method to start the task.
 	 * @details	The method starts the task with the respective system call.

From 096fbec156dc27d269154bebd70b61e9d7ed1c70 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 15:40:10 +0200
Subject: [PATCH 087/307] cleaned includesu p a bit

---
 osal/linux/FixedTimeslotTask.cpp | 7 ++-----
 osal/linux/FixedTimeslotTask.h   | 3 +++
 osal/linux/PosixThread.h         | 9 ++++-----
 3 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp
index 098753a7..e5c68f9d 100644
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@@ -1,10 +1,7 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <unistd.h>
-#include <limits.h>
-#include <signal.h>
-#include <errno.h>
 #include <framework/osal/linux/FixedTimeslotTask.h>
 
+#include <limits.h>
 
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
@@ -23,7 +20,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
-	return NULL;
+	return nullptr;
 }
 
 ReturnValue_t FixedTimeslotTask::startTask() {
diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index d35b9ecb..916e6d6c 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -64,6 +64,9 @@ private:
 	 * This method, that is the entry point in the new thread and calls
 	 * taskFunctionality of the child class. Needs a valid pointer to the
 	 * derived class.
+	 *
+	 * The void* returnvalue is not used yet but could be used to return
+	 * arbitrary data.
 	 */
 	static void* taskEntryPoint(void* arg);
 	FixedSlotSequence pst;
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index 488e1986..07233fe5 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -1,12 +1,11 @@
 #ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 #define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 
-#include <pthread.h>
-#include <sched.h>
-#include <signal.h>
-#include <stdlib.h>
-#include <unistd.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <pthread.h>
+#include <signal.h>
+#include <cstdlib>
+#include <unistd.h>
 
 class PosixThread {
 public:

From b79efa6d6c87cbb9d122b654b706a0279df093a9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 16:25:06 +0200
Subject: [PATCH 088/307] variable for name len

---
 osal/linux/PosixThread.cpp | 2 +-
 osal/linux/PosixThread.h   | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 24545f6f..3845123c 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -5,7 +5,7 @@
 
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
 		thread(0),priority(priority_),stackSize(stackSize_) {
-	strncpy(name,name_,16);
+	strncpy(name, name_, PTHREAD_MAX_NAMELEN);
 }
 
 PosixThread::~PosixThread() {
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index 07233fe5..e9d31728 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -9,6 +9,7 @@
 
 class PosixThread {
 public:
+	static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
 	PosixThread(const char* name_, int priority_, size_t stackSize_);
 	virtual ~PosixThread();
 	/**
@@ -54,7 +55,7 @@ protected:
 
 	/**
 	 * @brief 	Function that has to be called by derived class because the
-	 *  		derived class pointer has to be valid as argument
+	 *  		derived class pointer has to be valid as argument.
 	 * @details
 	 * This function creates a pthread with the given parameters. As the
 	 * function requires a pointer to the derived object it has to be called
@@ -68,7 +69,7 @@ protected:
 	void createTask(void* (*fnc_)(void*),void* arg_);
 
 private:
-	char name[16];
+	char name[PTHREAD_MAX_NAMELEN];
 	int priority;
 	size_t stackSize = 0;
 };

From 92f493f13a9c1b5685c0e4e500854aeb3aeef677 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 16:48:21 +0200
Subject: [PATCH 089/307] name correction

---
 osal/linux/PosixThread.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index c63dde9f..5750471d 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -6,7 +6,7 @@
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
 		thread(0),priority(priority_),stackSize(stackSize_) {
     name[0] = '\0';
-    strncat(name, name_, PTHREAD_MAX_NAMELE - 1);
+    strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
 
 PosixThread::~PosixThread() {

From c602e30a63278d92ac2951b6452756dea31da539 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 18:45:55 +0200
Subject: [PATCH 090/307] std:: added

---
 osal/linux/PosixThread.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 5750471d..7cf1d9bc 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -6,7 +6,7 @@
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
 		thread(0),priority(priority_),stackSize(stackSize_) {
     name[0] = '\0';
-    strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
+    std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
 
 PosixThread::~PosixThread() {

From bf1b86e809a5375fc80031606675e233446c560b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 18:48:28 +0200
Subject: [PATCH 091/307] small form stuff

---
 osal/linux/PosixThread.cpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 7cf1d9bc..bc3e62ed 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -60,10 +60,6 @@ void PosixThread::resume(){
 	pthread_kill(thread,SIGUSR1);
 }
 
-
-
-
-
 bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
 		const uint64_t delayTime_ms) {
 	uint64_t nextTimeToWake_ms;
@@ -163,7 +159,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 					strerror(status) << std::endl;
 	}
 
-//TODO FIFO -> This needs root privileges for the process
+	// TODO FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
 		sif::error << "Posix Thread attribute schedule policy failed with: " <<
@@ -209,7 +205,6 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 						" did not work.." << std::endl;
 			}
 		}
-
 	}
 
 	status = pthread_attr_destroy(&attributes);

From 262d34174ea9a7bd46b7ffd12b70e9e1258fe063 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 18:56:54 +0200
Subject: [PATCH 092/307] using strncat now

---
 osal/linux/PosixThread.cpp | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index 3845123c..bc3e62ed 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -5,7 +5,8 @@
 
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
 		thread(0),priority(priority_),stackSize(stackSize_) {
-	strncpy(name, name_, PTHREAD_MAX_NAMELEN);
+    name[0] = '\0';
+    std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
 
 PosixThread::~PosixThread() {
@@ -59,10 +60,6 @@ void PosixThread::resume(){
 	pthread_kill(thread,SIGUSR1);
 }
 
-
-
-
-
 bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
 		const uint64_t delayTime_ms) {
 	uint64_t nextTimeToWake_ms;
@@ -162,7 +159,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 					strerror(status) << std::endl;
 	}
 
-//TODO FIFO -> This needs root privileges for the process
+	// TODO FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
 		sif::error << "Posix Thread attribute schedule policy failed with: " <<
@@ -208,7 +205,6 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 						" did not work.." << std::endl;
 			}
 		}
-
 	}
 
 	status = pthread_attr_destroy(&attributes);

From d99be255292e7682bac12dea38258c9cc4eed707 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 20:52:28 +0200
Subject: [PATCH 093/307] cookie info iter was uninitialized

leads to crash
---
 devicehandlers/DeviceHandlerBase.cpp | 21 +++++++++++----------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 965959af..30ee0394 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -32,19 +32,20 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		deviceThermalRequestPoolId(thermalRequestPoolId),
 		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
 		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-		switchOffWasReported(false), cookieInfo(),
-		childTransitionDelay(5000),
+		switchOffWasReported(false), childTransitionDelay(5000),
 		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
 		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			CommandMessage::MAX_MESSAGE_SIZE);
-	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
+	cookieInfo.state = COOKIE_UNUSED;
+	cookieInfo.pendingCommand = deviceCommandMap.end();
 	if (comCookie == nullptr) {
 		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
 				std::setw(8) << std::setfill('0') << this->getObjectId() <<
 				std::dec << ": Do not pass nullptr as a cookie, consider "
-				"passing a dummy cookie instead!" << std::endl;
+				<< std::setfill(' ') << "passing a dummy cookie instead!" <<
+				std::endl;
 	}
 	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
@@ -571,12 +572,12 @@ void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
 
 	size_t requestLen = 0;
-	DeviceReplyIter iter = deviceReplyMap.find(cookieInfo.pendingCommand->first);
-	if(iter != deviceReplyMap.end()) {
-		requestLen = iter->second.replyLen;
-	}
-	else {
-		requestLen = 0;
+	if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
+		DeviceReplyIter iter = deviceReplyMap.find(
+				cookieInfo.pendingCommand->first);
+		if(iter != deviceReplyMap.end()) {
+			requestLen = iter->second.replyLen;
+		}
 	}
 
 	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);

From ea548dea5bbd969ca17cf9cb48a6b5cfad5e8fda Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 21:16:47 +0200
Subject: [PATCH 094/307] map lock init

---
 osal/host/QueueMapManager.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
index a57d2c0c..e7c86f30 100644
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@@ -4,7 +4,9 @@
 
 QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
 
-QueueMapManager::QueueMapManager() {}
+QueueMapManager::QueueMapManager() {
+    mapLock = MutexFactory::instance()->createMutex();
+}
 
 QueueMapManager* QueueMapManager::instance() {
 	if (mqManagerInstance == nullptr){

From 8216b26fdee2f5e7dc552b0d037219149abc7edb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 23:15:05 +0200
Subject: [PATCH 095/307] datapoollocal updates

---
 datapoollocal/LocalPoolVariable.h   |  8 +++-----
 datapoollocal/LocalPoolVariable.tpp | 12 ++++++------
 datapoollocal/LocalPoolVector.h     |  6 ++++++
 datapoollocal/LocalPoolVector.tpp   | 15 +++++++++++++++
 4 files changed, 30 insertions(+), 11 deletions(-)

diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
index cb373a71..b6bfa5b8 100644
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@@ -131,11 +131,9 @@ protected:
 	ReturnValue_t commitWithoutLock() override;
 
 	// std::ostream is the type for object std::cout
-//	friend std::ostream& operator<< (std::ostream &out,
-//			const LocalPoolVar &var) {
-//		out << static_cast<int>(value);
-//		return out;
-//	}
+	template <typename U>
+	friend std::ostream& operator<< (std::ostream &out,
+			const LocalPoolVar<U> &var);
 
 private:
 	//! @brief 	Pool ID of pool entry inside the used local pool.
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index b7a0e837..663b73f5 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -151,11 +151,11 @@ inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
 	return AutoSerializeAdapter::deSerialize(&value, buffer, size, bigEndian);
 }
 
-//template<typename T>
-//inline friend std::ostream& LocalPoolVar<T>::operator<< (std::ostream &out,
-//		const LocalPoolVar &var) {
-//	out << static_cast<int>(out);
-//}
-
+template<typename T>
+inline std::ostream& operator<< (std::ostream &out,
+		const LocalPoolVar<T> &var) {
+    out << var.value;
+    return out;
+}
 
 #endif
diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h
index 02c47113..74615151 100644
--- a/datapoollocal/LocalPoolVector.h
+++ b/datapoollocal/LocalPoolVector.h
@@ -5,6 +5,7 @@
 #include <framework/datapool/PoolEntry.h>
 #include <framework/datapool/PoolVariableIF.h>
 #include <framework/serialize/SerializeAdapter.h>
+#include <framework/housekeeping/HousekeepingManager.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 
@@ -179,6 +180,11 @@ private:
 	ReadWriteMode_t readWriteMode;
 	//! @brief	Pointer to the class which manages the HK pool.
 	HousekeepingManager* hkManager;
+
+	// 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 <framework/datapoollocal/LocalPoolVector.tpp>
diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp
index 78637eff..9a00e5df 100644
--- a/datapoollocal/LocalPoolVector.tpp
+++ b/datapoollocal/LocalPoolVector.tpp
@@ -15,6 +15,7 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
 				"NO_PARAMETER value!" << std::endl;
 	}
 	memset(this->value, 0, vectorSize * sizeof(T));
+	hkManager = hkOwner->getHkManagerHandle();
 	if (dataSet != nullptr) {
 		dataSet->registerVariable(this);
 	}
@@ -182,4 +183,18 @@ inline bool LocalPoolVector<T, vectorSize>::isValid() const {
 	return valid;
 }
 
+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

From 70212d9f4e979b1092e151cc7cb666b085acddad Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 23:15:42 +0200
Subject: [PATCH 096/307] slight formatting

---
 housekeeping/HasHkPoolParametersIF.h | 1 +
 housekeeping/HousekeepingMessage.h   | 1 -
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/housekeeping/HasHkPoolParametersIF.h b/housekeeping/HasHkPoolParametersIF.h
index 9efc6d16..62715a3d 100644
--- a/housekeeping/HasHkPoolParametersIF.h
+++ b/housekeeping/HasHkPoolParametersIF.h
@@ -40,6 +40,7 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	virtual ReturnValue_t initializeHousekeepingPoolEntries(
 			LocalDataPoolMap& localDataPoolMap) = 0;
+	//virtual float setMinimalHkSamplingFrequency() = 0;
 	virtual HousekeepingManager* getHkManagerHandle() = 0;
 	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
 };
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index 61e6e199..e7ba68ba 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -19,7 +19,6 @@ union sid_t {
 	 */
 	uint64_t raw;
 };
-
 class HousekeepingMessage {
 public:
 	/**

From 9ed92e5e6f24721446613138f81939c763ae4783 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 23:21:51 +0200
Subject: [PATCH 097/307] clock typedefs renamed

---
 timemanager/Clock.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 19991b81..121c63df 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -8,8 +8,9 @@
 #include <cstdint>
 #include <sys/time.h>
 
-typedef uint32_t millis_t;
-typedef double seconds_t;
+//! Don't use these for time points, type is not large enough for UNIX epoch.
+typedef uint32_t dur_millis_t;
+typedef double dur_seconds_t;
 
 class Clock {
 public:

From 3d8993b0c599636fb7549ade76ca08cb47f0b4f2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 23:23:20 +0200
Subject: [PATCH 098/307] new typedef names

---
 timemanager/Stopwatch.cpp | 4 ++--
 timemanager/Stopwatch.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index bc8b4149..52118d58 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -13,12 +13,12 @@ void Stopwatch::start() {
     Clock::getClock_timeval(&startTime);
 }
 
-millis_t Stopwatch::stop() {
+dur_millis_t Stopwatch::stop() {
     stopInternal();
     return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
 }
 
-seconds_t Stopwatch::stopSeconds() {
+dur_seconds_t Stopwatch::stopSeconds() {
     stopInternal();
     return timevalOperations::toDouble(elapsedTime);
 }
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 71580778..630202cc 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -40,12 +40,12 @@ public:
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in milliseconds (rounded)
      */
-    millis_t stop();
+    dur_millis_t stop();
     /**
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in seconds (double precision)
      */
-    seconds_t stopSeconds();
+    dur_seconds_t stopSeconds();
 
     /**
      * Displays the elapsed times on the osstream, depending on internal display

From 65999ac6d6c2d8d1cc1b7b30f38366bf67f96054 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 23:30:16 +0200
Subject: [PATCH 099/307] pool var no param is one now

---
 datapool/PoolVariableIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/datapool/PoolVariableIF.h b/datapool/PoolVariableIF.h
index 3086bbe8..6a2900bf 100644
--- a/datapool/PoolVariableIF.h
+++ b/datapool/PoolVariableIF.h
@@ -27,7 +27,7 @@ public:
 
 	static constexpr bool VALID = 1;
 	static constexpr bool INVALID = 0;
-	static constexpr uint32_t NO_PARAMETER = 0;
+	static constexpr uint32_t NO_PARAMETER = 0xffffffff;
 
 	enum ReadWriteMode_t {
 		VAR_READ, VAR_WRITE, VAR_READ_WRITE

From c81613690be10ae70c6e18f373a303d77b80052c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 23:41:54 +0200
Subject: [PATCH 100/307] no_queue value is 0xffffffff now

---
 ipc/MessageQueueIF.h              |  2 ++
 ipc/MessageQueueSenderIF.h        |  2 +-
 memory/MemoryHelper.cpp           | 26 ++++++++++++--------------
 tcdistribution/PUSDistributor.cpp | 27 ++++++++++++---------------
 4 files changed, 27 insertions(+), 30 deletions(-)

diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index c67f3870..480019eb 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -2,6 +2,8 @@
 #define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
 
 // COULDDO: We could support blocking calls
+// semaphores are being implemented, which makes this idea even more iteresting.
+
 
 /**
  * @defgroup message_queue Message Queue
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 6eb7733d..ae66cd12 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -16,7 +16,7 @@ typedef uint32_t MessageQueueId_t;
 
 class MessageQueueSenderIF {
 public:
-	static const MessageQueueId_t NO_QUEUE = 0;
+	static const MessageQueueId_t NO_QUEUE = 0xffffffff;
 
 	virtual ~MessageQueueSenderIF() {}
 
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 2a830c5a..b078d6ec 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -33,15 +33,6 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
 	}
 }
 
-ReturnValue_t MemoryHelper::initialize() {
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore != NULL) {
-		return RETURN_OK;
-	} else {
-		return RETURN_FAILED;
-	}
-}
-
 void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 		const uint8_t* dataToCopy, const uint32_t size, uint8_t* copyHere) {
 	busy = false;
@@ -185,11 +176,18 @@ void MemoryHelper::handleMemoryCheckOrDump(CommandMessage* message) {
 }
 
 ReturnValue_t MemoryHelper::initialize(MessageQueueIF* queueToUse_) {
-	if(queueToUse_!=NULL){
-		this->queueToUse = queueToUse_;
-	}else{
-		return MessageQueueIF::NO_QUEUE;
+	if(queueToUse_ == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-
+	this->queueToUse = queueToUse_;
 	return initialize();
 }
+
+ReturnValue_t MemoryHelper::initialize() {
+	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (ipcStore != nullptr) {
+		return RETURN_OK;
+	} else {
+		return RETURN_FAILED;
+	}
+}
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index f4764c4e..bcf6d571 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -4,15 +4,13 @@
 #include <framework/tmtcpacket/pus/TcPacketStored.h>
 #include <framework/tmtcservices/PusVerificationReport.h>
 
-PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
-		TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
-				RETURN_FAILED), packetSource(setPacketSource) {
+PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
+		object_id_t setPacketSource) :
+		TcDistributor(setObjectId), checker(setApid), verifyChannel(),
+		currentPacket(), tcStatus(RETURN_FAILED),
+		packetSource(setPacketSource) {}
 
-}
-
-PUSDistributor::~PUSDistributor() {
-
-}
+PUSDistributor::~PUSDistributor() {}
 
 iterator_t PUSDistributor::selectDestination() {
 //	debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
@@ -45,18 +43,17 @@ iterator_t PUSDistributor::selectDestination() {
 //}
 
 ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
-	ReturnValue_t returnValue = RETURN_OK;
-	bool errorCode = true;
 	uint16_t serviceId = service->getIdentifier();
 	//info << "Service ID: " << (int)serviceId << std::endl;
 	MessageQueueId_t queue = service->getRequestQueue();
-	errorCode = this->queueMap.insert(
-			std::pair<uint32_t, MessageQueueId_t>(serviceId, queue)).second;
-	if (errorCode == false) {
+	auto returnPair = queueMap.emplace(serviceId, queue);
+	if (not returnPair.second) {
 		//TODO Return Code
-		returnValue = MessageQueueIF::NO_QUEUE;
+		sif::error << "PUSDistributor::registerService: Service ID already"
+				"exists in map." << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	return returnValue;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 MessageQueueId_t PUSDistributor::getRequestQueue() {

From 33cc8591dc2f2ca920dbe86d05e35f8aa40c736c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 01:17:24 +0200
Subject: [PATCH 101/307] yaaay, hardcoded values

---
 health/HealthHelper.cpp        |  5 ++--
 health/HealthHelper.h          | 11 ++++----
 memory/MemoryHelper.cpp        |  8 +++---
 memory/MemoryHelper.h          | 10 +++----
 modes/ModeHelper.cpp           | 48 ++++++++++++++++++++++------------
 modes/ModeHelper.h             |  8 ++++--
 parameters/ParameterHelper.cpp |  4 +--
 parameters/ParameterHelper.h   |  9 ++++---
 8 files changed, 61 insertions(+), 42 deletions(-)

diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index 3a345287..fdfc0967 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -1,9 +1,8 @@
 #include <framework/health/HealthHelper.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
-		healthTable(NULL), eventSender(NULL), objectId(objectId), parentQueue(
-				0), owner(owner) {
+		objectId(objectId), owner(owner) {
 }
 
 HealthHelper::~HealthHelper() {
diff --git a/health/HealthHelper.h b/health/HealthHelper.h
index 24fd0d14..a17a69f3 100644
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@@ -1,11 +1,12 @@
-#ifndef HEALTHHELPER_H_
-#define HEALTHHELPER_H_
+#ifndef FRAMEWORK_HEALTH_HEALTHHELPER_H_
+#define FRAMEWORK_HEALTH_HEALTHHELPER_H_
 
 #include <framework/events/EventManagerIF.h>
 #include <framework/events/EventReportingProxyIF.h>
 #include <framework/health/HasHealthIF.h>
 #include <framework/health/HealthMessage.h>
 #include <framework/health/HealthTableIF.h>
+#include <framework/ipc/MessageQueueIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
@@ -39,12 +40,12 @@ public:
 	 *
 	 * only valid after initialize() has been called
 	 */
-	HealthTableIF *healthTable;
+	HealthTableIF *healthTable = nullptr;
 
 	/**
 	 * Proxy to forward events.
 	 */
-	EventReportingProxyIF* eventSender;
+	EventReportingProxyIF* eventSender = nullptr;
 
 	/**
 	 * Try to handle the message.
@@ -100,7 +101,7 @@ private:
 	/**
 	 * The Queue of the parent
 	 */
-	MessageQueueId_t parentQueue;
+	MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
 
 	/**
 	 * The one using the healthHelper.
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index b078d6ec..de609252 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -5,10 +5,10 @@
 #include <framework/serialize/EndianSwapper.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) :
-		workOnThis(workOnThis), queueToUse(useThisQueue), ipcStore(NULL), ipcAddress(), lastCommand(
-				CommandMessage::CMD_NONE), lastSender(0), reservedSpaceInIPC(
-				NULL), busy(false) {
+MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis,
+		MessageQueueIF* useThisQueue):
+		workOnThis(workOnThis), queueToUse(useThisQueue), ipcStore(nullptr),
+		ipcAddress(), lastCommand(CommandMessage::CMD_NONE), busy(false) {
 }
 
 ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
diff --git a/memory/MemoryHelper.h b/memory/MemoryHelper.h
index 2ff82eb3..da6b9bdb 100644
--- a/memory/MemoryHelper.h
+++ b/memory/MemoryHelper.h
@@ -1,5 +1,5 @@
-#ifndef MEMORYHELPER_H_
-#define MEMORYHELPER_H_
+#ifndef FRAMEWORK_MEMORY_MEMORYHELPER_H_
+#define FRAMEWORK_MEMORY_MEMORYHELPER_H_
 #include <framework/ipc/CommandMessage.h>
 #include <framework/memory/AcceptsMemoryMessagesIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
@@ -16,11 +16,11 @@ public:
 private:
 	HasMemoryIF* workOnThis;
 	MessageQueueIF* queueToUse;
-	StorageManagerIF* ipcStore;
+	StorageManagerIF* ipcStore = nullptr;
 	store_address_t ipcAddress;
 	Command_t lastCommand;
-	MessageQueueId_t lastSender;
-	uint8_t* reservedSpaceInIPC;
+	MessageQueueId_t lastSender = MessageQueueIF::NO_QUEUE;
+	uint8_t* reservedSpaceInIPC = nullptr;
 	bool busy;
 	void handleMemoryLoad(CommandMessage* message);
 	void handleMemoryCheckOrDump(CommandMessage* message);
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index d9266c35..66726772 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -1,13 +1,11 @@
 #include <framework/modes/HasModesIF.h>
 #include <framework/modes/ModeHelper.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 ModeHelper::ModeHelper(HasModesIF *owner) :
-		theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode(
-				HasModesIF::SUBMODE_NONE), owner(owner), parentQueueId(0), forced(
-				false) {
-}
+		commandedMode(HasModesIF::MODE_OFF),
+		commandedSubmode(HasModesIF::SUBMODE_NONE),
+		owner(owner), forced(false) {}
 
 ModeHelper::~ModeHelper() {
 
@@ -71,27 +69,45 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
 	return initialize();
 }
 
-void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
+void ModeHelper::modeChanged(Mode_t ownerMode, Submode_t ownerSubmode) {
 	forced = false;
+	sendModeReplyMessage(ownerMode, ownerSubmode);
+	sendModeInfoMessage(ownerMode, ownerSubmode);
+	theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
+}
+
+void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
+		Submode_t ownerSubmode) {
 	CommandMessage reply;
-	if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
-		if ((mode != commandedMode) || (submode != commandedSubmode)) {
+	if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE)
+	{
+		if (ownerMode != commandedMode or ownerSubmode != commandedSubmode)
+		{
 			ModeMessage::setModeMessage(&reply,
-					ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
-		} else {
+					ModeMessage::REPLY_WRONG_MODE_REPLY, ownerMode,
+					ownerSubmode);
+		}
+		else
+		{
 			ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY,
-					mode, submode);
+					ownerMode, ownerSubmode);
 		}
 		MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
 				owner->getCommandQueue());
 	}
+}
+
+void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
+		Submode_t ownerSubmode) {
+	CommandMessage reply;
 	if (theOneWhoCommandedAMode != parentQueueId
-			&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
-		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
-				submode);
-		MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
+			and parentQueueId != MessageQueueSenderIF::NO_QUEUE)
+	{
+		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
+				ownerMode, ownerSubmode);
+		MessageQueueSenderIF::sendMessage(parentQueueId, &reply,
+				owner->getCommandQueue());
 	}
-	theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
 }
 
 void ModeHelper::startTimer(uint32_t timeoutMs) {
diff --git a/modes/ModeHelper.h b/modes/ModeHelper.h
index 87f6d411..b7f5868d 100644
--- a/modes/ModeHelper.h
+++ b/modes/ModeHelper.h
@@ -1,6 +1,7 @@
 #ifndef MODEHELPER_H_
 #define MODEHELPER_H_
 
+#include <framework/ipc/MessageQueueIF.h>
 #include <framework/modes/ModeMessage.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/timemanager/Countdown.h>
@@ -9,7 +10,7 @@ class HasModesIF;
 
 class ModeHelper {
 public:
-	MessageQueueId_t theOneWhoCommandedAMode;
+	MessageQueueId_t theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
 	Mode_t commandedMode;
 	Submode_t commandedSubmode;
 
@@ -39,11 +40,14 @@ public:
 	void setForced(bool forced);
 protected:
 	HasModesIF *owner;
-	MessageQueueId_t parentQueueId;
+	MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
 
 	Countdown countdown;
 
 	bool forced;
+private:
+	void sendModeReplyMessage(Mode_t ownerMode, Submode_t ownerSubmode);
+	void sendModeInfoMessage(Mode_t ownerMode, Submode_t ownerSubmode);
 };
 
 #endif /* MODEHELPER_H_ */
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 4ba2a1d9..e0756882 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -3,9 +3,7 @@
 #include <framework/parameters/ParameterMessage.h>
 
 ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
-		owner(owner), ownerQueueId(0), storage(NULL){
-
-}
+		owner(owner) {}
 
 ParameterHelper::~ParameterHelper() {
 }
diff --git a/parameters/ParameterHelper.h b/parameters/ParameterHelper.h
index e2fefdba..defe2925 100644
--- a/parameters/ParameterHelper.h
+++ b/parameters/ParameterHelper.h
@@ -1,6 +1,7 @@
-#ifndef PARAMETERHELPER_H_
-#define PARAMETERHELPER_H_
+#ifndef FRAMEWORK_PARAMETERS_PARAMETERHELPER_H_
+#define FRAMEWORK_PARAMETERS_PARAMETERHELPER_H_
 
+#include <framework/ipc/MessageQueueIF.h>
 #include <framework/parameters/ParameterMessage.h>
 #include <framework/parameters/ReceivesParameterMessagesIF.h>
 
@@ -15,9 +16,9 @@ public:
 private:
 	ReceivesParameterMessagesIF *owner;
 
-	MessageQueueId_t ownerQueueId;
+	MessageQueueId_t ownerQueueId = MessageQueueIF::NO_QUEUE;
 
-	StorageManagerIF *storage;
+	StorageManagerIF *storage = nullptr;
 
 	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, const ParameterWrapper *description);
 

From 3c80bdfefa8149823ed9fb6273cabaac3d02ccc0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 01:18:19 +0200
Subject: [PATCH 102/307] some linebreaks

---
 parameters/ParameterHelper.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/parameters/ParameterHelper.h b/parameters/ParameterHelper.h
index defe2925..352cf0a9 100644
--- a/parameters/ParameterHelper.h
+++ b/parameters/ParameterHelper.h
@@ -20,9 +20,11 @@ private:
 
 	StorageManagerIF *storage = nullptr;
 
-	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, const ParameterWrapper *description);
+	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
+			const ParameterWrapper *description);
 
-	void rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand);
+	void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
+			Command_t initialCommand);
 };
 
 #endif /* PARAMETERHELPER_H_ */

From d0b218c18e2cdd65405903626566f5c996064876 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 01:40:48 +0200
Subject: [PATCH 103/307] renaming for host os

---
 osal/host/MessageQueue.cpp | 2 +-
 osal/host/MessageQueue.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index 7d5e4d97..7e68fd5b 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -135,7 +135,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MessageQueue::lockQueue(millis_t lockTimeout) {
+ReturnValue_t MessageQueue::lockQueue(dur_millis_t lockTimeout) {
 	return queueLock->lockMutex(lockTimeout);
 }
 
diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h
index a0cce001..619b5e91 100644
--- a/osal/host/MessageQueue.h
+++ b/osal/host/MessageQueue.h
@@ -182,7 +182,7 @@ public:
 
 	bool isDefaultDestinationSet() const override;
 
-	ReturnValue_t lockQueue(millis_t lockTimeout);
+	ReturnValue_t lockQueue(dur_millis_t lockTimeout);
 	ReturnValue_t unlockQueue();
 protected:
 	/**

From fe5b50d8857bb07d7c84d2a89e8cf79d65f6d7a6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 02:22:18 +0200
Subject: [PATCH 104/307] improved documentation signigicantly

---
 datapool/PoolVariableIF.h                     | 14 +++---
 .../LocalDataPoolManager.cpp                  | 25 ++++++-----
 .../LocalDataPoolManager.h                    | 45 +++++++++++++------
 datapoollocal/LocalDataSet.cpp                |  6 +--
 datapoollocal/LocalDataSet.h                  |  8 ++--
 datapoollocal/LocalPoolVariable.h             | 34 ++++++++------
 datapoollocal/LocalPoolVariable.tpp           | 10 ++---
 datapoollocal/LocalPoolVector.h               |  6 +--
 datapoollocal/LocalPoolVector.tpp             |  6 +--
 .../OwnsLocalDataPoolIF.h                     | 33 ++++++++------
 devicehandlers/DeviceHandlerBase.cpp          |  4 +-
 devicehandlers/DeviceHandlerBase.h            | 14 +++---
 12 files changed, 118 insertions(+), 87 deletions(-)
 rename housekeeping/HousekeepingManager.cpp => datapoollocal/LocalDataPoolManager.cpp (69%)
 rename housekeeping/HousekeepingManager.h => datapoollocal/LocalDataPoolManager.h (71%)
 rename housekeeping/HasHkPoolParametersIF.h => datapoollocal/OwnsLocalDataPoolIF.h (58%)

diff --git a/datapool/PoolVariableIF.h b/datapool/PoolVariableIF.h
index 6a2900bf..30b87839 100644
--- a/datapool/PoolVariableIF.h
+++ b/datapool/PoolVariableIF.h
@@ -1,12 +1,12 @@
-#ifndef POOLVARIABLEIF_H_
-#define POOLVARIABLEIF_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLVARIABLEIF_H_
+#define FRAMEWORK_DATAPOOL_POOLVARIABLEIF_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/serialize/SerializeIF.h>
 
-
 /**
- * @brief	This interface is used to control data pool variable representations.
+ * @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
@@ -39,7 +39,8 @@ public:
 	 */
 	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;
 	/**
@@ -47,7 +48,8 @@ public:
 	 */
 	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;
 	/**
diff --git a/housekeeping/HousekeepingManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
similarity index 69%
rename from housekeeping/HousekeepingManager.cpp
rename to datapoollocal/LocalDataPoolManager.cpp
index e8edcc39..78e57c8c 100644
--- a/housekeeping/HousekeepingManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -1,12 +1,12 @@
+#include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
-#include <framework/housekeeping/HousekeepingManager.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/ipc/MutexHelper.h>
 
 #include <array>
 
-HousekeepingManager::HousekeepingManager(HasHkPoolParametersIF* owner) {
+LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner) {
 	if(owner == nullptr) {
 		sif::error << "HkManager: Invalid supplied owner!" << std::endl;
 		std::exit(0);
@@ -16,11 +16,12 @@ HousekeepingManager::HousekeepingManager(HasHkPoolParametersIF* owner) {
 	//owner->setMinimalHkSamplingFrequency();
 }
 
-HousekeepingManager::~HousekeepingManager() {}
+LocalDataPoolManager::~LocalDataPoolManager() {}
 
-ReturnValue_t HousekeepingManager::initializeHousekeepingPoolEntriesOnce() {
+ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	if(not mapInitialized) {
-		ReturnValue_t result = owner->initializeHousekeepingPoolEntries(localDpMap);
+		ReturnValue_t result =
+				owner->initializeHousekeepingPoolEntries(localDpMap);
 		if(result == HasReturnvaluesIF::RETURN_OK) {
 			mapInitialized = true;
 		}
@@ -30,24 +31,24 @@ ReturnValue_t HousekeepingManager::initializeHousekeepingPoolEntriesOnce() {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t HousekeepingManager::handleHousekeepingMessage(
+ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 		CommandMessage *message) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t HousekeepingManager::printPoolEntry(
+ReturnValue_t LocalDataPoolManager::printPoolEntry(
 		lp_id_t localPoolId) {
 	auto poolIter = localDpMap.find(localPoolId);
 	if (poolIter == localDpMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return HasHkPoolParametersIF::POOL_ENTRY_NOT_FOUND;
+		return OwnsLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
 	}
 	poolIter->second->print();
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-MutexIF* HousekeepingManager::getMutexHandle() {
+MutexIF* LocalDataPoolManager::getMutexHandle() {
 	return mutex;
 }
 
@@ -56,7 +57,7 @@ MutexIF* HousekeepingManager::getMutexHandle() {
 //
 //}
 
-void HousekeepingManager::generateHousekeepingPacket(sid_t sid) {
+void LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	LocalDataSet* dataSetToSerialize = dynamic_cast<LocalDataSet*>(
 			owner->getDataSetHandle(sid));
 	if(dataSetToSerialize == nullptr) {
@@ -73,10 +74,10 @@ void HousekeepingManager::generateHousekeepingPacket(sid_t sid) {
 
 }
 
-void HousekeepingManager::setHkPacketQueue(MessageQueueIF *msgQueue) {
+void LocalDataPoolManager::setHkPacketQueue(MessageQueueIF *msgQueue) {
 	this->hkPacketQueue = msgQueue;
 }
 
-const HasHkPoolParametersIF* HousekeepingManager::getOwner() const {
+const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
 	return owner;
 }
diff --git a/housekeeping/HousekeepingManager.h b/datapoollocal/LocalDataPoolManager.h
similarity index 71%
rename from housekeeping/HousekeepingManager.h
rename to datapoollocal/LocalDataPoolManager.h
index 43922ae6..c8a6bf15 100644
--- a/housekeeping/HousekeepingManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -2,19 +2,35 @@
 #define FRAMEWORK_HK_HOUSEKEEPINGHELPER_H_
 #include <framework/datapool/DataSetIF.h>
 #include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/housekeeping/HasHkPoolParametersIF.h>
 #include <framework/ipc/MutexIF.h>
 
 #include <framework/housekeeping/HousekeepingMessage.h>
 #include <framework/datapool/PoolEntry.h>
+#include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
 #include <framework/ipc/CommandMessage.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/ipc/MutexHelper.h>
 
 #include <map>
 
-
-class HousekeepingManager {
+/**
+ * @brief 	This class is the managing instance for 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 class as a member and implement
+ * the OwnsLocalDataPoolIF.
+ *
+ * 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.
+ *
+ */
+class LocalDataPoolManager {
 	template<typename T>
 	friend class LocalPoolVar;
 	template<typename T, uint16_t vecSize>
@@ -23,8 +39,8 @@ class HousekeepingManager {
 public:
 	static constexpr float MINIMAL_SAMPLING_FREQUENCY = 0.2;
 
-	HousekeepingManager(HasHkPoolParametersIF* owner);
-	virtual~ HousekeepingManager();
+	LocalDataPoolManager(OwnsLocalDataPoolIF* owner);
+	virtual~ LocalDataPoolManager();
 
 
 	// propably will just call respective local data set functions.
@@ -40,7 +56,7 @@ public:
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
 	void setHkPacketQueue(MessageQueueIF* msgQueue);
-	const HasHkPoolParametersIF* getOwner() const;
+	const OwnsLocalDataPoolIF* getOwner() const;
 
 	ReturnValue_t printPoolEntry(lp_id_t localPoolId);
 
@@ -48,14 +64,14 @@ private:
 	//! This is the map holding the actual data. Should only be initialized
 	//! once !
 	bool mapInitialized = false;
-	LocalDataPoolMap localDpMap;
+	LocalDataPool localDpMap;
 
 	//! 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).
-	HasHkPoolParametersIF* owner = nullptr;
+	OwnsLocalDataPoolIF* owner = nullptr;
 
 	//! Used for replies.
 	//! (maybe we dont need this, the sender can be retrieved from command
@@ -85,27 +101,28 @@ private:
 	 * 						supplied pointer.
 	 * @return
 	 */
-	template <class T>
-	ReturnValue_t fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry);
-	void setMinimalSamplingFrequency(float frequencySeconds);
+	template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
+			PoolEntry<T> **poolEntry);
 
+	void setMinimalSamplingFrequency(float frequencySeconds);
 };
 
+
 template<class T> inline
-ReturnValue_t HousekeepingManager::fetchPoolEntry(lp_id_t localPoolId,
+ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 		PoolEntry<T> **poolEntry) {
 	auto poolIter = localDpMap.find(localPoolId);
 	if (poolIter == localDpMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return HasHkPoolParametersIF::POOL_ENTRY_NOT_FOUND;
+		return OwnsLocalDataPoolIF::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 HasHkPoolParametersIF::POOL_ENTRY_TYPE_CONFLICT;
+		return OwnsLocalDataPoolIF::POOL_ENTRY_TYPE_CONFLICT;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index 988f254a..243c9cc1 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -1,7 +1,7 @@
+#include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
-#include <framework/housekeeping/HousekeepingManager.h>
 
-LocalDataSet::LocalDataSet(HasHkPoolParametersIF *hkOwner): DataSetBase() {
+LocalDataSet::LocalDataSet(OwnsLocalDataPoolIF *hkOwner): DataSetBase() {
 	if(hkOwner != nullptr) {
 		hkManager = hkOwner->getHkManagerHandle();
 	}
@@ -11,7 +11,7 @@ LocalDataSet::LocalDataSet(HasHkPoolParametersIF *hkOwner): DataSetBase() {
 }
 
 LocalDataSet::LocalDataSet(object_id_t ownerId): DataSetBase()  {
-	HasHkPoolParametersIF* hkOwner = objectManager->get<HasHkPoolParametersIF>(
+	OwnsLocalDataPoolIF* hkOwner = objectManager->get<OwnsLocalDataPoolIF>(
 			ownerId);
 	if(hkOwner == nullptr) {
 		// config error, error output here.
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index 607d10b3..54da5562 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -2,10 +2,10 @@
 #define FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
 #include <framework/datapool/DataSetBase.h>
 #include <framework/datapool/DataSetIF.h>
-#include <framework/housekeeping/HasHkPoolParametersIF.h>
+#include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
 #include <framework/serialize/SerializeIF.h>
 
-class HousekeepingManager;
+class LocalDataPoolManager;
 
 /**
  * @brief	The LocalDataSet class manages a set of locally checked out variables
@@ -35,7 +35,7 @@ public:
 	 * 			The constructor simply sets the fill_count to zero and sets
 	 *  		the state to "uninitialized".
 	 */
-	LocalDataSet(HasHkPoolParametersIF* hkOwner);
+	LocalDataSet(OwnsLocalDataPoolIF* hkOwner);
 
 	/**
 	 * @brief	Constructor for users of local pool data. The passed pool
@@ -78,7 +78,7 @@ private:
 	 */
 	ReturnValue_t unlockDataPool() override;
 
-	HousekeepingManager* hkManager;
+	LocalDataPoolManager* hkManager;
 };
 
 #endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */
diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
index b6bfa5b8..4b6e24aa 100644
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@@ -3,11 +3,11 @@
 
 #include <framework/datapool/PoolVariableIF.h>
 #include <framework/datapool/DataSetIF.h>
-#include <framework/housekeeping/HasHkPoolParametersIF.h>
+#include <framework/datapoollocal/LocalDataPoolManager.h>
+#include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 
 #include <framework/serialize/SerializeAdapter.h>
-#include <framework/housekeeping/HousekeepingManager.h>
 
 /**
  * @brief 	Local Pool Variable class which is used to access the local pools.
@@ -29,9 +29,12 @@ public:
 	/**
 	 * 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.
+	 *
+	 * 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".
@@ -39,7 +42,7 @@ public:
 	 * @param dataSet The data set in which the variable shall register itself.
 	 * If nullptr, the variable is not registered.
 	 */
-	LocalPoolVar(lp_id_t poolId, HasHkPoolParametersIF* hkOwner,
+	LocalPoolVar(lp_id_t poolId, OwnsLocalDataPoolIF* hkOwner,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
 			DataSetIF* dataSet = nullptr);
 
@@ -47,12 +50,14 @@ public:
 	 * 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.
+	 *
+	 * 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 hkOwner object ID of the pool owner.
 	 * @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.
@@ -99,7 +104,7 @@ public:
 	 * at once to avoid the overhead of unnecessary lock und unlock operations.
 	 *
 	 */
-	ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+	ReturnValue_t read(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
 	/**
 	 * @brief	The commit call copies the array values back to the data pool.
 	 * @details
@@ -109,7 +114,8 @@ public:
 	 * 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;
+	ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
+
 protected:
 	/**
 	 * @brief	Like #read, but without a lock protection of the global pool.
@@ -144,7 +150,7 @@ private:
 	bool valid = false;
 
 	//! Pointer to the class which manages the HK pool.
-	HousekeepingManager* hkManager;
+	LocalDataPoolManager* hkManager;
 };
 
 #include <framework/datapoollocal/LocalPoolVariable.tpp>
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index 663b73f5..0140b29d 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -7,7 +7,7 @@
 
 template<typename T>
 inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId,
-		HasHkPoolParametersIF* hkOwner, pool_rwm_t setReadWriteMode,
+		OwnsLocalDataPoolIF* hkOwner, pool_rwm_t setReadWriteMode,
 		DataSetIF* dataSet):
 		localPoolId(poolId),readWriteMode(setReadWriteMode) {
 	if(poolId == PoolVariableIF::NO_PARAMETER) {
@@ -33,8 +33,8 @@ inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
 		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
 				"NO_PARAMETER value!" << std::endl;
 	}
-	HasHkPoolParametersIF* hkOwner =
-			objectManager->get<HasHkPoolParametersIF>(poolOwner);
+	OwnsLocalDataPoolIF* hkOwner =
+			objectManager->get<OwnsLocalDataPoolIF>(poolOwner);
 	if(hkOwner == nullptr) {
 		sif::error << "LocalPoolVariable: The supplied pool owner did not implement"
 				"the correct interface HasHkPoolParametersIF!" << std::endl;
@@ -47,7 +47,7 @@ inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::read(millis_t lockTimeout) {
+inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
 	MutexHelper(hkManager->getMutexHandle(), lockTimeout);
 	return readWithoutLock();
 }
@@ -75,7 +75,7 @@ inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::commit(millis_t lockTimeout) {
+inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
 	MutexHelper(hkManager->getMutexHandle(), lockTimeout);
 	return commitWithoutLock();
 }
diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h
index 74615151..1c5f1d65 100644
--- a/datapoollocal/LocalPoolVector.h
+++ b/datapoollocal/LocalPoolVector.h
@@ -4,8 +4,8 @@
 #include <framework/datapool/DataSetIF.h>
 #include <framework/datapool/PoolEntry.h>
 #include <framework/datapool/PoolVariableIF.h>
+#include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/serialize/SerializeAdapter.h>
-#include <framework/housekeeping/HousekeepingManager.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 
@@ -46,7 +46,7 @@ public:
 	 * @param dataSet The data set in which the variable shall register itself.
 	 * If nullptr, the variable is not registered.
 	 */
-	LocalPoolVector(lp_id_t poolId, HasHkPoolParametersIF* hkOwner,
+	LocalPoolVector(lp_id_t poolId, OwnsLocalDataPoolIF* hkOwner,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
 			DataSetIF* dataSet = nullptr);
 
@@ -179,7 +179,7 @@ private:
 	 */
 	ReadWriteMode_t readWriteMode;
 	//! @brief	Pointer to the class which manages the HK pool.
-	HousekeepingManager* hkManager;
+	LocalDataPoolManager* hkManager;
 
 	// std::ostream is the type for object std::cout
 	template <typename U, uint16_t otherSize>
diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp
index 9a00e5df..bd35eed3 100644
--- a/datapoollocal/LocalPoolVector.tpp
+++ b/datapoollocal/LocalPoolVector.tpp
@@ -7,7 +7,7 @@
 
 template<typename T, uint16_t vectorSize>
 inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
-		HasHkPoolParametersIF* hkOwner, pool_rwm_t setReadWriteMode,
+		OwnsLocalDataPoolIF* hkOwner, pool_rwm_t setReadWriteMode,
 		DataSetIF* dataSet) :
 		localPoolId(poolId), valid(false), readWriteMode(setReadWriteMode) {
 	if(poolId == PoolVariableIF::NO_PARAMETER) {
@@ -29,8 +29,8 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
 		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
 				"NO_PARAMETER value!" << std::endl;
 	}
-	HasHkPoolParametersIF* hkOwner =
-			objectManager->get<HasHkPoolParametersIF>(poolOwner);
+	OwnsLocalDataPoolIF* hkOwner =
+			objectManager->get<OwnsLocalDataPoolIF>(poolOwner);
 	if(hkOwner == nullptr) {
 		sif::error << "LocalPoolVariable: The supplied pool owner did not implement"
 				"the correct interface HasHkPoolParametersIF!" << std::endl;
diff --git a/housekeeping/HasHkPoolParametersIF.h b/datapoollocal/OwnsLocalDataPoolIF.h
similarity index 58%
rename from housekeeping/HasHkPoolParametersIF.h
rename to datapoollocal/OwnsLocalDataPoolIF.h
index 62715a3d..cf94f946 100644
--- a/housekeeping/HasHkPoolParametersIF.h
+++ b/datapoollocal/OwnsLocalDataPoolIF.h
@@ -5,33 +5,40 @@
 #include <framework/housekeeping/HousekeepingMessage.h>
 #include <map>
 
-class HousekeepingManager;
+class LocalDataPoolManager;
 class DataSetIF;
 /**
  * @brief	Type definition for local pool entries.
  */
 using lp_id_t = uint32_t;
-using LocalDataPoolMap =  std::map<lp_id_t, PoolEntryIF*>;
-using LocalDataPoolMapIter = LocalDataPoolMap::iterator;
+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)
+ * 				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 HousekeepingManager
- * member class which handles the retrieval of the local pool data.
+ * 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.
+ * specifying an interface rather difficult. The local data pool can be
+ * accessed by using the LocalPoolVariable, LocalPoolVector or LocalDataSet
+ * classes.
  *
- * This could be circumvented by using a wrapper/accessor function, but
+ * 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 housekeeping manager.
+ * of the LocalDataPoolManager.
  */
-class HasHkPoolParametersIF {
+class OwnsLocalDataPoolIF {
 public:
-	virtual~ HasHkPoolParametersIF() {};
+	virtual~ OwnsLocalDataPoolIF() {};
 
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING;
 	static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0XA0);
@@ -39,9 +46,9 @@ public:
 
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	virtual ReturnValue_t initializeHousekeepingPoolEntries(
-			LocalDataPoolMap& localDataPoolMap) = 0;
+			LocalDataPool& localDataPoolMap) = 0;
 	//virtual float setMinimalHkSamplingFrequency() = 0;
-	virtual HousekeepingManager* getHkManagerHandle() = 0;
+	virtual LocalDataPoolManager* getHkManagerHandle() = 0;
 	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
 };
 
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 30ee0394..59bfb6af 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1347,11 +1347,11 @@ void DeviceHandlerBase::performOperationHook() {
 }
 
 ReturnValue_t DeviceHandlerBase::initializeHousekeepingPoolEntries(
-		LocalDataPoolMap &localDataPoolMap) {
+		LocalDataPool &localDataPoolMap) {
 	return RETURN_OK;
 }
 
-HousekeepingManager* DeviceHandlerBase::getHkManagerHandle() {
+LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
 	return &hkManager;
 }
 
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index b079e469..4ee3d652 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -11,15 +11,13 @@
 #include <framework/modes/HasModesIF.h>
 #include <framework/power/PowerSwitchIF.h>
 #include <framework/ipc/MessageQueueIF.h>
-#include <framework/housekeeping/HasHkPoolParametersIF.h>
-
 #include <framework/action/ActionHelper.h>
 #include <framework/health/HealthHelper.h>
 #include <framework/parameters/ParameterHelper.h>
 #include <framework/datapool/HkSwitchHelper.h>
+#include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
-#include <framework/housekeeping/HousekeepingManager.h>
-
+#include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
 #include <map>
 
 namespace Factory{
@@ -87,7 +85,7 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasHealthIF,
 		public HasActionsIF,
 		public ReceivesParameterMessagesIF,
-		public HasHkPoolParametersIF {
+		public OwnsLocalDataPoolIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
@@ -480,10 +478,10 @@ protected:
 	 * @return
 	 */
 	virtual ReturnValue_t initializeHousekeepingPoolEntries(
-				LocalDataPoolMap& localDataPoolMap) override;
+				LocalDataPool& localDataPoolMap) override;
 
 	/** Get the HK manager object handle */
-	virtual HousekeepingManager* getHkManagerHandle() override;
+	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
@@ -609,7 +607,7 @@ protected:
 	/** Action helper for HasActionsIF */
 	ActionHelper actionHelper;
 	/** Housekeeping Manager */
-	HousekeepingManager hkManager;
+	LocalDataPoolManager hkManager;
 
 	/**
 	 *  @brief Information about commands

From 73932f0349a958aa15b932f23e56dfa4277a02a8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 13:58:51 +0200
Subject: [PATCH 105/307] object maanager tweaks

---
 objectmanager/ObjectManager.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 606cd369..cfdf6562 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -23,6 +23,7 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 	} else {
 		sif::error << "ObjectManager::insert: Object id " << std::hex
 		           << (int)id << std::dec << " is already in use!" << std::endl;
+		sif::error << "Terminating program." << std::endl;
 		//This is very severe and difficult to handle in other places.
 		std::exit(INSERTION_FAILED);
 	}
@@ -31,8 +32,8 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 ReturnValue_t ObjectManager::remove( object_id_t id ) {
 	if ( this->getSystemObject(id) != NULL ) {
 		this->objectList.erase( id );
-		sif::debug << "ObjectManager::removeObject: Object " << std::hex
-		           << (int)id << std::dec << " removed." << std::endl;
+		//sif::debug << "ObjectManager::removeObject: Object " << std::hex
+		//           << (int)id << std::dec << " removed." << std::endl;
 		return RETURN_OK;
 	} else {
 		sif::error << "ObjectManager::removeObject: Requested object "

From 1748941f3b6b38015590b9437d5b84bae79b2978 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 13:59:22 +0200
Subject: [PATCH 106/307] commented out debug output

and additional diagnostic output toi make it clear the program was
terminated
---
 objectmanager/ObjectManager.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 606cd369..cfdf6562 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -23,6 +23,7 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 	} else {
 		sif::error << "ObjectManager::insert: Object id " << std::hex
 		           << (int)id << std::dec << " is already in use!" << std::endl;
+		sif::error << "Terminating program." << std::endl;
 		//This is very severe and difficult to handle in other places.
 		std::exit(INSERTION_FAILED);
 	}
@@ -31,8 +32,8 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 ReturnValue_t ObjectManager::remove( object_id_t id ) {
 	if ( this->getSystemObject(id) != NULL ) {
 		this->objectList.erase( id );
-		sif::debug << "ObjectManager::removeObject: Object " << std::hex
-		           << (int)id << std::dec << " removed." << std::endl;
+		//sif::debug << "ObjectManager::removeObject: Object " << std::hex
+		//           << (int)id << std::dec << " removed." << std::endl;
 		return RETURN_OK;
 	} else {
 		sif::error << "ObjectManager::removeObject: Requested object "

From 98e6ca5f78b19e679f5f527db1c3612f8e1f214a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 15:22:32 +0200
Subject: [PATCH 107/307] removed locks in lockless functions

---
 datapoollocal/LocalPoolVariable.tpp |  2 --
 datapoollocal/LocalPoolVector.h     | 10 +++++++---
 datapoollocal/LocalPoolVector.tpp   | 16 ++++++++++------
 3 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index 0140b29d..9dcd0699 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -87,8 +87,6 @@ inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
 				 "mode for commit() call." << std::endl;
 		return PoolVariableIF::INVALID_READ_WRITE_MODE;
 	}
-	// Wait maximum of 50 milliseconds.
-	MutexHelper(hkManager->getMutexHandle(), 50);
 	PoolEntry<T>* poolEntry = nullptr;
 	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
 	if(result != RETURN_OK) {
diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h
index 1c5f1d65..a8d0a7bb 100644
--- a/datapoollocal/LocalPoolVector.h
+++ b/datapoollocal/LocalPoolVector.h
@@ -70,8 +70,9 @@ 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 local array of this type.
+	 * @details
+	 * The user can work on this attribute just like he would on a local
+	 * array of this type.
 	 */
 	T value[vectorSize];
 	/**
@@ -109,7 +110,7 @@ public:
 	void setValid(bool valid) override;
 	uint8_t getValid() const;
 
-	T &operator [](int i);
+	T& operator [](int i);
 	const T &operator [](int i) const;
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
@@ -142,6 +143,7 @@ public:
 	 * 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.
@@ -185,6 +187,8 @@ private:
 	template <typename U, uint16_t otherSize>
 	friend std::ostream& operator<< (std::ostream &out,
 	        const LocalPoolVector<U, otherSize> &var);
+
+
 };
 
 #include <framework/datapoollocal/LocalPoolVector.tpp>
diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp
index bd35eed3..a18f8327 100644
--- a/datapoollocal/LocalPoolVector.tpp
+++ b/datapoollocal/LocalPoolVector.tpp
@@ -85,8 +85,6 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
 				"mode for commit() call." << std::endl;
 		return PoolVariableIF::INVALID_READ_WRITE_MODE;
 	}
-	// Wait maximum of 50 milliseconds.
-	MutexHelper(hkManager->getMutexHandle(), 50);
 	PoolEntry<T>* poolEntry = nullptr;
 	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
 	if(result != RETURN_OK) {
@@ -106,8 +104,11 @@ inline T& LocalPoolVector<T, vectorSize>::operator [](int i) {
 	if(i <= vectorSize) {
 		return value[i];
 	}
-	sif::warning << "LocalPoolVector: Invalid index" << std::endl;
-	return 0;
+	// 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>
@@ -115,8 +116,11 @@ inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
 	if(i <= vectorSize) {
 		return value[i];
 	}
-	sif::warning << "LocalPoolVector: Invalid index" << std::endl;
-	return 0;
+	// 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>

From 3b4413a6ee268d2759a5ef94c1ce8348c7f4d425 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 16:12:23 +0200
Subject: [PATCH 108/307] added queue lock for  receiveMessage

---
 osal/host/MessageQueue.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index 7e68fd5b..3e30c8ed 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -61,6 +61,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 	}
 	// not sure this will work..
 	//*message = std::move(messageQueue.front());
+	MutexHelper mutexLock(queueLock, 20);
 	MessageQueueMessage* currentMessage = &messageQueue.front();
 	std::copy(currentMessage->getBuffer(),
 			currentMessage->getBuffer() + messageSize, message->getBuffer());

From 4a90f41122339e106b7ec52f45fcd982dccc5c39 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 18:53:55 +0200
Subject: [PATCH 109/307] generate HK packet function continued

---
 datapoollocal/LocalDataPoolManager.cpp | 42 ++++++++++++++-------
 datapoollocal/LocalDataPoolManager.h   | 14 +++++--
 tmtcservices/CommandingServiceBase.cpp | 52 +++++++++++++-------------
 tmtcservices/CommandingServiceBase.h   | 20 +++++-----
 4 files changed, 77 insertions(+), 51 deletions(-)

diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index 78e57c8c..0a5747dc 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -1,6 +1,7 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/objectmanager/frameworkObjects.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/ipc/MutexHelper.h>
 
@@ -13,7 +14,15 @@ LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner) {
 	}
 	this->owner = owner;
 	mutex = MutexFactory::instance()->createMutex();
-	//owner->setMinimalHkSamplingFrequency();
+	if(mutex == nullptr) {
+	    sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
+	            "Could not create mutex." << std::endl;
+	}
+	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if(ipcStore == nullptr) {
+	    sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
+	            "Could not set IPC store." << std::endl;
+	}
 }
 
 LocalDataPoolManager::~LocalDataPoolManager() {}
@@ -52,32 +61,37 @@ MutexIF* LocalDataPoolManager::getMutexHandle() {
 	return mutex;
 }
 
-//void HousekeepingManager::setMinimalSamplingFrequency(float frequencySeconds) {
-//	this->samplingFrequency = frequencySeconds;
-//
-//}
-
-void LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
+ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	LocalDataSet* dataSetToSerialize = dynamic_cast<LocalDataSet*>(
 			owner->getDataSetHandle(sid));
 	if(dataSetToSerialize == nullptr) {
 		sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
 				" Set ID not found" << std::endl;
-		return;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	store_address_t storeId;
+	size_t hkSize = dataSetToSerialize->getSerializedSize();
+	uint8_t* storePtr = nullptr;
+	ReturnValue_t result = ipcStore->getFreeElement(&storeId, hkSize,&storePtr);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+	    sif::warning << "HousekeepingManager::generateHousekeepingPacket: "
+	            "Could not get free element from IPC store." << std::endl;
+	    return result;
 	}
-	std::array<uint8_t, 256> testBuffer = {};
-	uint8_t* dataPtr = testBuffer.data();
 	size_t size = 0;
-	dataSetToSerialize->serialize(&dataPtr, &size, testBuffer.size(),
-			false);
-	// and now we send it to the TM funnel or somewhere else
-
+	dataSetToSerialize->serialize(&storePtr, &size, hkSize, false);
+	// and now we have to set a HK message and send it the queue.
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 void LocalDataPoolManager::setHkPacketQueue(MessageQueueIF *msgQueue) {
 	this->hkPacketQueue = msgQueue;
 }
 
+void LocalDataPoolManager::setHkReplyQueue(MessageQueueIF *replyQueue) {
+    this->hkReplyQueue = replyQueue;
+}
+
 const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
 	return owner;
 }
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index c8a6bf15..14e7693c 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -37,14 +37,15 @@ class LocalDataPoolManager {
 	friend class LocalPoolVector;
 	friend class LocalDataSet;
 public:
-	static constexpr float MINIMAL_SAMPLING_FREQUENCY = 0.2;
 
 	LocalDataPoolManager(OwnsLocalDataPoolIF* owner);
 	virtual~ LocalDataPoolManager();
 
+	/* Copying forbidden */
+	LocalDataPoolManager(const LocalDataPoolManager &) = delete;
+	LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
 
-	// propably will just call respective local data set functions.
-	void generateHousekeepingPacket(sid_t sid);
+	ReturnValue_t generateHousekeepingPacket(sid_t sid);
 	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
 
 	/**
@@ -55,7 +56,12 @@ public:
 	 */
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
+	//! Set the queue for HK packets, which are sent unrequested.
 	void setHkPacketQueue(MessageQueueIF* msgQueue);
+	//! Set the queue for replies. This can be set manually or by the owner
+	//! class if the manager if message are relayed by it.
+	void setHkReplyQueue(MessageQueueIF* replyQueue);
+
 	const OwnsLocalDataPoolIF* getOwner() const;
 
 	ReturnValue_t printPoolEntry(lp_id_t localPoolId);
@@ -81,6 +87,8 @@ private:
 	//! Maybe this will just be the TM funnel.
 	MessageQueueIF* hkPacketQueue = 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
 	 * eternally. Use with care and don't forget to unlock locked mutexes!
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 5b397756..adc9400f 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -218,7 +218,7 @@ void CommandingServiceBase::handleRequestQueue() {
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
 		const uint8_t* data, size_t dataLen, const uint8_t* headerData,
 		size_t headerSize) {
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
@@ -228,36 +228,38 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		this->tmPacketCounter++;
 	}
+	return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		object_id_t objectId, const uint8_t *data, size_t dataLen) {
-	uint8_t buffer[sizeof(object_id_t)];
-	uint8_t* pBuffer = buffer;
-	size_t size = 0;
-	SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
-			sizeof(object_id_t), true);
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, data, dataLen, buffer, size);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
-
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        object_id_t objectId, const uint8_t *data, size_t dataLen) {
+    uint8_t buffer[sizeof(object_id_t)];
+    uint8_t* pBuffer = buffer;
+    size_t size = 0;
+    SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
+            sizeof(object_id_t), true);
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, data, dataLen, buffer, size);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		SerializeIF* content, SerializeIF* header) {
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, content, header);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        SerializeIF* content, SerializeIF* header) {
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, content, header);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 259ed1a3..e79e806d 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -212,36 +212,38 @@ protected:
 	 */
 	PeriodicTaskIF* executingTask;
 
-	// todo: why do these functions not have returnvalues? the caller should be
-	// able to check whether the send operations actually work.
 	/**
-	 * Send TM data from pointer to data. If a header is supplied it is added before data
+	 * @brief   Send TM data from pointer to data.
+	 *          If a header is supplied it is added before data
 	 * @param subservice Number of subservice
 	 * @param data Pointer to the data in the Packet
 	 * @param dataLen Lenght of data in the Packet
 	 * @param headerData HeaderData will be placed before data
 	 * @param headerSize Size of HeaderData
 	 */
-	void sendTmPacket(uint8_t subservice, const uint8_t *data, size_t dataLen,
-			const uint8_t* headerData = nullptr,size_t headerSize = 0);
+	ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
+	        size_t dataLen, const uint8_t* headerData = nullptr,
+	        size_t headerSize = 0);
 
 	/**
-	 * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
+	 * @brief   To send TM packets of objects that still need to be serialized
+	 *          and consist of an object ID with appended data.
 	 * @param subservice Number of subservice
 	 * @param objectId ObjectId is placed before data
 	 * @param data Data to append to the packet
 	 * @param dataLen Length of Data
 	 */
-	void sendTmPacket(uint8_t subservice, object_id_t objectId,
+	ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
 			const uint8_t *data, size_t dataLen);
 
 	/**
-	 * To send packets has data which is in form of a SerializeIF or Adapters implementing it
+	 * @brief   To send packets which are contained inside a class implementing
+	 *          SerializeIF.
 	 * @param subservice Number of subservice
 	 * @param content This is a pointer to the serialized packet
 	 * @param header Serialize IF header which will be placed before content
 	 */
-	void sendTmPacket(uint8_t subservice, SerializeIF* content,
+	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
 	virtual void handleUnrequestedReply(CommandMessage *reply);

From e8bc2cec9f267079f29e78c94d90d4e107e7eba0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 23:26:52 +0200
Subject: [PATCH 110/307] small comment in semaph factory

---
 osal/host/SemaphoreFactory.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp
index 8712d866..0c077f68 100644
--- a/osal/host/SemaphoreFactory.cpp
+++ b/osal/host/SemaphoreFactory.cpp
@@ -23,6 +23,7 @@ SemaphoreFactory* SemaphoreFactory::instance() {
 }
 
 SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
 	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
 			" Returning nullptr!\n" << std::flush;
 	return nullptr;
@@ -30,6 +31,7 @@ SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
 
 SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
 		uint8_t initCount, uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
 	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
 				" Returning nullptr!\n" << std::flush;
 	return nullptr;

From 2649fa150706bc93d88137dc1de595d2d17272b2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 7 Jun 2020 23:38:15 +0200
Subject: [PATCH 111/307] small small command message tweaks

---
 ipc/CommandMessage.h | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 21c393e5..6190e903 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -1,13 +1,5 @@
-/**
- * @file	CommandMessage.h
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
-
-#ifndef COMMANDMESSAGE_H_
-#define COMMANDMESSAGE_H_
-
+#ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
+#define FRAMEWORK_IPC_COMMANDMESSAGE_H_
 
 #include <framework/ipc/FwMessageTypes.h>
 #include <config/ipc/MissionMessageTypes.h>
@@ -15,10 +7,11 @@
 #include <framework/ipc/MessageQueueMessage.h>
 
 #define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
-typedef ReturnValue_t Command_t;
+typedef uint16_t Command_t;
 
 /**
- * @brief Used to pass command messages between tasks
+ * @brief 	Used to pass command messages between tasks
+ * @author	Bastian Baetz
  */
 class CommandMessage : public MessageQueueMessage {
 public:
@@ -27,9 +20,12 @@ public:
 
 
 	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND;
-	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
+	//! Used internally, will be ignored
+	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
 	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
-	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
+	//! Reply indicating that the current command was rejected,
+	//! par1 should contain the error code
+	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );
 
 	/**
 	 * This is the size of a message as it is seen by the MessageQueue
@@ -40,11 +36,13 @@ public:
 	/**
 	 * Default Constructor, does not initialize anything.
 	 *
-	 * This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
+	 * This constructor should be used when receiving a Message, as the
+	 * content is filled by the MessageQueue.
 	 */
 	CommandMessage();
 	/**
-	 * This constructor creates a new message with all message content initialized
+	 * This constructor creates a new message with all message content
+	 * initialized
 	 *
 	 * @param command	The DeviceHandlerCommand_t that will be sent
 	 * @param parameter1	The first parameter
@@ -60,7 +58,8 @@ public:
 	}
 
 	/**
-	 * Read the DeviceHandlerCommand_t that is stored in the message, usually used after receiving
+	 * Read the DeviceHandlerCommand_t that is stored in the message,
+	 * usually used after receiving.
 	 *
 	 * @return the Command stored in the Message
 	 */
@@ -126,7 +125,8 @@ public:
 	 * Is needed quite often, so we better code it once only.
 	 */
 	void setToUnknownCommand();
-	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
+	void setReplyRejected(ReturnValue_t reason,
+			Command_t initialCommand = CMD_NONE);
 	size_t getMinimumMessageSize() const;
 };
 

From 4c41456ddffb6800119c0e6a0d90f4ff03bd4618 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 8 Jun 2020 01:22:21 +0200
Subject: [PATCH 112/307] thoughts on message queuee message

new interface. What if there are MQ messages with different sizes?
-> generic interface

furthermore, maybe command message should be refactored to operate
on a mq message instead of implementing it
---
 datapoollocal/LocalDataPoolManager.cpp |  2 +-
 datapoollocal/LocalDataPoolManager.h   |  2 +-
 devicehandlers/DeviceHandlerBase.cpp   | 39 +++++++++++++++++------
 housekeeping/HousekeepingMessage.cpp   |  8 +++++
 housekeeping/HousekeepingMessage.h     | 17 ++++++----
 ipc/CommandMessage.h                   |  3 +-
 ipc/MessageQueueMessage.h              |  4 ++-
 ipc/MessageQueueMessageIF.h            | 44 ++++++++++++++++++++++++++
 8 files changed, 100 insertions(+), 19 deletions(-)
 create mode 100644 ipc/MessageQueueMessageIF.h

diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index 0a5747dc..37dbed36 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -41,7 +41,7 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
-		CommandMessage *message) {
+		MessageQueueMessage *message) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index 14e7693c..1d25fa48 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -46,7 +46,7 @@ public:
 	LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
 
 	ReturnValue_t generateHousekeepingPacket(sid_t sid);
-	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
+	ReturnValue_t handleHousekeepingMessage(MessageQueueMessage* message);
 
 	/**
 	 * This function is used to fill the local data pool map with pool
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 59bfb6af..94c9dc63 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -8,6 +8,8 @@
 #include <framework/datapoolglob/GlobalPoolVariable.h>
 #include <framework/devicehandlers/DeviceTmReportingWrapper.h>
 #include <framework/globalfunctions/CRC.h>
+#include <framework/housekeeping/HousekeepingMessage.h>
+#include <framework/ipc/MessageQueueMessage.h>
 #include <framework/subsystem/SubsystemBase.h>
 #include <framework/ipc/QueueFactory.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
@@ -36,7 +38,7 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
 		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
-			CommandMessage::MAX_MESSAGE_SIZE);
+			MessageQueueMessage::MAX_MESSAGE_SIZE);
 	insertInCommandMap(RAW_COMMAND_ID);
 	cookieInfo.state = COOKIE_UNUSED;
 	cookieInfo.pendingCommand = deviceCommandMap.end();
@@ -212,40 +214,59 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	// This is not ideal. What if it is not a command message? (e.g. another
+	// message with 3 parameters). The full buffer is filled anyway
+	// and I could just copy the content into the other message but
+	// all I need are few additional functions the other message type offers.
+	CommandMessage cmdMessage;
+	ReturnValue_t result = commandQueue->receiveMessage(&cmdMessage);
 	if (result != RETURN_OK) {
 		return;
 	}
 
+	// This is really annoying. I can't cast a parent object to a child.
+	// But I want to use another message format..
+//	CommandMessage* cmdMessage = dynamic_cast<CommandMessage*>(msgPtr);
+//	if(cmdMessage == nullptr) {
+//		sif::error << "DeviceHandlerBase::readCommandQueue: Could not cast"
+//				" message to CommandMessage!" << std::endl;
+//		return;
+//	}
+
 	if(healthHelperActive) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&cmdMessage);
 		if (result == RETURN_OK) {
 			return;
 		}
 	}
 
-	result = modeHelper.handleModeCommand(&message);
+	result = modeHelper.handleModeCommand(&cmdMessage);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = actionHelper.handleActionMessage(&message);
+	result = actionHelper.handleActionMessage(&cmdMessage);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = parameterHelper.handleParameterMessage(&message);
+	result = parameterHelper.handleParameterMessage(&cmdMessage);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = handleDeviceHandlerMessage(&message);
+//	HousekeepingMessage* hkMessage = dynamic_cast<HousekeepingMessage*>(msgPtr);
+//	result = hkManager.handleHousekeepingMessage(hkMessage);
+//	if (result == RETURN_OK) {
+//		return;
+//	}
+
+	result = handleDeviceHandlerMessage(&cmdMessage);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = letChildHandleMessage(&message);
+	result = letChildHandleMessage(&cmdMessage);
 	if (result == RETURN_OK) {
 		return;
 	}
diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index b0109e5d..c94a69d7 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -1,5 +1,13 @@
 #include <framework/housekeeping/HousekeepingMessage.h>
 
+HousekeepingMessage::HousekeepingMessage() {
+
+}
+
+void HousekeepingMessage::setHkReportMessage() {
+}
+
+
 //void HousekeepingMessage::setAddHkReportStructMessage(CommandMessage *message,
 //		set_t setId, store_address_t packet) {
 //	message->setCommand(ADD_HK_REPORT_STRUCT);
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index e7ba68ba..67edc4ed 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -5,12 +5,14 @@
 #include <limits>
 
 union sid_t {
-	static constexpr uint64_t INVALID_ADDRESS = std::numeric_limits<uint64_t>::max();
+	static constexpr uint64_t INVALID_ADDRESS =
+			std::numeric_limits<uint64_t>::max();
 	sid_t(): raw(INVALID_ADDRESS) {}
 
 	struct {
 		object_id_t objectId ;
-		// A generic 32 bit ID to identify unique HK packets for a single object.
+		// 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;
 	};
@@ -19,15 +21,17 @@ union sid_t {
 	 */
 	uint64_t raw;
 };
-class HousekeepingMessage {
+
+
+class HousekeepingMessage: public MessageQueueMessage {
 public:
 	/**
 	 * No instances of a message shall be created, instead
 	 * a CommandMessage instance is manipulated.
 	 */
-	HousekeepingMessage() = delete;
-	HousekeepingMessage(const HousekeepingMessage&) = delete;
-	HousekeepingMessage operator=(const HousekeepingMessage &) = delete;
+	HousekeepingMessage();
+//	HousekeepingMessage(const HousekeepingMessage&) = delete;
+//	HousekeepingMessage operator=(const HousekeepingMessage &) = delete;
 
 	static constexpr uint8_t MESSAGE_ID = MESSAGE_TYPE::HOUSEKEEPING;
 	static constexpr Command_t ADD_HK_REPORT_STRUCT =
@@ -76,6 +80,7 @@ public:
 
 //	static void setAddHkReportStructMessage(CommandMessage* message,
 //			DevisetId, store_address_t packet);
+	static void setHkReportMessage();
 };
 
 
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 6190e903..d7b6820d 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -28,7 +28,8 @@ public:
 	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );
 
 	/**
-	 * This is the size of a message as it is seen by the MessageQueue
+	 * This is the size of a message as it is seen by the MessageQueue.
+	 * 14 of the 24 available MessageQueueMessage bytes are used.
 	 */
 	static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
 			+ sizeof(Command_t) + 2 * sizeof(uint32_t);
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 4d82bd88..93671321 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -1,6 +1,7 @@
 #ifndef MESSAGEQUEUEMESSAGE_H_
 #define MESSAGEQUEUEMESSAGE_H_
 
+#include <framework/ipc/MessageQueueMessageIF.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
 #include <stddef.h>
 
@@ -23,7 +24,7 @@
  *	receive messages from other tasks.
  *	@ingroup message_queue
  */
-class MessageQueueMessage {
+class MessageQueueMessage: public MessageQueueMessageIF {
 public:
 	/**
 	 * @brief	The class is initialized empty with this constructor.
@@ -43,6 +44,7 @@ public:
 	 * 				MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
 	 */
 	MessageQueueMessage(uint8_t* data, size_t size);
+
 	/**
 	 * @brief	The size information of each message is stored in this attribute.
 	 * @details
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
new file mode 100644
index 00000000..3bd4a9d6
--- /dev/null
+++ b/ipc/MessageQueueMessageIF.h
@@ -0,0 +1,44 @@
+#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+#include <framework/ipc/MessageQueueSenderIF.h>
+#include <cstddef>
+
+class MessageQueueMessageIF {
+public:
+	virtual ~MessageQueueMessageIF() {};
+
+	/**
+	 * @brief	With this method, the whole content and the message
+	 * 			size is set to zero.
+	 */
+	virtual void clear() = 0;
+	/**
+	 * @brief	This is a debug method that prints the content
+	 * 			(till messageSize) to the debug output.
+	 */
+	virtual void print() = 0;
+	virtual const uint8_t* getBuffer() const = 0;
+	/**
+	 * @brief	This method is used to get the complete data of the message.
+	 */
+	virtual uint8_t* getBuffer() = 0;
+	/**
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to sending the message.
+	 * @param setId	The message queue id that identifies the sending message queue.
+	 */
+	virtual void setSender(MessageQueueId_t setId) = 0;
+	/**
+	 * @brief	This helper function is used by the MessageQueue class to
+	 * 			check the size of an incoming message.
+	 * @details
+	 * The method must be overwritten by child classes if size checks shall
+	 * be more strict.
+	 * @return	The default implementation returns HEADER_SIZE.
+	 */
+	virtual size_t getMinimumMessageSize() = 0;
+};
+
+
+
+#endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

From 0ea249aac46c7416aa5b908b9c5f844ac8e09388 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 8 Jun 2020 12:25:20 +0200
Subject: [PATCH 113/307] messagetype namespace im small letters now

---
 action/ActionMessage.h                |  2 +-
 devicehandlers/DeviceHandlerMessage.h |  2 +-
 health/HealthMessage.h                |  2 +-
 housekeeping/HousekeepingMessage.h    |  2 +-
 ipc/CommandMessage.cpp                | 36 +++++++++++++--------------
 ipc/CommandMessage.h                  |  3 ++-
 ipc/FwMessageTypes.h                  |  4 +--
 ipc/MessageQueueMessageIF.h           | 15 +++++++----
 memory/FileSystemMessage.h            |  2 +-
 memory/MemoryMessage.h                |  2 +-
 modes/ModeMessage.h                   |  2 +-
 monitoring/MonitoringMessage.h        |  2 +-
 parameters/ParameterMessage.h         |  2 +-
 subsystem/modes/ModeSequenceMessage.h |  2 +-
 tmstorage/TmStoreMessage.h            |  2 +-
 15 files changed, 43 insertions(+), 37 deletions(-)

diff --git a/action/ActionMessage.h b/action/ActionMessage.h
index 5d8332cb..59ad619e 100644
--- a/action/ActionMessage.h
+++ b/action/ActionMessage.h
@@ -10,7 +10,7 @@ class ActionMessage {
 private:
 	ActionMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::ACTION;
+	static const uint8_t MESSAGE_ID = messagetypes::ACTION;
 	static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
 	static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
 	static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index c91bb0a4..2bdf03b2 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -25,7 +25,7 @@ public:
 	/**
 	 * These are the commands that can be sent to a DeviceHandlerBase
 	 */
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::DEVICE_HANDLER_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
 	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
 //	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
 	static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
diff --git a/health/HealthMessage.h b/health/HealthMessage.h
index 7fd00904..13e79b88 100644
--- a/health/HealthMessage.h
+++ b/health/HealthMessage.h
@@ -6,7 +6,7 @@
 
 class HealthMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::HEALTH_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
 	static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
 	static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3);	//NO REPLY!
 	static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index 67edc4ed..3ba6f94d 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -33,7 +33,7 @@ public:
 //	HousekeepingMessage(const HousekeepingMessage&) = delete;
 //	HousekeepingMessage operator=(const HousekeepingMessage &) = delete;
 
-	static constexpr uint8_t MESSAGE_ID = MESSAGE_TYPE::HOUSEKEEPING;
+	static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
 	static constexpr Command_t ADD_HK_REPORT_STRUCT =
 			MAKE_COMMAND_ID(1);
 	static constexpr Command_t ADD_DIAGNOSTICS_REPORT_STRUCT =
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index fa41c653..544ee43c 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -1,9 +1,4 @@
-/**
- * @file	CommandMessage.cpp
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
+#include "MissionMessageTypes.h"
 
 #include <framework/devicehandlers/DeviceHandlerMessage.h>
 #include <framework/health/HealthMessage.h>
@@ -15,7 +10,8 @@
 #include <framework/tmstorage/TmStoreMessage.h>
 #include <framework/parameters/ParameterMessage.h>
 
-namespace MESSAGE_TYPE {
+namespace messagetypes {
+// Implemented in config.
 void clearMissionMessage(CommandMessage* message);
 }
 
@@ -39,6 +35,10 @@ Command_t CommandMessage::getCommand() const {
 	return command;
 }
 
+uint8_t CommandMessage::getMessageType() const {
+	return getCommand() >> 8 & 0xff;
+}
+
 void CommandMessage::setCommand(Command_t command) {
 	memcpy(getData(), &command, sizeof(command));
 }
@@ -66,36 +66,36 @@ void CommandMessage::setParameter2(uint32_t parameter2) {
 }
 
 void CommandMessage::clearCommandMessage() {
-	switch((getCommand()>>8) & 0xff){
-	case  MESSAGE_TYPE::MODE_COMMAND:
+	switch(getMessageType()){
+	case messagetypes::MODE_COMMAND:
 		ModeMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::HEALTH_COMMAND:
+	case messagetypes::HEALTH_COMMAND:
 		HealthMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MODE_SEQUENCE:
+	case messagetypes::MODE_SEQUENCE:
 		ModeSequenceMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::ACTION:
+	case messagetypes::ACTION:
 		ActionMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::DEVICE_HANDLER_COMMAND:
+	case messagetypes::DEVICE_HANDLER_COMMAND:
 		DeviceHandlerMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MEMORY:
+	case messagetypes::MEMORY:
 		MemoryMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MONITORING:
+	case messagetypes::MONITORING:
 		MonitoringMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::TM_STORE:
+	case messagetypes::TM_STORE:
 		TmStoreMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::PARAMETER:
+	case messagetypes::PARAMETER:
 		ParameterMessage::clear(this);
 		break;
 	default:
-		MESSAGE_TYPE::clearMissionMessage(this);
+		messagetypes::clearMissionMessage(this);
 		break;
 	}
 }
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index d7b6820d..a5c187f5 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -19,7 +19,7 @@ public:
 	static const ReturnValue_t UNKNOW_COMMAND = MAKE_RETURN_CODE(0x01);
 
 
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
 	//! Used internally, will be ignored
 	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
 	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
@@ -66,6 +66,7 @@ public:
 	 */
 	Command_t getCommand() const;
 
+	uint8_t getMessageType() const;
 	/**
 	 * Set the DeviceHandlerCOmmand_t of the message
 	 *
diff --git a/ipc/FwMessageTypes.h b/ipc/FwMessageTypes.h
index 1665747e..8b49c122 100644
--- a/ipc/FwMessageTypes.h
+++ b/ipc/FwMessageTypes.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_IPC_FWMESSAGETYPES_H_
 #define FRAMEWORK_IPC_FWMESSAGETYPES_H_
 
-namespace MESSAGE_TYPE {
+namespace messagetypes {
 //Remember to add new Message Types to the clearCommandMessage function!
-enum FW_MESSAGE_TYPE {
+enum FsfwMessageTypes {
 	COMMAND = 0,
 	MODE_COMMAND,
 	HEALTH_COMMAND,
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index 3bd4a9d6..70c87d3c 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -17,24 +17,29 @@ public:
 	 * 			(till messageSize) to the debug output.
 	 */
 	virtual void print() = 0;
+
+	/**
+	 * @brief	Get read-only pointer to the raw buffer.
+	 * @return
+	 */
 	virtual const uint8_t* getBuffer() const = 0;
+
 	/**
 	 * @brief	This method is used to get the complete data of the message.
 	 */
 	virtual uint8_t* getBuffer() = 0;
+
 	/**
 	 * @brief	This method is used to set the sender's message queue id
 	 * 			information prior to sending the message.
-	 * @param setId	The message queue id that identifies the sending message queue.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
 	 */
 	virtual void setSender(MessageQueueId_t setId) = 0;
+
 	/**
 	 * @brief	This helper function is used by the MessageQueue class to
 	 * 			check the size of an incoming message.
-	 * @details
-	 * The method must be overwritten by child classes if size checks shall
-	 * be more strict.
-	 * @return	The default implementation returns HEADER_SIZE.
 	 */
 	virtual size_t getMinimumMessageSize() = 0;
 };
diff --git a/memory/FileSystemMessage.h b/memory/FileSystemMessage.h
index b6fd7309..9f9c1496 100644
--- a/memory/FileSystemMessage.h
+++ b/memory/FileSystemMessage.h
@@ -16,7 +16,7 @@ class FileSystemMessage {
 private:
 	FileSystemMessage(); //A private ctor inhibits instantiation
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::FILE_SYSTEM_MESSAGE;
+	static const uint8_t MESSAGE_ID = messagetypes::FILE_SYSTEM_MESSAGE;
 	static const Command_t CREATE_FILE = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t DELETE_FILE = MAKE_COMMAND_ID( 0x02 );
 	static const Command_t WRITE_TO_FILE = MAKE_COMMAND_ID( 0x80 );
diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h
index bcc262e9..e2c87ca3 100644
--- a/memory/MemoryMessage.h
+++ b/memory/MemoryMessage.h
@@ -9,7 +9,7 @@ class MemoryMessage {
 private:
 	MemoryMessage(); //A private ctor inhibits instantiation
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MEMORY;
+	static const uint8_t MESSAGE_ID = messagetypes::MEMORY;
 	static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 );
 	static const Command_t CMD_MEMORY_CHECK = MAKE_COMMAND_ID( 0x03 );
diff --git a/modes/ModeMessage.h b/modes/ModeMessage.h
index f72fdeec..675c614b 100644
--- a/modes/ModeMessage.h
+++ b/modes/ModeMessage.h
@@ -17,7 +17,7 @@ class ModeMessage {
 private:
 	ModeMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
 	static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);//!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!!
 	static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);//!> Command to set the specified Mode, regardless of external control flag, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!!
 	static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);//!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
diff --git a/monitoring/MonitoringMessage.h b/monitoring/MonitoringMessage.h
index d2ff9b4d..793e1fbf 100644
--- a/monitoring/MonitoringMessage.h
+++ b/monitoring/MonitoringMessage.h
@@ -6,7 +6,7 @@
 
 class MonitoringMessage: public CommandMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MONITORING;
+	static const uint8_t MESSAGE_ID = messagetypes::MONITORING;
 	//Object id could be useful, but we better manage that on service level (register potential reporters).
 	static const Command_t LIMIT_VIOLATION_REPORT = MAKE_COMMAND_ID(10);
 	virtual ~MonitoringMessage();
diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h
index 0f286675..43283294 100644
--- a/parameters/ParameterMessage.h
+++ b/parameters/ParameterMessage.h
@@ -9,7 +9,7 @@ class ParameterMessage {
 private:
 	ParameterMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::PARAMETER;
+	static const uint8_t MESSAGE_ID = messagetypes::PARAMETER;
 	static const Command_t CMD_PARAMETER_LOAD = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t CMD_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x02 );
 	static const Command_t REPLY_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x03 );
diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h
index 830cf532..61d1b628 100644
--- a/subsystem/modes/ModeSequenceMessage.h
+++ b/subsystem/modes/ModeSequenceMessage.h
@@ -7,7 +7,7 @@
 
 class ModeSequenceMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_SEQUENCE;
+	static const uint8_t MESSAGE_ID = messagetypes::MODE_SEQUENCE;
 
 	static const Command_t ADD_SEQUENCE = MAKE_COMMAND_ID(0x01);
 	static const Command_t ADD_TABLE = MAKE_COMMAND_ID(0x02);
diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h
index 0883063c..bd6b2def 100644
--- a/tmstorage/TmStoreMessage.h
+++ b/tmstorage/TmStoreMessage.h
@@ -41,7 +41,7 @@ public:
 
 	static store_address_t getStoreId(const CommandMessage* cmd);
 	virtual ~TmStoreMessage();
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::TM_STORE;
+	static const uint8_t MESSAGE_ID = messagetypes::TM_STORE;
 	static const Command_t ENABLE_STORING = MAKE_COMMAND_ID(1);
 	static const Command_t DELETE_STORE_CONTENT = MAKE_COMMAND_ID(2);
 	static const Command_t DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(3);

From 07302e0d2aa55dc7a0ed77c595e94f3c4ae9899f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 8 Jun 2020 17:44:54 +0200
Subject: [PATCH 114/307] removed include

---
 ipc/CommandMessage.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 544ee43c..f9e2e010 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -1,5 +1,3 @@
-#include "MissionMessageTypes.h"
-
 #include <framework/devicehandlers/DeviceHandlerMessage.h>
 #include <framework/health/HealthMessage.h>
 #include <framework/ipc/CommandMessage.h>

From b1f91439c6325593c59099cbf93d214c27820fc8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 8 Jun 2020 17:50:09 +0200
Subject: [PATCH 115/307] deleted copy ctor taskes const ref now

---
 storagemanager/StorageAccessor.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index 57c9369c..06947974 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -84,8 +84,8 @@ public:
 	//! The copy ctor and copy assignemnt should be deleted implicitely
 	//! according to https://foonathan.net/2019/02/special-member-functions/
 	//! but I still deleted them to make it more explicit. (remember rule of 5).
-	ConstStorageAccessor& operator= (ConstStorageAccessor&) = delete;
-	ConstStorageAccessor (ConstStorageAccessor&) = delete;
+	ConstStorageAccessor& operator= (const ConstStorageAccessor&) = delete;
+	ConstStorageAccessor (const ConstStorageAccessor&) = delete;
 protected:
 	const uint8_t* constDataPointer = nullptr;
 	store_address_t storeId;

From 8ff6506ad90965f6a42d2b03a1fa2b2638f436c9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 9 Jun 2020 02:18:39 +0200
Subject: [PATCH 116/307] MessageQueue refactoring complete

---
 action/ActionHelper.cpp                | 17 ++++---
 action/CommandActionHelper.cpp         |  3 +-
 action/SimpleActionHelper.cpp          |  3 +-
 controller/ControllerBase.cpp          | 17 +++----
 datalinklayer/MapPacketExtraction.cpp  |  6 +--
 datapool/HkSwitchHelper.cpp            | 11 ++---
 datapoolglob/DataPoolAdmin.cpp         |  9 ++--
 devicehandlers/AssemblyBase.cpp        |  3 +-
 devicehandlers/DeviceHandlerBase.cpp   | 29 ++++++------
 devicehandlers/HealthDevice.cpp        |  7 +--
 health/HealthHelper.cpp                | 20 +++++----
 ipc/CommandMessage.cpp                 | 62 ++++++++++++++++++++------
 ipc/CommandMessage.h                   | 28 +++++++++---
 ipc/MessageQueueIF.h                   | 16 +++----
 ipc/MessageQueueMessage.cpp            |  2 +-
 ipc/MessageQueueMessage.h              |  2 +-
 ipc/MessageQueueMessageIF.h            | 29 +++++++++---
 ipc/MessageQueueSenderIF.h             | 16 ++-----
 memory/MemoryHelper.cpp                | 15 ++++---
 modes/ModeHelper.cpp                   | 31 +++++++------
 monitoring/LimitViolationReporter.cpp  |  3 +-
 osal/FreeRTOS/MessageQueue.cpp         | 18 ++++----
 osal/FreeRTOS/MessageQueue.h           | 19 ++++----
 osal/FreeRTOS/QueueFactory.cpp         |  2 +-
 parameters/ParameterHelper.cpp         |  9 ++--
 power/Fuse.cpp                         |  3 +-
 power/PowerSensor.cpp                  |  3 +-
 subsystem/Subsystem.cpp                | 14 +++---
 subsystem/SubsystemBase.cpp            | 43 +++++++++---------
 thermal/AbstractTemperatureSensor.cpp  | 11 ++---
 thermal/Heater.cpp                     |  9 ++--
 tmstorage/TmStoreMessage.cpp           |  2 +-
 tmstorage/TmStoreMessage.h             |  2 +-
 tmtcservices/CommandingServiceBase.cpp | 20 +++++----
 34 files changed, 293 insertions(+), 191 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 19a84d82..0df5f2d4 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -16,7 +16,7 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 				ActionMessage::getStoreId(command));
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		return CommandMessage::UNKNOW_COMMAND;
+		return CommandMessage::UNKNOWN_COMMAND;
 	}
 }
 
@@ -33,13 +33,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
 }
 
 void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
 	queueToUse->sendMessage(reportTo, &reply);
 }
 
 void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	ActionMessage::setCompletionReply(&reply, commandId, result);
 	queueToUse->sendMessage(reportTo, &reply);
 }
@@ -54,7 +56,8 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		CommandMessage reply;
+		MessageQueueMessage message;
+		CommandMessage reply(&message);
 		ActionMessage::setStepReply(&reply, actionId, 0, result);
 		queueToUse->sendMessage(commandedBy, &reply);
 		return;
@@ -62,7 +65,8 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 	result = owner->executeAction(actionId, commandedBy, dataPtr, size);
 	ipcStore->deleteData(dataAddress);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		CommandMessage reply;
+		MessageQueueMessage message;
+		CommandMessage reply(&message);
 		ActionMessage::setStepReply(&reply, actionId, 0, result);
 		queueToUse->sendMessage(commandedBy, &reply);
 		return;
@@ -71,7 +75,8 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 
 ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
 		ActionId_t replyId, SerializeIF* data, bool hideSender) {
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	store_address_t storeAddress;
 	uint8_t *dataPtr;
 	size_t maxSize = data->getSerializedSize();
diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp
index 77295401..c871a2d0 100644
--- a/action/CommandActionHelper.cpp
+++ b/action/CommandActionHelper.cpp
@@ -53,7 +53,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
 
 ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
 		ActionId_t actionId, store_address_t storeId) {
-	CommandMessage command;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 	ActionMessage::setCommand(&command, actionId, storeId);
 	ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp
index 6861fc28..f97474b1 100644
--- a/action/SimpleActionHelper.cpp
+++ b/action/SimpleActionHelper.cpp
@@ -36,7 +36,8 @@ void SimpleActionHelper::resetHelper() {
 
 void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
 		ActionId_t actionId, store_address_t dataAddress) {
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	if (isExecuting) {
 		ipcStore->deleteData(dataAddress);
 		ActionMessage::setStepReply(&reply, actionId, 0,
diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp
index 7b11bdfa..ad0a0b97 100644
--- a/controller/ControllerBase.cpp
+++ b/controller/ControllerBase.cpp
@@ -56,26 +56,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 }
 
 void ControllerBase::handleQueue() {
-	CommandMessage message;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 	ReturnValue_t result;
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
+	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);
 	}
 
 }
diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index 11b0792a..4ea45e89 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -16,9 +16,9 @@
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
-		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
-				packetBuffer), packetDestination(setPacketDestination), packetStore(
-				NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) {
+		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0),
+		bufferPosition(packetBuffer), packetDestination(setPacketDestination),
+		packetStore(nullptr), tcQueueId(MessageQueueMessageIF::NO_QUEUE) {
 	memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp
index 844fcd90..6a923776 100644
--- a/datapool/HkSwitchHelper.cpp
+++ b/datapool/HkSwitchHelper.cpp
@@ -21,14 +21,15 @@ 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);
+	MessageQueueMessage message;
+	CommandMessage command(&message);
+	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;
diff --git a/datapoolglob/DataPoolAdmin.cpp b/datapoolglob/DataPoolAdmin.cpp
index 05de1eb2..6387263f 100644
--- a/datapoolglob/DataPoolAdmin.cpp
+++ b/datapoolglob/DataPoolAdmin.cpp
@@ -66,7 +66,8 @@ ReturnValue_t DataPoolAdmin::getParameter(uint8_t domainId,
 }
 
 void DataPoolAdmin::handleCommand() {
-	CommandMessage command;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != RETURN_OK) {
 		return;
@@ -282,7 +283,8 @@ ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 
 	ParameterMessage::setParameterDumpReply(&reply, id, address);
 
@@ -294,7 +296,8 @@ ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 //identical to ParameterHelper::rejectCommand()
 void DataPoolAdmin::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
 		Command_t initialCommand) {
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	reply.setReplyRejected(reason, initialCommand);
 	commandQueue->sendMessage(to, &reply);
 }
diff --git a/devicehandlers/AssemblyBase.cpp b/devicehandlers/AssemblyBase.cpp
index bd85d1de..a5dcad21 100644
--- a/devicehandlers/AssemblyBase.cpp
+++ b/devicehandlers/AssemblyBase.cpp
@@ -148,7 +148,8 @@ void AssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
 
 void AssemblyBase::sendHealthCommand(MessageQueueId_t sendTo,
 		HealthState health) {
-	CommandMessage command;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 	HealthMessage::setHealthMessage(&command, HealthMessage::HEALTH_SET,
 			health);
 	if (commandQueue->sendMessage(sendTo, &command) == RETURN_OK) {
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 94c9dc63..11cffc74 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -218,8 +218,9 @@ void DeviceHandlerBase::readCommandQueue() {
 	// message with 3 parameters). The full buffer is filled anyway
 	// and I could just copy the content into the other message but
 	// all I need are few additional functions the other message type offers.
-	CommandMessage cmdMessage;
-	ReturnValue_t result = commandQueue->receiveMessage(&cmdMessage);
+	MessageQueueMessage message;
+	CommandMessage command(&message);
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != RETURN_OK) {
 		return;
 	}
@@ -234,23 +235,23 @@ void DeviceHandlerBase::readCommandQueue() {
 //	}
 
 	if(healthHelperActive) {
-		result = healthHelper.handleHealthCommand(&cmdMessage);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			return;
 		}
 	}
 
-	result = modeHelper.handleModeCommand(&cmdMessage);
+	result = modeHelper.handleModeCommand(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = actionHelper.handleActionMessage(&cmdMessage);
+	result = actionHelper.handleActionMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = parameterHelper.handleParameterMessage(&cmdMessage);
+	result = parameterHelper.handleParameterMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
@@ -261,17 +262,17 @@ void DeviceHandlerBase::readCommandQueue() {
 //		return;
 //	}
 
-	result = handleDeviceHandlerMessage(&cmdMessage);
+	result = handleDeviceHandlerMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = letChildHandleMessage(&cmdMessage);
+	result = letChildHandleMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	replyReturnvalueToCommand(CommandMessage::UNKNOW_COMMAND);
+	replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND);
 
 }
 
@@ -492,12 +493,13 @@ void DeviceHandlerBase::setMode(Mode_t newMode) {
 
 void DeviceHandlerBase::replyReturnvalueToCommand(ReturnValue_t status,
 		uint32_t parameter) {
+	MessageQueueMessage message;
 	//This is actually the reply protocol for raw and misc DH commands.
 	if (status == RETURN_OK) {
-		CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, parameter);
+		CommandMessage reply(&message, CommandMessage::REPLY_COMMAND_OK, 0, parameter);
 		commandQueue->reply(&reply);
 	} else {
-		CommandMessage reply(CommandMessage::REPLY_REJECTED, status, parameter);
+		CommandMessage reply(&message, CommandMessage::REPLY_REJECTED, status, parameter);
 		commandQueue->reply(&reply);
 	}
 }
@@ -767,9 +769,10 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		return;
 	}
 
-	CommandMessage message;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 
-	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
+	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
 			getObjectId(), address, isCommand);
 
 //	this->DeviceHandlerCommand = CommandMessage::CMD_NONE;
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index ea0b99ff..1c9d18f6 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -13,10 +13,11 @@ HealthDevice::~HealthDevice() {
 }
 
 ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	MessageQueueMessage message;
+	CommandMessage command(&message);
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&message);
+		healthHelper.handleHealthCommand(&command);
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index fdfc0967..b23a8bd2 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -65,29 +65,31 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
 	if (parentQueue == 0) {
 		return;
 	}
-	CommandMessage message;
-	HealthMessage::setHealthMessage(&message, HealthMessage::HEALTH_INFO,
+	MessageQueueMessage message;
+	CommandMessage information(&message);
+	HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO,
 			health, oldHealth);
-	if (MessageQueueSenderIF::sendMessage(parentQueue, &message,
+	if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
 			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
 		sif::debug << "HealthHelper::informParent: sending health reply failed."
 				<< std::endl;
 	}
 }
 
-void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
-	ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(message));
-	if (message->getSender() == 0) {
+void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
+	ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(command));
+	if (command->getSender() == MessageQueueMessageIF::NO_QUEUE) {
 		return;
 	}
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		HealthMessage::setHealthMessage(&reply,
 				HealthMessage::REPLY_HEALTH_SET);
 	} else {
-		reply.setReplyRejected(result, message->getCommand());
+		reply.setReplyRejected(result, command->getCommand());
 	}
-	if (MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
+	if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
 			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
 		sif::debug << "HealthHelper::handleHealthCommand: sending health "
 		        "reply failed." << std::endl;
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index f9e2e010..cd75aee4 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -14,14 +14,26 @@ void clearMissionMessage(CommandMessage* message);
 }
 
 
-CommandMessage::CommandMessage() {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
+CommandMessage::CommandMessage(MessageQueueMessage* receiverMessage):
+			internalMessage(receiverMessage) {
+	if(receiverMessage == nullptr) {
+		sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
+				" as the message queue message, pass the address of an actual"
+				" message!" << std::endl;
+	}
+	internalMessage->messageSize = COMMAND_MESSAGE_SIZE;
 	setCommand(CMD_NONE);
 }
 
-CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
-		uint32_t parameter2) {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
+CommandMessage::CommandMessage(MessageQueueMessage* messageToSet,
+		Command_t command, uint32_t parameter1, uint32_t parameter2):
+				internalMessage(messageToSet) {
+	if(messageToSet == nullptr) {
+		sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
+				" as the message queue message, pass the address of an actual"
+				" message!" << std::endl;
+	}
+	internalMessage->messageSize = COMMAND_MESSAGE_SIZE;
 	setCommand(command);
 	setParameter(parameter1);
 	setParameter2(parameter2);
@@ -29,7 +41,7 @@ CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
 
 Command_t CommandMessage::getCommand() const {
 	Command_t command;
-	memcpy(&command, getData(), sizeof(Command_t));
+	memcpy(&command, internalMessage->getData(), sizeof(Command_t));
 	return command;
 }
 
@@ -38,29 +50,35 @@ uint8_t CommandMessage::getMessageType() const {
 }
 
 void CommandMessage::setCommand(Command_t command) {
-	memcpy(getData(), &command, sizeof(command));
+	memcpy(internalMessage->getData(), &command, sizeof(command));
 }
 
 uint32_t CommandMessage::getParameter() const {
 	uint32_t parameter1;
-	memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1));
+	memcpy(&parameter1, internalMessage->getData() + sizeof(Command_t),
+			sizeof(parameter1));
 	return parameter1;
 }
 
 void CommandMessage::setParameter(uint32_t parameter1) {
-	memcpy(getData() + sizeof(Command_t), &parameter1, sizeof(parameter1));
+	memcpy(internalMessage->getData() + sizeof(Command_t),
+			&parameter1, sizeof(parameter1));
 }
 
 uint32_t CommandMessage::getParameter2() const {
 	uint32_t parameter2;
-	memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t),
-			sizeof(parameter2));
+	memcpy(&parameter2, internalMessage->getData() + sizeof(Command_t)
+			+ sizeof(uint32_t), sizeof(parameter2));
 	return parameter2;
 }
 
 void CommandMessage::setParameter2(uint32_t parameter2) {
-	memcpy(getData() + sizeof(Command_t) + sizeof(uint32_t), &parameter2,
-			sizeof(parameter2));
+	memcpy(internalMessage-> getData() + sizeof(Command_t) + sizeof(uint32_t),
+			&parameter2, sizeof(parameter2));
+}
+
+void CommandMessage::clear() {
+	clearCommandMessage();
 }
 
 void CommandMessage::clearCommandMessage() {
@@ -109,7 +127,7 @@ size_t CommandMessage::getMinimumMessageSize() const {
 void CommandMessage::setToUnknownCommand() {
 	Command_t initialCommand = getCommand();
 	clearCommandMessage();
-	setReplyRejected(UNKNOW_COMMAND, initialCommand);
+	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
@@ -118,3 +136,19 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 	setParameter(reason);
 	setParameter2(initialCommand);
 }
+
+MessageQueueId_t CommandMessage::getSender() const {
+	return internalMessage->getSender();
+}
+
+uint8_t* CommandMessage::getBuffer() {
+	return internalMessage->getBuffer();
+}
+
+void CommandMessage::setSender(MessageQueueId_t setId) {
+	internalMessage->setSender(setId);
+}
+
+const uint8_t* CommandMessage::getBuffer() const {
+	return internalMessage->getBuffer();
+}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index a5c187f5..f6fd86cb 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -13,10 +13,10 @@ typedef uint16_t Command_t;
  * @brief 	Used to pass command messages between tasks
  * @author	Bastian Baetz
  */
-class CommandMessage : public MessageQueueMessage {
+class CommandMessage: public MessageQueueMessageIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOW_COMMAND = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
 
 
 	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
@@ -31,7 +31,7 @@ public:
 	 * This is the size of a message as it is seen by the MessageQueue.
 	 * 14 of the 24 available MessageQueueMessage bytes are used.
 	 */
-	static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
+	static const size_t COMMAND_MESSAGE_SIZE = MessageQueueMessage::HEADER_SIZE
 			+ sizeof(Command_t) + 2 * sizeof(uint32_t);
 
 	/**
@@ -40,7 +40,7 @@ public:
 	 * This constructor should be used when receiving a Message, as the
 	 * content is filled by the MessageQueue.
 	 */
-	CommandMessage();
+	CommandMessage(MessageQueueMessage* receiverMessage);
 	/**
 	 * This constructor creates a new message with all message content
 	 * initialized
@@ -49,7 +49,7 @@ public:
 	 * @param parameter1	The first parameter
 	 * @param parameter2	The second parameter
 	 */
-	CommandMessage(Command_t command,
+	CommandMessage(MessageQueueMessage* messageToSet, Command_t command,
 			uint32_t parameter1, uint32_t parameter2);
 
 	/**
@@ -58,6 +58,8 @@ public:
 	virtual ~CommandMessage() {
 	}
 
+	uint8_t * getBuffer() override;
+	const uint8_t * getBuffer() const override;
 	/**
 	 * Read the DeviceHandlerCommand_t that is stored in the message,
 	 * usually used after receiving.
@@ -66,6 +68,16 @@ public:
 	 */
 	Command_t getCommand() const;
 
+	/**
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to sending the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
+	 */
+	void setSender(MessageQueueId_t setId) override;
+
+	MessageQueueId_t getSender() const override;
+
 	uint8_t getMessageType() const;
 	/**
 	 * Set the DeviceHandlerCOmmand_t of the message
@@ -102,6 +114,7 @@ public:
 	 */
 	void setParameter2(uint32_t parameter2);
 
+	void clear() override;
 	/**
 	 * Set the command to CMD_NONE and try to find
 	 * the correct class to handle a more detailed
@@ -129,7 +142,10 @@ public:
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason,
 			Command_t initialCommand = CMD_NONE);
-	size_t getMinimumMessageSize() const;
+	size_t getMinimumMessageSize() const override;
+
+private:
+	MessageQueueMessage* internalMessage;
 };
 
 
diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index 480019eb..500f71e2 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -15,7 +15,7 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 class MessageQueueIF {
 public:
-	static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
+	static const MessageQueueId_t NO_QUEUE = MessageQueueMessageIF::NO_QUEUE; //!< Ugly hack.
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
 	/**
@@ -41,7 +41,7 @@ public:
 	 * @return RETURN_OK if ok
 	 * @return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
 	 */
-	virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
+	virtual ReturnValue_t reply( MessageQueueMessageIF* message ) = 0;
 
 	/**
 	 * @brief	This function reads available messages from the message queue and returns the sender.
@@ -50,7 +50,7 @@ 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.
 	 */
-	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom) = 0;
 
 	/**
@@ -65,7 +65,7 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c MessageQueueIF::EMPTY if queue is empty
 	 */
-	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0;
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -95,7 +95,7 @@ public:
 	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
 	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault = false ) = 0;
 
 	/**
@@ -107,7 +107,7 @@ public:
 	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false ) = 0;
+			MessageQueueMessageIF* message, bool ignoreFault = false ) = 0;
 
 	/**
 	 * @brief	The sendToDefaultFrom method sends a queue message to the default destination.
@@ -118,7 +118,7 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
 			MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
 	/**
 	 * @brief	This operation sends a message to the default destination.
@@ -128,7 +128,7 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message )  = 0;
+	virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message )  = 0;
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index 544d18e8..c3e1cb7a 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -51,7 +51,7 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
 	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
 }
 
-size_t MessageQueueMessage::getMinimumMessageSize() {
+size_t MessageQueueMessage::getMinimumMessageSize() const {
 	return this->HEADER_SIZE;
 }
 
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 93671321..29d1a869 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -132,7 +132,7 @@ public:
 	 * @details	The method must be overwritten by child classes if size checks shall be more strict.
 	 * @return	The default implementation returns HEADER_SIZE.
 	 */
-	virtual size_t getMinimumMessageSize();
+	virtual size_t getMinimumMessageSize() const;
 };
 
 #endif /* MESSAGEQUEUEMESSAGE_H_ */
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index 70c87d3c..0a6288b0 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -1,10 +1,23 @@
 #ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
 #define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
-#include <framework/ipc/MessageQueueSenderIF.h>
 #include <cstddef>
+#include <cstdint>
+
+/*
+ * TODO: Actually, the definition of this ID to be a uint32_t is not  ideal and
+ * breaks layering. However, it is difficult to keep layering, as the ID is
+ * stored in many places and sent around in MessageQueueMessage.
+ * Ideally, one would use the (current) object_id_t only, however, doing a
+ * lookup of queueIDs for every call does not sound ideal.
+ * In a first step, I'll circumvent the issue by not touching it,
+ * maybe in a second step. This also influences Interface design
+ * (getCommandQueue) and some other issues.. */
+typedef uint32_t MessageQueueId_t;
 
 class MessageQueueMessageIF {
 public:
+	static const MessageQueueId_t NO_QUEUE = 0xffffffff;
+
 	virtual ~MessageQueueMessageIF() {};
 
 	/**
@@ -12,11 +25,11 @@ public:
 	 * 			size is set to zero.
 	 */
 	virtual void clear() = 0;
-	/**
-	 * @brief	This is a debug method that prints the content
-	 * 			(till messageSize) to the debug output.
-	 */
-	virtual void print() = 0;
+//	/**
+//	 * @brief	This is a debug method that prints the content
+//	 * 			(till messageSize) to the debug output.
+//	 */
+//	virtual void print() = 0;
 
 	/**
 	 * @brief	Get read-only pointer to the raw buffer.
@@ -37,11 +50,13 @@ public:
 	 */
 	virtual void setSender(MessageQueueId_t setId) = 0;
 
+	virtual MessageQueueId_t getSender() const = 0;
+
 	/**
 	 * @brief	This helper function is used by the MessageQueue class to
 	 * 			check the size of an incoming message.
 	 */
-	virtual size_t getMinimumMessageSize() = 0;
+	virtual size_t getMinimumMessageSize() const = 0;
 };
 
 
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index ae66cd12..3172454f 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -1,22 +1,11 @@
 #ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
 #define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
 
+#include <framework/ipc/MessageQueueMessageIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
-class MessageQueueMessage;
-
-
-//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
-//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
-//MessageQueueMessage.
-//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
-//call does not sound ideal.
-//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
-//This also influences Interface design (getCommandQueue) and some other issues..
-typedef uint32_t MessageQueueId_t;
 
 class MessageQueueSenderIF {
 public:
-	static const MessageQueueId_t NO_QUEUE = 0xffffffff;
 
 	virtual ~MessageQueueSenderIF() {}
 
@@ -26,7 +15,8 @@ public:
 	 * Must be implemented by a subclass.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom = MessageQueueSenderIF::NO_QUEUE,
+			MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = MessageQueueMessageIF::NO_QUEUE,
 			bool ignoreFault=false);
 private:
 	MessageQueueSenderIF() {}
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index de609252..2c384651 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -51,14 +51,16 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 		break;
 	default:
 		ipcStore->deleteData(ipcAddress);
-		CommandMessage reply;
+		MessageQueueMessage message;
+		CommandMessage reply(&message);
 		MemoryMessage::setMemoryReplyFailed(&reply, errorCode,
 				MemoryMessage::CMD_MEMORY_LOAD);
 		queueToUse->sendMessage(lastSender, &reply);
 		return;
 	}
 	//Only reached on success
-	CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, 0);
+	MessageQueueMessage message;
+	CommandMessage reply(&message, CommandMessage::REPLY_COMMAND_OK, 0, 0);
 	queueToUse->sendMessage(lastSender, &reply);
 	ipcStore->deleteData(ipcAddress);
 }
@@ -66,7 +68,8 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 void MemoryHelper::completeDump(ReturnValue_t errorCode,
 		const uint8_t* dataToCopy, const uint32_t size) {
 	busy = false;
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	MemoryMessage::setMemoryReplyFailed(&reply, errorCode, lastCommand);
 	switch (errorCode) {
 	case HasMemoryIF::DO_IT_MYSELF:
@@ -151,7 +154,8 @@ void MemoryHelper::handleMemoryLoad(CommandMessage* message) {
 		completeLoad(returnCode, p_data, size, dataPointer);
 	} else {
 		//At least inform sender.
-		CommandMessage reply;
+		MessageQueueMessage message;
+		CommandMessage reply(&message);
 		MemoryMessage::setMemoryReplyFailed(&reply, returnCode,
 				MemoryMessage::CMD_MEMORY_LOAD);
 		queueToUse->sendMessage(lastSender, &reply);
@@ -169,7 +173,8 @@ void MemoryHelper::handleMemoryCheckOrDump(CommandMessage* message) {
 				reservedSpaceInIPC);
 		completeDump(returnCode, dataPointer, size);
 	} else {
-		CommandMessage reply;
+		MessageQueueMessage message;
+		CommandMessage reply(&message);
 		MemoryMessage::setMemoryReplyFailed(&reply, returnCode, lastCommand);
 		queueToUse->sendMessage(lastSender, &reply);
 	}
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index 66726772..b79082af 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -11,31 +11,32 @@ ModeHelper::~ModeHelper() {
 
 }
 
-ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
-	CommandMessage reply;
+ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	Mode_t mode;
 	Submode_t submode;
-	switch (message->getCommand()) {
+	switch (command->getCommand()) {
 	case ModeMessage::CMD_MODE_COMMAND_FORCED:
 		forced = true;
 		/* NO BREAK falls through*/
 	case ModeMessage::CMD_MODE_COMMAND: {
-		mode = ModeMessage::getMode(message);
-		submode = ModeMessage::getSubmode(message);
+		mode = ModeMessage::getMode(command);
+		submode = ModeMessage::getSubmode(command);
 		uint32_t timeout;
 		ReturnValue_t result = owner->checkModeCommand(mode, submode, &timeout);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			ModeMessage::cantReachMode(&reply, result);
-			MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
+			MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
 					owner->getCommandQueue());
 			break;
 		}
 		//Free to start transition
-		theOneWhoCommandedAMode = message->getSender();
+		theOneWhoCommandedAMode = command->getSender();
 		commandedMode = mode;
 		commandedSubmode = submode;
 
-		if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
+		if ((parentQueueId != MessageQueueMessageIF::NO_QUEUE)
 				&& (theOneWhoCommandedAMode != parentQueueId)) {
 			owner->setToExternalControl();
 		}
@@ -48,7 +49,7 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
 		owner->getMode(&mode, &submode);
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode,
 				submode);
-		MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
+		MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
 				owner->getCommandQueue());
 	}
 		break;
@@ -73,13 +74,14 @@ void ModeHelper::modeChanged(Mode_t ownerMode, Submode_t ownerSubmode) {
 	forced = false;
 	sendModeReplyMessage(ownerMode, ownerSubmode);
 	sendModeInfoMessage(ownerMode, ownerSubmode);
-	theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
+	theOneWhoCommandedAMode = MessageQueueMessageIF::NO_QUEUE;
 }
 
 void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
 		Submode_t ownerSubmode) {
-	CommandMessage reply;
-	if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE)
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
+	if (theOneWhoCommandedAMode != MessageQueueMessageIF::NO_QUEUE)
 	{
 		if (ownerMode != commandedMode or ownerSubmode != commandedSubmode)
 		{
@@ -99,9 +101,10 @@ void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
 
 void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
 		Submode_t ownerSubmode) {
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	if (theOneWhoCommandedAMode != parentQueueId
-			and parentQueueId != MessageQueueSenderIF::NO_QUEUE)
+			and parentQueueId != MessageQueueMessageIF::NO_QUEUE)
 	{
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
 				ownerMode, ownerSubmode);
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index 234a0bff..1378d754 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -31,7 +31,8 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	CommandMessage report;
+	MessageQueueMessage message;
+	CommandMessage report(&message);
 	MonitoringMessage::setLimitViolationReport(&report, storeId);
 	return MessageQueueSenderIF::sendMessage(reportQueue, &report);
 }
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 0a579296..8c6ec80b 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -25,21 +25,21 @@ void MessageQueue::switchSystemContext(CallContext callContext) {
 }
 
 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::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
-	if (this->lastPartner != 0) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+	if (this->lastPartner != MessageQueueMessageIF::NO_QUEUE) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
 		return NO_REPLY_PARTNER;
@@ -47,7 +47,7 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 }
 
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
 			ignoreFault, callContext);
@@ -69,7 +69,7 @@ ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	if(status == HasReturnvaluesIF::RETURN_OK) {
@@ -78,7 +78,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
 			message->getBuffer()), 0);
 	if (result == pdPASS){
@@ -120,7 +120,7 @@ bool MessageQueue::isDefaultDestinationSet() const {
 
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-        MessageQueueMessage *message, MessageQueueId_t sentFrom,
+        MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
         bool ignoreFault, CallContext callContext) {
     message->setSender(sentFrom);
     BaseType_t result;
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index 81b4c186..6165c1cf 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -85,14 +85,14 @@ 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
@@ -100,7 +100,7 @@ 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	With the sendMessage call, a queue message is sent to a receiving queue.
@@ -113,8 +113,9 @@ 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.
@@ -123,7 +124,7 @@ 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,
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
 			MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 
 	/**
@@ -133,7 +134,7 @@ 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);
 
 	/**
@@ -144,7 +145,7 @@ 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.
@@ -191,7 +192,7 @@ protected:
 	 * @param context Specify whether call is made from task or from an ISR.
 	 */
 	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault=false, CallContext callContext = CallContext::TASK);
 
 	static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index 372d0d41..beb4969b 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -7,7 +7,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index e0756882..8b91020f 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -102,7 +102,8 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 
 	ParameterMessage::setParameterDumpReply(&reply, id, address);
 
@@ -123,8 +124,10 @@ ReturnValue_t ParameterHelper::initialize() {
 	}
 }
 
-void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand) {
-	CommandMessage reply;
+void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
+		Command_t initialCommand) {
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	reply.setReplyRejected(reason, initialCommand);
 	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
 }
diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index eee91984..a80a111f 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -163,7 +163,8 @@ void Fuse::setAllMonitorsToUnchecked() {
 }
 
 void Fuse::checkCommandQueue() {
-	CommandMessage command;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return;
diff --git a/power/PowerSensor.cpp b/power/PowerSensor.cpp
index 5433acc9..b1aea270 100644
--- a/power/PowerSensor.cpp
+++ b/power/PowerSensor.cpp
@@ -74,7 +74,8 @@ void PowerSensor::setAllMonitorsToUnchecked() {
 }
 
 void PowerSensor::checkCommandQueue() {
-	CommandMessage command;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return;
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index 52f2c474..d774b4d5 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -309,7 +309,8 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 		break;
 	case ModeSequenceMessage::READ_FREE_SEQUENCE_SLOTS: {
 		uint32_t freeSlots = modeSequences.maxSize() - modeSequences.size();
-		CommandMessage reply;
+		MessageQueueMessage message;
+		CommandMessage reply(&message);
 		ModeSequenceMessage::setModeSequenceMessage(&reply,
 				ModeSequenceMessage::FREE_SEQUENCE_SLOTS, freeSlots);
 		commandQueue->reply(&reply);
@@ -317,7 +318,8 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 		break;
 	case ModeSequenceMessage::READ_FREE_TABLE_SLOTS: {
 		uint32_t free = modeTables.maxSize() - modeTables.size();
-		CommandMessage reply;
+		MessageQueueMessage message;
+		CommandMessage reply(&message);
 		ModeSequenceMessage::setModeSequenceMessage(&reply,
 				ModeSequenceMessage::FREE_TABLE_SLOTS, free);
 		commandQueue->reply(&reply);
@@ -330,11 +332,12 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 }
 
 void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
+	MessageQueueMessage message;
 	if (status == RETURN_OK) {
-		CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, 0);
+		CommandMessage reply(&message, CommandMessage::REPLY_COMMAND_OK, 0, 0);
 		commandQueue->reply(&reply);
 	} else {
-		CommandMessage reply(CommandMessage::REPLY_REJECTED, status, 0);
+		CommandMessage reply(&message, CommandMessage::REPLY_REJECTED, status, 0);
 		commandQueue->reply(&reply);
 	}
 }
@@ -617,7 +620,8 @@ void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
 	for (uint8_t i = 0; i < count; i++) {
 		elements[i]->serialize(&storeBuffer, &size, maxSize, true);
 	}
-	CommandMessage reply;
+	MessageQueueMessage message;
+	CommandMessage reply(&message);
 	ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);
 	if (commandQueue->reply(&reply) != RETURN_OK) {
 		IPCStore->deleteData(address);
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index 6df0b64f..5527f215 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -9,7 +9,7 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		false), commandsOutstanding(0), commandQueue(NULL), healthHelper(this,
 				setObjectId), modeHelper(this), parentId(parent) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
-			CommandMessage::MAX_MESSAGE_SIZE);
+			MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
 SubsystemBase::~SubsystemBase() {
@@ -77,8 +77,8 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(
 }
 
 void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
-
-	CommandMessage message;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 
 	std::map<object_id_t, ChildInfo>::iterator iter;
 
@@ -100,17 +100,17 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 
 		if (healthHelper.healthTable->hasHealth(object)) {
 			if (healthHelper.healthTable->isFaulty(object)) {
-				ModeMessage::setModeMessage(&message,
+				ModeMessage::setModeMessage(&command,
 						ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
 						SUBMODE_NONE);
 			} else {
 				if (modeHelper.isForced()) {
-					ModeMessage::setModeMessage(&message,
+					ModeMessage::setModeMessage(&command,
 							ModeMessage::CMD_MODE_COMMAND_FORCED,
 							tableIter.value->getMode(), submodeToCommand);
 				} else {
 					if (healthHelper.healthTable->isCommandable(object)) {
-						ModeMessage::setModeMessage(&message,
+						ModeMessage::setModeMessage(&command,
 								ModeMessage::CMD_MODE_COMMAND,
 								tableIter.value->getMode(), submodeToCommand);
 					} else {
@@ -119,12 +119,12 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 				}
 			}
 		} else {
-			ModeMessage::setModeMessage(&message, ModeMessage::CMD_MODE_COMMAND,
+			ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
 					tableIter.value->getMode(), submodeToCommand);
 		}
 
-		if ((iter->second.mode == ModeMessage::getMode(&message))
-				&& (iter->second.submode == ModeMessage::getSubmode(&message))
+		if ((iter->second.mode == ModeMessage::getMode(&command))
+				&& (iter->second.submode == ModeMessage::getSubmode(&command))
 				&& !modeHelper.isForced()) {
 			continue; //don't send redundant mode commands (produces event spam), but still command if mode is forced to reach lower levels
 		}
@@ -297,7 +297,8 @@ void SubsystemBase::setToExternalControl() {
 void SubsystemBase::announceMode(bool recursive) {
 	triggerEvent(MODE_INFO, mode, submode);
 	if (recursive) {
-		CommandMessage command;
+		MessageQueueMessage message;
+		CommandMessage command(&message);
 		ModeMessage::setModeMessage(&command,
 				ModeMessage::CMD_MODE_ANNOUNCE_RECURSIVELY, 0, 0);
 		commandAllChildren(&command);
@@ -306,31 +307,33 @@ void SubsystemBase::announceMode(bool recursive) {
 
 void SubsystemBase::checkCommandQueue() {
 	ReturnValue_t result;
-	CommandMessage message;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
+	for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {
 
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = modeHelper.handleModeCommand(&message);
+		result = modeHelper.handleModeCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = handleModeReply(&message);
+		result = handleModeReply(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = handleCommandMessage(&message);
+		result = handleCommandMessage(&command);
 		if (result != RETURN_OK) {
-			CommandMessage reply;
-			reply.setReplyRejected(CommandMessage::UNKNOW_COMMAND,
-					message.getCommand());
+			MessageQueueMessage message;
+			CommandMessage reply(&message);
+			reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
+					command.getCommand());
 			replyToCommand(&reply);
 		}
 	}
diff --git a/thermal/AbstractTemperatureSensor.cpp b/thermal/AbstractTemperatureSensor.cpp
index be143410..759af87e 100644
--- a/thermal/AbstractTemperatureSensor.cpp
+++ b/thermal/AbstractTemperatureSensor.cpp
@@ -44,18 +44,19 @@ ReturnValue_t AbstractTemperatureSensor::performHealthOp() {
 }
 
 void AbstractTemperatureSensor::handleCommandQueue() {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	MessageQueueMessage message;
+	CommandMessage command(&message);
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		result = parameterHelper.handleParameterMessage(&message);
+		result = parameterHelper.handleParameterMessage(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		message.setToUnknownCommand();
+		command.setToUnknownCommand();
 		commandQueue->reply(&message);
 	}
 }
diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp
index 29daa15d..6e191fc1 100644
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@@ -279,14 +279,15 @@ ReturnValue_t Heater::initialize() {
 }
 
 void Heater::handleQueue() {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	MessageQueueMessage message;
+	CommandMessage command(&message);
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		parameterHelper.handleParameterMessage(&message);
+		parameterHelper.handleParameterMessage(&command);
 	}
 }
 
diff --git a/tmstorage/TmStoreMessage.cpp b/tmstorage/TmStoreMessage.cpp
index 4509ba91..669ecc0e 100644
--- a/tmstorage/TmStoreMessage.cpp
+++ b/tmstorage/TmStoreMessage.cpp
@@ -74,7 +74,7 @@ void TmStoreMessage::clear(CommandMessage* cmd) {
 	case DELETE_STORE_CONTENT_BLOCKS:
 	case DOWNLINK_STORE_CONTENT_BLOCKS:
 	case REPORT_INDEX_REQUEST:
-		cmd->setCommand(UNKNOW_COMMAND);
+		cmd->setCommand(CommandMessage::UNKNOWN_COMMAND);
 		cmd->setParameter(0);
 		cmd->setParameter2(0);
 		break;
diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h
index bd6b2def..93c23e40 100644
--- a/tmstorage/TmStoreMessage.h
+++ b/tmstorage/TmStoreMessage.h
@@ -5,7 +5,7 @@
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tmstorage/TmStorePackets.h>
 #include <framework/objectmanager/SystemObjectIF.h>
-class TmStoreMessage: public CommandMessage {
+class TmStoreMessage  {
 public:
 	static ReturnValue_t setEnableStoringMessage(CommandMessage* cmd,
 			bool setEnabled);
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index adc9400f..a4fc1110 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -77,7 +77,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
 }
 
 void CommandingServiceBase::handleCommandQueue() {
-	CommandMessage reply, nextCommand;
+	MessageQueueMessage replyMessage;
+	CommandMessage reply(&replyMessage);
+	MessageQueueMessage nextCommandMessage;
+	CommandMessage nextCommand(&nextCommandMessage);
 	ReturnValue_t result, sendResult = RETURN_OK;
 	bool isStep = false;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
@@ -268,16 +271,17 @@ void CommandingServiceBase::startExecution(
 		typename FixedMap<MessageQueueId_t,
 				CommandingServiceBase::CommandInfo>::Iterator *iter) {
 	ReturnValue_t result, sendResult = RETURN_OK;
-	CommandMessage message;
+	MessageQueueMessage message;
+	CommandMessage command(&message);
 	(*iter)->subservice = storedPacket->getSubService();
-	result = prepareCommand(&message, (*iter)->subservice,
+	result = prepareCommand(&command, (*iter)->subservice,
 			storedPacket->getApplicationData(),
 			storedPacket->getApplicationDataSize(), &(*iter)->state,
 			(*iter)->objectId);
 
 	switch (result) {
 	case RETURN_OK:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			sendResult = commandQueue->sendMessage((*iter).value->first,
 					&message);
 		}
@@ -286,20 +290,20 @@ void CommandingServiceBase::startExecution(
 			(*iter)->step = 0;
 //			(*iter)->state = 0;
 			(*iter)->subservice = storedPacket->getSubService();
-			(*iter)->command = message.getCommand();
+			(*iter)->command = command.getCommand();
 			(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
 			(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
 			(*iter)->tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			message.clearCommandMessage();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
 	case EXECUTION_COMPLETE:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			//Fire-and-forget command.
 			sendResult = commandQueue->sendMessage((*iter).value->first,
 					&message);
@@ -310,7 +314,7 @@ void CommandingServiceBase::startExecution(
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			message.clearCommandMessage();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}

From 47aa9ddcc382393279c0a769e51e7d732cf25a35 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 9 Jun 2020 02:46:19 +0200
Subject: [PATCH 117/307] doc for mqm improved

---
 ipc/CommandMessage.cpp      |   8 +++
 ipc/CommandMessage.h        |  56 +++++++++++--------
 ipc/MessageQueueMessage.h   | 107 +++++++++++++++++++++---------------
 ipc/MessageQueueMessageIF.h |  28 +++++++---
 4 files changed, 127 insertions(+), 72 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index cd75aee4..44424e02 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -152,3 +152,11 @@ void CommandMessage::setSender(MessageQueueId_t setId) {
 const uint8_t* CommandMessage::getBuffer() const {
 	return internalMessage->getBuffer();
 }
+
+uint8_t* CommandMessage::getData() {
+	return internalMessage->getData();
+}
+
+const uint8_t* CommandMessage::getData() const {
+	return internalMessage->getData();
+}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index f6fd86cb..772bd774 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -1,16 +1,25 @@
 #ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
 #define FRAMEWORK_IPC_COMMANDMESSAGE_H_
 
+#include <framework/ipc/MessageQueueMessage.h>
 #include <framework/ipc/FwMessageTypes.h>
 #include <config/ipc/MissionMessageTypes.h>
 
-#include <framework/ipc/MessageQueueMessage.h>
+
 
 #define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
 typedef uint16_t Command_t;
 
 /**
- * @brief 	Used to pass command messages between tasks
+ * @brief 	Used to pass command messages between tasks. Primary message type
+ * 			for IPC. Contains sender, 2-byte command field, and 2 4-byte
+ * 			parameters.
+ * @details
+ * It operates on an external memory which is contained inside a
+ * MessageQueueMessage by taking its address.
+ * This allows for a more flexible designs of message implementations.
+ * The pointer can be passed to different message implementations without
+ * the need of unnecessary copying.
  * @author	Bastian Baetz
  */
 class CommandMessage: public MessageQueueMessageIF {
@@ -53,13 +62,10 @@ public:
 			uint32_t parameter1, uint32_t parameter2);
 
 	/**
-	 * Default Destructor
+	 * @brief 	Default Destructor
 	 */
-	virtual ~CommandMessage() {
-	}
+	virtual ~CommandMessage() {}
 
-	uint8_t * getBuffer() override;
-	const uint8_t * getBuffer() const override;
 	/**
 	 * Read the DeviceHandlerCommand_t that is stored in the message,
 	 * usually used after receiving.
@@ -68,53 +74,54 @@ public:
 	 */
 	Command_t getCommand() const;
 
-	/**
-	 * @brief	This method is used to set the sender's message queue id
-	 * 			information prior to sending the message.
-	 * @param setId
-	 * The message queue id that identifies the sending message queue.
+	/*
+	 * MessageQueueMessageIF functions, which generally just call the
+	 * respective functions of the internal message
 	 */
+	uint8_t * getBuffer() override;
+	const uint8_t * getBuffer() const override;
 	void setSender(MessageQueueId_t setId) override;
-
 	MessageQueueId_t getSender() const override;
+	uint8_t * getData() override;
+	const uint8_t* getData() const override;
+	size_t getMinimumMessageSize() const override;
 
+	/**
+	 * Extract message ID, which is the first byte of the command ID.
+	 * @return
+	 */
 	uint8_t getMessageType() const;
 	/**
-	 * Set the DeviceHandlerCOmmand_t of the message
-	 *
+	 * Set the command type of the message
 	 * @param the Command to be sent
 	 */
 	void setCommand(Command_t command);
 
 	/**
 	 * Get the first parameter of the message
-	 *
 	 * @return the first Parameter of the message
 	 */
 	uint32_t getParameter() const;
 
 	/**
 	 * Set the first parameter of the message
-	 *
 	 * @param the first parameter of the message
 	 */
 	void setParameter(uint32_t parameter1);
 
 	/**
 	 * Get the second parameter of the message
-	 *
 	 * @return the second Parameter of the message
 	 */
 	uint32_t getParameter2() const;
 
 	/**
 	 * Set the second parameter of the message
-	 *
 	 * @param the second parameter of the message
 	 */
 	void setParameter2(uint32_t parameter2);
 
-	void clear() override;
+
 	/**
 	 * Set the command to CMD_NONE and try to find
 	 * the correct class to handle a more detailed
@@ -126,6 +133,7 @@ public:
 	 *
 	 */
 	void clearCommandMessage();
+	void clear() override;
 
 	/**
 	 * check if a message was cleared
@@ -134,7 +142,6 @@ public:
 	 */
 	bool isClearedCommandMessage();
 
-
 	/**
 	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
 	 * Is needed quite often, so we better code it once only.
@@ -142,9 +149,14 @@ public:
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason,
 			Command_t initialCommand = CMD_NONE);
-	size_t getMinimumMessageSize() const override;
 
 private:
+	/**
+	 * @brief 	Pointer to the message containing the data.
+	 * @details
+	 * The command message does not actually own the memory containing a
+	 * message, it just oprates on it via a pointer to a message queue message.
+	 */
 	MessageQueueMessage* internalMessage;
 };
 
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 29d1a869..bee39ae6 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -1,5 +1,5 @@
-#ifndef MESSAGEQUEUEMESSAGE_H_
-#define MESSAGEQUEUEMESSAGE_H_
+#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGE_H_
+#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGE_H_
 
 #include <framework/ipc/MessageQueueMessageIF.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
@@ -8,7 +8,6 @@
 /**
  *	@brief		This class is the representation and data organizer
  *				for interprocess messages.
- *
  *	@details
  *	To facilitate and standardize interprocess communication, this class was
  *	created to handle a lightweight "interprocess message protocol".
@@ -28,12 +27,14 @@ class MessageQueueMessage: public MessageQueueMessageIF {
 public:
 	/**
 	 * @brief	The class is initialized empty with this constructor.
-	 * @details	The messageSize attribute is set to the header's size and the
-	 * 			whole content is set to zero.
+	 * @details
+	 * The messageSize attribute is set to the header's size and the whole
+	 * content is set to zero.
 	 */
 	MessageQueueMessage();
 	/**
-	 * @brief	With this constructor the class is initialized with the given content.
+	 * @brief	With this constructor the class is initialized with
+	 * 			the given content.
 	 * @details
 	 * If the passed message size fits into the buffer, the passed data is
 	 * copied to the internal buffer and the messageSize information is set.
@@ -46,7 +47,14 @@ public:
 	MessageQueueMessage(uint8_t* data, size_t size);
 
 	/**
-	 * @brief	The size information of each message is stored in this attribute.
+	 * @brief	As no memory is allocated in this class,
+	 * 		    the destructor is empty.
+	 */
+	virtual ~MessageQueueMessage();
+
+	/**
+	 * @brief	The size information of each message is stored in
+	 *  			this attribute.
 	 * @details
 	 * It is public to simplify usage and to allow for passing the size
 	 * address as a pointer. Care must be taken when inheriting from this class,
@@ -59,19 +67,26 @@ public:
 	 */
 	size_t messageSize;
 	/**
-	 * @brief	This constant defines the maximum size of the data content, excluding the header.
-	 * @details	It may be changed if necessary, but in general should be kept as small as possible.
+	 * @brief	This constant defines the maximum size of the data content,
+	 * 			excluding the header.
+	 * @details
+	 * It may be changed if necessary, but in general should be kept
+	 * as small as possible.
 	 */
 	static const size_t MAX_DATA_SIZE = 24;
 	/**
-	 * @brief	This constants defines the size of the header, which is added to every message.
+	 * @brief	This constants defines the size of the header,
+	 * 			which is added to every message.
 	 */
 	static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
 	/**
-	 * @brief	This constant defines the maximum total size in bytes of a sent message.
-	 * @details	It is the sum of the maximum data and the header size. Be aware that this constant
-	 * 			is used to define the buffer sizes for every message queue in the system. So, a change
-	 * 			here may have significant impact on the required resources.
+	 * @brief	This constant defines the maximum total size in bytes
+	 * 			of a sent message.
+	 * @details
+	 * It is the sum of the maximum data and the header size. Be aware that
+	 * this constant is used to define the buffer sizes for every message
+	 * queue in the system. So, a change here may have significant impact on
+	 * the required resources.
 	 */
 	static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
 	/**
@@ -81,58 +96,64 @@ public:
 	static const size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
 private:
 	/**
-	 * @brief	This is the internal buffer that contains the actual message data.
+	 * @brief	This is the internal buffer that contains the
+	 * 			actual message data.
 	 */
 	uint8_t internalBuffer[MAX_MESSAGE_SIZE];
 public:
 	/**
-	 * @brief	As no memory is allocated in this class, the destructor is empty.
+	 * @brief	This method is used to get the complete data of the message.
 	 */
-	virtual ~MessageQueueMessage();
+	const uint8_t* getBuffer() const override;
 	/**
 	 * @brief	This method is used to get the complete data of the message.
 	 */
-	const uint8_t* getBuffer() const;
-	/**
-	 * @brief	This method is used to get the complete data of the message.
-	 */
-	uint8_t* getBuffer();
+	uint8_t* getBuffer() override;
 	/**
 	 * @brief	This method is used to fetch the data content of the message.
-	 * @details It shall be used by child classes to add data at the right position.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
 	 */
-	const uint8_t* getData() const;
+	const uint8_t* getData() const override;
 	/**
 	 * @brief	This method is used to fetch the data content of the message.
-	 * @details It shall be used by child classes to add data at the right position.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
 	 */
-	uint8_t* getData();
+	uint8_t* getData() override;
 	/**
-	 * @brief	This method is used to extract the sender's message queue id information from a
-	 * 			received message.
+	 * @brief	This method is used to extract the sender's message
+	 * 			queue id information from a received message.
 	 */
-	MessageQueueId_t getSender() const;
+	MessageQueueId_t getSender() const override;
 	/**
-	 * @brief	With this method, the whole content and the message size is set to zero.
+	 * @brief	With this method, the whole content
+	 * 			and the message size is set to zero.
 	 */
-	void clear();
+	void clear() override;
+
 	/**
-	 * @brief	This is a debug method that prints the content (till messageSize) to the debug output.
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to ing the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
 	 */
-	void print();
+	void setSender(MessageQueueId_t setId) override;
 	/**
-	 * @brief	This method is used to set the sender's message queue id information prior to
-	 * 			sending the message.
-	 * @param setId	The message queue id that identifies the sending message queue.
-	 */
-	void setSender(MessageQueueId_t setId);
-	/**
-	 * @brief	This helper function is used by the MessageQueue class to check the size of an
-	 * 			incoming message.
-	 * @details	The method must be overwritten by child classes if size checks shall be more strict.
+	 * @brief	This helper function is used by the MessageQueue class to check
+	 * 			the size of an incoming message.
+	 * @details
+	 * The method must be overwritten by child classes if size
+	 * checks shall be more strict.
 	 * @return	The default implementation returns HEADER_SIZE.
 	 */
-	virtual size_t getMinimumMessageSize() const;
+	virtual size_t getMinimumMessageSize() const override;
+
+	/**
+	 * @brief	This is a debug method that prints the content
+	 * 			(till messageSize) to the debug output.
+	 */
+	void print();
 };
 
 #endif /* MESSAGEQUEUEMESSAGE_H_ */
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index 0a6288b0..197a26fd 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -11,7 +11,9 @@
  * lookup of queueIDs for every call does not sound ideal.
  * In a first step, I'll circumvent the issue by not touching it,
  * maybe in a second step. This also influences Interface design
- * (getCommandQueue) and some other issues.. */
+ * (getCommandQueue) and some other issues..
+ */
+
 typedef uint32_t MessageQueueId_t;
 
 class MessageQueueMessageIF {
@@ -25,14 +27,9 @@ public:
 	 * 			size is set to zero.
 	 */
 	virtual void clear() = 0;
-//	/**
-//	 * @brief	This is a debug method that prints the content
-//	 * 			(till messageSize) to the debug output.
-//	 */
-//	virtual void print() = 0;
 
 	/**
-	 * @brief	Get read-only pointer to the raw buffer.
+	 * @brief	Get read-only pointer to the complete data of the message.
 	 * @return
 	 */
 	virtual const uint8_t* getBuffer() const = 0;
@@ -50,8 +47,25 @@ public:
 	 */
 	virtual void setSender(MessageQueueId_t setId) = 0;
 
+	/**
+	 * @brief	This method is used to extract the sender's message queue id
+	 * 			information from a received message.
+	 */
 	virtual MessageQueueId_t getSender() const = 0;
 
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	virtual const uint8_t* getData() const = 0;
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	virtual uint8_t* getData() = 0;
+
 	/**
 	 * @brief	This helper function is used by the MessageQueue class to
 	 * 			check the size of an incoming message.

From ea2cd7c1a0b4f50e534e0640236dc3a349b4bcdd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 01:07:08 +0200
Subject: [PATCH 118/307] some fixes, doc improvements

---
 osal/linux/MessageQueue.cpp | 102 +++++++++++++++++++++---------------
 1 file changed, 60 insertions(+), 42 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 86d1e0d9..a9c140c6 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -56,16 +56,23 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 		sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
 				" for message size" << std::endl;
 		size_t defaultMqMaxMsg = 0;
+		// Not POSIX conformant, but should work for all UNIX systems.
+		// Just an additional helpful printout :-)
 		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
 				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
 			// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
 			// This happens if the msg_max value is not large enough
 			// It is ignored if the executable is run in privileged mode.
-			// Run the unlockRealtime script or grant the mode manully by using:
+			// Run the unlockRealtime script or grant the mode manually by using:
 			// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
 
-			// Permanent solution (EventManager has mq depth of 80):
-			// echo msg_max | sudo tee /proc/sys/fs/mqueue/msg_max
+			// Persistent solution for session:
+			// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
+
+			// Permanent solution:
+			// sudo nano /etc/sysctl.conf
+			// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
+			// Apply changes with: sudo sysctl -p
 			sif::error << "MessageQueue::MessageQueue: Default MQ size "
 					<< defaultMqMaxMsg << " is too small for requested size "
 					<< messageDepth << std::endl;
@@ -75,24 +82,22 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 	case(EEXIST): {
 		// An error occured during open
 		// We need to distinguish if it is caused by an already created queue
-		if (errno == EEXIST) {
-			//There's another queue with the same name
-			//We unlink the other queue
-			int status = mq_unlink(name);
-			if (status != 0) {
-				sif::error << "mq_unlink Failed with status: " << strerror(errno)
-											<< std::endl;
-			}
-			else {
-				// Successful unlinking, try to open again
-				mqd_t tempId = mq_open(name,
-						O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-						S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
-				if (tempId != -1) {
-					//Successful mq_open
-					this->id = tempId;
-					return HasReturnvaluesIF::RETURN_OK;
-				}
+		//There's another queue with the same name
+		//We unlink the other queue
+		int status = mq_unlink(name);
+		if (status != 0) {
+			sif::error << "mq_unlink Failed with status: " << strerror(errno)
+													<< std::endl;
+		}
+		else {
+			// Successful unlinking, try to open again
+			mqd_t tempId = mq_open(name,
+					O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+					S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
+			if (tempId != -1) {
+				//Successful mq_open
+				this->id = tempId;
+				return HasReturnvaluesIF::RETURN_OK;
 			}
 		}
 		break;
@@ -150,12 +155,13 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 		//Success but no message received
 		return MessageQueueIF::EMPTY;
 	} else {
-		//No message was received. Keep lastPartner anyway, I might send something later.
-		//But still, delete packet content.
+		//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);
 		switch(errno){
 		case EAGAIN:
-			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages currently on the specified queue.
+			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
+			//currently on the specified queue.
 			return MessageQueueIF::EMPTY;
 		case EBADF:
 			//mqdes doesn't represent a valid queue open for reading.
@@ -165,9 +171,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 		case EINVAL:
 			/*
 			 * This value indicates one of the following:
-			 * * The pointer to the buffer for storing the received message, msg_ptr, is NULL.
-			 * * The number of bytes requested, msg_len is less than zero.
-			 * * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags.
+			 * - The pointer to the buffer for storing the received message,
+			 *   msg_ptr, is NULL.
+			 * - The number of bytes requested, msg_len is less than zero.
+			 * - msg_len is anything other than the mq_msgsize of the specified
+			 *   queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
+			 *   been set in the queue's mq_flags.
 			 */
 			sif::error << "MessageQueue::receive: configuration error "
 					   << strerror(errno)  << std::endl;
@@ -175,8 +184,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 		case EMSGSIZE:
 			/*
 			 * This value indicates one of the following:
-			 * * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue.
-			 * * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received.
+			 * - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
+			 *   and the given msg_len is shorter than the mq_msgsize for
+			 *   the given queue.
+			 * - the extended option MQ_READBUF_DYNAMIC has been set, but the
+			 *   given msg_len is too short for the message that would have
+			 *   been received.
 			 */
 			sif::error << "MessageQueue::receive: configuration error "
 			           << strerror(errno)  << std::endl;
@@ -224,9 +237,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 		case EINVAL:
 			/*
 			 * This value indicates one of the following:
-			 * * mq_attr is NULL.
-			 * * MQ_MULT_NOTIFY had been set for this queue, and the given mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once MQ_MULT_NOTIFY has been turned on, it may never be turned off.
-			 *
+			 *  - mq_attr is NULL.
+			 *  - MQ_MULT_NOTIFY had been set for this queue, and the given
+			 *    mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
+			 *    MQ_MULT_NOTIFY has been turned on, it may never be turned off.
 			 */
 		default:
 			return HasReturnvaluesIF::RETURN_FAILED;
@@ -275,7 +289,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	//TODO: Check if we're in ISR.
 	if (result != 0) {
 		if(!ignoreFault){
-			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
 						objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != NULL) {
 				internalErrorReporter->queueMessageNotSent();
@@ -283,10 +298,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		}
 		switch(errno){
 		case EAGAIN:
-			//The O_NONBLOCK flag was set when opening the queue, or the MQ_NONBLOCK flag was set in its attributes, and the specified queue is full.
+			//The O_NONBLOCK flag was set when opening the queue, or the
+			//MQ_NONBLOCK flag was set in its attributes, and the
+			//specified queue is full.
 			return MessageQueueIF::FULL;
 		case EBADF:
-			//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
+			//mq_des doesn't represent a valid message queue descriptor,
+			//or mq_des wasn't opened for writing.
 			sif::error << "MessageQueue::sendMessage: Configuration error "
 			           << strerror(errno) << " in mq_send mqSendTo: " << sendTo
 					   << " sent from " << sentFrom << std::endl;
@@ -296,13 +314,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		case EINVAL:
 			/*
 			 * This value indicates one of the following:
-			 * * msg_ptr is NULL.
-			 * * msg_len is negative.
-			 * * msg_prio is greater than MQ_PRIO_MAX.
-			 * * msg_prio is less than 0.
-			 * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des,
-			 *   and msg_prio is greater than the priority of the calling process.
-			 * */
+			 * - msg_ptr is NULL.
+			 * - msg_len is negative.
+			 * - msg_prio is greater than MQ_PRIO_MAX.
+			 * - msg_prio is less than 0.
+			 * - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
+			 *   msg_prio is greater than the priority of the calling process.
+			 */
 			sif::error << "MessageQueue::sendMessage: Configuration error "
 			           << strerror(errno) << " in mq_send" << std::endl;
 			/*NO BREAK*/

From 3277d199ac166db242ff1fb7b5edfab6fa2964ec Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 01:07:50 +0200
Subject: [PATCH 119/307] linux mq update

---
 osal/linux/MessageQueue.cpp | 102 +++++++++++++++++++++---------------
 1 file changed, 60 insertions(+), 42 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 86d1e0d9..a9c140c6 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -56,16 +56,23 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 		sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
 				" for message size" << std::endl;
 		size_t defaultMqMaxMsg = 0;
+		// Not POSIX conformant, but should work for all UNIX systems.
+		// Just an additional helpful printout :-)
 		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
 				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
 			// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
 			// This happens if the msg_max value is not large enough
 			// It is ignored if the executable is run in privileged mode.
-			// Run the unlockRealtime script or grant the mode manully by using:
+			// Run the unlockRealtime script or grant the mode manually by using:
 			// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
 
-			// Permanent solution (EventManager has mq depth of 80):
-			// echo msg_max | sudo tee /proc/sys/fs/mqueue/msg_max
+			// Persistent solution for session:
+			// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
+
+			// Permanent solution:
+			// sudo nano /etc/sysctl.conf
+			// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
+			// Apply changes with: sudo sysctl -p
 			sif::error << "MessageQueue::MessageQueue: Default MQ size "
 					<< defaultMqMaxMsg << " is too small for requested size "
 					<< messageDepth << std::endl;
@@ -75,24 +82,22 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 	case(EEXIST): {
 		// An error occured during open
 		// We need to distinguish if it is caused by an already created queue
-		if (errno == EEXIST) {
-			//There's another queue with the same name
-			//We unlink the other queue
-			int status = mq_unlink(name);
-			if (status != 0) {
-				sif::error << "mq_unlink Failed with status: " << strerror(errno)
-											<< std::endl;
-			}
-			else {
-				// Successful unlinking, try to open again
-				mqd_t tempId = mq_open(name,
-						O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-						S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
-				if (tempId != -1) {
-					//Successful mq_open
-					this->id = tempId;
-					return HasReturnvaluesIF::RETURN_OK;
-				}
+		//There's another queue with the same name
+		//We unlink the other queue
+		int status = mq_unlink(name);
+		if (status != 0) {
+			sif::error << "mq_unlink Failed with status: " << strerror(errno)
+													<< std::endl;
+		}
+		else {
+			// Successful unlinking, try to open again
+			mqd_t tempId = mq_open(name,
+					O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+					S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
+			if (tempId != -1) {
+				//Successful mq_open
+				this->id = tempId;
+				return HasReturnvaluesIF::RETURN_OK;
 			}
 		}
 		break;
@@ -150,12 +155,13 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 		//Success but no message received
 		return MessageQueueIF::EMPTY;
 	} else {
-		//No message was received. Keep lastPartner anyway, I might send something later.
-		//But still, delete packet content.
+		//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);
 		switch(errno){
 		case EAGAIN:
-			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages currently on the specified queue.
+			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
+			//currently on the specified queue.
 			return MessageQueueIF::EMPTY;
 		case EBADF:
 			//mqdes doesn't represent a valid queue open for reading.
@@ -165,9 +171,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 		case EINVAL:
 			/*
 			 * This value indicates one of the following:
-			 * * The pointer to the buffer for storing the received message, msg_ptr, is NULL.
-			 * * The number of bytes requested, msg_len is less than zero.
-			 * * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags.
+			 * - The pointer to the buffer for storing the received message,
+			 *   msg_ptr, is NULL.
+			 * - The number of bytes requested, msg_len is less than zero.
+			 * - msg_len is anything other than the mq_msgsize of the specified
+			 *   queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
+			 *   been set in the queue's mq_flags.
 			 */
 			sif::error << "MessageQueue::receive: configuration error "
 					   << strerror(errno)  << std::endl;
@@ -175,8 +184,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 		case EMSGSIZE:
 			/*
 			 * This value indicates one of the following:
-			 * * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue.
-			 * * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received.
+			 * - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
+			 *   and the given msg_len is shorter than the mq_msgsize for
+			 *   the given queue.
+			 * - the extended option MQ_READBUF_DYNAMIC has been set, but the
+			 *   given msg_len is too short for the message that would have
+			 *   been received.
 			 */
 			sif::error << "MessageQueue::receive: configuration error "
 			           << strerror(errno)  << std::endl;
@@ -224,9 +237,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 		case EINVAL:
 			/*
 			 * This value indicates one of the following:
-			 * * mq_attr is NULL.
-			 * * MQ_MULT_NOTIFY had been set for this queue, and the given mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once MQ_MULT_NOTIFY has been turned on, it may never be turned off.
-			 *
+			 *  - mq_attr is NULL.
+			 *  - MQ_MULT_NOTIFY had been set for this queue, and the given
+			 *    mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
+			 *    MQ_MULT_NOTIFY has been turned on, it may never be turned off.
 			 */
 		default:
 			return HasReturnvaluesIF::RETURN_FAILED;
@@ -275,7 +289,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	//TODO: Check if we're in ISR.
 	if (result != 0) {
 		if(!ignoreFault){
-			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
 						objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != NULL) {
 				internalErrorReporter->queueMessageNotSent();
@@ -283,10 +298,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		}
 		switch(errno){
 		case EAGAIN:
-			//The O_NONBLOCK flag was set when opening the queue, or the MQ_NONBLOCK flag was set in its attributes, and the specified queue is full.
+			//The O_NONBLOCK flag was set when opening the queue, or the
+			//MQ_NONBLOCK flag was set in its attributes, and the
+			//specified queue is full.
 			return MessageQueueIF::FULL;
 		case EBADF:
-			//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
+			//mq_des doesn't represent a valid message queue descriptor,
+			//or mq_des wasn't opened for writing.
 			sif::error << "MessageQueue::sendMessage: Configuration error "
 			           << strerror(errno) << " in mq_send mqSendTo: " << sendTo
 					   << " sent from " << sentFrom << std::endl;
@@ -296,13 +314,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		case EINVAL:
 			/*
 			 * This value indicates one of the following:
-			 * * msg_ptr is NULL.
-			 * * msg_len is negative.
-			 * * msg_prio is greater than MQ_PRIO_MAX.
-			 * * msg_prio is less than 0.
-			 * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des,
-			 *   and msg_prio is greater than the priority of the calling process.
-			 * */
+			 * - msg_ptr is NULL.
+			 * - msg_len is negative.
+			 * - msg_prio is greater than MQ_PRIO_MAX.
+			 * - msg_prio is less than 0.
+			 * - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
+			 *   msg_prio is greater than the priority of the calling process.
+			 */
 			sif::error << "MessageQueue::sendMessage: Configuration error "
 			           << strerror(errno) << " in mq_send" << std::endl;
 			/*NO BREAK*/

From 20e3b3c0e2eeec791f2f7c25e1893808af28c0eb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 01:10:16 +0200
Subject: [PATCH 120/307] 0 replaced by MQIF::NO_QUEUE

---
 osal/linux/MessageQueue.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index a9c140c6..a0749ded 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -9,8 +9,9 @@
 #include <errno.h>
 
 
-MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
-		lastPartner(0), defaultDestination(NO_QUEUE) {
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
+		id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
+		defaultDestination(MessageQueueIF::NO_QUEUE) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
 	this->id = 0;

From 4dd037550774263fe9941e96a9212ea5b084531a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 01:10:40 +0200
Subject: [PATCH 121/307] 0 replaced by MQIF:NO_QUEUE

---
 osal/linux/MessageQueue.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index a9c140c6..a0749ded 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -9,8 +9,9 @@
 #include <errno.h>
 
 
-MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
-		lastPartner(0), defaultDestination(NO_QUEUE) {
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
+		id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
+		defaultDestination(MessageQueueIF::NO_QUEUE) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
 	this->id = 0;

From b6f6a61656ac423b2411e4c4ab187d54d0b18b1b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 20:51:59 +0200
Subject: [PATCH 122/307] iomanip include missing

---
 objectmanager/ObjectManager.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index cfdf6562..1c54355a 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -1,5 +1,6 @@
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <iomanip>
 #include <cstdlib>
 
 ObjectManager::ObjectManager( void (*setProducer)() ):

From 52c887925fe68f0729db72925c24e3b703ca600b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 20:53:28 +0200
Subject: [PATCH 123/307] iomanip include

---
 objectmanager/ObjectManager.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index cfdf6562..1c54355a 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -1,5 +1,6 @@
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <iomanip>
 #include <cstdlib>
 
 ObjectManager::ObjectManager( void (*setProducer)() ):

From 606957dc243f31d18d80f51885f4684fc134186b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 21:26:45 +0200
Subject: [PATCH 124/307] PSB update

---
 tmtcservices/PusServiceBase.cpp | 74 +++++++++++++++++++--------------
 tmtcservices/PusServiceBase.h   |  8 ++--
 2 files changed, 48 insertions(+), 34 deletions(-)

diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index c27defe6..f5d1e30b 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -9,10 +9,11 @@
 object_id_t PusServiceBase::packetSource = 0;
 object_id_t PusServiceBase::packetDestination = 0;
 
-PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) :
-		SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1(
-				0), errorParameter2(0), requestQueue(NULL) {
-	requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
+PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
+		uint8_t setServiceId) :
+		SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
+	requestQueue = QueueFactory::instance()->
+			createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
 }
 
 PusServiceBase::~PusServiceBase() {
@@ -20,51 +21,60 @@ PusServiceBase::~PusServiceBase() {
 }
 
 ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
+	handleRequestQueue();
+	ReturnValue_t result = this->performService();
+	if (result != RETURN_OK) {
+		sif::error << "PusService " << (uint16_t) this->serviceId
+				<< ": performService returned with " << (int16_t) result
+				<< std::endl;
+		return RETURN_FAILED;
+	}
+	return RETURN_OK;
+}
+
+void PusServiceBase::handleRequestQueue() {
 	TmTcMessage message;
+	ReturnValue_t result = RETURN_FAILED;
 	for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
 		ReturnValue_t status = this->requestQueue->receiveMessage(&message);
-		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
-		// << std::dec << " returned: " << status << std::endl;
+		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
+		//      << std::hex << this->requestQueue.getId()
+		//      << std::dec << " returned: " << status << std::endl;
 		if (status == RETURN_OK) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
-			//	info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
+			//info << "Service " << (uint16_t) this->serviceId <<
+			//     ": new packet!" << std::endl;
 
-			ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService());
+			result = this->handleRequest(currentPacket.getSubService());
 
-			// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
-			if (return_code == RETURN_OK) {
+			// debug << "Service " << (uint16_t)this->serviceId <<
+			//    ": handleRequest returned: " << (int)return_code << std::endl;
+			if (result == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
 						TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
-			} else {
+			}
+			else {
 				this->verifyReporter.sendFailureReport(
 						TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
-						return_code, 0, errorParameter1, errorParameter2);
+						result, 0, errorParameter1, errorParameter2);
 			}
 			this->currentPacket.deletePacket();
 			errorParameter1 = 0;
 			errorParameter2 = 0;
-		} else if (status == MessageQueueIF::EMPTY) {
+		}
+		else if (status == MessageQueueIF::EMPTY) {
 			status = RETURN_OK;
-			// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
+			// debug << "PusService " << (uint16_t)this->serviceId <<
+			//      ": no new packet." << std::endl;
 			break;
-		} else {
-
+		}
+		else {
 			sif::error << "PusServiceBase::performOperation: Service "
 					<< (uint16_t) this->serviceId
 					<< ": Error receiving packet. Code: " << std::hex << status
 					<< std::dec << std::endl;
 		}
 	}
-	ReturnValue_t return_code = this->performService();
-	if (return_code == RETURN_OK) {
-		return RETURN_OK;
-	} else {
-
-		sif::error << "PusService " << (uint16_t) this->serviceId
-				<< ": performService returned with " << (int16_t) return_code
-				<< std::endl;
-		return RETURN_FAILED;
-	}
 }
 
 uint16_t PusServiceBase::getIdentifier() {
@@ -80,19 +90,21 @@ ReturnValue_t PusServiceBase::initialize() {
 	if (result != RETURN_OK) {
 		return result;
 	}
-	AcceptsTelemetryIF* dest_service = objectManager->get<AcceptsTelemetryIF>(
+	AcceptsTelemetryIF* destService = objectManager->get<AcceptsTelemetryIF>(
 			packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((dest_service != NULL) && (distributor != NULL)) {
+	if ((destService != nullptr) && (distributor != nullptr)) {
 		this->requestQueue->setDefaultDestination(
-				dest_service->getReportReceptionQueue());
+				destService->getReportReceptionQueue());
 		distributor->registerService(this);
 		return RETURN_OK;
-	} else {
+	}
+	else {
 		sif::error << "PusServiceBase::PusServiceBase: Service "
 				<< (uint32_t) this->serviceId << ": Configuration error."
-				<< " Make sure packetSource and packetDestination are defined correctly" << std::endl;
+				<< " Make sure packetSource and packetDestination are defined "
+			       "correctly" << std::endl;
 		return RETURN_FAILED;
 	}
 }
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index dbb1754c..5f741410 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -97,16 +97,16 @@ protected:
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint32_t errorParameter1;
+	uint32_t errorParameter1 = 0;
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint32_t errorParameter2;
+	uint32_t errorParameter2 = 0;
 	/**
 	 * This is a complete instance of the Telecommand reception queue of the class.
 	 * It is initialized on construction of the class.
 	 */
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 	/**
 	 * An instance of the VerificationReporter class, that simplifies sending any kind of
 	 * Verification Message to the TC Verification Service.
@@ -127,6 +127,8 @@ private:
 	 * Remember that one packet must be completely handled in one #handleRequest call.
 	 */
 	static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
+
+	void handleRequestQueue();
 };
 
 #endif /* PUSSERVICEBASE_H_ */

From 659594bac71505492c01feff182a2577f79fb1fe Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 21:35:47 +0200
Subject: [PATCH 125/307] better include guard and doc form improvement

---
 tmtcservices/PusServiceBase.h | 80 +++++++++++++++++++++--------------
 1 file changed, 48 insertions(+), 32 deletions(-)

diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 5f741410..39600c41 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -1,5 +1,5 @@
-#ifndef PUSSERVICEBASE_H_
-#define PUSSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
@@ -9,7 +9,6 @@
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/tmtcservices/VerificationCodes.h>
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 
 namespace Factory{
@@ -17,18 +16,22 @@ void setStaticFrameworkObjectIds();
 }
 
 /**
- * \defgroup pus_services PUS Service Framework
+ * @defgroup pus_services PUS Service Framework
  * These group contains all implementations of PUS Services in the OBSW.
  * Most of the Services are directly taken from the ECSS PUS Standard.
  */
 
 /**
- * \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
- * It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
- * from this abstract class has to implement handleRequest and performService. Services that are created with this
+ * @brief 	This class is the basis for all PUS Services,
+ * 			which can immediately process Telecommand Packets.
+ * @details
+ * It manages Telecommand reception and the generation of Verification Reports.
+ * Every class that inherits from this abstract class has to implement
+ * handleRequest and performService. Services that are created with this
  * Base class have to handle any kind of request immediately on reception.
- * All PUS Services are System Objects, so an Object ID needs to be specified on construction.
- * \ingroup pus_services
+ * All PUS Services are System Objects, so an Object ID needs to be specified
+ * on construction.
+ * @ingroup pus_services
  */
 class PusServiceBase : public ExecutableObjectIF,
         public AcceptsTelecommandsIF,
@@ -37,49 +40,61 @@ class PusServiceBase : public ExecutableObjectIF,
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
-	 * The constructor for the class.
-	 * The passed values are set, but inter-object initialization is done in the initialize method.
-	 * @param setObjectId		The system object identifier of this Service instance.
-	 * @param set_apid			The APID the Service is instantiated for.
-	 * @param set_service_id	The Service Identifier as specified in ECSS PUS.
+	 * @brief	The passed values are set, but inter-object initialization is
+	 * 			done in the initialize method.
+	 * @param setObjectId
+	 * The system object identifier of this Service instance.
+	 * @param setApid
+	 * The APID the Service is instantiated for.
+	 * @param setServiceId
+	 * The Service Identifier as specified in ECSS PUS.
 	 */
-	PusServiceBase(	object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
+	PusServiceBase(	object_id_t setObjectId, uint16_t setApid,
+			uint8_t setServiceId);
 	/**
 	 * The destructor is empty.
 	 */
 	virtual ~PusServiceBase();
 	/**
-	 * @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
+	 * @brief 	The handleRequest method shall handle any kind of Telecommand
+	 * 			Request immediately.
 	 * @details
-	 * Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
-	 * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
-	 * Success or Failure Reports are generated automatically after execution of this method.
+	 * Implemetations can take the Telecommand in currentPacket and perform
+	 * any kind of operation.
+	 * They may send additional "Start Success (1,3)" messages with the
+	 * verifyReporter, but Completion Success or Failure Reports are generated
+	 * automatically after execution of this method.
 	 *
 	 * If a Telecommand can not be executed within one call cycle,
 	 * this Base class is not the right parent.
 	 *
-	 * The child class may add additional error information by setting #errorParameters which are
-	 * attached to the generated verification message.
+	 * The child class may add additional error information by setting
+	 * #errorParameters which aren attached to the generated verification
+	 * message.
 	 *
 	 * Subservice checking should be implemented in this method.
 	 *
-	 * @return	The returned status_code is directly taken as main error code in the Verification Report.
+	 * @return	The returned status_code is directly taken as main error code
+	 * 			in the Verification Report.
 	 * 			On success, RETURN_OK shall be returned.
 	 */
 	virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
 	/**
-	 * In performService, implementations can handle periodic, non-TC-triggered activities.
+	 * In performService, implementations can handle periodic,
+	 * non-TC-triggered activities.
 	 * The performService method is always called.
-	 * @return	A success or failure code that does not trigger any kind of verification message.
+	 * @return	Currently, everything other that RETURN_OK only triggers
+	 * 			diagnostic output.
 	 */
 	virtual ReturnValue_t performService() = 0;
 	/**
 	 * This method implements the typical activity of a simple PUS Service.
-	 * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
+	 * It checks for new requests, and, if found, calls handleRequest, sends
+	 * completion verification messages and deletes
 	 * the TC requests afterwards.
 	 * performService is always executed afterwards.
-	 * @return	\c RETURN_OK if the periodic performService was successful.
-	 * 			\c RETURN_FAILED else.
+	 * @return	@c RETURN_OK if the periodic performService was successful.
+	 * 			@c RETURN_FAILED else.
 	 */
 	ReturnValue_t performOperation(uint8_t opCode);
 	virtual uint16_t getIdentifier();
@@ -103,13 +118,13 @@ protected:
 	 */
 	uint32_t errorParameter2 = 0;
 	/**
-	 * This is a complete instance of the Telecommand reception queue of the class.
-	 * It is initialized on construction of the class.
+	 * This is a complete instance of the telecommand reception queue
+	 * of the class. It is initialized on construction of the class.
 	 */
 	MessageQueueIF* requestQueue = nullptr;
 	/**
-	 * An instance of the VerificationReporter class, that simplifies sending any kind of
-	 * Verification Message to the TC Verification Service.
+	 * An instance of the VerificationReporter class, that simplifies
+	 * sending any kind of verification message to the TC Verification Service.
 	 */
 	VerificationReporter verifyReporter;
 	/**
@@ -124,7 +139,8 @@ protected:
 private:
 	/**
 	 * This constant sets the maximum number of packets accepted per call.
-	 * Remember that one packet must be completely handled in one #handleRequest call.
+	 * Remember that one packet must be completely handled in one
+	 * #handleRequest call.
 	 */
 	static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
 

From 5007041bc87e39a44284de14f465fa0478cbc2a0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:12:29 +0200
Subject: [PATCH 126/307] cleaned up includes and improved doc a bit

---
 tmtcservices/CommandingServiceBase.cpp |  27 +++---
 tmtcservices/CommandingServiceBase.h   | 114 ++++++++++++++-----------
 2 files changed, 76 insertions(+), 65 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index adc9400f..361baf3b 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,22 +1,21 @@
-/*
- * CommandingServiceBase.cpp
- *
- *  Created on: 28.08.2019
- *      Author: gaisser
- */
+#include <framework/tcdistribution/PUSDistributorIF.h>
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
 
 #include <framework/tmtcservices/CommandingServiceBase.h>
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TcPacketStored.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
 
 CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
-		uint16_t commandTimeout_seconds, object_id_t setPacketSource,
+		uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
 		object_id_t setPacketDestination, size_t queueDepth) :
-		SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
-				commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
-		NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
-				numberOfParallelCommands), failureParameter1(0), failureParameter2(
-				0), packetSource(setPacketSource), packetDestination(
-				setPacketDestination),executingTask(NULL) {
+		SystemObject(setObjectId), apid(apid), service(service),
+		timeoutSeconds(commandTimeoutSeconds),
+		commandMap(numberOfParallelCommands), packetSource(setPacketSource),
+		packetDestination(setPacketDestination) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
@@ -369,7 +368,7 @@ void CommandingServiceBase::checkTimeout() {
 	typename FixedMap<MessageQueueId_t,
 			CommandingServiceBase::CommandInfo>::Iterator iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
-		if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
+		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index e79e806d..37f6891c 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,35 +1,33 @@
-#ifndef COMMANDINGSERVICEBASE_H_
-#define COMMANDINGSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
-#include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
-#include <framework/serialize/SerializeAdapter.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include <framework/ipc/MessageQueueIF.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/timemanager/Clock.h>
+#include <framework/ipc/CommandMessage.h>
+#include <framework/container/FixedMap.h>
+#include <framework/container/FIFO.h>
+#include <framework/serialize/SerializeIF.h>
+
+class TcPacketStored;
 
 /**
- * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
+ * @brief 	This class is the basis for all PUS Services, which have to
+ * 			relay Telecommands to software bus.
  *
- * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
- * Every class that inherits from this abstract class has to implement four adaption points:
+ * It manages Telecommand reception and the generation of Verification Reports
+ * similar to PusServiceBase. This class is used if a telecommand can't be
+ * handled immediately and must be relayed to the internal software bus.
  *   - isValidSubservice
  *   - getMessageQueueAndObject
  *   - prepareCommand
  *   - handleReply
- * \ingroup pus_services
+ * @author gaisser
+ * @ingroup pus_services
  */
 class CommandingServiceBase: public SystemObject,
 		public AcceptsTelecommandsIF,
@@ -59,7 +57,7 @@ public:
 	 */
 	CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
 			uint8_t service, uint8_t numberOfParallelCommands,
-			uint16_t commandTimeout_seconds, object_id_t setPacketSource,
+			uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
 			object_id_t setPacketDestination, size_t queueDepth = 20);
 	virtual ~CommandingServiceBase();
 
@@ -113,8 +111,9 @@ protected:
 	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
 
 	/**
-	 * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
-	 * The target message queue ID can then be acquired by using the target interface.
+	 * Once a TC Request is valid, the existence of the destination and its
+	 * target interface is checked and retrieved. The target message queue ID
+	 * can then be acquired by using the target interface.
 	 * @param subservice
 	 * @param tcData Application Data of TC Packet
 	 * @param tcDataLen
@@ -129,10 +128,10 @@ protected:
 			object_id_t *objectId) = 0;
 
 	/**
-	 * After the Message Queue and Object ID are determined,
-	 * the command is prepared by using an implementation specific CommandMessage type
-	 * which is sent to the target object.
-	 * It contains all necessary information for the device to execute telecommands.
+	 * After the Message Queue and Object ID are determined, the command is
+	 * prepared by using an implementation specific CommandMessage type
+	 * which is sent to the target object. It contains all necessary information
+	 * for the device to execute telecommands.
 	 * @param message
 	 * @param subservice
 	 * @param tcData
@@ -146,25 +145,40 @@ protected:
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
-	 * This function is responsible for the communication between the Command Service Base
-	 * and the respective PUS Commanding Service once the execution has started.
-	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
-	 * There are different translations of these replies to specify how the Command Service proceeds.
-	 * @param reply[out] Command Message which contains information about the command
-	 * @param previousCommand [out]
-	 * @param state
-	 * @param optionalNextCommand
+	 * This function is implemented by child services to specify how replies
+	 * to a command from another software component are handled
+	 * @param reply
+	 * This is the reply in form of a command message.
+	 * @param previousCommand
+	 * Command_t of related command
+	 * @param state [out/in]
+	 * Additional parameter which can be used to pass state information.
+	 * State of the communication
+	 * @param optionalNextCommand [out]
+	 * An optional next command which can be set in this function
 	 * @param objectId Source object ID
 	 * @param isStep Flag value to mark steps of command execution
-	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
-	 *         - @c INVALID_REPLY can handle unrequested replies
-	 *         - Anything else triggers a TC verification failure
+	 * @return
+	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
+	 *   generate TC verification success
+	 * - @c INVALID_REPLY calls handleUnrequestedReply
+	 * - Anything else triggers a TC verification failure
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage *reply,
 			Command_t previousCommand, uint32_t *state,
 			CommandMessage *optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
+	/**
+	 * This function can be overidden to handle unrequested reply,
+	 * when the reply sender ID is unknown or is not found is the command map.
+	 * @param reply
+	 */
+	virtual void handleUnrequestedReply(CommandMessage *reply);
+
+	virtual void doPeriodicOperation();
+
+
 	struct CommandInfo {
 		struct tcInfo {
 			uint8_t ackFlags;
@@ -184,33 +198,35 @@ protected:
 
 	const uint8_t service;
 
-	const uint16_t timeout_seconds;
+	const uint16_t timeoutSeconds;
 
-	uint8_t tmPacketCounter;
+	uint8_t tmPacketCounter = 0;
 
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
-	StorageManagerIF *TCStore;
+	StorageManagerIF *TCStore = nullptr;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 
 	VerificationReporter verificationReporter;
 
 	FixedMap<MessageQueueId_t, CommandInfo> commandMap;
 
-	uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
-	uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
+	/* May be set be children to return a more precise failure condition. */
+	uint32_t failureParameter1 = 0;
+	uint32_t failureParameter2 = 0;
 
 	object_id_t packetSource;
 
 	object_id_t packetDestination;
 
 	/**
-	 * 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;
 
 	/**
 	 * @brief   Send TM data from pointer to data.
@@ -246,10 +262,6 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	virtual void handleUnrequestedReply(CommandMessage *reply);
-
-	virtual void doPeriodicOperation();
-
 	void checkAndExecuteFifo(
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 

From bb9a299e33ce7429314acb58606f964613a31589 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:19:40 +0200
Subject: [PATCH 127/307] added back removed comments

---
 tmtcservices/CommandingServiceBase.h | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 37f6891c..f97eabb0 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -132,11 +132,12 @@ protected:
 	 * prepared by using an implementation specific CommandMessage type
 	 * which is sent to the target object. It contains all necessary information
 	 * for the device to execute telecommands.
-	 * @param message
-	 * @param subservice
-	 * @param tcData
-	 * @param tcDataLen
-	 * @param state
+	 * @param message [out] message which can be set and is sent to the object
+	 * @param subservice Subservice of the current communication
+	 * @param tcData Application data of command
+	 * @param tcDataLen Application data length
+	 * @param state [out/in] Setable state of the communication.
+	 * communication
 	 * @param objectId Target object ID
 	 * @return
 	 */

From 3268806f75a3ea8ceaf7ce933276133d26b05719 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:51:54 +0200
Subject: [PATCH 128/307] split up huge function to be more readable

---
 tmtcservices/CommandingServiceBase.cpp | 193 ++++++++++++++-----------
 tmtcservices/CommandingServiceBase.h   |   7 +
 2 files changed, 113 insertions(+), 87 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 361baf3b..4c557f82 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -56,7 +56,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 			objectManager->get<AcceptsTelemetryIF>(packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((packetForwarding == NULL) && (distributor == NULL)) {
+	if (packetForwarding == nullptr or distributor == nullptr) {
 		return RETURN_FAILED;
 	}
 
@@ -67,7 +67,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
-	if ((IPCStore == NULL) || (TCStore == NULL)) {
+	if (IPCStore == nullptr or TCStore == nullptr) {
 		return RETURN_FAILED;
 	}
 
@@ -76,97 +76,116 @@ ReturnValue_t CommandingServiceBase::initialize() {
 }
 
 void CommandingServiceBase::handleCommandQueue() {
-	CommandMessage reply, nextCommand;
-	ReturnValue_t result, sendResult = RETURN_OK;
-	bool isStep = false;
+	CommandMessage reply;
+	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		isStep = false;
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
-		if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		nextCommand.setCommand(CommandMessage::CMD_NONE);
-		result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
-				iter->objectId, &isStep);
-		switch (result) {
-		case EXECUTION_COMPLETE:
-		case RETURN_OK:
-		case NO_STEP_MESSAGE:
-			iter->command = nextCommand.getCommand();
-			if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
-				sendResult = commandQueue->sendMessage(reply.getSender(),
-						&nextCommand);
-			}
-			if (sendResult == RETURN_OK) {
-				if (isStep) {
-					if (result != NO_STEP_MESSAGE) {
-						verificationReporter.sendSuccessReport(
-								TC_VERIFY::PROGRESS_SUCCESS,
-								iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-								iter->tcInfo.tcSequenceControl, ++iter->step);
-					}
-				} else {
-					verificationReporter.sendSuccessReport(
-							TC_VERIFY::COMPLETION_SUCCESS,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, 0);
-					checkAndExecuteFifo(&iter);
-				}
-			} else {
-				if (isStep) {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-							iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult,
-							++iter->step, failureParameter1, failureParameter2);
-				} else {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::COMPLETION_FAILURE,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult, 0,
-							failureParameter1, failureParameter2);
-				}
-				failureParameter1 = 0;
-				failureParameter2 = 0;
-				checkAndExecuteFifo(&iter);
-			}
-			break;
-		case INVALID_REPLY:
-			//might be just an unrequested reply at a bad moment
-			handleUnrequestedReply(&reply);
-			break;
-		default:
-			if (isStep) {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, ++iter->step, failureParameter1,
-						failureParameter2);
-			} else {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, 0, failureParameter1, failureParameter2);
-			}
-			failureParameter1 = 0;
-			failureParameter2 = 0;
-			checkAndExecuteFifo(&iter);
-			break;
-		}
-
+		handleCommandMessage(reply);
 	}
 }
 
 
+void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
+	bool isStep = false;
+	CommandMessage nextCommand;
+	CommandMapIter iter;
+	if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
+		handleUnrequestedReply(&reply);
+		return;
+	}
+	if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
+		handleUnrequestedReply(&reply);
+		return;
+	}
+	nextCommand.setCommand(CommandMessage::CMD_NONE);
+
+	// Implemented by child class, specifies what to do with reply.
+	ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
+			&nextCommand, iter->objectId, &isStep);
+
+	switch (result) {
+	case EXECUTION_COMPLETE:
+	case RETURN_OK:
+	case NO_STEP_MESSAGE:
+		// handle result of reply handler implemented by developer.
+		handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
+		break;
+	case INVALID_REPLY:
+		//might be just an unrequested reply at a bad moment
+		handleUnrequestedReply(&reply);
+		break;
+	default:
+		if (isStep) {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, ++iter->step, failureParameter1,
+					failureParameter2);
+		} else {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, 0, failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(&iter);
+		break;
+	}
+
+}
+
+void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
+		CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
+		bool& isStep) {
+	iter->command = nextCommand.getCommand();
+
+	// In case a new command is to be sent immediately, this is performed here.
+	// If no new command is sent, only analyse reply result by initializing
+	// sendResult as RETURN_OK
+	ReturnValue_t sendResult = RETURN_OK;
+	if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply.getSender(),
+				&nextCommand);
+	}
+
+	if (sendResult == RETURN_OK) {
+		if (isStep and result != NO_STEP_MESSAGE) {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::PROGRESS_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, ++iter->step);
+		}
+		else {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::COMPLETION_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, 0);
+			checkAndExecuteFifo(&iter);
+		}
+	}
+	else {
+		if (isStep) {
+			nextCommand.clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult,
+					++iter->step, failureParameter1, failureParameter2);
+		} else {
+			nextCommand.clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult, 0,
+					failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(&iter);
+	}
+}
+
 void CommandingServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result;
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index f97eabb0..9a68a2d3 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -267,6 +267,9 @@ protected:
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 
 private:
+	using CommandMapIter = FixedMap<MessageQueueId_t,
+			CommandingServiceBase::CommandInfo>::Iterator;
+
 	/**
 	 * This method handles internal execution of a command,
 	 * once it has been started by @sa{startExecution()} in the Request Queue handler.
@@ -298,6 +301,10 @@ private:
 	void startExecution(TcPacketStored *storedPacket,
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 
+	void handleCommandMessage(CommandMessage& reply);
+	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
+			CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
+
 	void checkTimeout();
 };
 

From a9c7ad84c8b93c39021194e99306e023432b4ee0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 11 Jun 2020 02:03:18 +0200
Subject: [PATCH 129/307] added new interface to host and linux osal

---
 ipc/CommandMessage.cpp      |  8 ++++++++
 ipc/CommandMessage.h        |  2 ++
 ipc/MessageQueueMessage.cpp |  8 ++++++++
 ipc/MessageQueueMessage.h   |  4 ++++
 ipc/MessageQueueMessageIF.h | 12 ++++++++++++
 osal/host/MessageQueue.cpp  | 30 ++++++++++++++++++++----------
 osal/host/MessageQueue.h    | 16 ++++++++--------
 osal/host/QueueFactory.cpp  |  2 +-
 osal/linux/MessageQueue.cpp | 25 +++++++++++++------------
 osal/linux/MessageQueue.h   | 21 +++++++++++++--------
 osal/linux/QueueFactory.cpp |  2 +-
 11 files changed, 90 insertions(+), 40 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 44424e02..7d2ecc9b 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -160,3 +160,11 @@ uint8_t* CommandMessage::getData() {
 const uint8_t* CommandMessage::getData() const {
 	return internalMessage->getData();
 }
+
+size_t CommandMessage::getMessageSize() const {
+	return COMMAND_MESSAGE_SIZE;
+}
+
+size_t CommandMessage::getMaximumMessageSize() const {
+	return MessageQueueMessage::MAX_MESSAGE_SIZE;
+}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 772bd774..25d608f0 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -85,6 +85,8 @@ public:
 	uint8_t * getData() override;
 	const uint8_t* getData() const override;
 	size_t getMinimumMessageSize() const override;
+	size_t getMessageSize() const override;
+	size_t getMaximumMessageSize() const override;
 
 	/**
 	 * Extract message ID, which is the first byte of the command ID.
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index c3e1cb7a..8430a8ea 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -67,3 +67,11 @@ void MessageQueueMessage::print() {
 void MessageQueueMessage::clear() {
 	memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
 }
+
+size_t MessageQueueMessage::getMessageSize() const {
+	return this->messageSize;
+}
+
+size_t MessageQueueMessage::getMaximumMessageSize() const {
+	return this->MAX_MESSAGE_SIZE;
+}
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index bee39ae6..31a43f66 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -149,6 +149,10 @@ public:
 	 */
 	virtual size_t getMinimumMessageSize() const override;
 
+	virtual size_t getMessageSize() const override;
+
+	virtual size_t getMaximumMessageSize() const override;
+
 	/**
 	 * @brief	This is a debug method that prints the content
 	 * 			(till messageSize) to the debug output.
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index 197a26fd..05330ce9 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -71,6 +71,18 @@ public:
 	 * 			check the size of an incoming message.
 	 */
 	virtual size_t getMinimumMessageSize() const = 0;
+
+	/**
+	 * Get message size of current message implementation.
+	 * @return
+	 */
+	virtual size_t getMessageSize() const = 0;
+
+	/**
+	 * Get maximum allowed size of current message implementation.
+	 * @return
+	 */
+	virtual size_t getMaximumMessageSize() const = 0;
 };
 
 
diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index 3e30c8ed..7af5fbd9 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -18,20 +18,20 @@ 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::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 	if (this->lastPartner != 0) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
@@ -40,13 +40,13 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 }
 
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
 			ignoreFault);
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	if(status == HasReturnvaluesIF::RETURN_OK) {
@@ -55,7 +55,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	if(messageQueue.empty()) {
 		return MessageQueueIF::EMPTY;
 	}
@@ -102,9 +102,9 @@ bool MessageQueue::isDefaultDestinationSet() const {
 
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-        MessageQueueMessage *message, MessageQueueId_t sentFrom,
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault) {
-	if(message->messageSize > MessageQueueMessage::MAX_DATA_SIZE) {
+	if(message->getMessageSize() > message->getMaximumMessageSize()) {
 		// Actually, this should never happen or an error will be emitted
 		// in MessageQueueMessage.
 		// But I will still return a failure here.
@@ -127,7 +127,17 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
 		MutexHelper mutexLock(targetQueue->queueLock, 20);
-		targetQueue->messageQueue.push(*message);
+		// not ideal, works for now though.
+		MessageQueueMessage* mqmMessage =
+				dynamic_cast<MessageQueueMessage*>(message);
+		if(message != nullptr) {
+			targetQueue->messageQueue.push(*mqmMessage);
+		}
+		else {
+			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
+					"is not MessageQueueMessage!" << std::endl;
+		}
+
 	}
 	else {
 		return MessageQueueIF::FULL;
diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h
index 619b5e91..7fc77f7a 100644
--- a/osal/host/MessageQueue.h
+++ b/osal/host/MessageQueue.h
@@ -77,7 +77,7 @@ public:
 	 * is not incremented if queue is full.
 	 */
 	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false) override;
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the
@@ -85,7 +85,7 @@ public:
 	 * queue id as "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t sendToDefault(MessageQueueMessage* message) override;
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using
@@ -93,7 +93,7 @@ public:
 	 * message received yet (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) override;
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
 
 	/**
 	 * @brief	With the sendMessage call, a queue message is sent to a
@@ -113,7 +113,7 @@ public:
 	 * is not incremented if queue is full.
 	 */
 	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault = false) override;
 
 	/**
@@ -127,7 +127,7 @@ public:
 	 * sender's queue id into the message. This variable is set to zero by
 	 * default.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
 			MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault = false) override;
 
@@ -140,7 +140,7 @@ 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) override;
 
 	/**
@@ -153,7 +153,7 @@ public:
 	 * function returns immediately.
 	 * @param message	A pointer to a message in which the received data is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message) override;
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -205,7 +205,7 @@ protected:
 	 * @param context Specify whether call is made from task or from an ISR.
 	 */
 	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault=false);
 
 	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
diff --git a/osal/host/QueueFactory.cpp b/osal/host/QueueFactory.cpp
index 60274c84..225bb8c7 100644
--- a/osal/host/QueueFactory.cpp
+++ b/osal/host/QueueFactory.cpp
@@ -7,7 +7,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index a0749ded..605dea2a 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -118,15 +118,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 }
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), false);
 }
 
-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 sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
@@ -134,21 +134,21 @@ 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) {
 	unsigned int messagePriority = 0;
 	int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
-			message->MAX_MESSAGE_SIZE,&messagePriority);
+			message->getMaximumMessageSize(),&messagePriority);
 	if (status > 0) {
 		this->lastPartner = message->getSender();
 		//Check size of incoming message.
-		if (message->messageSize < message->getMinimumMessageSize()) {
+		if (message->getMessageSize() < message->getMinimumMessageSize()) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
@@ -158,7 +158,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 	} 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());
 		switch(errno){
 		case EAGAIN:
 			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@@ -259,13 +259,13 @@ 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) {
 	return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
 
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }
@@ -281,11 +281,12 @@ bool MessageQueue::isDefaultDestinationSet() const {
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-		MessageQueueMessage *message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 	int result = mq_send(sendTo,
-			reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
+			reinterpret_cast<const char*>(message->getBuffer()),
+			message->getMessageSize(),0);
 
 	//TODO: Check if we're in ISR.
 	if (result != 0) {
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index 2808d36e..91066bf7 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -56,14 +56,14 @@ public:
 	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	virtual 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.
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
+	virtual 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
@@ -71,7 +71,7 @@ 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.
@@ -80,7 +80,7 @@ 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);
 
 	/**
@@ -91,7 +91,7 @@ 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.
@@ -114,7 +114,9 @@ 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, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			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.
@@ -122,7 +124,8 @@ 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.
 	 */
@@ -145,7 +148,9 @@ protected:
 	 * 					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.
 	 */
-	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false);
 private:
 	/**
 	 * @brief	The class stores the queue id it got assigned from the operating system in this attribute.
diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index 268d0b99..8bd9d52c 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -9,7 +9,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);

From 206235ed47e0b086acc06015aeb36484bfeeab76 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 11 Jun 2020 16:03:09 +0200
Subject: [PATCH 130/307] dataset base bugfixes

---
 datapool/DataSetBase.cpp | 10 +++++++---
 health/HealthHelper.cpp  |  2 +-
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/datapool/DataSetBase.cpp b/datapool/DataSetBase.cpp
index 9104c8e7..60b20f29 100644
--- a/datapool/DataSetBase.cpp
+++ b/datapool/DataSetBase.cpp
@@ -36,7 +36,7 @@ ReturnValue_t DataSetBase::read(uint32_t lockTimeout) {
 	if (state == States::DATA_SET_UNINITIALISED) {
 		lockDataPool(lockTimeout);
 		for (uint16_t count = 0; count < fillCount; count++) {
-			ReturnValue_t result = readVariable(count);
+			result = readVariable(count);
 			if(result != RETURN_OK) {
 				break;
 			}
@@ -46,14 +46,15 @@ ReturnValue_t DataSetBase::read(uint32_t lockTimeout) {
 	}
 	else {
 		sif::error << "DataSet::read(): "
-				"Call made in wrong position." << std::endl;
+				"Call made in wrong position. Don't forget to commit"
+				" member datasets!" << std::endl;
 		result = SET_WAS_ALREADY_READ;
 	}
 	return result;
 }
 
 ReturnValue_t DataSetBase::readVariable(uint16_t count) {
-	ReturnValue_t result = DataSetIF::INVALID_PARAMETER_DEFINITION;
+	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() !=
@@ -62,6 +63,9 @@ ReturnValue_t DataSetBase::readVariable(uint16_t count) {
 				!= PoolVariableIF::NO_PARAMETER)
 	{
 		result = registeredVariables[count]->readWithoutLock();
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			result = INVALID_PARAMETER_DEFINITION;
+		}
 	}
 	return result;
 }
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index b23a8bd2..df259b52 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -62,7 +62,7 @@ void HealthHelper::setHealth(HasHealthIF::HealthState health) {
 
 void HealthHelper::informParent(HasHealthIF::HealthState health,
 		HasHealthIF::HealthState oldHealth) {
-	if (parentQueue == 0) {
+	if (parentQueue == MessageQueueMessageIF::NO_QUEUE) {
 		return;
 	}
 	MessageQueueMessage message;

From 6838a9e7687a7232f903b5b39c11fe026bf476ff Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 11 Jun 2020 16:19:22 +0200
Subject: [PATCH 131/307] serial buffer adapter bugfix

---
 serialize/SerialBufferAdapter.cpp | 16 ++++++++--------
 serialize/SerialBufferAdapter.h   |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index e409686f..d417ba45 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -21,29 +21,29 @@ SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
 }
 
 template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
-		size_t* size, const size_t max_size, bool bigEndian) const {
+ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer_,
+		size_t* size_, const size_t max_size, bool bigEndian) const {
 	uint32_t serializedLength = bufferLength;
 	if (serializeLength) {
 		serializedLength += AutoSerializeAdapter::getSerializedSize(
 				&bufferLength);
 	}
-	if (*size + serializedLength > max_size) {
+	if (*size_ + serializedLength > max_size) {
 		return BUFFER_TOO_SHORT;
 	} else {
 		if (serializeLength) {
-			AutoSerializeAdapter::serialize(&bufferLength, buffer, size,
+			AutoSerializeAdapter::serialize(&bufferLength, buffer_, size_,
 					max_size, bigEndian);
 		}
 		if (constBuffer != nullptr) {
-			memcpy(*buffer, constBuffer, bufferLength);
+			memcpy(*buffer_, this->constBuffer, bufferLength);
 		} else if (buffer != nullptr) {
-			memcpy(*buffer, buffer, bufferLength);
+			memcpy(*buffer_, this->buffer, bufferLength);
 		} else {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
-		*size += bufferLength;
-		(*buffer) += bufferLength;
+		*size_ += bufferLength;
+		(*buffer_) += bufferLength;
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 }
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index cb799be5..02690021 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -45,7 +45,7 @@ public:
 
 	virtual ~SerialBufferAdapter();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+	virtual ReturnValue_t serialize(uint8_t** buffer_, size_t* size,
 			const size_t max_size, bool bigEndian) const override;
 
 	virtual size_t getSerializedSize() const;

From f578c3ea29731f29153741b1ee99ae95c02782c6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 11 Jun 2020 16:46:18 +0200
Subject: [PATCH 132/307] set buffer: const buffer is set too

---
 serialize/SerialBufferAdapter.cpp | 15 ++++++++++-----
 serialize/SerialBufferAdapter.h   |  2 +-
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index d417ba45..5e834fe2 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -37,9 +37,13 @@ ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer_,
 		}
 		if (constBuffer != nullptr) {
 			memcpy(*buffer_, this->constBuffer, bufferLength);
-		} else if (buffer != nullptr) {
+		}
+		else if (buffer != nullptr) {
+			// This will propably be never reached, constBuffer should always be
+			// set if non-const buffer is set.
 			memcpy(*buffer_, this->buffer, bufferLength);
-		} else {
+		}
+		else {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		*size_ += bufferLength;
@@ -93,7 +97,7 @@ template<typename count_t>
 uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
 	if(buffer == nullptr) {
 		sif::error << "Wrong access function for stored type !"
-				 " Use getConstBuffer()" << std::endl;
+				 " Use getConstBuffer()." << std::endl;
 		return nullptr;
 	}
 	return buffer;
@@ -110,9 +114,10 @@ const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
 
 template<typename count_t>
 void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
-		count_t buffer_length) {
+		count_t bufferLength) {
 	this->buffer = buffer;
-	bufferLength = buffer_length;
+	this->constBuffer = buffer;
+	this->bufferLength = bufferLength;
 }
 
 
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index 02690021..a30451a1 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -67,7 +67,7 @@ public:
 
 	uint8_t * getBuffer();
 	const uint8_t * getConstBuffer();
-	void setBuffer(uint8_t* buffer_, count_t bufferLength_);
+	void setBuffer(uint8_t* buffer, count_t bufferLength);
 private:
 	bool serializeLength = false;
 	const uint8_t *constBuffer = nullptr;

From 7b538e9750001a7b91a89fbde5a47f9b619674eb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 12 Jun 2020 20:23:39 +0200
Subject: [PATCH 133/307] introduced command message base and

command message IF
---
 housekeeping/HousekeepingMessage.cpp |  17 +---
 housekeeping/HousekeepingMessage.h   |  13 ++-
 ipc/CommandMessage.cpp               | 128 +++++++++------------------
 ipc/CommandMessage.h                 |  79 +++++------------
 ipc/CommandMessageBase.cpp           |  55 ++++++++++++
 ipc/CommandMessageBase.h             |  73 +++++++++++++++
 ipc/CommandMessageIF.h               |  25 ++++++
 ipc/MessageQueueMessage.cpp          |   4 +
 ipc/MessageQueueMessage.h            |   3 +-
 ipc/MessageQueueMessageIF.h          |   4 +-
 10 files changed, 232 insertions(+), 169 deletions(-)
 create mode 100644 ipc/CommandMessageBase.cpp
 create mode 100644 ipc/CommandMessageBase.h
 create mode 100644 ipc/CommandMessageIF.h

diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index c94a69d7..d9daf974 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -1,18 +1,7 @@
 #include <framework/housekeeping/HousekeepingMessage.h>
 
-HousekeepingMessage::HousekeepingMessage() {
+HousekeepingMessage::HousekeepingMessage(MessageQueueMessage *message):
+		CommandMessageBase	(message) {}
 
-}
+HousekeepingMessage::~HousekeepingMessage() {}
 
-void HousekeepingMessage::setHkReportMessage() {
-}
-
-
-//void HousekeepingMessage::setAddHkReportStructMessage(CommandMessage *message,
-//		set_t setId, store_address_t packet) {
-//	message->setCommand(ADD_HK_REPORT_STRUCT);
-//	message->setParameter(setId);
-//	message->setParameter2(packet.raw);
-//}
-
-//void Housekeeping
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index 3ba6f94d..d0cbd0eb 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -1,6 +1,8 @@
 #ifndef FRAMEWORK_HK_HOUSEKEEPINGMESSAGE_H_
 #define FRAMEWORK_HK_HOUSEKEEPINGMESSAGE_H_
-#include <framework/ipc/CommandMessage.h>
+#include <framework/ipc/CommandMessageBase.h>
+#include <framework/ipc/FwMessageTypes.h>
+#include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <limits>
 
@@ -23,15 +25,14 @@ union sid_t {
 };
 
 
-class HousekeepingMessage: public MessageQueueMessage {
+class HousekeepingMessage : public CommandMessageBase {
 public:
 	/**
 	 * No instances of a message shall be created, instead
 	 * a CommandMessage instance is manipulated.
 	 */
-	HousekeepingMessage();
-//	HousekeepingMessage(const HousekeepingMessage&) = delete;
-//	HousekeepingMessage operator=(const HousekeepingMessage &) = delete;
+	HousekeepingMessage(MessageQueueMessage* message);
+	virtual ~HousekeepingMessage();
 
 	static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
 	static constexpr Command_t ADD_HK_REPORT_STRUCT =
@@ -78,8 +79,6 @@ public:
 	static constexpr Command_t MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL =
 			MAKE_COMMAND_ID(32);
 
-//	static void setAddHkReportStructMessage(CommandMessage* message,
-//			DevisetId, store_address_t packet);
 	static void setHkReportMessage();
 };
 
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 7d2ecc9b..8f53b77c 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -1,6 +1,7 @@
+#include <framework/ipc/CommandMessage.h>
+
 #include <framework/devicehandlers/DeviceHandlerMessage.h>
 #include <framework/health/HealthMessage.h>
-#include <framework/ipc/CommandMessage.h>
 #include <framework/memory/MemoryMessage.h>
 #include <framework/modes/ModeMessage.h>
 #include <framework/monitoring/MonitoringMessage.h>
@@ -8,82 +9,86 @@
 #include <framework/tmstorage/TmStoreMessage.h>
 #include <framework/parameters/ParameterMessage.h>
 
-namespace messagetypes {
-// Implemented in config.
-void clearMissionMessage(CommandMessage* message);
-}
-
-
 CommandMessage::CommandMessage(MessageQueueMessage* receiverMessage):
-			internalMessage(receiverMessage) {
+			CommandMessageBase(receiverMessage) {
 	if(receiverMessage == nullptr) {
 		sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
 				" as the message queue message, pass the address of an actual"
 				" message!" << std::endl;
 	}
-	internalMessage->messageSize = COMMAND_MESSAGE_SIZE;
+	internalMessage->setMessageSize(COMMAND_MESSAGE_SIZE);
 	setCommand(CMD_NONE);
 }
 
 CommandMessage::CommandMessage(MessageQueueMessage* messageToSet,
 		Command_t command, uint32_t parameter1, uint32_t parameter2):
-				internalMessage(messageToSet) {
+				CommandMessageBase(messageToSet) {
 	if(messageToSet == nullptr) {
 		sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
 				" as the message queue message, pass the address of an actual"
 				" message!" << std::endl;
 	}
-	internalMessage->messageSize = COMMAND_MESSAGE_SIZE;
+	internalMessage->setMessageSize(COMMAND_MESSAGE_SIZE);
 	setCommand(command);
 	setParameter(parameter1);
 	setParameter2(parameter2);
 }
 
-Command_t CommandMessage::getCommand() const {
-	Command_t command;
-	memcpy(&command, internalMessage->getData(), sizeof(Command_t));
-	return command;
-}
-
-uint8_t CommandMessage::getMessageType() const {
-	return getCommand() >> 8 & 0xff;
-}
-
-void CommandMessage::setCommand(Command_t command) {
-	memcpy(internalMessage->getData(), &command, sizeof(command));
-}
-
 uint32_t CommandMessage::getParameter() const {
 	uint32_t parameter1;
-	memcpy(&parameter1, internalMessage->getData() + sizeof(Command_t),
-			sizeof(parameter1));
+	memcpy(&parameter1, CommandMessageBase::getData(), sizeof(parameter1));
 	return parameter1;
 }
 
 void CommandMessage::setParameter(uint32_t parameter1) {
-	memcpy(internalMessage->getData() + sizeof(Command_t),
-			&parameter1, sizeof(parameter1));
+	memcpy(CommandMessageBase::getData(), &parameter1, sizeof(parameter1));
 }
 
 uint32_t CommandMessage::getParameter2() const {
 	uint32_t parameter2;
-	memcpy(&parameter2, internalMessage->getData() + sizeof(Command_t)
-			+ sizeof(uint32_t), sizeof(parameter2));
+	memcpy(&parameter2, CommandMessageBase::getData() + sizeof(uint32_t),
+			sizeof(parameter2));
 	return parameter2;
 }
 
 void CommandMessage::setParameter2(uint32_t parameter2) {
-	memcpy(internalMessage-> getData() + sizeof(Command_t) + sizeof(uint32_t),
-			&parameter2, sizeof(parameter2));
+	memcpy(CommandMessageBase::getData()  + sizeof(uint32_t), &parameter2,
+			sizeof(parameter2));
 }
 
+size_t CommandMessage::getMinimumMessageSize() const {
+	return COMMAND_MESSAGE_SIZE;
+}
+
+size_t CommandMessage::getMaximumMessageSize() const {
+	return MessageQueueMessage::MAX_MESSAGE_SIZE;
+}
+
+bool CommandMessage::isClearedCommandMessage() {
+	return getCommand() == CMD_NONE;
+}
+
+void CommandMessage::setToUnknownCommand() {
+	Command_t initialCommand = getCommand();
+	clearCommandMessage();
+	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
+}
+
+void CommandMessage::setReplyRejected(ReturnValue_t reason,
+		Command_t initialCommand) {
+	setCommand(REPLY_REJECTED);
+	setParameter(reason);
+	setParameter2(initialCommand);
+}
+
+
 void CommandMessage::clear() {
 	clearCommandMessage();
 }
 
 void CommandMessage::clearCommandMessage() {
-	switch(getMessageType()){
-	case messagetypes::MODE_COMMAND:
+	switch(this->getMessageType()){
+	case  messagetypes::MODE_COMMAND:
 		ModeMessage::clear(this);
 		break;
 	case messagetypes::HEALTH_COMMAND:
@@ -115,56 +120,3 @@ void CommandMessage::clearCommandMessage() {
 		break;
 	}
 }
-
-bool CommandMessage::isClearedCommandMessage() {
-	return getCommand() == CMD_NONE;
-}
-
-size_t CommandMessage::getMinimumMessageSize() const {
-	return COMMAND_MESSAGE_SIZE;
-}
-
-void CommandMessage::setToUnknownCommand() {
-	Command_t initialCommand = getCommand();
-	clearCommandMessage();
-	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
-}
-
-void CommandMessage::setReplyRejected(ReturnValue_t reason,
-		Command_t initialCommand) {
-	setCommand(REPLY_REJECTED);
-	setParameter(reason);
-	setParameter2(initialCommand);
-}
-
-MessageQueueId_t CommandMessage::getSender() const {
-	return internalMessage->getSender();
-}
-
-uint8_t* CommandMessage::getBuffer() {
-	return internalMessage->getBuffer();
-}
-
-void CommandMessage::setSender(MessageQueueId_t setId) {
-	internalMessage->setSender(setId);
-}
-
-const uint8_t* CommandMessage::getBuffer() const {
-	return internalMessage->getBuffer();
-}
-
-uint8_t* CommandMessage::getData() {
-	return internalMessage->getData();
-}
-
-const uint8_t* CommandMessage::getData() const {
-	return internalMessage->getData();
-}
-
-size_t CommandMessage::getMessageSize() const {
-	return COMMAND_MESSAGE_SIZE;
-}
-
-size_t CommandMessage::getMaximumMessageSize() const {
-	return MessageQueueMessage::MAX_MESSAGE_SIZE;
-}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 25d608f0..434f8c8c 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -1,33 +1,35 @@
 #ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
 #define FRAMEWORK_IPC_COMMANDMESSAGE_H_
 
+#include <framework/ipc/CommandMessageBase.h>
 #include <framework/ipc/MessageQueueMessage.h>
 #include <framework/ipc/FwMessageTypes.h>
-#include <config/ipc/MissionMessageTypes.h>
 
-
-
-#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
-typedef uint16_t Command_t;
+namespace messagetypes {
+// Implemented in config.
+void clearMissionMessage(CommandMessageIF* message);
+}
 
 /**
- * @brief 	Used to pass command messages between tasks. Primary message type
- * 			for IPC. Contains sender, 2-byte command field, and 2 4-byte
- * 			parameters.
+ * @brief 	Default command message used to pass command messages between tasks.
+ * 			Primary message type for IPC. Contains sender, 2-byte command ID
+ * 			field, and 2 4-byte parameters.
  * @details
  * It operates on an external memory which is contained inside a
- * MessageQueueMessage by taking its address.
+ * class implementing MessageQueueMessageIF by taking its address.
  * This allows for a more flexible designs of message implementations.
  * The pointer can be passed to different message implementations without
  * the need of unnecessary copying.
+ *
+ * The command message is based of the generic MessageQueueMessage which
+ * currently has an internal message size of 28 bytes.
  * @author	Bastian Baetz
  */
-class CommandMessage: public MessageQueueMessageIF {
+class CommandMessage: public CommandMessageBase {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
 	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
 
-
 	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
 	//! Used internally, will be ignored
 	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
@@ -66,39 +68,11 @@ public:
 	 */
 	virtual ~CommandMessage() {}
 
-	/**
-	 * Read the DeviceHandlerCommand_t that is stored in the message,
-	 * usually used after receiving.
-	 *
-	 * @return the Command stored in the Message
-	 */
-	Command_t getCommand() const;
-
-	/*
-	 * MessageQueueMessageIF functions, which generally just call the
-	 * respective functions of the internal message
-	 */
-	uint8_t * getBuffer() override;
-	const uint8_t * getBuffer() const override;
-	void setSender(MessageQueueId_t setId) override;
-	MessageQueueId_t getSender() const override;
-	uint8_t * getData() override;
-	const uint8_t* getData() const override;
+	/** MessageQueueMessageIF functions used for minimum size check. */
 	size_t getMinimumMessageSize() const override;
-	size_t getMessageSize() const override;
+	/** MessageQueueMessageIF functions used for maximum size check. */
 	size_t getMaximumMessageSize() const override;
 
-	/**
-	 * Extract message ID, which is the first byte of the command ID.
-	 * @return
-	 */
-	uint8_t getMessageType() const;
-	/**
-	 * Set the command type of the message
-	 * @param the Command to be sent
-	 */
-	void setCommand(Command_t command);
-
 	/**
 	 * Get the first parameter of the message
 	 * @return the first Parameter of the message
@@ -123,19 +97,17 @@ public:
 	 */
 	void setParameter2(uint32_t parameter2);
 
+	void clear() override;
 
 	/**
-	 * Set the command to CMD_NONE and try to find
-	 * the correct class to handle a more detailed
-	 * clear.
-	 * Also, calls a mission-specific clearMissionMessage
-	 * function to separate between framework and mission
-	 * messages. Not optimal, may be replaced by totally
-	 * different auto-delete solution (e.g. smart pointers).
+	 * Set the command to CMD_NONE and try to find the correct class to handle
+	 * a more detailed clear.
+	 * Also, calls a mission-specific clearMissionMessage function to separate
+	 * between framework and mission messages. Not optimal, may be replaced by
+	 * totally different auto-delete solution (e.g. smart pointers).
 	 *
 	 */
 	void clearCommandMessage();
-	void clear() override;
 
 	/**
 	 * check if a message was cleared
@@ -151,15 +123,6 @@ public:
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason,
 			Command_t initialCommand = CMD_NONE);
-
-private:
-	/**
-	 * @brief 	Pointer to the message containing the data.
-	 * @details
-	 * The command message does not actually own the memory containing a
-	 * message, it just oprates on it via a pointer to a message queue message.
-	 */
-	MessageQueueMessage* internalMessage;
 };
 
 
diff --git a/ipc/CommandMessageBase.cpp b/ipc/CommandMessageBase.cpp
new file mode 100644
index 00000000..aa84bd1e
--- /dev/null
+++ b/ipc/CommandMessageBase.cpp
@@ -0,0 +1,55 @@
+#include <framework/ipc/CommandMessageBase.h>
+#include <cstring>
+
+CommandMessageBase::CommandMessageBase(MessageQueueMessageIF *message):
+		internalMessage(message) {
+}
+
+Command_t CommandMessageBase::getCommand() const {
+	Command_t command;
+	std::memcpy(&command, internalMessage->getData(), sizeof(Command_t));
+	return command;
+}
+
+void CommandMessageBase::setCommand(Command_t command) {
+	std::memcpy(internalMessage->getData(), &command, sizeof(command));
+}
+
+uint8_t CommandMessageBase::getMessageType() const {
+	// first byte of command ID.
+	return getCommand() >> 8 & 0xff;
+}
+
+MessageQueueId_t CommandMessageBase::getSender() const {
+	return internalMessage->getSender();
+}
+
+uint8_t* CommandMessageBase::getBuffer() {
+	return internalMessage->getBuffer();
+}
+
+void CommandMessageBase::setSender(MessageQueueId_t setId) {
+	internalMessage->setSender(setId);
+}
+
+const uint8_t* CommandMessageBase::getBuffer() const {
+	return internalMessage->getBuffer();
+}
+
+// Header includes command ID.
+uint8_t* CommandMessageBase::getData() {
+	return internalMessage->getData() + sizeof(Command_t);
+}
+
+// Header includes command ID.
+const uint8_t* CommandMessageBase::getData() const {
+	return internalMessage->getData() + sizeof(Command_t);
+}
+
+void CommandMessageBase::setMessageSize(size_t messageSize) {
+	internalMessage->setMessageSize(messageSize);
+}
+
+size_t CommandMessageBase::getMessageSize() const {
+	return internalMessage->getMessageSize();
+}
diff --git a/ipc/CommandMessageBase.h b/ipc/CommandMessageBase.h
new file mode 100644
index 00000000..fa3fd477
--- /dev/null
+++ b/ipc/CommandMessageBase.h
@@ -0,0 +1,73 @@
+#ifndef FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_
+#define FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_
+#include <framework/ipc/CommandMessageIF.h>
+#include <framework/ipc/MessageQueueMessage.h>
+
+/**
+ * @brief	Base implementation of a generic command message, which has
+ * 			a Command_t ID and message type ID in the header in addition
+ * 			to the sender message queue ID.
+ * @details
+ * This is the base implementation serves as a base for other command messages
+ * and which implements most functions required for MessageQueueMessageIF.
+ * The only functions which have to be supplied by a specific command message
+ * impelementations are the size related functions which are used for
+ * size checks:
+ *
+ *  1. getMinimumMessageSize()
+ *  2. getMaximumMessageSize()
+ *
+ * Don't forget to set the message size of the passed message in the concrete
+ * commandmessage implementation!
+ */
+class CommandMessageBase: public CommandMessageIF {
+public:
+	CommandMessageBase(MessageQueueMessageIF* message);
+
+	/**
+	 * Read the DeviceHandlerCommand_t that is stored in the message,
+	 * usually used after receiving.
+	 *
+	 * @return the Command stored in the Message
+	 */
+	virtual Command_t getCommand() const override;
+	/**
+	 * Set the command type of the message. Default implementation also
+	 * sets the message type, which will be the first byte of the command ID.
+	 * @param the Command to be sent
+	 */
+	virtual void setCommand(Command_t command);
+
+	/**
+	 * Extract message ID, which is the first byte of the command ID for the
+	 * default implementation.
+	 * @return
+	 */
+	virtual uint8_t getMessageType() const override;
+
+	/*
+	 * MessageQueueMessageIF functions, which generally just call the
+	 * respective functions of the internal message queue message.
+	 */
+	virtual uint8_t * getBuffer() override;
+	virtual const uint8_t * getBuffer() const override;
+	virtual void setSender(MessageQueueId_t setId) override;
+	virtual MessageQueueId_t getSender() const override;
+	virtual uint8_t * getData() override;
+	virtual const uint8_t* getData() const override;
+	virtual void setMessageSize(size_t messageSize) override;
+	virtual size_t getMessageSize() const override;
+
+protected:
+	/**
+	 * @brief 	Pointer to the message containing the data.
+	 * @details
+	 * The command message does not actually own the memory containing a
+	 * message, it just oprates on it via a pointer to a message queue message.
+	 */
+	MessageQueueMessageIF* internalMessage;
+};
+
+
+
+#endif /* FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_ */
diff --git a/ipc/CommandMessageIF.h b/ipc/CommandMessageIF.h
new file mode 100644
index 00000000..fbc40f88
--- /dev/null
+++ b/ipc/CommandMessageIF.h
@@ -0,0 +1,25 @@
+#ifndef FRAMEWORK_IPC_COMMANDMESSAGEIF_H_
+#define FRAMEWORK_IPC_COMMANDMESSAGEIF_H_
+
+#include <framework/ipc/MessageQueueMessageIF.h>
+
+#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
+typedef uint16_t Command_t;
+
+class CommandMessageIF: public MessageQueueMessageIF {
+public:
+	virtual ~CommandMessageIF() {};
+
+	/**
+	 * A command message shall have a uint16_t command ID field.
+	 * @return
+	 */
+	virtual Command_t getCommand() const = 0;
+	/**
+	 * A command message shall have a uint8_t message type ID field.
+	 * @return
+	 */
+	virtual uint8_t getMessageType() const = 0;
+};
+
+#endif /* FRAMEWORK_IPC_COMMANDMESSAGEIF_H_ */
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index 8430a8ea..b173f2c4 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -75,3 +75,7 @@ size_t MessageQueueMessage::getMessageSize() const {
 size_t MessageQueueMessage::getMaximumMessageSize() const {
 	return this->MAX_MESSAGE_SIZE;
 }
+
+void MessageQueueMessage::setMessageSize(size_t messageSize) {
+	this->messageSize = messageSize;
+}
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 31a43f66..2eb1f4f5 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -3,7 +3,7 @@
 
 #include <framework/ipc/MessageQueueMessageIF.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
-#include <stddef.h>
+#include <cstddef>
 
 /**
  *	@brief		This class is the representation and data organizer
@@ -150,6 +150,7 @@ public:
 	virtual size_t getMinimumMessageSize() const override;
 
 	virtual size_t getMessageSize() const override;
+	virtual void setMessageSize(size_t messageSize) override;
 
 	virtual size_t getMaximumMessageSize() const override;
 
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index 05330ce9..f34cab98 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -24,7 +24,8 @@ public:
 
 	/**
 	 * @brief	With this method, the whole content and the message
-	 * 			size is set to zero.
+	 * 			size is set to zero. Implementations should also take care
+	 * 			to clear data which is stored indirectly (e.g. storage data).
 	 */
 	virtual void clear() = 0;
 
@@ -77,6 +78,7 @@ public:
 	 * @return
 	 */
 	virtual size_t getMessageSize() const = 0;
+	virtual void setMessageSize(size_t messageSize) = 0;
 
 	/**
 	 * Get maximum allowed size of current message implementation.

From 6b67f46c802aa1b421689097d3faf96668073c71 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 13 Jun 2020 17:37:48 +0200
Subject: [PATCH 134/307] evil hidden bug found.

CSB uses CommandMessageIF now
---
 datapoollocal/LocalDataPoolManager.cpp |  4 +-
 datapoollocal/LocalDataPoolManager.h   |  2 +-
 devicehandlers/DeviceHandlerBase.cpp   | 28 ++++--------
 devicehandlers/HealthDevice.cpp        |  2 +-
 housekeeping/HousekeepingMessage.cpp   | 45 +++++++++++++++++--
 housekeeping/HousekeepingMessage.h     | 29 +++++++++---
 ipc/CommandMessage.cpp                 | 33 +++++++++++---
 ipc/CommandMessage.h                   | 12 +++--
 ipc/CommandMessageBase.cpp             |  6 ++-
 ipc/CommandMessageBase.h               |  6 ++-
 ipc/CommandMessageIF.h                 | 16 +++++++
 ipc/MessageQueueMessage.h              |  4 +-
 osal/FreeRTOS/MessageQueue.cpp         |  2 +-
 osal/FreeRTOS/MessageQueue.h           | 22 ++++-----
 tmtcservices/CommandingServiceBase.cpp | 62 +++++++++++++++++---------
 tmtcservices/CommandingServiceBase.h   | 23 +++++++---
 tmtcservices/VerificationReporter.cpp  | 10 ++---
 17 files changed, 214 insertions(+), 92 deletions(-)

diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index 37dbed36..58694508 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -41,8 +41,8 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
-		MessageQueueMessage *message) {
-	return HasReturnvaluesIF::RETURN_OK;
+		HousekeepingMessage& message) {
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t LocalDataPoolManager::printPoolEntry(
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index 1d25fa48..d1a2d410 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -46,7 +46,7 @@ public:
 	LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
 
 	ReturnValue_t generateHousekeepingPacket(sid_t sid);
-	ReturnValue_t handleHousekeepingMessage(MessageQueueMessage* message);
+	ReturnValue_t handleHousekeepingMessage(HousekeepingMessage& message);
 
 	/**
 	 * This function is used to fill the local data pool map with pool
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 11cffc74..bf699848 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -225,15 +225,6 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	// This is really annoying. I can't cast a parent object to a child.
-	// But I want to use another message format..
-//	CommandMessage* cmdMessage = dynamic_cast<CommandMessage*>(msgPtr);
-//	if(cmdMessage == nullptr) {
-//		sif::error << "DeviceHandlerBase::readCommandQueue: Could not cast"
-//				" message to CommandMessage!" << std::endl;
-//		return;
-//	}
-
 	if(healthHelperActive) {
 		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
@@ -256,11 +247,11 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-//	HousekeepingMessage* hkMessage = dynamic_cast<HousekeepingMessage*>(msgPtr);
-//	result = hkManager.handleHousekeepingMessage(hkMessage);
-//	if (result == RETURN_OK) {
-//		return;
-//	}
+	HousekeepingMessage hkMessage(&message);
+	result = hkManager.handleHousekeepingMessage(hkMessage);
+	if (result == RETURN_OK) {
+		return;
+	}
 
 	result = handleDeviceHandlerMessage(&command);
 	if (result == RETURN_OK) {
@@ -758,7 +749,7 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		MessageQueueId_t sendTo, bool isCommand) {
-	if (IPCStore == NULL || len == 0 || sendTo == MessageQueueIF::NO_QUEUE) {
+	if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) {
 		return;
 	}
 	store_address_t address;
@@ -775,13 +766,12 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
 			getObjectId(), address, isCommand);
 
-//	this->DeviceHandlerCommand = CommandMessage::CMD_NONE;
-
-	result = commandQueue->sendMessage(sendTo, &message);
+	result = commandQueue->sendMessage(sendTo, &command);
 
 	if (result != RETURN_OK) {
 		IPCStore->deleteData(address);
-		//Silently discard data, this indicates heavy TM traffic which should not be increased by additional events.
+		// Silently discard data, this indicates heavy TM traffic which
+		// should not be increased by additional events.
 	}
 }
 
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index 1c9d18f6..7e3a59bd 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -5,7 +5,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId,
 		MessageQueueId_t parentQueue) :
 		SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue(
 				parentQueue), commandQueue(), healthHelper(this, setObjectId) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(3, CommandMessage::COMMAND_MESSAGE_SIZE);
+	commandQueue = QueueFactory::instance()->createMessageQueue(3, CommandMessage::MINIMUM_COMMAND_MESSAGE_SIZE);
 }
 
 HealthDevice::~HealthDevice() {
diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index d9daf974..6dd1a711 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -1,7 +1,46 @@
 #include <framework/housekeeping/HousekeepingMessage.h>
+#include <cstring>
 
-HousekeepingMessage::HousekeepingMessage(MessageQueueMessage *message):
-		CommandMessageBase	(message) {}
+HousekeepingMessage::HousekeepingMessage(MessageQueueMessageIF* message):
+		CommandMessageBase(message) {
+}
 
-HousekeepingMessage::~HousekeepingMessage() {}
+HousekeepingMessage::~HousekeepingMessage() {
+}
 
+void HousekeepingMessage::setHkReportMessage(sid_t sid,
+		store_address_t storeId) {
+	CommandMessageBase::setCommand(HK_REPORT);
+	setSid(sid);
+	setParameter(storeId.raw);
+}
+
+size_t HousekeepingMessage::getMinimumMessageSize() const {
+	return HK_MESSAGE_SIZE;
+}
+
+size_t HousekeepingMessage::getMaximumMessageSize() const {
+	return MessageQueueMessage::MAX_MESSAGE_SIZE;
+}
+
+void HousekeepingMessage::clear() {
+	// clear IPC store where it is needed.
+}
+
+sid_t HousekeepingMessage::getSid() const {
+	sid_t sid;
+	std::memcpy(&sid.raw, CommandMessageBase::getData(), sizeof(sid.raw));
+	return sid;
+}
+
+uint8_t* HousekeepingMessage::getData() {
+	return internalMessage->getBuffer() + sizeof(sid_t);
+}
+
+void HousekeepingMessage::setParameter(uint32_t parameter) {
+	memcpy(getData(), &parameter, sizeof(parameter));
+}
+
+void HousekeepingMessage::setSid(sid_t sid) {
+	std::memcpy(CommandMessageBase::getData(), &sid.raw, sizeof(sid.raw));
+}
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index d0cbd0eb..4e9d4553 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -13,13 +13,15 @@ union sid_t {
 
 	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
+		/**
+		 * 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.
+	 * Alternative access to the raw value. This is also the size of the type.
 	 */
 	uint64_t raw;
 };
@@ -27,14 +29,18 @@ union sid_t {
 
 class HousekeepingMessage : public CommandMessageBase {
 public:
+
+	static constexpr size_t HK_MESSAGE_SIZE = sizeof(MessageQueueId_t)
+			+ sizeof(Command_t) + sizeof(sid_t) * sizeof(uint32_t);
 	/**
 	 * No instances of a message shall be created, instead
 	 * a CommandMessage instance is manipulated.
 	 */
-	HousekeepingMessage(MessageQueueMessage* message);
+	HousekeepingMessage(MessageQueueMessageIF* message);
 	virtual ~HousekeepingMessage();
 
 	static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
+
 	static constexpr Command_t ADD_HK_REPORT_STRUCT =
 			MAKE_COMMAND_ID(1);
 	static constexpr Command_t ADD_DIAGNOSTICS_REPORT_STRUCT =
@@ -79,7 +85,18 @@ public:
 	static constexpr Command_t MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL =
 			MAKE_COMMAND_ID(32);
 
-	static void setHkReportMessage();
+	void setHkReportMessage(sid_t sid, store_address_t storeId);
+
+	void setParameter(uint32_t parameter);
+
+	virtual void clear() override;
+	virtual size_t getMinimumMessageSize() const override;
+	virtual size_t getMaximumMessageSize() const override;
+
+	virtual uint8_t* getData() override;
+private:
+	sid_t getSid() const;
+	void setSid(sid_t sid);
 };
 
 
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 8f53b77c..9d448aed 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -9,18 +9,25 @@
 #include <framework/tmstorage/TmStoreMessage.h>
 #include <framework/parameters/ParameterMessage.h>
 
-CommandMessage::CommandMessage(MessageQueueMessage* receiverMessage):
+CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
 			CommandMessageBase(receiverMessage) {
 	if(receiverMessage == nullptr) {
 		sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
 				" as the message queue message, pass the address of an actual"
 				" message!" << std::endl;
+		return;
 	}
-	internalMessage->setMessageSize(COMMAND_MESSAGE_SIZE);
-	setCommand(CMD_NONE);
+	if(receiverMessage->getMaximumMessageSize() <
+			MINIMUM_COMMAND_MESSAGE_SIZE) {
+		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
+				" can not hold minimum "<< MINIMUM_COMMAND_MESSAGE_SIZE
+				<< " bytes!" << std::endl;
+		return;
+	}
+	internalMessage->setMessageSize(MINIMUM_COMMAND_MESSAGE_SIZE);
 }
 
-CommandMessage::CommandMessage(MessageQueueMessage* messageToSet,
+CommandMessage::CommandMessage(MessageQueueMessageIF* messageToSet,
 		Command_t command, uint32_t parameter1, uint32_t parameter2):
 				CommandMessageBase(messageToSet) {
 	if(messageToSet == nullptr) {
@@ -28,7 +35,14 @@ CommandMessage::CommandMessage(MessageQueueMessage* messageToSet,
 				" as the message queue message, pass the address of an actual"
 				" message!" << std::endl;
 	}
-	internalMessage->setMessageSize(COMMAND_MESSAGE_SIZE);
+	if(messageToSet->getMaximumMessageSize() <
+			MINIMUM_COMMAND_MESSAGE_SIZE) {
+		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
+				" can not hold minimum "<< MINIMUM_COMMAND_MESSAGE_SIZE
+				<< " bytes!" << std::endl;
+		return;
+	}
+	internalMessage->setMessageSize(MINIMUM_COMMAND_MESSAGE_SIZE);
 	setCommand(command);
 	setParameter(parameter1);
 	setParameter2(parameter2);
@@ -57,7 +71,7 @@ void CommandMessage::setParameter2(uint32_t parameter2) {
 }
 
 size_t CommandMessage::getMinimumMessageSize() const {
-	return COMMAND_MESSAGE_SIZE;
+	return MINIMUM_COMMAND_MESSAGE_SIZE;
 }
 
 size_t CommandMessage::getMaximumMessageSize() const {
@@ -81,6 +95,13 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 	setParameter2(initialCommand);
 }
 
+ReturnValue_t CommandMessage::getRejectedReplyReason(
+		Command_t* initialCommand) const {
+	if(initialCommand != nullptr) {
+		*initialCommand  = getParameter2();
+	}
+	return getParameter();
+}
 
 void CommandMessage::clear() {
 	clearCommandMessage();
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 434f8c8c..8e1e9c8c 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -42,8 +42,9 @@ public:
 	 * This is the size of a message as it is seen by the MessageQueue.
 	 * 14 of the 24 available MessageQueueMessage bytes are used.
 	 */
-	static const size_t COMMAND_MESSAGE_SIZE = MessageQueueMessage::HEADER_SIZE
-			+ sizeof(Command_t) + 2 * sizeof(uint32_t);
+	static const size_t MINIMUM_COMMAND_MESSAGE_SIZE =
+			MessageQueueMessage::HEADER_SIZE + sizeof(Command_t) +
+			2 * sizeof(uint32_t);
 
 	/**
 	 * Default Constructor, does not initialize anything.
@@ -51,7 +52,7 @@ public:
 	 * This constructor should be used when receiving a Message, as the
 	 * content is filled by the MessageQueue.
 	 */
-	CommandMessage(MessageQueueMessage* receiverMessage);
+	CommandMessage(MessageQueueMessageIF* receiverMessage);
 	/**
 	 * This constructor creates a new message with all message content
 	 * initialized
@@ -60,7 +61,7 @@ public:
 	 * @param parameter1	The first parameter
 	 * @param parameter2	The second parameter
 	 */
-	CommandMessage(MessageQueueMessage* messageToSet, Command_t command,
+	CommandMessage(MessageQueueMessageIF* messageToSet, Command_t command,
 			uint32_t parameter1, uint32_t parameter2);
 
 	/**
@@ -121,8 +122,11 @@ public:
 	 * Is needed quite often, so we better code it once only.
 	 */
 	void setToUnknownCommand();
+
 	void setReplyRejected(ReturnValue_t reason,
 			Command_t initialCommand = CMD_NONE);
+	ReturnValue_t getRejectedReplyReason(
+			Command_t* initialCommand = nullptr) const;
 };
 
 
diff --git a/ipc/CommandMessageBase.cpp b/ipc/CommandMessageBase.cpp
index aa84bd1e..3ffe4daa 100644
--- a/ipc/CommandMessageBase.cpp
+++ b/ipc/CommandMessageBase.cpp
@@ -12,7 +12,7 @@ Command_t CommandMessageBase::getCommand() const {
 }
 
 void CommandMessageBase::setCommand(Command_t command) {
-	std::memcpy(internalMessage->getData(), &command, sizeof(command));
+	std::memcpy(internalMessage->getData(), &command, sizeof(Command_t));
 }
 
 uint8_t CommandMessageBase::getMessageType() const {
@@ -53,3 +53,7 @@ void CommandMessageBase::setMessageSize(size_t messageSize) {
 size_t CommandMessageBase::getMessageSize() const {
 	return internalMessage->getMessageSize();
 }
+
+MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
+	return internalMessage;
+}
diff --git a/ipc/CommandMessageBase.h b/ipc/CommandMessageBase.h
index fa3fd477..b2b7d5f2 100644
--- a/ipc/CommandMessageBase.h
+++ b/ipc/CommandMessageBase.h
@@ -22,6 +22,9 @@
  */
 class CommandMessageBase: public CommandMessageIF {
 public:
+	static constexpr size_t HEADER_SIZE = sizeof(MessageQueueId_t) +
+			sizeof(Command_t);
+
 	CommandMessageBase(MessageQueueMessageIF* message);
 
 	/**
@@ -58,6 +61,7 @@ public:
 	virtual void setMessageSize(size_t messageSize) override;
 	virtual size_t getMessageSize() const override;
 
+	virtual MessageQueueMessageIF* getInternalMessage() const override;
 protected:
 	/**
 	 * @brief 	Pointer to the message containing the data.
@@ -65,7 +69,7 @@ protected:
 	 * The command message does not actually own the memory containing a
 	 * message, it just oprates on it via a pointer to a message queue message.
 	 */
-	MessageQueueMessageIF* internalMessage;
+	MessageQueueMessageIF* internalMessage = nullptr;
 };
 
 
diff --git a/ipc/CommandMessageIF.h b/ipc/CommandMessageIF.h
index fbc40f88..44853c38 100644
--- a/ipc/CommandMessageIF.h
+++ b/ipc/CommandMessageIF.h
@@ -6,6 +6,12 @@
 #define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
 typedef uint16_t Command_t;
 
+// TODO: actually, this interface propably does not have to implement
+// MQM IF, because there is a getter function for the internal message..
+// But it is also convenient to have the full access to all MQM IF functions.
+// That way, I can just pass CommandMessages to functions expecting a MQM IF.
+// The command message implementations just forwards the calls. Maybe
+// we should just leave it like that.
 class CommandMessageIF: public MessageQueueMessageIF {
 public:
 	virtual ~CommandMessageIF() {};
@@ -20,6 +26,16 @@ public:
 	 * @return
 	 */
 	virtual uint8_t getMessageType() const = 0;
+
+	/**
+	 * This function is used to get a pointer to the internal message, as
+	 * the command message implementations always operate on the memory
+	 * contained in the message queue message implementation.
+	 * This pointer can be used to set the internal message of different
+	 * command message implementations.
+	 * @return
+	 */
+	virtual MessageQueueMessageIF* getInternalMessage() const = 0;
 };
 
 #endif /* FRAMEWORK_IPC_COMMANDMESSAGEIF_H_ */
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 2eb1f4f5..8716df54 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -88,12 +88,12 @@ public:
 	 * queue in the system. So, a change here may have significant impact on
 	 * the required resources.
 	 */
-	static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
+	static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
 	/**
 	 * @brief Defines the minimum size of a message where only the
 	 * 		  header is included
 	 */
-	static const size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
+	static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
 private:
 	/**
 	 * @brief	This is the internal buffer that contains the
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 8c6ec80b..d44b0bc0 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -101,7 +101,7 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 }
 
 MessageQueueId_t MessageQueue::getId() const {
-	return (MessageQueueId_t) handle;
+	return reinterpret_cast<MessageQueueId_t>(handle);
 }
 
 void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index 6165c1cf..c13a8a20 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -3,7 +3,7 @@
 
 #include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
+#include <framework/ipc/MessageQueueMessageIF.h>
 #include <framework/osal/FreeRTOS/TaskManagement.h>
 
 #include <freertos/FreeRTOS.h>
@@ -85,14 +85,14 @@ 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,
-			MessageQueueMessageIF* message, bool ignoreFault = false );
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
 	/**
 	 * @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( MessageQueueMessageIF* message );
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using the stored
@@ -100,7 +100,7 @@ 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( MessageQueueMessageIF* message );
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
 
 	/**
 	 * @brief	With the sendMessage call, a queue message is sent to a receiving queue.
@@ -113,9 +113,10 @@ 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,
-			MessageQueueMessageIF* 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) override;
 
 	/**
 	 * @brief	The sendToDefault method sends a queue message to the default destination.
@@ -125,7 +126,8 @@ public:
 	 * 					This variable is set to zero by default.
 	 */
 	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
-			MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
 
 	/**
 	 * @brief	This function reads available messages from the message queue and returns the sender.
@@ -135,7 +137,7 @@ public:
 	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
 	 */
 	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-			MessageQueueId_t *receivedFrom);
+			MessageQueueId_t *receivedFrom) override;
 
 	/**
 	 * @brief	This function reads available messages from the message queue.
@@ -145,7 +147,7 @@ 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(MessageQueueMessageIF* message);
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 72351995..65053cc8 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -81,40 +81,58 @@ void CommandingServiceBase::handleCommandQueue() {
 	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		handleCommandMessage(reply);
+		if(reply.getInternalMessage() == nullptr) {
+			// This should never happen unless the passed message maximum size
+			// is too small!
+			sif::error << "CommandingServiceBase::handleCommandMessage: Reply"
+					"does not satisfy minimum requirements for a command "
+					"message!" << std::endl;
+			continue;
+		}
+		handleCommandMessage(&reply);
 	}
 }
 
 
-void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
+void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	bool isStep = false;
 	MessageQueueMessage message;
 	CommandMessage nextCommand(&message);
-	CommandMapIter iter;
-	if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-		handleUnrequestedReply(&reply);
-		return;
-	}
-	if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
-		handleUnrequestedReply(&reply);
+	CommandMapIter iter = commandMap.find(reply->getSender());
+
+	// handle unrequested reply first
+	if (reply->getSender() == MessageQueueIF::NO_QUEUE or
+			iter == commandMap.end()) {
+		handleUnrequestedReply(reply);
 		return;
 	}
 	nextCommand.setCommand(CommandMessage::CMD_NONE);
 
+
 	// Implemented by child class, specifies what to do with reply.
-	ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
+	ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
 			&nextCommand, iter->objectId, &isStep);
 
+	/* If the child implementation does not implement special handling for
+	 * rejected replies (RETURN_FAILED is returned), a failure verification
+	 * will be generated with the reason as the return code and the initial
+	 * command as failure parameter 1 */
+	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
+			result == RETURN_FAILED) {
+		result = reply->getRejectedReplyReason(
+				reinterpret_cast<Command_t*>(&failureParameter1));
+	}
+
 	switch (result) {
 	case EXECUTION_COMPLETE:
 	case RETURN_OK:
 	case NO_STEP_MESSAGE:
 		// handle result of reply handler implemented by developer.
-		handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
+		handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
 		break;
 	case INVALID_REPLY:
 		//might be just an unrequested reply at a bad moment
-		handleUnrequestedReply(&reply);
+		handleUnrequestedReply(reply);
 		break;
 	default:
 		if (isStep) {
@@ -138,17 +156,17 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
 }
 
 void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
-		CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
+		CommandMapIter iter, CommandMessage* nextCommand, CommandMessage* reply,
 		bool& isStep) {
-	iter->command = nextCommand.getCommand();
+	iter->command = nextCommand->getCommand();
 
 	// In case a new command is to be sent immediately, this is performed here.
 	// If no new command is sent, only analyse reply result by initializing
 	// sendResult as RETURN_OK
 	ReturnValue_t sendResult = RETURN_OK;
-	if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
-		sendResult = commandQueue->sendMessage(reply.getSender(),
-				&nextCommand);
+	if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply->getSender(),
+				nextCommand);
 	}
 
 	if (sendResult == RETURN_OK) {
@@ -168,14 +186,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 	}
 	else {
 		if (isStep) {
-			nextCommand.clearCommandMessage();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, sendResult,
 					++iter->step, failureParameter1, failureParameter2);
 		} else {
-			nextCommand.clearCommandMessage();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@@ -366,9 +384,9 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 }
 
 
-void CommandingServiceBase::handleUnrequestedReply(
-		CommandMessage* reply) {
-	reply->clearCommandMessage();
+void CommandingServiceBase::handleUnrequestedReply(CommandMessageIF* reply) {
+	CommandMessage commandReply(reply->getInternalMessage());
+	commandReply.clear();
 }
 
 
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 1dcafff8..5adfe4a6 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -147,9 +147,11 @@ protected:
 
 	/**
 	 * This function is implemented by child services to specify how replies
-	 * to a command from another software component are handled
+	 * to a command from another software component are handled.
 	 * @param reply
-	 * This is the reply in form of a command message.
+	 * This is the reply which can be accessed via the command message
+	 * interface. The internal message pointer can be passed to different
+	 * command message implementations (see CommandMessageIF)
 	 * @param previousCommand
 	 * Command_t of related command
 	 * @param state [out/in]
@@ -163,9 +165,12 @@ protected:
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
 	 * - @c INVALID_REPLY calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
+	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
+	 *   a failure verification message with the reason as the error parameter
+	 *   and the initial command as failure parameter 1.
 	 */
-	virtual ReturnValue_t handleReply(const CommandMessage *reply,
+	virtual ReturnValue_t handleReply(const CommandMessageIF *reply,
 			Command_t previousCommand, uint32_t *state,
 			CommandMessage *optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
@@ -173,9 +178,13 @@ protected:
 	/**
 	 * This function can be overidden to handle unrequested reply,
 	 * when the reply sender ID is unknown or is not found is the command map.
+	 * The default implementation will clear the command message and all
+	 * its contents.
 	 * @param reply
+	 * Reply which is non-const so the default implementation can clear the
+	 * message.
 	 */
-	virtual void handleUnrequestedReply(CommandMessage *reply);
+	virtual void handleUnrequestedReply(CommandMessageIF *reply);
 
 	virtual void doPeriodicOperation();
 
@@ -303,9 +312,9 @@ private:
 
 	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
 
-	void handleCommandMessage(CommandMessage& reply);
+	void handleCommandMessage(CommandMessage* reply);
 	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
-			CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
+			CommandMessage* nextCommand,CommandMessage* reply, bool& isStep);
 
 	void checkTimeout();
 };
diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp
index 4484fb9b..b0247944 100644
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@@ -24,9 +24,8 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			current_packet->getPacketSequenceControl(), 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
+				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
 	}
 }
 
@@ -40,9 +39,8 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			tcSequenceControl, 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
+				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
 	}
 }
 

From 8c03f6a823afca715f51d01cbecdbaa5e6ca185e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 13 Jun 2020 21:01:01 +0200
Subject: [PATCH 135/307] command message only passed IF now

---
 ipc/CommandMessage.cpp                 | 74 +++-----------------------
 ipc/CommandMessage.h                   | 33 ------------
 ipc/CommandMessageBase.cpp             | 23 ++++++++
 ipc/CommandMessageBase.h               | 21 ++++++--
 ipc/CommandMessageCleaner.cpp          | 45 ++++++++++++++++
 ipc/CommandMessageCleaner.h            | 16 ++++++
 ipc/CommandMessageIF.h                 | 34 ++++++++++++
 memory/MemoryHelper.cpp                |  2 +-
 tmtcservices/CommandingServiceBase.cpp | 16 +++---
 tmtcservices/CommandingServiceBase.h   |  8 +--
 10 files changed, 155 insertions(+), 117 deletions(-)
 create mode 100644 ipc/CommandMessageCleaner.cpp
 create mode 100644 ipc/CommandMessageCleaner.h

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 9d448aed..39290688 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -1,13 +1,5 @@
 #include <framework/ipc/CommandMessage.h>
-
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/memory/MemoryMessage.h>
-#include <framework/modes/ModeMessage.h>
-#include <framework/monitoring/MonitoringMessage.h>
-#include <framework/subsystem/modes/ModeSequenceMessage.h>
-#include <framework/tmstorage/TmStoreMessage.h>
-#include <framework/parameters/ParameterMessage.h>
+#include <cstring>
 
 CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
 			CommandMessageBase(receiverMessage) {
@@ -50,23 +42,23 @@ CommandMessage::CommandMessage(MessageQueueMessageIF* messageToSet,
 
 uint32_t CommandMessage::getParameter() const {
 	uint32_t parameter1;
-	memcpy(&parameter1, CommandMessageBase::getData(), sizeof(parameter1));
+	std::memcpy(&parameter1, CommandMessageBase::getData(), sizeof(parameter1));
 	return parameter1;
 }
 
 void CommandMessage::setParameter(uint32_t parameter1) {
-	memcpy(CommandMessageBase::getData(), &parameter1, sizeof(parameter1));
+	std::memcpy(CommandMessageBase::getData(), &parameter1, sizeof(parameter1));
 }
 
 uint32_t CommandMessage::getParameter2() const {
 	uint32_t parameter2;
-	memcpy(&parameter2, CommandMessageBase::getData() + sizeof(uint32_t),
+	std::memcpy(&parameter2, CommandMessageBase::getData() + sizeof(uint32_t),
 			sizeof(parameter2));
 	return parameter2;
 }
 
 void CommandMessage::setParameter2(uint32_t parameter2) {
-	memcpy(CommandMessageBase::getData()  + sizeof(uint32_t), &parameter2,
+	std::memcpy(CommandMessageBase::getData()  + sizeof(uint32_t), &parameter2,
 			sizeof(parameter2));
 }
 
@@ -84,60 +76,6 @@ bool CommandMessage::isClearedCommandMessage() {
 
 void CommandMessage::setToUnknownCommand() {
 	Command_t initialCommand = getCommand();
-	clearCommandMessage();
+	this->clear();
 	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }
-
-void CommandMessage::setReplyRejected(ReturnValue_t reason,
-		Command_t initialCommand) {
-	setCommand(REPLY_REJECTED);
-	setParameter(reason);
-	setParameter2(initialCommand);
-}
-
-ReturnValue_t CommandMessage::getRejectedReplyReason(
-		Command_t* initialCommand) const {
-	if(initialCommand != nullptr) {
-		*initialCommand  = getParameter2();
-	}
-	return getParameter();
-}
-
-void CommandMessage::clear() {
-	clearCommandMessage();
-}
-
-void CommandMessage::clearCommandMessage() {
-	switch(this->getMessageType()){
-	case  messagetypes::MODE_COMMAND:
-		ModeMessage::clear(this);
-		break;
-	case messagetypes::HEALTH_COMMAND:
-		HealthMessage::clear(this);
-		break;
-	case messagetypes::MODE_SEQUENCE:
-		ModeSequenceMessage::clear(this);
-		break;
-	case messagetypes::ACTION:
-		ActionMessage::clear(this);
-		break;
-	case messagetypes::DEVICE_HANDLER_COMMAND:
-		DeviceHandlerMessage::clear(this);
-		break;
-	case messagetypes::MEMORY:
-		MemoryMessage::clear(this);
-		break;
-	case messagetypes::MONITORING:
-		MonitoringMessage::clear(this);
-		break;
-	case messagetypes::TM_STORE:
-		TmStoreMessage::clear(this);
-		break;
-	case messagetypes::PARAMETER:
-		ParameterMessage::clear(this);
-		break;
-	default:
-		messagetypes::clearMissionMessage(this);
-		break;
-	}
-}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 8e1e9c8c..72f39357 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -5,11 +5,6 @@
 #include <framework/ipc/MessageQueueMessage.h>
 #include <framework/ipc/FwMessageTypes.h>
 
-namespace messagetypes {
-// Implemented in config.
-void clearMissionMessage(CommandMessageIF* message);
-}
-
 /**
  * @brief 	Default command message used to pass command messages between tasks.
  * 			Primary message type for IPC. Contains sender, 2-byte command ID
@@ -27,17 +22,6 @@ void clearMissionMessage(CommandMessageIF* message);
  */
 class CommandMessage: public CommandMessageBase {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
-
-	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
-	//! Used internally, will be ignored
-	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
-	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
-	//! Reply indicating that the current command was rejected,
-	//! par1 should contain the error code
-	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );
-
 	/**
 	 * This is the size of a message as it is seen by the MessageQueue.
 	 * 14 of the 24 available MessageQueueMessage bytes are used.
@@ -98,18 +82,6 @@ public:
 	 */
 	void setParameter2(uint32_t parameter2);
 
-	void clear() override;
-
-	/**
-	 * Set the command to CMD_NONE and try to find the correct class to handle
-	 * a more detailed clear.
-	 * Also, calls a mission-specific clearMissionMessage function to separate
-	 * between framework and mission messages. Not optimal, may be replaced by
-	 * totally different auto-delete solution (e.g. smart pointers).
-	 *
-	 */
-	void clearCommandMessage();
-
 	/**
 	 * check if a message was cleared
 	 *
@@ -122,11 +94,6 @@ public:
 	 * Is needed quite often, so we better code it once only.
 	 */
 	void setToUnknownCommand();
-
-	void setReplyRejected(ReturnValue_t reason,
-			Command_t initialCommand = CMD_NONE);
-	ReturnValue_t getRejectedReplyReason(
-			Command_t* initialCommand = nullptr) const;
 };
 
 
diff --git a/ipc/CommandMessageBase.cpp b/ipc/CommandMessageBase.cpp
index 3ffe4daa..7085ab88 100644
--- a/ipc/CommandMessageBase.cpp
+++ b/ipc/CommandMessageBase.cpp
@@ -1,4 +1,5 @@
 #include <framework/ipc/CommandMessageBase.h>
+#include <framework/ipc/CommandMessageCleaner.h>
 #include <cstring>
 
 CommandMessageBase::CommandMessageBase(MessageQueueMessageIF *message):
@@ -57,3 +58,25 @@ size_t CommandMessageBase::getMessageSize() const {
 MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
 	return internalMessage;
 }
+
+void CommandMessageBase::setReplyRejected(ReturnValue_t reason,
+		Command_t initialCommand) {
+	std::memcpy(getData(), &reason, sizeof(reason));
+	std::memcpy(getData() + sizeof(reason), &initialCommand,
+			sizeof(initialCommand));
+}
+
+ReturnValue_t CommandMessageBase::getReplyRejectedReason(
+		Command_t *initialCommand) const {
+	ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
+	std::memcpy(&reason, getData(), sizeof(reason));
+	if(initialCommand != nullptr) {
+		std::memcpy(initialCommand, getData() + sizeof(reason),
+				sizeof(Command_t));
+	}
+	return reason;
+}
+
+void CommandMessageBase::clear() {
+	CommandMessageCleaner::clearCommandMessage(this);
+}
diff --git a/ipc/CommandMessageBase.h b/ipc/CommandMessageBase.h
index b2b7d5f2..d2f24c7e 100644
--- a/ipc/CommandMessageBase.h
+++ b/ipc/CommandMessageBase.h
@@ -22,9 +22,6 @@
  */
 class CommandMessageBase: public CommandMessageIF {
 public:
-	static constexpr size_t HEADER_SIZE = sizeof(MessageQueueId_t) +
-			sizeof(Command_t);
-
 	CommandMessageBase(MessageQueueMessageIF* message);
 
 	/**
@@ -61,7 +58,25 @@ public:
 	virtual void setMessageSize(size_t messageSize) override;
 	virtual size_t getMessageSize() const override;
 
+	/**
+	 * A command message can be rejected and needs to offer a function
+	 * to set a rejected reply
+	 * @param reason
+	 * @param initialCommand
+	 */
+	void setReplyRejected(ReturnValue_t reason,
+			Command_t initialCommand) override;
+	/**
+	 * Corrensonding getter function.
+	 * @param initialCommand
+	 * @return
+	 */
+	ReturnValue_t getReplyRejectedReason(
+			Command_t* initialCommand = nullptr) const override;
+
 	virtual MessageQueueMessageIF* getInternalMessage() const override;
+
+	virtual void clear() override;
 protected:
 	/**
 	 * @brief 	Pointer to the message containing the data.
diff --git a/ipc/CommandMessageCleaner.cpp b/ipc/CommandMessageCleaner.cpp
new file mode 100644
index 00000000..7153a8e7
--- /dev/null
+++ b/ipc/CommandMessageCleaner.cpp
@@ -0,0 +1,45 @@
+#include <framework/ipc/CommandMessageCleaner.h>
+
+#include <framework/devicehandlers/DeviceHandlerMessage.h>
+#include <framework/health/HealthMessage.h>
+#include <framework/memory/MemoryMessage.h>
+#include <framework/modes/ModeMessage.h>
+#include <framework/monitoring/MonitoringMessage.h>
+#include <framework/subsystem/modes/ModeSequenceMessage.h>
+#include <framework/tmstorage/TmStoreMessage.h>
+#include <framework/parameters/ParameterMessage.h>
+
+void CommandMessageCleaner::clearCommandMessage(CommandMessageIF* message) {
+	switch(message->getMessageType()){
+	case  messagetypes::MODE_COMMAND:
+		ModeMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	case messagetypes::HEALTH_COMMAND:
+		HealthMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	case messagetypes::MODE_SEQUENCE:
+		ModeSequenceMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	case messagetypes::ACTION:
+		ActionMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	case messagetypes::DEVICE_HANDLER_COMMAND:
+		DeviceHandlerMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	case messagetypes::MEMORY:
+		MemoryMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	case messagetypes::MONITORING:
+		MonitoringMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	case messagetypes::TM_STORE:
+		TmStoreMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	case messagetypes::PARAMETER:
+		ParameterMessage::clear(dynamic_cast<CommandMessage*>(message));
+		break;
+	default:
+		messagetypes::clearMissionMessage(message);
+		break;
+	}
+}
diff --git a/ipc/CommandMessageCleaner.h b/ipc/CommandMessageCleaner.h
new file mode 100644
index 00000000..0bd369a2
--- /dev/null
+++ b/ipc/CommandMessageCleaner.h
@@ -0,0 +1,16 @@
+#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#include <framework/ipc/CommandMessageIF.h>
+
+namespace messagetypes {
+// Implemented in config.
+void clearMissionMessage(CommandMessageIF* message);
+}
+
+class CommandMessageCleaner {
+public:
+	static void clearCommandMessage(CommandMessageIF* message);
+};
+
+
+#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */
diff --git a/ipc/CommandMessageIF.h b/ipc/CommandMessageIF.h
index 44853c38..fbfbddbb 100644
--- a/ipc/CommandMessageIF.h
+++ b/ipc/CommandMessageIF.h
@@ -2,6 +2,9 @@
 #define FRAMEWORK_IPC_COMMANDMESSAGEIF_H_
 
 #include <framework/ipc/MessageQueueMessageIF.h>
+#include <framework/ipc/FwMessageTypes.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
 
 #define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
 typedef uint16_t Command_t;
@@ -14,6 +17,20 @@ typedef uint16_t Command_t;
 // we should just leave it like that.
 class CommandMessageIF: public MessageQueueMessageIF {
 public:
+	static constexpr size_t HEADER_SIZE = sizeof(MessageQueueId_t) +
+			sizeof(Command_t);
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
+	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
+
+	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
+	//! Used internally, shall be ignored
+	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
+	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
+	//! Reply indicating that the current command was rejected,
+	//! par1 should contain the error code
+	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
+
 	virtual ~CommandMessageIF() {};
 
 	/**
@@ -27,6 +44,22 @@ public:
 	 */
 	virtual uint8_t getMessageType() const = 0;
 
+	/**
+	 * A command message can be rejected and needs to offer a function
+	 * to set a rejected reply
+	 * @param reason
+	 * @param initialCommand
+	 */
+	virtual void setReplyRejected(ReturnValue_t reason,
+			Command_t initialCommand) = 0;
+	/**
+	 * Corrensonding getter function.
+	 * @param initialCommand
+	 * @return
+	 */
+	virtual ReturnValue_t getReplyRejectedReason(
+			Command_t* initialCommand = nullptr) const  = 0;
+
 	/**
 	 * This function is used to get a pointer to the internal message, as
 	 * the command message implementations always operate on the memory
@@ -36,6 +69,7 @@ public:
 	 * @return
 	 */
 	virtual MessageQueueMessageIF* getInternalMessage() const = 0;
+
 };
 
 #endif /* FRAMEWORK_IPC_COMMANDMESSAGEIF_H_ */
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 2c384651..fb4d9eb6 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -119,7 +119,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
 		break;
 	}
 	if (queueToUse->sendMessage(lastSender, &reply) != RETURN_OK) {
-		reply.clearCommandMessage();
+		reply.clear();
 	}
 }
 
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 65053cc8..97856b40 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -94,7 +94,7 @@ void CommandingServiceBase::handleCommandQueue() {
 }
 
 
-void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
+void CommandingServiceBase::handleCommandMessage(CommandMessageIF* reply) {
 	bool isStep = false;
 	MessageQueueMessage message;
 	CommandMessage nextCommand(&message);
@@ -119,7 +119,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	 * command as failure parameter 1 */
 	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
 			result == RETURN_FAILED) {
-		result = reply->getRejectedReplyReason(
+		result = reply->getReplyRejectedReason(
 				reinterpret_cast<Command_t*>(&failureParameter1));
 	}
 
@@ -156,8 +156,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 }
 
 void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
-		CommandMapIter iter, CommandMessage* nextCommand, CommandMessage* reply,
-		bool& isStep) {
+		CommandMapIter iter, CommandMessageIF* nextCommand,
+		CommandMessageIF* reply, bool& isStep) {
 	iter->command = nextCommand->getCommand();
 
 	// In case a new command is to be sent immediately, this is performed here.
@@ -186,14 +186,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 	}
 	else {
 		if (isStep) {
-			nextCommand->clearCommandMessage();
+			nextCommand->clear();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, sendResult,
 					++iter->step, failureParameter1, failureParameter2);
 		} else {
-			nextCommand->clearCommandMessage();
+			nextCommand->clear();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@@ -329,7 +329,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			command.clearCommandMessage();
+			command.clear();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -346,7 +346,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			command.clearCommandMessage();
+			command.clear();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 5adfe4a6..5e2c3171 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -141,7 +141,7 @@ protected:
 	 * @param objectId Target object ID
 	 * @return
 	 */
-	virtual ReturnValue_t prepareCommand(CommandMessage *message,
+	virtual ReturnValue_t prepareCommand(CommandMessageIF *message,
 			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
@@ -172,7 +172,7 @@ protected:
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessageIF *reply,
 			Command_t previousCommand, uint32_t *state,
-			CommandMessage *optionalNextCommand, object_id_t objectId,
+			CommandMessageIF *optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
 	/**
@@ -312,9 +312,9 @@ private:
 
 	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
 
-	void handleCommandMessage(CommandMessage* reply);
+	void handleCommandMessage(CommandMessageIF* reply);
 	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
-			CommandMessage* nextCommand,CommandMessage* reply, bool& isStep);
+			CommandMessageIF* nextCommand,CommandMessageIF* reply, bool& isStep);
 
 	void checkTimeout();
 };

From 9f69191f234d84e8d73b6ceeeabac3699466aaea Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 14 Jun 2020 17:59:14 +0200
Subject: [PATCH 136/307] optimized command messages a bit

---
 ipc/CommandMessage.cpp     |  4 ----
 ipc/CommandMessage.h       |  6 ++----
 ipc/CommandMessageBase.cpp |  8 ++++++++
 ipc/CommandMessageBase.h   | 16 +++++++++++++++-
 4 files changed, 25 insertions(+), 9 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 39290688..64d4d41c 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -66,10 +66,6 @@ size_t CommandMessage::getMinimumMessageSize() const {
 	return MINIMUM_COMMAND_MESSAGE_SIZE;
 }
 
-size_t CommandMessage::getMaximumMessageSize() const {
-	return MessageQueueMessage::MAX_MESSAGE_SIZE;
-}
-
 bool CommandMessage::isClearedCommandMessage() {
 	return getCommand() == CMD_NONE;
 }
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 72f39357..a09494c6 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -24,11 +24,11 @@ class CommandMessage: public CommandMessageBase {
 public:
 	/**
 	 * This is the size of a message as it is seen by the MessageQueue.
+	 * It can hold the CommandMessage header plus 2 4-byte parameters.
 	 * 14 of the 24 available MessageQueueMessage bytes are used.
 	 */
 	static const size_t MINIMUM_COMMAND_MESSAGE_SIZE =
-			MessageQueueMessage::HEADER_SIZE + sizeof(Command_t) +
-			2 * sizeof(uint32_t);
+			CommandMessageIF::HEADER_SIZE + 2 * sizeof(uint32_t);
 
 	/**
 	 * Default Constructor, does not initialize anything.
@@ -55,8 +55,6 @@ public:
 
 	/** MessageQueueMessageIF functions used for minimum size check. */
 	size_t getMinimumMessageSize() const override;
-	/** MessageQueueMessageIF functions used for maximum size check. */
-	size_t getMaximumMessageSize() const override;
 
 	/**
 	 * Get the first parameter of the message
diff --git a/ipc/CommandMessageBase.cpp b/ipc/CommandMessageBase.cpp
index 7085ab88..80f9d378 100644
--- a/ipc/CommandMessageBase.cpp
+++ b/ipc/CommandMessageBase.cpp
@@ -55,10 +55,18 @@ size_t CommandMessageBase::getMessageSize() const {
 	return internalMessage->getMessageSize();
 }
 
+size_t CommandMessageBase::getMaximumMessageSize() const {
+	return internalMessage->getMaximumMessageSize();
+}
+
 MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
 	return internalMessage;
 }
 
+size_t CommandMessageBase::getMinimumMessageSize() const {
+	return MINIMUM_COMMAND_MESSAGE_BASE_SIZE;
+}
+
 void CommandMessageBase::setReplyRejected(ReturnValue_t reason,
 		Command_t initialCommand) {
 	std::memcpy(getData(), &reason, sizeof(reason));
diff --git a/ipc/CommandMessageBase.h b/ipc/CommandMessageBase.h
index d2f24c7e..b237b68f 100644
--- a/ipc/CommandMessageBase.h
+++ b/ipc/CommandMessageBase.h
@@ -15,13 +15,21 @@
  * size checks:
  *
  *  1. getMinimumMessageSize()
- *  2. getMaximumMessageSize()
  *
+ * The maximum message size generally depends on the buffer size of the passed
+ * internal message.
  * Don't forget to set the message size of the passed message in the concrete
  * commandmessage implementation!
  */
 class CommandMessageBase: public CommandMessageIF {
 public:
+	//! This minimum size is derived from the interface requirement to be able
+	//! to set a rejected reply, which contains a returnvalue and the initial
+	//! command.
+	static constexpr size_t MINIMUM_COMMAND_MESSAGE_BASE_SIZE =
+			CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
+			sizeof(Command_t);
+
 	CommandMessageBase(MessageQueueMessageIF* message);
 
 	/**
@@ -58,6 +66,12 @@ public:
 	virtual void setMessageSize(size_t messageSize) override;
 	virtual size_t getMessageSize() const override;
 
+	//! This depends on the maximum message size of the passed internal message.
+	virtual size_t getMaximumMessageSize() const override;
+
+	//! Return the constant minimum message size.
+	virtual size_t getMinimumMessageSize() const override;
+
 	/**
 	 * A command message can be rejected and needs to offer a function
 	 * to set a rejected reply

From 6ecf1cf534b1eaf45be731263a241b629fa3d937 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 14 Jun 2020 19:03:28 +0200
Subject: [PATCH 137/307] hk message continued

---
 housekeeping/HousekeepingMessage.cpp | 57 +++++++++++++++++++++-------
 housekeeping/HousekeepingMessage.h   | 28 ++++++++++----
 2 files changed, 64 insertions(+), 21 deletions(-)

diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index 6dd1a711..d47fb92a 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -3,9 +3,25 @@
 
 HousekeepingMessage::HousekeepingMessage(MessageQueueMessageIF* message):
 		CommandMessageBase(message) {
+	if(message->getMaximumMessageSize() < HK_MESSAGE_SIZE) {
+		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
+				" can not hold minimum "<< HK_MESSAGE_SIZE
+				<< " bytes!" << std::endl;
+		return;
+	}
+	message->setMessageSize(HK_MESSAGE_SIZE);
 }
 
-HousekeepingMessage::~HousekeepingMessage() {
+HousekeepingMessage::~HousekeepingMessage() {}
+
+void HousekeepingMessage::setParameter(uint32_t parameter) {
+	std::memcpy(getData(), &parameter, sizeof(parameter));
+}
+
+uint32_t HousekeepingMessage::getParameter() const {
+	uint32_t parameter;
+	std::memcpy(&parameter, getData(), sizeof(parameter));
+	return parameter;
 }
 
 void HousekeepingMessage::setHkReportMessage(sid_t sid,
@@ -15,32 +31,45 @@ void HousekeepingMessage::setHkReportMessage(sid_t sid,
 	setParameter(storeId.raw);
 }
 
+void HousekeepingMessage::setHkDiagnosticsMessage(sid_t sid,
+		store_address_t storeId) {
+	CommandMessageBase::setCommand(DIAGNOSTICS_REPORT);
+	setSid(sid);
+	setParameter(storeId.raw);
+}
+
 size_t HousekeepingMessage::getMinimumMessageSize() const {
 	return HK_MESSAGE_SIZE;
 }
 
-size_t HousekeepingMessage::getMaximumMessageSize() const {
-	return MessageQueueMessage::MAX_MESSAGE_SIZE;
-}
-
-void HousekeepingMessage::clear() {
-	// clear IPC store where it is needed.
-}
-
 sid_t HousekeepingMessage::getSid() const {
 	sid_t sid;
 	std::memcpy(&sid.raw, CommandMessageBase::getData(), sizeof(sid.raw));
 	return sid;
 }
 
-uint8_t* HousekeepingMessage::getData() {
-	return internalMessage->getBuffer() + sizeof(sid_t);
-}
 
-void HousekeepingMessage::setParameter(uint32_t parameter) {
-	memcpy(getData(), &parameter, sizeof(parameter));
+sid_t HousekeepingMessage::getHkReportMessage(
+		store_address_t *storeIdToSet) const {
+	if(storeIdToSet != nullptr) {
+		*storeIdToSet = getParameter();
+	}
+	return getSid();
 }
 
 void HousekeepingMessage::setSid(sid_t sid) {
 	std::memcpy(CommandMessageBase::getData(), &sid.raw, sizeof(sid.raw));
 }
+
+
+uint8_t* HousekeepingMessage::getData() {
+	return CommandMessageBase::getData() + sizeof(sid_t);
+}
+
+const uint8_t* HousekeepingMessage::getData() const {
+	return CommandMessageBase::getData() + sizeof(sid_t);
+}
+
+void HousekeepingMessage::clear() {
+	// clear IPC store where it is needed.
+}
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index 4e9d4553..c5e31fda 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -27,14 +27,22 @@ union sid_t {
 };
 
 
+/**
+ * @brief	Special command message type for housekeeping messages
+ * @details
+ * This message is slightly larger than regular command messages to accomodate
+ * the uint64_t structure ID (SID).
+ */
 class HousekeepingMessage : public CommandMessageBase {
 public:
 
 	static constexpr size_t HK_MESSAGE_SIZE = sizeof(MessageQueueId_t)
 			+ sizeof(Command_t) + sizeof(sid_t) * sizeof(uint32_t);
+
 	/**
-	 * No instances of a message shall be created, instead
-	 * a CommandMessage instance is manipulated.
+	 * The HK message is initialized with a pointer to a message which holds
+	 * the message data, see CommandMessageIF and getInternalMessage().
+	 * @param message
 	 */
 	HousekeepingMessage(MessageQueueMessageIF* message);
 	virtual ~HousekeepingMessage();
@@ -85,18 +93,24 @@ public:
 	static constexpr Command_t MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL =
 			MAKE_COMMAND_ID(32);
 
-	void setHkReportMessage(sid_t sid, store_address_t storeId);
 
 	void setParameter(uint32_t parameter);
+	uint32_t getParameter() const;
+
+	void setHkReportMessage(sid_t sid, store_address_t storeId);
+	void setHkDiagnosticsMessage(sid_t sid, store_address_t storeId);
+	//! Get the respective SID and store ID. Command ID can be used beforehand
+	//! to distinguish between diagnostics and regular HK packets
+	sid_t getHkReportMessage(store_address_t * storeIdToSet) const;
 
-	virtual void clear() override;
 	virtual size_t getMinimumMessageSize() const override;
-	virtual size_t getMaximumMessageSize() const override;
-
-	virtual uint8_t* getData() override;
+	virtual void clear() override;
 private:
 	sid_t getSid() const;
 	void setSid(sid_t sid);
+
+	virtual uint8_t* getData() override;
+	virtual const uint8_t* getData() const override;
 };
 
 

From c9d8bd59f0120dca352352dab737d39c43896131 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 15 Jun 2020 11:11:42 +0200
Subject: [PATCH 138/307] ctor improved

---
 ipc/CommandMessage.cpp | 19 +++----------------
 1 file changed, 3 insertions(+), 16 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 64d4d41c..163a6a2d 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -10,31 +10,18 @@ CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
 		return;
 	}
 	if(receiverMessage->getMaximumMessageSize() <
-			MINIMUM_COMMAND_MESSAGE_SIZE) {
+			getMinimumMessageSize()) {
 		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
 				" can not hold minimum "<< MINIMUM_COMMAND_MESSAGE_SIZE
 				<< " bytes!" << std::endl;
 		return;
 	}
-	internalMessage->setMessageSize(MINIMUM_COMMAND_MESSAGE_SIZE);
+	internalMessage->setMessageSize(getMinimumMessageSize());
 }
 
 CommandMessage::CommandMessage(MessageQueueMessageIF* messageToSet,
 		Command_t command, uint32_t parameter1, uint32_t parameter2):
-				CommandMessageBase(messageToSet) {
-	if(messageToSet == nullptr) {
-		sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
-				" as the message queue message, pass the address of an actual"
-				" message!" << std::endl;
-	}
-	if(messageToSet->getMaximumMessageSize() <
-			MINIMUM_COMMAND_MESSAGE_SIZE) {
-		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
-				" can not hold minimum "<< MINIMUM_COMMAND_MESSAGE_SIZE
-				<< " bytes!" << std::endl;
-		return;
-	}
-	internalMessage->setMessageSize(MINIMUM_COMMAND_MESSAGE_SIZE);
+		CommandMessage(messageToSet) {
 	setCommand(command);
 	setParameter(parameter1);
 	setParameter2(parameter2);

From e39d5689e537be8ae3595383005d62e656ad554d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 15 Jun 2020 16:56:22 +0200
Subject: [PATCH 139/307] device com IF formattign

---
 devicehandlers/DeviceCommunicationIF.h | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index bb095116..20565025 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,5 +1,5 @@
-#ifndef DEVICECOMMUNICATIONIF_H_
-#define DEVICECOMMUNICATIONIF_H_
+#ifndef FRAMEWORK_DEVICES_DEVICECOMMUNICATIONIF_H_
+#define FRAMEWORK_DEVICES_DEVICECOMMUNICATIONIF_H_
 
 #include <framework/devicehandlers/CookieIF.h>
 #include <framework/devicehandlers/DeviceHandlerIF.h>
@@ -19,8 +19,8 @@
  * the device handler to allow reuse of these components.
  * @details
  * Documentation: Dissertation Baetz p.138.
- * It works with the assumption that received data
- * is polled by a component. There are four generic steps of device communication:
+ * It works with the assumption that received data  is polled by a component.
+ * There are four generic steps of device communication:
  *
  *   1. Send data to a device
  *   2. Get acknowledgement for sending
@@ -77,8 +77,8 @@ public:
 	 *  - @c RETURN_OK for successfull send
 	 *  - Everything else triggers failure event with returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
-			size_t sendLen) = 0;
+	virtual ReturnValue_t sendMessage(CookieIF *cookie,
+	        const uint8_t * sendData, size_t sendLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetWrite().
@@ -103,7 +103,8 @@ public:
 	 *         - Everything else triggers failure event with
 	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) = 0;
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+	        size_t requestLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetRead().
@@ -119,8 +120,8 @@ public:
 	 *         - Everything else triggers failure event with
 	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			size_t *size) = 0;
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
+	        uint8_t **buffer, size_t *size) = 0;
 };
 
 #endif /* DEVICECOMMUNICATIONIF_H_ */

From 7871ee7ca810bc49380b3362b3d0c9e1c0e49e0d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 15 Jun 2020 17:39:52 +0200
Subject: [PATCH 140/307] mutex helper little formatting correction

---
 ipc/MutexHelper.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index 20760b32..c9579e9b 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -10,7 +10,7 @@ public:
 			internalMutex(mutex) {
 		ReturnValue_t status = mutex->lockMutex(timeoutMs);
 		if(status == MutexIF::MUTEX_TIMEOUT) {
-			sif::error << "MutexHelper: Lock of mutex failed with timeout of"
+			sif::error << "MutexHelper: Lock of mutex failed with timeout of "
 					<< timeoutMs << " milliseconds!" << std::endl;
 		}
 		else if(status != HasReturnvaluesIF::RETURN_OK){

From 813e82415affa80420751065d83454ae88d47262 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 16 Jun 2020 11:03:24 +0200
Subject: [PATCH 141/307] additional doc info

---
 devicehandlers/DeviceCommunicationIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 20565025..a2662d46 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -72,7 +72,7 @@ public:
 	 * by implementing and calling related drivers or wrapper functions.
 	 * @param cookie
 	 * @param data
-	 * @param len
+	 * @param len If this is 0, nothing shall be sent.
 	 * @return
 	 *  - @c RETURN_OK for successfull send
 	 *  - Everything else triggers failure event with returnvalue as parameter 1

From 38676308e332ead072d35238c95953b7e64abaec Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 19:37:55 +0200
Subject: [PATCH 142/307] improved array list a bit

---
 container/ArrayList.h | 176 ++++++++++++++++++++----------------------
 1 file changed, 84 insertions(+), 92 deletions(-)

diff --git a/container/ArrayList.h b/container/ArrayList.h
index a37a1c42..8138864b 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -1,5 +1,5 @@
-#ifndef ARRAYLIST_H_
-#define ARRAYLIST_H_
+#ifndef FRAMEWORK_CONTAINER_ARRAYLIST_H_
+#define FRAMEWORK_CONTAINER_ARRAYLIST_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/serialize/SerializeAdapter.h>
@@ -7,8 +7,9 @@
 
 /**
  * @brief 	A List that stores its values in an array.
- * @details The backend is an array that can be allocated
- * 			by the class itself or supplied via ctor.
+ * @details
+ * The underlying storage is an array that can be allocated by the class
+ * itself or supplied via ctor.
  *
  * @ingroup container
  */
@@ -19,81 +20,13 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
 
-	/**
-	 * An Iterator to go trough an ArrayList
-	 *
-	 * It stores a pointer to an element and increments the
-	 * pointer when incremented itself.
-	 */
-	class Iterator {
-	public:
-		/**
-		 * Empty ctor, points to NULL
-		 */
-		Iterator() :
-				value(0) {
-
-		}
-
-		/**
-		 * Initializes the Iterator to point to an element
-		 *
-		 * @param initialize
-		 */
-		Iterator(T *initialize) {
-			value = initialize;
-		}
-
-		/**
-		 * The current element the iterator points to
-		 */
-		T *value;
-
-		Iterator& operator++() {
-			value++;
-			return *this;
-		}
-
-		Iterator operator++(int) {
-			Iterator tmp(*this);
-			operator++();
-			return tmp;
-		}
-
-		Iterator& operator--() {
-			value--;
-			return *this;
-		}
-
-		Iterator operator--(int) {
-			Iterator tmp(*this);
-			operator--();
-			return tmp;
-		}
-
-		T operator*() {
-			return *value;
-		}
-
-		T *operator->() {
-			return value;
-		}
-
-		const T *operator->() const{
-			return value;
-		}
-
-		//SHOULDDO this should be implemented as non-member
-		bool operator==(const typename ArrayList<T, count_t>::Iterator& other) const{
-			return (value == other.value);
-		}
-
-		//SHOULDDO this should be implemented as non-member
-		bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
-			return !(*this == other);
-		}
-	}
-	;
+    /**
+     * Copying is forbiden by declaring copy ctor and copy assignment deleted
+     * It is too ambigous in this case.
+     * (Allocate a new backend? Use the same? What to do in an modifying call?)
+     */
+	ArrayList(const ArrayList& other) = delete;
+	const ArrayList& operator=(const ArrayList& other) = delete;
 
 	/**
 	 * Number of Elements stored in this List
@@ -134,6 +67,78 @@ public:
 		}
 	}
 
+    /**
+     * An Iterator to go trough an ArrayList
+     *
+     * It stores a pointer to an element and increments the
+     * pointer when incremented itself.
+     */
+    class Iterator {
+    public:
+        /**
+         * Empty ctor, points to NULL
+         */
+        Iterator(): value(0) {}
+
+        /**
+         * Initializes the Iterator to point to an element
+         *
+         * @param initialize
+         */
+        Iterator(T *initialize) {
+            value = initialize;
+        }
+
+        /**
+         * The current element the iterator points to
+         */
+        T *value;
+
+        Iterator& operator++() {
+            value++;
+            return *this;
+        }
+
+        Iterator operator++(int) {
+            Iterator tmp(*this);
+            operator++();
+            return tmp;
+        }
+
+        Iterator& operator--() {
+            value--;
+            return *this;
+        }
+
+        Iterator operator--(int) {
+            Iterator tmp(*this);
+            operator--();
+            return tmp;
+        }
+
+        T operator*() {
+            return *value;
+        }
+
+        T *operator->() {
+            return value;
+        }
+
+        const T *operator->() const{
+            return value;
+        }
+
+        //SHOULDDO this should be implemented as non-member
+        bool operator==(const typename ArrayList<T, count_t>::Iterator& other) const{
+            return (value == other.value);
+        }
+
+        //SHOULDDO this should be implemented as non-member
+        bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
+            return !(*this == other);
+        }
+    };
+
 	/**
 	 * Iterator pointing to the first stored elmement
 	 *
@@ -223,19 +228,6 @@ public:
 		return (maxSize_ - size);
 	}
 
-private:
-	/**
-	 * This is the copy constructor
-	 *
-	 * It is private, as copying is too ambigous in this case. (Allocate a new backend? Use the same?
-	 * What to do in an modifying call?)
-	 *
-	 * @param other
-	 */
-	ArrayList(const ArrayList& other) :
-			size(other.size), entries(other.entries), maxSize_(other.maxSize_),
-			allocated(false) {}
-
 protected:
 	/**
 	 * pointer to the array in which the entries are stored

From f8f10a173033b71d0bb4916cf89243327c0c2921 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 19:41:10 +0200
Subject: [PATCH 143/307] slight hybrid iter improvements

---
 container/HybridIterator.h | 18 ++++++++----------
 1 file changed, 8 insertions(+), 10 deletions(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index 1c56aa13..db1ce4bc 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -8,13 +8,11 @@ template<typename T, typename count_t = uint8_t>
 class HybridIterator: public LinkedElement<T>::Iterator,
 		public ArrayList<T, count_t>::Iterator {
 public:
-	HybridIterator() :
-			value(NULL), linked(NULL), end(NULL) {
-	}
+	HybridIterator() {}
 
 	HybridIterator(typename LinkedElement<T>::Iterator *iter) :
-		LinkedElement<T>::Iterator(*iter), value(
-					iter->value), linked(true), end(NULL) {
+		LinkedElement<T>::Iterator(*iter), value(iter->value),
+		linked(true) {
 
 	}
 
@@ -66,11 +64,11 @@ public:
 		return tmp;
 	}
 
-	bool operator==(HybridIterator other) {
+	bool operator==(const HybridIterator& other) {
 		return value == other.value;
 	}
 
-	bool operator!=(HybridIterator other) {
+	bool operator!=(const HybridIterator& other) {
 		return !(*this == other);
 	}
 
@@ -82,11 +80,11 @@ public:
 		return value;
 	}
 
-	T* value;
+	T* value = nullptr;
 
 private:
-	bool linked;
-	T *end;
+	bool linked = false;
+	T *end = nullptr;
 };
 
 #endif /* HYBRIDITERATOR_H_ */

From b68ad9e4f9182f8e216e69b34d58138e4044494f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 19:50:26 +0200
Subject: [PATCH 144/307] new ctor for simple ring buffer which does not

allocate
---
 container/RingBufferBase.h     |  8 +++++---
 container/SimpleRingBuffer.cpp | 12 +++++++++---
 container/SimpleRingBuffer.h   | 30 ++++++++++++++++++++++++------
 3 files changed, 38 insertions(+), 12 deletions(-)

diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h
index 3ef782d8..1beb51c2 100644
--- a/container/RingBufferBase.h
+++ b/container/RingBufferBase.h
@@ -2,12 +2,14 @@
 #define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
 
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
 public:
-	RingBufferBase(uint32_t startAddress, uint32_t size, bool overwriteOld) :
-			start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) {
+	RingBufferBase(uint32_t startAddress, const size_t size, bool overwriteOld) :
+			start(startAddress), write(startAddress), size(size),
+			overwriteOld(overwriteOld) {
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = startAddress;
 		}
@@ -83,7 +85,7 @@ protected:
 	const uint32_t start;
 	uint32_t write;
 	uint32_t read[N_READ_PTRS];
-	const uint32_t size;
+	const size_t size;
 	const bool overwriteOld;
 	void incrementWrite(uint32_t amount) {
 		write = ((write + amount - start) % size) + start;
diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 63dc3514..4e50109b 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -1,11 +1,16 @@
 #include <framework/container/SimpleRingBuffer.h>
-#include <string.h>
+#include <cstring>
 
-SimpleRingBuffer::SimpleRingBuffer(uint32_t size, bool overwriteOld) :
-		RingBufferBase<>(0, size, overwriteOld), buffer(NULL) {
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
+		RingBufferBase<>(0, size, overwriteOld) {
 	buffer = new uint8_t[size];
 }
 
+SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
+        bool overwriteOld):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
+
+
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
@@ -66,3 +71,4 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
 	incrementRead(amount, READ_PTR);
 	return HasReturnvaluesIF::RETURN_OK;
 }
+
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 4552a1c0..b5bc2c1c 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -5,13 +5,29 @@
 #include <stddef.h>
 
 /**
- * @brief 	Circular buffer implementation, useful for buffering into data streams.
- * @details Note that the deleteData() has to be called to increment the read pointer
+ * @brief 	Circular buffer implementation, useful for buffering
+ *          into data streams.
+ * @details
+ * Note that the deleteData() has to be called to increment the read pointer.
+ * This class allocated dynamically, so
  * @ingroup containers
  */
 class SimpleRingBuffer: public RingBufferBase<> {
 public:
-	SimpleRingBuffer(uint32_t size, bool overwriteOld);
+    /**
+     * This constructor allocates a new internal buffer with the supplied size.
+     * @param size
+     * @param overwriteOld
+     */
+	SimpleRingBuffer(const size_t size, bool overwriteOld);
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 */
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+
 	virtual ~SimpleRingBuffer();
 
 	/**
@@ -30,7 +46,8 @@ public:
 	 * @param trueAmount
 	 * @return
 	 */
-	ReturnValue_t readData(uint8_t* data, uint32_t amount, bool readRemaining = false, uint32_t* trueAmount = NULL);
+	ReturnValue_t readData(uint8_t* data, uint32_t amount,
+	        bool readRemaining = false, uint32_t* trueAmount = nullptr);
 
 	/**
 	 * Delete data starting by incrementing read pointer
@@ -39,11 +56,12 @@ public:
 	 * @param trueAmount
 	 * @return
 	 */
-	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false, uint32_t* trueAmount = NULL);
+	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false,
+	        uint32_t* trueAmount = nullptr);
 private:
 //	static const uint8_t TEMP_READ_PTR = 1;
 	static const uint8_t READ_PTR = 0;
-	uint8_t* buffer;
+	uint8_t* buffer = nullptr;
 };
 
 #endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */

From d5ae74f86073c2f9847f4abbd9ed921cdb5ae094 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:21:49 +0200
Subject: [PATCH 145/307] bugfix hk message size

---
 housekeeping/HousekeepingMessage.cpp | 4 ++--
 housekeeping/HousekeepingMessage.h   | 4 ++--
 ipc/CommandMessage.cpp               | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index d47fb92a..d7efd703 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -4,8 +4,8 @@
 HousekeepingMessage::HousekeepingMessage(MessageQueueMessageIF* message):
 		CommandMessageBase(message) {
 	if(message->getMaximumMessageSize() < HK_MESSAGE_SIZE) {
-		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
-				" can not hold minimum "<< HK_MESSAGE_SIZE
+		sif::error << "HousekeepingMessage::HousekeepingMessage: Passed "
+		        "message buffer can not hold minimum " << HK_MESSAGE_SIZE
 				<< " bytes!" << std::endl;
 		return;
 	}
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index c5e31fda..75afc8ea 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -36,8 +36,8 @@ union sid_t {
 class HousekeepingMessage : public CommandMessageBase {
 public:
 
-	static constexpr size_t HK_MESSAGE_SIZE = sizeof(MessageQueueId_t)
-			+ sizeof(Command_t) + sizeof(sid_t) * sizeof(uint32_t);
+	static constexpr size_t HK_MESSAGE_SIZE = CommandMessageIF::HEADER_SIZE +
+	        sizeof(sid_t) + sizeof(uint32_t);
 
 	/**
 	 * The HK message is initialized with a pointer to a message which holds
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 163a6a2d..9a8a82f2 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -12,7 +12,7 @@ CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
 	if(receiverMessage->getMaximumMessageSize() <
 			getMinimumMessageSize()) {
 		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
-				" can not hold minimum "<< MINIMUM_COMMAND_MESSAGE_SIZE
+				" can not hold minimum "<< getMinimumMessageSize()
 				<< " bytes!" << std::endl;
 		return;
 	}

From 259517ac9ba0cc51e61980883467374b3ed849f5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:22:09 +0200
Subject: [PATCH 146/307] single linked list improvement

---
 container/SinglyLinkedList.h | 46 ++++++++++++++++++------------------
 1 file changed, 23 insertions(+), 23 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 54e7687c..ed466086 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -1,8 +1,9 @@
-#ifndef SINGLYLINKEDLIST_H_
-#define SINGLYLINKEDLIST_H_
+#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+
+#include <cstddef>
+#include <cstdint>
 
-#include <stddef.h>
-#include <stdint.h>
 /**
  * @brief	Linked list data structure,
  * 			each entry has a pointer to the next entry (singly)
@@ -47,12 +48,11 @@ public:
 		}
 	};
 
-	LinkedElement(T* setElement, LinkedElement<T>* setNext = NULL) : value(setElement),
-		next(setNext) {
-	}
-	virtual ~LinkedElement(){
+	LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
+	       value(setElement), next(setNext) {}
+
+	virtual ~LinkedElement(){}
 
-	}
 	virtual LinkedElement* getNext() const {
 		return next;
 	}
@@ -69,7 +69,7 @@ public:
 		return this;
 	}
 	LinkedElement* end() {
-		return NULL;
+		return nullptr;
 	}
 private:
 	LinkedElement *next;
@@ -78,21 +78,21 @@ private:
 template<typename T>
 class SinglyLinkedList {
 public:
-	SinglyLinkedList() :
-			start(NULL) {
-	}
+    using ElementIterator = typename LinkedElement<T>::Iterator;
+
+	SinglyLinkedList() {}
+
+	SinglyLinkedList(ElementIterator start) :
+			start(start.value) {}
 
-	SinglyLinkedList(typename LinkedElement<T>::Iterator start) :
-			start(start.value) {
-	}
 	SinglyLinkedList(LinkedElement<T>* startElement) :
-				start(startElement) {
-		}
-	typename LinkedElement<T>::Iterator begin() const {
-		return LinkedElement<T>::Iterator::Iterator(start);
+			start(startElement) {}
+
+	ElementIterator begin() const {
+		return ElementIterator::Iterator(start);
 	}
-	typename LinkedElement<T>::Iterator::Iterator end() const {
-		return LinkedElement<T>::Iterator::Iterator();
+	typename ElementIterator::Iterator end() const {
+		return ElementIterator::Iterator();
 	}
 
 	uint32_t getSize() const {
@@ -108,7 +108,7 @@ public:
 		start = setStart;
 	}
 protected:
-	LinkedElement<T> *start;
+	LinkedElement<T> *start = nullptr;
 };
 
 #endif /* SINGLYLINKEDLIST_H_ */

From bb16fd80b8d60813f0605737e2cdd47d729effbf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:37:45 +0200
Subject: [PATCH 147/307] singly linked list improvements

---
 container/SinglyLinkedList.h | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index ed466086..7fffdaac 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -61,8 +61,8 @@ public:
 		this->next = next;
 	}
 
-	void setEnd() {
-		this->next = nullptr;
+	virtual void setEnd() {
+	    this->next = nullptr;
 	}
 
 	LinkedElement* begin() {
@@ -107,6 +107,11 @@ public:
 	void setStart(LinkedElement<T>* setStart) {
 		start = setStart;
 	}
+
+    void setEnd(LinkedElement<T>* setEnd) {
+        setEnd->setEnd();
+    }
+
 protected:
 	LinkedElement<T> *start = nullptr;
 };

From ed26992d7f1decf404e04d39477836381ec5635b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:40:40 +0200
Subject: [PATCH 148/307] shoulddo added

---
 container/SinglyLinkedList.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 7fffdaac..79562cd4 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -112,6 +112,8 @@ public:
         setEnd->setEnd();
     }
 
+    // SHOULDDO: Insertion operation ?
+
 protected:
 	LinkedElement<T> *start = nullptr;
 };

From 583efec3f8d93efab38c792a9f264f29b0bc01c2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:45:44 +0200
Subject: [PATCH 149/307] nullptr

---
 container/SinglyLinkedList.h | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 79562cd4..3c0078fc 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -15,11 +15,8 @@ public:
 	T *value;
 	class Iterator {
 	public:
-		LinkedElement<T> *value;
-		Iterator() :
-				value(NULL) {
-
-		}
+		LinkedElement<T> *value = nullptr;
+		Iterator() {}
 
 		Iterator(LinkedElement<T> *element) :
 				value(element) {

From 84b8d733c0065280fbb1e39d81bcb8f20fc1ddb7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 03:03:17 +0200
Subject: [PATCH 150/307] hk continued

---
 datapool/DataSetBase.h                 |  2 +-
 datapoollocal/LocalDataPoolManager.cpp | 96 +++++++++++++++++++-------
 datapoollocal/LocalDataPoolManager.h   | 42 +++++++----
 datapoollocal/LocalDataSet.cpp         | 68 ++++++++++++++----
 datapoollocal/LocalDataSet.h           | 24 +++++++
 datapoollocal/OwnsLocalDataPoolIF.h    |  4 +-
 housekeeping/HousekeepingMessage.h     |  3 +-
 returnvalues/FwClassIds.h              |  3 +-
 8 files changed, 186 insertions(+), 56 deletions(-)

diff --git a/datapool/DataSetBase.h b/datapool/DataSetBase.h
index 8bf9a99a..a914ec6b 100644
--- a/datapool/DataSetBase.h
+++ b/datapool/DataSetBase.h
@@ -102,7 +102,7 @@ public:
 	virtual ReturnValue_t unlockDataPool() override;
 
 	/* SerializeIF implementations */
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
 				const size_t maxSize, bool bigEndian) const override;
 	virtual size_t getSerializedSize() const override;
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index 58694508..a9d131eb 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -1,16 +1,17 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/objectmanager/frameworkObjects.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/ipc/MutexHelper.h>
+#include <framework/ipc/QueueFactory.h>
 
 #include <array>
 
-LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner) {
+LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
+        uint32_t replyQueueDepth, bool appendValidityBuffer):
+        appendValidityBuffer(appendValidityBuffer) {
 	if(owner == nullptr) {
 		sif::error << "HkManager: Invalid supplied owner!" << std::endl;
-		std::exit(0);
+		return;
 	}
 	this->owner = owner;
 	mutex = MutexFactory::instance()->createMutex();
@@ -23,6 +24,8 @@ LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner) {
 	    sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
 	            "Could not set IPC store." << std::endl;
 	}
+	hkQueue = QueueFactory::instance()->createMessageQueue(replyQueueDepth,
+	        HousekeepingMessage::HK_MESSAGE_SIZE);
 }
 
 LocalDataPoolManager::~LocalDataPoolManager() {}
@@ -36,13 +39,21 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 		}
 		return result;
 	}
-	sif::warning << "HousekeepingManager: The map" << std::endl;
+	sif::warning << "HousekeepingManager: The map should only be initialized "
+	        "once!" << std::endl;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 		HousekeepingMessage& message) {
-	return HasReturnvaluesIF::RETURN_FAILED;
+    Command_t command = message.getCommand();
+    switch(command) {
+    case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
+    case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT):
+        return generateHousekeepingPacket(message.getSid());
+    default:
+        return CommandMessageIF::UNKNOWN_COMMAND;
+    }
 }
 
 ReturnValue_t LocalDataPoolManager::printPoolEntry(
@@ -51,7 +62,7 @@ ReturnValue_t LocalDataPoolManager::printPoolEntry(
 	if (poolIter == localDpMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
+		return POOL_ENTRY_NOT_FOUND;
 	}
 	poolIter->second->print();
 	return HasReturnvaluesIF::RETURN_OK;
@@ -61,6 +72,15 @@ MutexIF* LocalDataPoolManager::getMutexHandle() {
 	return mutex;
 }
 
+void LocalDataPoolManager::setHkPacketDestination(
+        MessageQueueId_t destinationQueueId) {
+    this->currentHkPacketDestination = destinationQueueId;
+}
+
+const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
+    return owner;
+}
+
 ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	LocalDataSet* dataSetToSerialize = dynamic_cast<LocalDataSet*>(
 			owner->getDataSetHandle(sid));
@@ -70,28 +90,56 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	store_address_t storeId;
-	size_t hkSize = dataSetToSerialize->getSerializedSize();
-	uint8_t* storePtr = nullptr;
-	ReturnValue_t result = ipcStore->getFreeElement(&storeId, hkSize,&storePtr);
+	ReturnValue_t result = serializeHkPacketIntoStore(&storeId,
+	        dataSetToSerialize);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
-	    sif::warning << "HousekeepingManager::generateHousekeepingPacket: "
-	            "Could not get free element from IPC store." << std::endl;
 	    return result;
 	}
-	size_t size = 0;
-	dataSetToSerialize->serialize(&storePtr, &size, hkSize, false);
-	// and now we have to set a HK message and send it the queue.
-	return HasReturnvaluesIF::RETURN_OK;
+
+	// and now we set a HK message and send it the HK packet destination.
+	MessageQueueMessage message;
+	HousekeepingMessage hkMessage(&message);
+	hkMessage.setHkReportMessage(sid, storeId);
+	if(hkQueue == nullptr) {
+	    return QUEUE_NOT_SET;
+	}
+
+	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
+	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
+	}
+	else {
+	    result = hkQueue->sendToDefault(&hkMessage);
+	}
+
+	return result;
 }
 
-void LocalDataPoolManager::setHkPacketQueue(MessageQueueIF *msgQueue) {
-	this->hkPacketQueue = msgQueue;
+ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
+        store_address_t *storeId, LocalDataSet* dataSet) {
+    size_t hkSize = dataSet->getSerializedSize();
+    uint8_t* storePtr = nullptr;
+    ReturnValue_t result = ipcStore->getFreeElement(storeId, hkSize,&storePtr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "HousekeepingManager::generateHousekeepingPacket: "
+                "Could not get free element from IPC store." << std::endl;
+        return result;
+    }
+    size_t size = 0;
+
+    if(appendValidityBuffer) {
+        result = dataSet->serializeWithValidityBuffer(&storePtr,
+                &size, hkSize, false);
+    }
+    else {
+        result = dataSet->serialize(&storePtr, &size, hkSize, false);
+    }
+
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "HousekeepingManager::serializeHkPacketIntoStore: "
+                "Serialization proccess failed!" << std::endl;
+    }
+    return result;
 }
 
-void LocalDataPoolManager::setHkReplyQueue(MessageQueueIF *replyQueue) {
-    this->hkReplyQueue = replyQueue;
-}
 
-const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
-	return owner;
-}
+
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index d1a2d410..c649cd68 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -13,6 +13,8 @@
 
 #include <map>
 
+class LocalDataSet;
+
 /**
  * @brief 	This class is the managing instance for local data pool.
  * @details
@@ -37,8 +39,16 @@ class LocalDataPoolManager {
 	friend class LocalPoolVector;
 	friend class LocalDataSet;
 public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
 
-	LocalDataPoolManager(OwnsLocalDataPoolIF* owner);
+    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x0);
+    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x1);
+
+    static constexpr ReturnValue_t QUEUE_NOT_SET = MAKE_RETURN_CODE(0x2);
+    //static constexpr ReturnValue_t SET_NOT_FOUND = MAKE_RETURN_CODE(0x3);
+
+	LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
+	        uint32_t replyQueueDepth = 20, bool appendValidityBuffer = true);
 	virtual~ LocalDataPoolManager();
 
 	/* Copying forbidden */
@@ -57,10 +67,7 @@ public:
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
 	//! Set the queue for HK packets, which are sent unrequested.
-	void setHkPacketQueue(MessageQueueIF* msgQueue);
-	//! Set the queue for replies. This can be set manually or by the owner
-	//! class if the manager if message are relayed by it.
-	void setHkReplyQueue(MessageQueueIF* replyQueue);
+	void setHkPacketDestination(MessageQueueId_t destinationQueueId);
 
 	const OwnsLocalDataPoolIF* getOwner() const;
 
@@ -70,6 +77,10 @@ private:
 	//! This is the map holding the actual data. Should only be initialized
 	//! once !
 	bool mapInitialized = false;
+	//! This specifies whether a validity buffer is appended at the end
+	//! of generated housekeeping packets.
+	bool appendValidityBuffer = true;
+
 	LocalDataPool localDpMap;
 
 	//! Every housekeeping data manager has a mutex to protect access
@@ -79,13 +90,14 @@ private:
 	//! The class which actually owns the manager (and its datapool).
 	OwnsLocalDataPoolIF* owner = nullptr;
 
-	//! Used for replies.
-	//! (maybe we dont need this, the sender can be retrieved from command
-	//! message..)
-	MessageQueueIF* hkReplyQueue = nullptr;
-	//! Used for HK packets, which are generated without requests.
-	//! Maybe this will just be the TM funnel.
-	MessageQueueIF* hkPacketQueue = nullptr;
+	//! Queue used for communication, for example commands.
+	//! Is also used to send messages.
+	MessageQueueIF* hkQueue = nullptr;
+
+	//! HK replies will always be a reply to the commander, but HK packet
+	//! can be sent to another destination by specifying this message queue
+	//! ID, for example to a dedicated housekeeping service implementation.
+	MessageQueueId_t currentHkPacketDestination = MessageQueueIF::NO_QUEUE;
 
 	//! Global IPC store is used to store all packets.
 	StorageManagerIF* ipcStore = nullptr;
@@ -113,6 +125,8 @@ private:
 			PoolEntry<T> **poolEntry);
 
 	void setMinimalSamplingFrequency(float frequencySeconds);
+	ReturnValue_t serializeHkPacketIntoStore(store_address_t* storeId,
+	        LocalDataSet* dataSet);
 };
 
 
@@ -123,14 +137,14 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 	if (poolIter == localDpMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_NOT_FOUND;
+		return POOL_ENTRY_NOT_FOUND;
 	}
 
 	*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
 	if(*poolEntry == nullptr) {
 		sif::debug << "HousekeepingManager::fetchPoolEntry:"
 				" Pool entry not found." << std::endl;
-		return OwnsLocalDataPoolIF::POOL_ENTRY_TYPE_CONFLICT;
+		return POOL_ENTRY_TYPE_CONFLICT;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index 243c9cc1..bb4aafef 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -1,22 +1,25 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
 
+#include <cmath>
+#include <cstring>
+
 LocalDataSet::LocalDataSet(OwnsLocalDataPoolIF *hkOwner): DataSetBase() {
-	if(hkOwner != nullptr) {
-		hkManager = hkOwner->getHkManagerHandle();
-	}
-	else {
-		// config error, error output here.
-	}
+    if(hkOwner == nullptr) {
+        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+                << std::endl;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
 }
 
 LocalDataSet::LocalDataSet(object_id_t ownerId): DataSetBase()  {
-	OwnsLocalDataPoolIF* hkOwner = objectManager->get<OwnsLocalDataPoolIF>(
-			ownerId);
-	if(hkOwner == nullptr) {
-		// config error, error output here.
-	}
-	hkManager = hkOwner->getHkManagerHandle();
+    OwnsLocalDataPoolIF* hkOwner = objectManager->get<OwnsLocalDataPoolIF>(
+            ownerId);
+    if(hkOwner == nullptr) {
+        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+                << std::endl;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
 }
 
 LocalDataSet::~LocalDataSet() {
@@ -27,9 +30,50 @@ ReturnValue_t LocalDataSet::lockDataPool(uint32_t timeoutMs) {
 	return mutex->lockMutex(timeoutMs);
 }
 
+ReturnValue_t LocalDataSet::serializeWithValidityBuffer(uint8_t **buffer,
+        size_t *size, const size_t maxSize, bool bigEndian) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+    uint8_t validityMask[validityMaskSize];
+    uint8_t validBufferIndex = 0;
+    uint8_t validBufferIndexBit = 0;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if(registeredVariables[count]->isValid()) {
+            // set validity buffer here.
+            this->bitSetter(validityMask + validBufferIndex,
+                    validBufferIndexBit, true);
+            if(validBufferIndexBit == 7) {
+                validBufferIndex ++;
+                validBufferIndexBit = 0;
+            }
+            else {
+                validBufferIndexBit ++;
+            }
+        }
+        result = registeredVariables[count]->serialize(buffer, size, maxSize,
+                bigEndian);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    // copy validity buffer to end
+    std::memcpy(*buffer, validityMask, validityMaskSize);
+    *size += validityMaskSize;
+    return result;
+}
+
 ReturnValue_t LocalDataSet::unlockDataPool() {
 	MutexIF* mutex = hkManager->getMutexHandle();
 	return mutex->unlockMutex();
 }
 
+void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position,
+        bool value) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl;
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1UL << shiftNumber;
+}
 
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index 54da5562..0c3b3bd8 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -55,6 +55,20 @@ public:
 	 */
 	~LocalDataSet();
 
+	/**
+	 * Special version of the serilization function which appends a
+	 * validity buffer at the end. Each bit of this validity buffer
+	 * denotes whether the container data set entries are valid from left
+	 * to right, MSB first.
+	 * @param buffer
+	 * @param size
+	 * @param maxSize
+	 * @param bigEndian
+	 * @param withValidityBuffer
+	 * @return
+	 */
+	ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
+	        size_t* size, const size_t maxSize, bool bigEndian) const ;
 protected:
 private:
 	/**
@@ -79,6 +93,16 @@ private:
 	ReturnValue_t unlockDataPool() override;
 
 	LocalDataPoolManager* hkManager;
+
+	/**
+	 * Sets the bit at the bit-position of a byte provided by its address
+	 * to the specified value (zero or one).
+	 * @param byte Pointer to byte to bitset.
+	 * @param position MSB first, 0 to 7 possible.
+	 * @param value Value to set.
+	 * @return
+	 */
+	void bitSetter(uint8_t* byte, uint8_t position, bool value) const;
 };
 
 #endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */
diff --git a/datapoollocal/OwnsLocalDataPoolIF.h b/datapoollocal/OwnsLocalDataPoolIF.h
index cf94f946..8d657879 100644
--- a/datapoollocal/OwnsLocalDataPoolIF.h
+++ b/datapoollocal/OwnsLocalDataPoolIF.h
@@ -40,9 +40,7 @@ class OwnsLocalDataPoolIF {
 public:
 	virtual~ OwnsLocalDataPoolIF() {};
 
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING;
-	static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0XA0);
-	static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0xA1);
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
 
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	virtual ReturnValue_t initializeHousekeepingPoolEntries(
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index 75afc8ea..c6a33c83 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -96,6 +96,7 @@ public:
 
 	void setParameter(uint32_t parameter);
 	uint32_t getParameter() const;
+	sid_t getSid() const;
 
 	void setHkReportMessage(sid_t sid, store_address_t storeId);
 	void setHkDiagnosticsMessage(sid_t sid, store_address_t storeId);
@@ -106,7 +107,7 @@ public:
 	virtual size_t getMinimumMessageSize() const override;
 	virtual void clear() override;
 private:
-	sid_t getSid() const;
+
 	void setSid(sid_t sid);
 
 	virtual uint8_t* getData() override;
diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index 870efb46..ddee539e 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -61,8 +61,9 @@ enum {
 	MUTEX_IF, //MUX 55
 	MESSAGE_QUEUE_IF,//MQI 56
 	SEMAPHORE_IF, //SPH 57
-	HOUSEKEEPING, //HK 58
+	LOCAL_POOL_OWNER_IF, //LPIF 58
 	POOL_VARIABLE_IF, //PVA 59
+	HOUSEKEEPING_MANAGER, //HKM 60
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

From 60ae2d45655330a3d81dd897b8dfb0ff6456dcd4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 14:25:03 +0200
Subject: [PATCH 151/307] continued with hk data pool

added deadline missed check for fixed timeslot task,
improved doc for both periodic task and fixed timeslot task
---
 datapool/DataSetBase.cpp               |  4 ++
 datapool/DataSetBase.h                 |  2 +
 datapool/DataSetIF.h                   |  1 +
 datapoollocal/LocalDataPoolManager.cpp | 40 ++++++++++++++++-
 datapoollocal/LocalDataPoolManager.h   |  2 +
 datapoollocal/LocalDataSet.cpp         | 16 +++++++
 datapoollocal/LocalDataSet.h           |  5 ++-
 datapoollocal/OwnsLocalDataPoolIF.h    | 30 +++++++++++--
 devicehandlers/DeviceHandlerBase.cpp   | 17 +++++++-
 devicehandlers/DeviceHandlerBase.h     | 11 ++++-
 events/EventManager.cpp                | 11 +++--
 events/EventManager.h                  |  4 +-
 osal/FreeRTOS/FixedTimeslotTask.cpp    | 60 +++++++++++++++++---------
 osal/FreeRTOS/FixedTimeslotTask.h      | 49 ++++++++++-----------
 osal/FreeRTOS/PeriodicTask.cpp         | 30 +++++++------
 osal/FreeRTOS/PeriodicTask.h           | 49 ++++++++++++---------
 serialize/SerializeAdapter.h           | 15 +++++++
 tasks/ExecutableObjectIF.h             |  6 ++-
 tmtcservices/CommandingServiceBase.cpp |  5 ++-
 tmtcservices/CommandingServiceBase.h   |  4 +-
 20 files changed, 261 insertions(+), 100 deletions(-)

diff --git a/datapool/DataSetBase.cpp b/datapool/DataSetBase.cpp
index 60b20f29..b788d05d 100644
--- a/datapool/DataSetBase.cpp
+++ b/datapool/DataSetBase.cpp
@@ -53,6 +53,10 @@ ReturnValue_t DataSetBase::read(uint32_t lockTimeout) {
 	return result;
 }
 
+uint16_t DataSetBase::getFillCount() const {
+    return fillCount;
+}
+
 ReturnValue_t DataSetBase::readVariable(uint16_t count) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 	// These checks are often performed by the respective
diff --git a/datapool/DataSetBase.h b/datapool/DataSetBase.h
index a914ec6b..8f7d892a 100644
--- a/datapool/DataSetBase.h
+++ b/datapool/DataSetBase.h
@@ -101,6 +101,8 @@ public:
 	 */
 	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, bool bigEndian) const override;
diff --git a/datapool/DataSetIF.h b/datapool/DataSetIF.h
index 9c5b13c8..437f324f 100644
--- a/datapool/DataSetIF.h
+++ b/datapool/DataSetIF.h
@@ -43,6 +43,7 @@ public:
 	 */
 	virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
 
+	virtual uint16_t getFillCount() const = 0;
 private:
 	/**
 	 * @brief 	Most underlying data structures will have a pool like structure
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index a9d131eb..e0731a96 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -33,7 +33,7 @@ LocalDataPoolManager::~LocalDataPoolManager() {}
 ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	if(not mapInitialized) {
 		ReturnValue_t result =
-				owner->initializeHousekeepingPoolEntries(localDpMap);
+				owner->initializePoolEntries(localDpMap);
 		if(result == HasReturnvaluesIF::RETURN_OK) {
 			mapInitialized = true;
 		}
@@ -48,6 +48,14 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 		HousekeepingMessage& message) {
     Command_t command = message.getCommand();
     switch(command) {
+    // I think those are the only commands which can be handled here..
+    case(HousekeepingMessage::ADD_HK_REPORT_STRUCT):
+    case(HousekeepingMessage::ADD_DIAGNOSTICS_REPORT_STRUCT):
+        // We should use OwnsLocalPoolDataIF to specify those functions..
+        return HasReturnvaluesIF::RETURN_OK;
+    case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
+    case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
+        return generateSetStructurePacket(message.getSid());
     case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
     case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT):
         return generateHousekeepingPacket(message.getSid());
@@ -114,13 +122,41 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	return result;
 }
 
+ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid) {
+    LocalDataSet* dataSet = dynamic_cast<LocalDataSet*>(
+            owner->getDataSetHandle(sid));
+    if(dataSet == nullptr) {
+        sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
+                " Set ID not found" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    size_t expectedSize = dataSet->getFillCount() * sizeof(lp_id_t);
+    uint8_t* storePtr = nullptr;
+    store_address_t storeId;
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId,
+            expectedSize,&storePtr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "HousekeepingManager::generateHousekeepingPacket: "
+                "Could not get free element from IPC store." << std::endl;
+        return result;
+    }
+    size_t size = 0;
+    result = dataSet->serializeLocalPoolIds(&storePtr, &size,
+            expectedSize, false);
+    if(expectedSize != size) {
+        sif::error << "HousekeepingManager::generateSetStructurePacket: "
+                "Expected size is not equal to serialized size" << std::endl;
+    }
+    return result;
+}
+
 ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
         store_address_t *storeId, LocalDataSet* dataSet) {
     size_t hkSize = dataSet->getSerializedSize();
     uint8_t* storePtr = nullptr;
     ReturnValue_t result = ipcStore->getFreeElement(storeId, hkSize,&storePtr);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "HousekeepingManager::generateHousekeepingPacket: "
+        sif::error << "HousekeepingManager::generateHousekeepingPacket: "
                 "Could not get free element from IPC store." << std::endl;
         return result;
     }
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index c649cd68..b6491724 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -56,6 +56,8 @@ public:
 	LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
 
 	ReturnValue_t generateHousekeepingPacket(sid_t sid);
+	ReturnValue_t generateSetStructurePacket(sid_t sid);
+
 	ReturnValue_t handleHousekeepingMessage(HousekeepingMessage& message);
 
 	/**
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index bb4aafef..27ad4bc2 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -1,5 +1,6 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
+#include <framework/serialize/SerializeAdapter.h>
 
 #include <cmath>
 #include <cstring>
@@ -67,6 +68,21 @@ ReturnValue_t LocalDataSet::unlockDataPool() {
 	return mutex->unlockMutex();
 }
 
+ReturnValue_t LocalDataSet::serializeLocalPoolIds(uint8_t** buffer,
+        size_t* size, const size_t maxSize, bool bigEndian) const {
+    for (uint16_t count = 0; count < fillCount; count++) {
+        lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
+        auto result = AutoSerializeAdapter::serialize(&currentPoolId, buffer,
+                size, maxSize, bigEndian);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
+                    " error!" << std::endl;
+            return result;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position,
         bool value) const {
     if(position > 7) {
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index 0c3b3bd8..48138e63 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -68,7 +68,10 @@ public:
 	 * @return
 	 */
 	ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
-	        size_t* size, const size_t maxSize, bool bigEndian) const ;
+	        size_t* size, const size_t maxSize, bool bigEndian) const;
+
+	ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
+            size_t* size, const size_t maxSize, bool bigEndian) const;
 protected:
 private:
 	/**
diff --git a/datapoollocal/OwnsLocalDataPoolIF.h b/datapoollocal/OwnsLocalDataPoolIF.h
index 8d657879..6fc10889 100644
--- a/datapoollocal/OwnsLocalDataPoolIF.h
+++ b/datapoollocal/OwnsLocalDataPoolIF.h
@@ -42,12 +42,36 @@ public:
 
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
 
+	/** Command queue for housekeeping messages. */
 	virtual MessageQueueId_t getCommandQueue() const = 0;
-	virtual ReturnValue_t initializeHousekeepingPoolEntries(
-			LocalDataPool& localDataPoolMap) = 0;
-	//virtual float setMinimalHkSamplingFrequency() = 0;
+
+	/** Is used by pool owner to initialize the pool map once */
+	virtual ReturnValue_t initializePoolEntries(
+	        LocalDataPool& localDataPoolMap) = 0;
+
+	/** Can be used to get a handle to the local data pool manager. */
 	virtual LocalDataPoolManager* getHkManagerHandle() = 0;
+
+	/**
+	 * This function is used by the pool manager to get a valid dataset
+     * from a SID
+	 * @param sid Corresponding structure ID
+	 * @return
+	 */
 	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
+
+	/* These function can be implemented by pool owner, as they are required
+	 * by the housekeeping message interface */
+	virtual ReturnValue_t addDataSet(sid_t sid) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+	virtual ReturnValue_t removeDataSet(sid_t sid) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
+	        dur_seconds_t newInterval) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 };
 
 #endif /* FRAMEWORK_DATAPOOL_HASHKPOOLPARAMETERSIF_H_ */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index bf699848..1ae056a6 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1350,7 +1350,7 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
 
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
-			executingTask = task_;
+	executingTask = task_;
 }
 
 // Default implementations empty.
@@ -1360,7 +1360,7 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 void DeviceHandlerBase::performOperationHook() {
 }
 
-ReturnValue_t DeviceHandlerBase::initializeHousekeepingPoolEntries(
+ReturnValue_t DeviceHandlerBase::initializePoolEntries(
 		LocalDataPool &localDataPoolMap) {
 	return RETURN_OK;
 }
@@ -1369,6 +1369,19 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
 	return &hkManager;
 }
 
+ReturnValue_t DeviceHandlerBase::addDataSet(sid_t sid) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::removeDataSet(sid_t sid) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
+        dur_seconds_t newInterval) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
 	auto iter = deviceReplyMap.find(sid.ownerSetId);
 	if(iter != deviceReplyMap.end()) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 4ee3d652..1290742c 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -477,12 +477,17 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	virtual ReturnValue_t initializeHousekeepingPoolEntries(
+	virtual ReturnValue_t initializePoolEntries(
 				LocalDataPool& localDataPoolMap) override;
 
 	/** Get the HK manager object handle */
 	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
+	virtual ReturnValue_t addDataSet(sid_t sid) override;
+	virtual ReturnValue_t removeDataSet(sid_t sid) override;
+	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
+	        dur_seconds_t newInterval) override;
+
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
@@ -703,7 +708,9 @@ protected:
 
 	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
 
-	PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	//! Pointer to the task which executes this component, is invalid
+	//! before setTaskIF was called.
+	PeriodicTaskIF* executingTask = nullptr;
 
 	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
 
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 73e77e94..539f9e27 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -8,13 +8,16 @@
 const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 		sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
 		sizeof(ReporterRangeMatcher) };
-//If one checks registerListener calls, there are around 40 (to max 50) objects registering for certain events.
-//Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// If one checks registerListener calls, there are around 40 (to max 50)
+// objects registering for certain events.
+// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
+// So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
 const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
 
 EventManager::EventManager(object_id_t setObjectId) :
-		SystemObject(setObjectId), eventReportQueue(NULL), mutex(NULL), factoryBackend(
-				0, POOL_SIZES, N_ELEMENTS, false, true) {
+		SystemObject(setObjectId),
+		factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
 	mutex = MutexFactory::instance()->createMutex();
 	eventReportQueue = QueueFactory::instance()->createMessageQueue(
 			MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
diff --git a/events/EventManager.h b/events/EventManager.h
index 76dde9f8..6fac8352 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -36,11 +36,11 @@ public:
 	ReturnValue_t performOperation(uint8_t opCode);
 protected:
 
-	MessageQueueIF* eventReportQueue;
+	MessageQueueIF* eventReportQueue = nullptr;
 
 	std::map<MessageQueueId_t, EventMatchTree> listenerList;
 
-	MutexIF* mutex;
+	MutexIF* mutex = nullptr;
 
 	static const uint8_t N_POOLS = 3;
 	LocalPool<N_POOLS> factoryBackend;
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 18ec1092..de99413e 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -1,6 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "FixedTimeslotTask.h"
 
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
@@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
-	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -81,7 +85,8 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
 	SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
@@ -101,17 +106,30 @@ void FixedTimeslotTask::taskFunctionality() {
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
-		this->pst.executeAndAdvance();
-		if (pst.slotFollowsImmediately()) {
-			//Do nothing
-		} else {
-			// we need to wait before executing the current slot
-			//this gives us the time to wait:
-			intervalMs = this->pst.getIntervalToPreviousSlotMs();
-			interval = pdMS_TO_TICKS(intervalMs);
-			vTaskDelayUntil(&xLastWakeTime, interval);
-			//TODO deadline missed check
-		}
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        /* If all operations are finished and the difference of the
+	         * current time minus the last wake time is larger than the
+	         * expected wait period, a deadline was missed. */
+	        if(xTaskGetTickCount() - xLastWakeTime >=
+	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+#ifdef DEBUG
+	            sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+	                    " missed deadline!\n" << std::flush;
+#endif
+	            if(deadlineMissedFunc != nullptr) {
+	                this->deadlineMissedFunc();
+	            }
+	            // Continue immediately, no need to wait.
+	            break;
+	        }
+
+	        // we need to wait before executing the current slot
+	        //this gives us the time to wait:
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+	        vTaskDelayUntil(&xLastWakeTime, interval);
+	    }
 	}
 }
 
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index fe93daff..39db667c 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,12 +1,12 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
 #include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
@@ -29,16 +29,18 @@ public:
 
 	/**
 	 * @brief	The destructor of the class.
-	 *
-	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
-	 * 			the device handlers. This is done by calling the PST's destructor.
+	 * @details
+	 * The destructor frees all heap memory that was allocated on thread
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
 	 */
 	virtual ~FixedTimeslotTask(void);
 
 	ReturnValue_t startTask(void);
 	/**
 	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
 	 */
 	static void missedDeadlineCounter();
 	/**
@@ -62,30 +64,29 @@ protected:
 	FixedSlotSequence pst;
 
 	/**
-	 * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
-	 *
-	 * @details	Another function may be announced to determine the actions to perform when a deadline was missed.
-	 * 			Currently, only one function for missing any deadline is allowed.
-	 * 			If not used, it shall be declared NULL.
+	 * @brief	This attribute holds a function pointer that is executed when
+	 *          a deadline was missed.
+	 * @details
+	 * Another function may be announced to determine the actions to perform
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
-	 * @brief	This is the entry point in a new polling thread.
-	 *
-	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
-	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
-	 * 			on success. If operation of the task is ended for some reason,
-	 * 			the destructor is called to free allocated memory.
+	 * @brief	This is the entry point for a new task.
+	 * @details
+	 * This method starts the task by calling taskFunctionality(), as soon as
+	 * all requirements (task scheduler has started and startTask()
+	 * has been called) are met.
 	 */
 	static void taskEntryPoint(void* argument);
 
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
-	 *
-	 * @details	Holding the main functionality of the task, this method is most important.
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
-	 * 			to keep the timing of the periods.
+	 * @details
+	 * Core function holding the main functionality of the task
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
 };
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index a8e40561..31867639 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -12,8 +12,8 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 	BaseType_t status = xTaskCreate(taskEntryPoint, name,
 			setStack, this, setPriority, &handle);
 	if(status != pdPASS){
-		sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
-		           << status << std::endl;
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+		        "Status: " << status << std::endl;
 	}
 
 }
@@ -23,14 +23,17 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-	//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
 	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
 	if (not originalTask->started) {
 		vTaskSuspend(NULL);
@@ -61,9 +64,9 @@ void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
@@ -76,12 +79,15 @@ void PeriodicTask::taskFunctionality() {
 		 * current time minus the last wake time is larger than the
 		 * wait period, a deadline was missed. */
 		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
+#ifdef DEBUG
 			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
 					" missed deadline!\n" << std::flush;
+#endif
 			if(deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}
+
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
 
 	}
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index a449328e..fd1dd0df 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -5,10 +5,8 @@
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
 
 #include <vector>
 
@@ -22,7 +20,8 @@ class ExecutableObjectIF;
 class PeriodicTask: public PeriodicTaskIF {
 public:
 	/**
-	 * @brief	Standard constructor of the class.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
 	 * @details
 	 * The class is initialized without allocated objects.
 	 * These need to be added with #addComponent.
@@ -38,8 +37,9 @@ public:
 	 * The function pointer to the deadline missed function that shall
 	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
-			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	PeriodicTask(const char *name, TaskPriority setPriority,
+	        TaskStackSize setStack, TaskPeriod setPeriod,
+	        void (*setDeadlineMissedFunc)());
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with
 	 * 			the task object's lifetime, so the destructor is empty.
@@ -58,7 +58,9 @@ public:
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
 	 * @param object Id of the object to add.
-	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
 	 */
 	ReturnValue_t addComponent(object_id_t object);
 
@@ -69,40 +71,47 @@ protected:
 	bool started;
 	TaskHandle_t handle;
 
-	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.
 	 */
 	ObjectList objectList;
 	/**
 	 * @brief	The period of the task.
-	 * @details	The period determines the frequency of the task's execution. It is expressed in clock ticks.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
 	 */
 	TaskPeriod period;
 	/**
 	 * @brief	The pointer to the deadline-missed function.
-	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
-	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
-	 * 			of the periodic task.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed so each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
 	 * @brief	This is the function executed in the new task's context.
-	 * @details	It converts the argument back to the thread object type and copies the class instance
-	 * 			to the task context. The taskFunctionality method is called afterwards.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
 	 * @param	A pointer to the task object itself is passed as argument.
 	 */
 
 	static void taskEntryPoint(void* argument);
 	/**
 	 * @brief	The function containing the actual functionality of the task.
-	 * @details	The method sets and starts
-	 * 			the task's period, then enters a loop that is repeated as long as the isRunning
-	 * 			attribute is true. Within the loop, all performOperation methods of the added
-	 * 			objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
-	 * 			until the next period.
-	 * 			On missing the deadline, the deadlineMissedFunction is executed.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
 };
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index 87e4457a..62c20204 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -65,6 +65,21 @@
 // No type specification necessary here.
 class AutoSerializeAdapter {
 public:
+    /**
+     * Serialize object into buffer.
+     * @tparam T Type of object.
+     * @param object Object to serialize
+     * @param buffer
+     * Serialize into this buffer, pointer to pointer has to be passed,
+     * *buffer will be incremented automatically.
+     * @param size [out]
+     * Update passed size value, will be incremented by serialized size
+     * @param max_size
+     * Maximum size for range checking
+     * @param bigEndian
+     * Set to true if host-to-network conversion or vice-versa is needed
+     * @return
+     */
 	template<typename T>
 	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
 			size_t* size, const size_t max_size, bool bigEndian) {
diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h
index 5c5955c1..516b4084 100644
--- a/tasks/ExecutableObjectIF.h
+++ b/tasks/ExecutableObjectIF.h
@@ -37,8 +37,10 @@ public:
 
 	/**
 	 * @brief Function called during setup assignment of object to task
-	 * @details Has to be called from the function that assigns the object to a task and
-	 * 			enables the object implementation to overwrite this function and get a reference to the executing task
+	 * @details
+	 * Has to be called from the function that assigns the object to a task and
+	 * enables the object implementation to overwrite this function and get
+	 * a reference to the executing task
 	 * @param task_ Pointer to the taskIF of this task
 	 */
 	virtual void setTaskIF(PeriodicTaskIF* task_) {
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 97856b40..4d29c10e 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -412,5 +412,6 @@ void CommandingServiceBase::checkTimeout() {
 	}
 }
 
-
-
+void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
+    executingTask = task_;
+}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 5e2c3171..05f50709 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -97,9 +97,7 @@ public:
 	 * Used to setup the reference of the task, that executes this component
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_){
-		executingTask = task_;
-	};
+	virtual void setTaskIF(PeriodicTaskIF* task_);
 
 protected:
 	/**

From eb4ce980fe93feaba64f01cf13d43d96aaa7d20a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 14:32:04 +0200
Subject: [PATCH 152/307] small fixed

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 2 +-
 osal/FreeRTOS/PeriodicTask.h        | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index de99413e..ea324d35 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -114,7 +114,7 @@ void FixedTimeslotTask::taskFunctionality() {
 	        if(xTaskGetTickCount() - xLastWakeTime >=
 	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
 #ifdef DEBUG
-	            sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
 	                    " missed deadline!\n" << std::flush;
 #endif
 	            if(deadlineMissedFunc != nullptr) {
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index fd1dd0df..b9930a73 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -22,6 +22,7 @@ public:
 	/**
 	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
 	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * TODO: why does this need to be called before vTaskStartScheduler?
 	 * @details
 	 * The class is initialized without allocated objects.
 	 * These need to be added with #addComponent.

From 2de811e0afd0ae6a1dc9e4d700bedc693a888691 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 20:14:56 +0200
Subject: [PATCH 153/307] moved timeslot files to task folder

implmented setting task IF for regular periodic tasks
---
 osal/FreeRTOS/FixedTimeslotTask.cpp           | 10 +++----
 osal/FreeRTOS/FixedTimeslotTask.h             | 10 +++----
 osal/FreeRTOS/PeriodicTask.cpp                | 14 ++++++----
 osal/FreeRTOS/PeriodicTask.h                  |  9 ++++---
 osal/host/FixedTimeslotTask.h                 |  2 +-
 osal/linux/PeriodicPosixTask.cpp              |  7 ++++-
 osal/linux/PeriodicPosixTask.h                |  3 ++-
 .../FixedSequenceSlot.cpp                     | 15 ++++-------
 {devicehandlers => tasks}/FixedSequenceSlot.h | 25 +++++++-----------
 .../FixedSlotSequence.cpp                     |  2 +-
 {devicehandlers => tasks}/FixedSlotSequence.h |  6 ++---
 tasks/FixedTimeslotTaskIF.h                   | 11 ++++++--
 tasks/PeriodicTaskIF.h                        | 26 ++++++++++++++++---
 13 files changed, 82 insertions(+), 58 deletions(-)
 rename {devicehandlers => tasks}/FixedSequenceSlot.cpp (53%)
 rename {devicehandlers => tasks}/FixedSequenceSlot.h (78%)
 rename {devicehandlers => tasks}/FixedSlotSequence.cpp (98%)
 rename {devicehandlers => tasks}/FixedSlotSequence.h (97%)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index ea324d35..f3a65fcd 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -62,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
 	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		if(slotTimeMs == 0) {
-			// FreeRTOS throws a sanity error for zero values, so we set
-			// the time to one millisecond.
-			slotTimeMs = 1;
-		}
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -101,7 +96,9 @@ void FixedTimeslotTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time
-	vTaskDelayUntil(&xLastWakeTime, interval);
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
@@ -137,3 +134,4 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
+
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 39db667c..183fad20 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
@@ -49,13 +49,13 @@ public:
 	static uint32_t deadlineMissedCount;
 
 	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-			int8_t executionStep);
+			int8_t executionStep) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkSequence() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 protected:
 	bool started;
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 31867639..43928f7c 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -70,9 +70,8 @@ void PeriodicTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const& object: objectList) {
+			object->performOperation();
 		}
 
 		/* If all operations are finished and the difference of the
@@ -93,12 +92,17 @@ void PeriodicTask::taskFunctionality() {
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index b9930a73..a580f519 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -54,7 +54,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
@@ -63,11 +63,12 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	bool started;
 	TaskHandle_t handle;
diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
index bb2f757a..b12cc6d3 100644
--- a/osal/host/FixedTimeslotTask.h
+++ b/osal/host/FixedTimeslotTask.h
@@ -2,7 +2,7 @@
 #define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index df5bbf93..ca7011b0 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -24,9 +24,14 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implements ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index 85de0d59..1d62a565 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -39,7 +39,8 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
 	uint32_t getPeriodMs() const;
 
diff --git a/devicehandlers/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
similarity index 53%
rename from devicehandlers/FixedSequenceSlot.cpp
rename to tasks/FixedSequenceSlot.cpp
index bb97a8e5..c46b4fc0 100644
--- a/devicehandlers/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@@ -1,19 +1,14 @@
-/**
- * @file	PollingSlot.cpp
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#include <framework/devicehandlers/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/tasks/FixedSequenceSlot.h>
 #include <cstddef>
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
-		handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
+		pollingTimeMs(setTime), opcode(setSequenceId) {
 	handler = objectManager->get<ExecutableObjectIF>(handlerId);
-	handler->setTaskIF(executingTask);
+	if(executingTask != nullptr) {
+	    handler->setTaskIF(executingTask);
+	}
 }
 
 FixedSequenceSlot::~FixedSequenceSlot() {}
diff --git a/devicehandlers/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h
similarity index 78%
rename from devicehandlers/FixedSequenceSlot.h
rename to tasks/FixedSequenceSlot.h
index 7868cce3..72a35c74 100644
--- a/devicehandlers/FixedSequenceSlot.h
+++ b/tasks/FixedSequenceSlot.h
@@ -1,22 +1,17 @@
-/**
- * @file	FixedSequenceSlot.h
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#ifndef FIXEDSEQUENCESLOT_H_
-#define FIXEDSEQUENCESLOT_H_
+#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
+#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
 class PeriodicTaskIF;
 
 /**
- * @brief	This class is the representation of a single polling sequence table entry.
- *
- * @details	The PollingSlot class is the representation of a single polling
- * 			sequence table entry.
+ * @brief	This class is the representation of a single polling sequence
+ *          table entry.
+ * @details
+ * The PollingSlot class is the representation of a single polling
+ * sequence table entry.
+ * @author  baetz
  */
 class FixedSequenceSlot {
 public:
@@ -27,7 +22,7 @@ public:
 	/**
 	 * @brief	Handler identifies which device handler object is executed in this slot.
 	 */
-	ExecutableObjectIF*	handler;
+	ExecutableObjectIF*	handler = nullptr;
 
 	/**
 	 * @brief	This attribute defines when a device handler object is executed.
@@ -43,7 +38,7 @@ public:
 	 * @details	The state of this value decides what communication routine is
 	 * 			called in the PST executable or the device handler object.
 	 */
-	uint8_t			opcode;
+	uint8_t	opcode;
 
 	/**
 	 * @brief 	Operator overload for the comparison operator to
diff --git a/devicehandlers/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp
similarity index 98%
rename from devicehandlers/FixedSlotSequence.cpp
rename to tasks/FixedSlotSequence.cpp
index aeb97f3a..3e542bfc 100644
--- a/devicehandlers/FixedSlotSequence.cpp
+++ b/tasks/FixedSlotSequence.cpp
@@ -1,5 +1,5 @@
-#include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <cstdlib>
 
 FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
diff --git a/devicehandlers/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
similarity index 97%
rename from devicehandlers/FixedSlotSequence.h
rename to tasks/FixedSlotSequence.h
index 145cdbc3..7de1884c 100644
--- a/devicehandlers/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -1,8 +1,8 @@
-#ifndef FIXEDSLOTSEQUENCE_H_
-#define FIXEDSLOTSEQUENCE_H_
+#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
 
-#include <framework/devicehandlers/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObject.h>
+#include <framework/tasks/FixedSequenceSlot.h>
 
 #include <set>
 
diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h
index 7edd6751..023b5ee0 100644
--- a/tasks/FixedTimeslotTaskIF.h
+++ b/tasks/FixedTimeslotTaskIF.h
@@ -12,11 +12,18 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
 
+	/**
+	 * Add an object with a slot time and the execution step to the task.
+	 * The execution step shall be passed to the object.
+	 * @param componentId
+	 * @param slotTimeMs
+	 * @param executionStep
+	 * @return
+	 */
 	virtual ReturnValue_t addSlot(object_id_t componentId,
 			uint32_t slotTimeMs, int8_t executionStep) = 0;
+	/** Check whether the sequence is valid */
 	virtual ReturnValue_t checkSequence() const = 0;
 };
 
-
-
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */
diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 304a7de6..6f490977 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -1,9 +1,11 @@
-#ifndef PERIODICTASKIF_H_
-#define PERIODICTASKIF_H_
+#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
+#define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/timemanager/Clock.h>
 #include <cstddef>
 class ExecutableObjectIF;
+
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.
@@ -17,11 +19,27 @@ public:
 	 */
 	virtual ~PeriodicTaskIF() { }
 	/**
-	 * @brief	With the startTask method, a created task can be started for the first time.
+	 * @brief	With the startTask method, a created task can be started
+	 *          for the first time.
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
+	/**
+	 * Add a component (object) to a periodic task. The pointer to the
+	 * task can be set optionally
+	 * @param object
+	 * Add an object to the task. The most important case is to add an
+	 * executable object with a function which will be called regularly
+	 * (see ExecutableObjectIF)
+	 * @param setTaskIF
+	 * Can be used to specify whether the task object pointer is passed
+	 * to the component.
+	 * @return
+	 */
+	virtual ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 

From 1b0e7c84c7ac2fff9e8b7129110271681c147620 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 20:15:58 +0200
Subject: [PATCH 154/307] linux periodic task improvements

---
 osal/linux/PeriodicPosixTask.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index ca7011b0..afdd3a52 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -1,12 +1,13 @@
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <errno.h>
 #include <framework/osal/linux/PeriodicPosixTask.h>
 
+#include <errno.h>
+
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
 		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
-		PosixThread(name_,priority_,stackSize_),objectList(),started(false),
-		periodMs(period_),deadlineMissedFunc(deadlineMissedFunc_) {
+		PosixThread(name_, priority_, stackSize_), objectList(), started(false),
+		periodMs(period_), deadlineMissedFunc(deadlineMissedFunc_) {
 }
 
 PeriodicPosixTask::~PeriodicPosixTask() {

From 2c04b87418f2552f836775e4c3eaa1b14bcd033c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 20:18:00 +0200
Subject: [PATCH 155/307] corrected includes

---
 osal/linux/FixedTimeslotTask.h | 2 +-
 osal/rtems/PollingTask.cpp     | 2 +-
 osal/rtems/PollingTask.h       | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index 916e6d6c..409cd982 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -2,7 +2,7 @@
 #define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
 
 #include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/osal/linux/PosixThread.h>
 #include <pthread.h>
 
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index 6b0c0fbd..a6be7ddf 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -1,4 +1,4 @@
-#include <framework/devicehandlers/FixedSequenceSlot.h>
+#include <framework/tasks/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/osal/rtems/PollingTask.h>
 #include <framework/osal/rtems/RtemsBasic.h>
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 82ec65a2..5bf8cf57 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -1,7 +1,7 @@
 #ifndef POLLINGTASK_H_
 #define POLLINGTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include "TaskBase.h"
 

From 3936fe93609875c7f49332a8a5f24b09d67b7c1c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 20:34:19 +0200
Subject: [PATCH 156/307] linux fix

---
 osal/linux/PeriodicPosixTask.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index afdd3a52..fe8ac19c 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -22,7 +22,8 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
+		bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {

From 95b646046b162d2c47e0a231ae8fad35cc733f21 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 20:43:29 +0200
Subject: [PATCH 157/307] debug output working again

---
 events/EventManager.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 539f9e27..1eb88c32 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -133,7 +133,7 @@ void EventManager::printEvent(EventMessage* message) {
 		break;
 	default:
 		string = translateObject(message->getReporter());
-		sif::error << "EVENT: ";
+		sif::error << "EventManager: ";
 		if (string != 0) {
 			sif::error << string;
 		} else {

From 45a55044ddd3ded4cac2522313f1db53ac62c1d4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 20:47:36 +0200
Subject: [PATCH 158/307] using debug stream now

---
 events/EventManager.cpp | 25 ++++++++++++++-----------
 1 file changed, 14 insertions(+), 11 deletions(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 1eb88c32..30f5ed71 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -133,20 +133,23 @@ void EventManager::printEvent(EventMessage* message) {
 		break;
 	default:
 		string = translateObject(message->getReporter());
-		sif::error << "EventManager: ";
+		sif::debug << "EventManager: ";
 		if (string != 0) {
-			sif::error << string;
-		} else {
-			sif::error << "0x" << std::hex << message->getReporter() << std::dec;
+			sif::debug << string;
 		}
-		sif::error << " reported " << translateEvents(message->getEvent()) << " ("
-				<< std::dec << message->getEventId() << ") " << std::endl;
-
-		sif::error << std::hex << "P1 Hex: 0x" << message->getParameter1() << ", P1 Dec: "
-		        << std::dec << message->getParameter1() << std::endl;
-		sif::error << std::hex << "P2 Hex: 0x" << message->getParameter2() << ", P2 Dec: "
-		        <<  std::dec << message->getParameter2() << std::endl;
+		else {
+			sif::debug << "0x" << std::hex << message->getReporter() << std::dec;
+		}
+		sif::debug << " reported " << translateEvents(message->getEvent())
+				<< " (" << std::dec << message->getEventId() << ") "
+				<< std::endl;
 
+		sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
+				<< ", P1 Dec: " << std::dec << message->getParameter1()
+				<< std::endl;
+		sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
+				<< ", P2 Dec: " <<  std::dec << message->getParameter2()
+				<< std::endl;
 		break;
 	}
 

From 109fdad8b36ca1fe99f0ebad89fb28b04fa7d197 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 15:34:35 +0200
Subject: [PATCH 159/307] size check for message queue

---
 osal/FreeRTOS/MessageQueue.cpp | 11 +++++++++--
 osal/FreeRTOS/MessageQueue.h   |  1 +
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index d44b0bc0..cf6130f8 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -7,7 +7,8 @@
 // As a first step towards this, introduces system context variable which needs
 // to be switched manually
 // Haven't found function to find system context.
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) {
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		maxMessageSize(maxMessageSize) {
 	handle = xQueueCreate(messageDepth, maxMessageSize);
 	if (handle == NULL) {
 		sif::error << "MessageQueue: Creation failed" << std::endl;
@@ -120,10 +121,16 @@ bool MessageQueue::isDefaultDestinationSet() const {
 
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-        MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault, CallContext callContext) {
     message->setSender(sentFrom);
     BaseType_t result;
+    if(message->getMaximumMessageSize() > maxMessageSize) {
+    	sif::error << "MessageQueue::sendMessageFromMessageQueue: Message size"
+    			"too large for queue!" << std::endl;
+    	return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
     if(callContext == CallContext::TASK) {
         result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
                 static_cast<const void*>(message->getBuffer()), 0);
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index c13a8a20..b7e52bb3 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -204,6 +204,7 @@ private:
 	QueueHandle_t handle;
 	MessageQueueId_t defaultDestination = 0;
 	MessageQueueId_t lastPartner = 0;
+	const size_t maxMessageSize;
 	//!< Stores the current system context
 	CallContext callContext =  CallContext::TASK;
 };

From 3b2fa978e1b86ccf1b9c113ab958dcaf81e63b4a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 19:06:10 +0200
Subject: [PATCH 160/307] replaced break with continue

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index f3a65fcd..5d16a408 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -118,7 +118,7 @@ void FixedTimeslotTask::taskFunctionality() {
 	                this->deadlineMissedFunc();
 	            }
 	            // Continue immediately, no need to wait.
-	            break;
+	            continue;
 	        }
 
 	        // we need to wait before executing the current slot

From 5734a0a0e948df50c57f9d589a2eddac479bb70b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 19:22:52 +0200
Subject: [PATCH 161/307] some fixes necessary to perform size check

---
 action/ActionHelper.cpp               |  3 ++-
 datalinklayer/MapPacketExtraction.cpp |  3 ++-
 ipc/MessageQueueSenderIF.h            |  2 +-
 monitoring/LimitViolationReporter.cpp |  3 ++-
 osal/FreeRTOS/MessageQueue.cpp        |  8 ++++----
 osal/FreeRTOS/MessageQueue.h          |  5 +++--
 osal/FreeRTOS/QueueFactory.cpp        |  6 +++---
 tmtcservices/VerificationReporter.cpp | 12 ++++++++----
 8 files changed, 25 insertions(+), 17 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 0df5f2d4..026df4e1 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -101,7 +101,8 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
 
 	//TODO Service Implementation sucks at the moment
 	if (hideSender){
-		result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
+		result = MessageQueueSenderIF::sendMessage(reportTo, &reply,
+		        MessageQueueMessage::MAX_MESSAGE_SIZE);
 	} else {
 		result = queueToUse->sendMessage(reportTo, &reply);
 	}
diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index 4ea45e89..87b46556 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -117,7 +117,8 @@ ReturnValue_t MapPacketExtraction::sendCompletePacket(uint8_t* data,
 	ReturnValue_t status = this->packetStore->addData(&store_id, data, size);
 	if (status == RETURN_OK) {
 		TmTcMessage message(store_id);
-		status = MessageQueueSenderIF::sendMessage(tcQueueId,&message);
+		status = MessageQueueSenderIF::sendMessage(tcQueueId,&message,
+		        MessageQueueMessage::MAX_MESSAGE_SIZE);
 	}
 	return status;
 }
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 3172454f..912f4d7e 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -15,7 +15,7 @@ public:
 	 * Must be implemented by a subclass.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message,
+			MessageQueueMessageIF* message, size_t maxMessageSize,
 			MessageQueueId_t sentFrom = MessageQueueMessageIF::NO_QUEUE,
 			bool ignoreFault=false);
 private:
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index 1378d754..c6e2b5db 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -34,7 +34,8 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	MessageQueueMessage message;
 	CommandMessage report(&message);
 	MonitoringMessage::setLimitViolationReport(&report, storeId);
-	return MessageQueueSenderIF::sendMessage(reportQueue, &report);
+	return MessageQueueSenderIF::sendMessage(reportQueue, &report,
+	        MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
 ReturnValue_t LimitViolationReporter::checkClassLoaded() {
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index cf6130f8..0280869d 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -50,7 +50,7 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
+	return sendMessageFromMessageQueue(sendTo, message, maxMessageSize, sentFrom,
 			ignoreFault, callContext);
 }
 
@@ -121,11 +121,11 @@ bool MessageQueue::isDefaultDestinationSet() const {
 
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-        bool ignoreFault, CallContext callContext) {
+        MessageQueueMessageIF* message, size_t maxSize,
+        MessageQueueId_t sentFrom, bool ignoreFault, CallContext callContext) {
     message->setSender(sentFrom);
     BaseType_t result;
-    if(message->getMaximumMessageSize() > maxMessageSize) {
+    if(message->getMaximumMessageSize() > maxSize) {
     	sif::error << "MessageQueue::sendMessageFromMessageQueue: Message size"
     			"too large for queue!" << std::endl;
     	return HasReturnvaluesIF::RETURN_FAILED;
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index b7e52bb3..e87e884f 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -194,8 +194,9 @@ protected:
 	 * @param context Specify whether call is made from task or from an ISR.
 	 */
 	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
-			bool ignoreFault=false, CallContext callContext = CallContext::TASK);
+			MessageQueueMessageIF* message, size_t maxSize,
+			MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault=false,
+			CallContext callContext = CallContext::TASK);
 
 	static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index beb4969b..ec678890 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -7,9 +7,9 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-			bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			MessageQueueMessageIF* message, size_t maxSize,
+			MessageQueueId_t sentFrom, bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message, maxSize,
 			sentFrom,ignoreFault);
 }
 
diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp
index b0247944..a54c1f8d 100644
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@@ -22,7 +22,8 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			current_packet->getAcknowledgeFlags(),
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), 0, set_step);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message, MessageQueueMessage::MAX_MESSAGE_SIZE);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
 				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
@@ -37,7 +38,8 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 	}
 	PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
 			tcSequenceControl, 0, set_step);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message, MessageQueueMessage::MAX_MESSAGE_SIZE);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
 				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
@@ -55,7 +57,8 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), error_code, step,
 			parameter1, parameter2);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message, MessageQueueMessage::MAX_MESSAGE_SIZE);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error
 				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
@@ -72,7 +75,8 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 	}
 	PusVerificationMessage message(report_id, ackFlags, tcPacketId,
 			tcSequenceControl, error_code, step, parameter1, parameter2);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message, MessageQueueMessage::MAX_MESSAGE_SIZE);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error
 				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "

From dadc867d9ed44d82782d2f3f66cc0f54b50bfe00 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 20:18:13 +0200
Subject: [PATCH 162/307] adapted MessageQueueSenderIF function calls

---
 events/EventManager.cpp             |  3 ++-
 events/EventManagerIF.h             |  3 ++-
 health/HealthHelper.cpp             |  6 ++++--
 modes/ModeHelper.cpp                | 11 +++++++----
 osal/FreeRTOS/FixedTimeslotTask.cpp | 16 +++++++---------
 osal/FreeRTOS/MessageQueue.cpp      | 12 ++++++++++--
 osal/FreeRTOS/QueueFactory.cpp      |  5 +++++
 parameters/ParameterHelper.cpp      |  6 ++++--
 tmtcpacket/pus/TmPacketStored.cpp   |  3 ++-
 9 files changed, 43 insertions(+), 22 deletions(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 30f5ed71..a5d14569 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -52,7 +52,8 @@ void EventManager::notifyListeners(EventMessage* message) {
 	for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
 		if (iter->second.match(message)) {
 			MessageQueueSenderIF::sendMessage(iter->first, message,
-					message->getSender());
+			        MessageQueueMessage::MAX_MESSAGE_SIZE,
+			        message->getSender());
 		}
 	}
 	unlockMutex();
diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h
index bc0de432..053e320b 100644
--- a/events/EventManagerIF.h
+++ b/events/EventManagerIF.h
@@ -44,7 +44,8 @@ public:
 				eventmanagerQueue = eventmanager->getEventReportQueue();
 			}
 		}
-		MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom);
+		MessageQueueSenderIF::sendMessage(eventmanagerQueue, message,
+		        MessageQueueMessage::MAX_MESSAGE_SIZE, sentFrom);
 	}
 
 };
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index df259b52..935bf5e3 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -70,7 +70,8 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
 	HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO,
 			health, oldHealth);
 	if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
-			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
+	        MessageQueueMessage::MAX_MESSAGE_SIZE,
+	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
 		sif::debug << "HealthHelper::informParent: sending health reply failed."
 				<< std::endl;
 	}
@@ -90,7 +91,8 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
 		reply.setReplyRejected(result, command->getCommand());
 	}
 	if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
-			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
+	        MessageQueueMessage::MAX_MESSAGE_SIZE,
+	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
 		sif::debug << "HealthHelper::handleHealthCommand: sending health "
 		        "reply failed." << std::endl;
 
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index b79082af..f636c0bf 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -28,7 +28,8 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			ModeMessage::cantReachMode(&reply, result);
 			MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
-					owner->getCommandQueue());
+			        MessageQueueMessage::MAX_MESSAGE_SIZE,
+			        owner->getCommandQueue());
 			break;
 		}
 		//Free to start transition
@@ -50,7 +51,8 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode,
 				submode);
 		MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
-				owner->getCommandQueue());
+		        MessageQueueMessage::MAX_MESSAGE_SIZE,
+		       owner->getCommandQueue());
 	}
 		break;
 	case ModeMessage::CMD_MODE_ANNOUNCE:
@@ -95,7 +97,7 @@ void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
 					ownerMode, ownerSubmode);
 		}
 		MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
-				owner->getCommandQueue());
+		        MessageQueueMessage::MAX_MESSAGE_SIZE, owner->getCommandQueue());
 	}
 }
 
@@ -109,7 +111,8 @@ void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
 				ownerMode, ownerSubmode);
 		MessageQueueSenderIF::sendMessage(parentQueueId, &reply,
-				owner->getCommandQueue());
+		        MessageQueueMessage::MAX_MESSAGE_SIZE,
+		        owner->getCommandQueue());
 	}
 }
 
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 5d16a408..4d4ec996 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -105,11 +105,14 @@ void FixedTimeslotTask::taskFunctionality() {
 		//The component for this slot is executed and the next one is chosen.
 	    this->pst.executeAndAdvance();
 	    if (not pst.slotFollowsImmediately()) {
+	        // Get the interval till execution of the next slot.
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+
 	        /* If all operations are finished and the difference of the
 	         * current time minus the last wake time is larger than the
 	         * expected wait period, a deadline was missed. */
-	        if(xTaskGetTickCount() - xLastWakeTime >=
-	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+	        if(xTaskGetTickCount() - xLastWakeTime >= interval) {
 #ifdef DEBUG
 	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
 	                    " missed deadline!\n" << std::flush;
@@ -117,14 +120,9 @@ void FixedTimeslotTask::taskFunctionality() {
 	            if(deadlineMissedFunc != nullptr) {
 	                this->deadlineMissedFunc();
 	            }
-	            // Continue immediately, no need to wait.
-	            continue;
 	        }
-
-	        // we need to wait before executing the current slot
-	        //this gives us the time to wait:
-	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
-	        interval = pdMS_TO_TICKS(intervalMs);
+	        // Wait for the interval. This exits immediately if a deadline was
+	        // missed while also updating the last wake time.
 	        vTaskDelayUntil(&xLastWakeTime, interval);
 	    }
 	}
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 0280869d..c9adf229 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -80,6 +80,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 }
 
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+    if(message->getMaximumMessageSize() < maxMessageSize) {
+        sif::error << "MessageQueue::receiveMessage: Message size "
+                << message->getMaximumMessageSize() <<
+                " too small to receive data!" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 	BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
 			message->getBuffer()), 0);
 	if (result == pdPASS){
@@ -126,8 +132,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     message->setSender(sentFrom);
     BaseType_t result;
     if(message->getMaximumMessageSize() > maxSize) {
-    	sif::error << "MessageQueue::sendMessageFromMessageQueue: Message size"
-    			"too large for queue!" << std::endl;
+    	sif::error << "MessageQueue::sendMessageFromMessageQueue: Message size "
+    			 << message->getMaximumMessageSize() << " too large for queue"
+    			  " with max. message size " << maxSize << "!"
+    			 << std::endl;
     	return HasReturnvaluesIF::RETURN_FAILED;
     }
 
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index ec678890..d754b2b9 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -9,6 +9,11 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
 			MessageQueueMessageIF* message, size_t maxSize,
 			MessageQueueId_t sentFrom, bool ignoreFault) {
+    if(maxSize == 0) {
+        sif::error << "MessageQueueSenderIF::sendMessage: Max Size is 0!"
+                << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message, maxSize,
 			sentFrom,ignoreFault);
 }
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 8b91020f..68ff5ab0 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -107,7 +107,8 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 
 	ParameterMessage::setParameterDumpReply(&reply, id, address);
 
-	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
+	MessageQueueSenderIF::sendMessage(to, &reply,
+	        MessageQueueMessage::MAX_MESSAGE_SIZE, ownerQueueId);
 
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -129,5 +130,6 @@ void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
 	MessageQueueMessage message;
 	CommandMessage reply(&message);
 	reply.setReplyRejected(reason, initialCommand);
-	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
+	MessageQueueSenderIF::sendMessage(to, &reply,
+	        MessageQueueMessage::MAX_MESSAGE_SIZE, ownerQueueId);
 }
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index 42d0d038..d589db8d 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -117,7 +117,8 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	TmTcMessage tmMessage(getStoreAddress());
-	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination, &tmMessage, sentFrom);
+	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination,
+	        &tmMessage, MessageQueueMessage::MAX_MESSAGE_SIZE, sentFrom);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		deletePacket();
 		if (doErrorReporting) {

From 6a7f47e06d95c91f8f9885c38f0716894735a10a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 23:46:44 +0200
Subject: [PATCH 163/307] doc fix

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 56 ++++++++++++++++++++---------
 osal/FreeRTOS/FixedTimeslotTask.h   |  6 +++-
 2 files changed, 45 insertions(+), 17 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 4d4ec996..57c927f9 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -82,7 +82,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-	SlotListIter slotListIter = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -90,9 +90,9 @@ void FixedTimeslotTask::taskFunctionality() {
 
 	TickType_t xLastWakeTime;
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time
@@ -109,18 +109,8 @@ void FixedTimeslotTask::taskFunctionality() {
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
 
-	        /* If all operations are finished and the difference of the
-	         * current time minus the last wake time is larger than the
-	         * expected wait period, a deadline was missed. */
-	        if(xTaskGetTickCount() - xLastWakeTime >= interval) {
-#ifdef DEBUG
-	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-	                    " missed deadline!\n" << std::flush;
-#endif
-	            if(deadlineMissedFunc != nullptr) {
-	                this->deadlineMissedFunc();
-	            }
-	        }
+	        checkMissedDeadline(xLastWakeTime, interval);
+
 	        // Wait for the interval. This exits immediately if a deadline was
 	        // missed while also updating the last wake time.
 	        vTaskDelayUntil(&xLastWakeTime, interval);
@@ -128,6 +118,40 @@ void FixedTimeslotTask::taskFunctionality() {
 	}
 }
 
+void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void FixedTimeslotTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
+
 ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 183fad20..32289f4b 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -12,7 +12,7 @@ class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
 
 	/**
-	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * Keep in Mind that you need to call before vTaskStartScheduler()!
 	 * A lot of task parameters are set in "FreeRTOSConfig.h".
 	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
 	 * @param setPriority Number of priorities specified by
@@ -89,6 +89,10 @@ protected:
 	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
 #endif /* POLLINGTASK_H_ */

From a82dbcbd501a6c035430f8394d5eaebe06480918 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 23:47:18 +0200
Subject: [PATCH 164/307] minor doc correction

---
 osal/FreeRTOS/FixedTimeslotTask.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 32289f4b..27d08190 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -12,7 +12,7 @@ class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
 
 	/**
-	 * Keep in Mind that you need to call before vTaskStartScheduler()!
+	 * Keep in mind that you need to call before vTaskStartScheduler()!
 	 * A lot of task parameters are set in "FreeRTOSConfig.h".
 	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
 	 * @param setPriority Number of priorities specified by

From 847292ea30e3c71678b0cf994e6436caad71a463 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 01:10:19 +0200
Subject: [PATCH 165/307] added overflow checking for periodic task

---
 osal/FreeRTOS/PeriodicTask.cpp | 47 +++++++++++++++++++++++++---------
 osal/FreeRTOS/PeriodicTask.h   |  4 +++
 2 files changed, 39 insertions(+), 12 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 43928f7c..fa49150e 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -74,18 +74,7 @@ void PeriodicTask::taskFunctionality() {
 			object->performOperation();
 		}
 
-		/* If all operations are finished and the difference of the
-		 * current time minus the last wake time is larger than the
-		 * wait period, a deadline was missed. */
-		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
-#ifdef DEBUG
-			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
-					" missed deadline!\n" << std::flush;
-#endif
-			if(deadlineMissedFunc != nullptr) {
-				this->deadlineMissedFunc();
-			}
-		}
+		checkMissedDeadline(xLastWakeTime, xPeriod);
 
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
 
@@ -110,3 +99,37 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 uint32_t PeriodicTask::getPeriodMs() const {
 	return period * 1000;
 }
+
+void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void PeriodicTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index a580f519..09aa6bc7 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -116,6 +116,10 @@ protected:
 	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
 #endif /* PERIODICTASK_H_ */

From f7d55a8a37559bf9717b49e414c19db99c5113e9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 01:15:35 +0200
Subject: [PATCH 166/307] equal to pull request now

---
 osal/FreeRTOS/PeriodicTask.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index fa49150e..170eb0a4 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -89,10 +89,11 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	if(setTaskIF) {
-	    newObject->setTaskIF(this);
-	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	     newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

From 64a02c55ba9c0f067e64b460b66750b613a31526 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 01:37:25 +0200
Subject: [PATCH 167/307] linux fixed, size checks added

---
 osal/linux/MessageQueue.cpp      | 50 +++++++++++++++++++++++++-------
 osal/linux/MessageQueue.h        |  6 ++--
 osal/linux/PeriodicPosixTask.cpp | 14 +++++----
 osal/linux/PeriodicPosixTask.h   |  6 ++--
 osal/linux/QueueFactory.cpp      |  6 ++--
 5 files changed, 58 insertions(+), 24 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 605dea2a..c4b24a13 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -11,7 +11,8 @@
 
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
 		id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
-		defaultDestination(MessageQueueIF::NO_QUEUE) {
+		defaultDestination(MessageQueueIF::NO_QUEUE),
+		maxMessageSize(maxMessageSize) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
 	this->id = 0;
@@ -142,6 +143,19 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 }
 
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	if(message == nullptr) {
+		sif::error << "MessageQueue::receiveMessage: Message is "
+				"nullptr!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(message->getMaximumMessageSize() < maxMessageSize) {
+	        sif::error << "MessageQueue::receiveMessage: Message size "
+	                << message->getMaximumMessageSize() <<
+	                " too small to receive data!" << std::endl;
+	        return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 	unsigned int messagePriority = 0;
 	int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
 			message->getMaximumMessageSize(),&messagePriority);
@@ -258,18 +272,20 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 	this->defaultDestination = defaultDestination;
 }
 
-ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
-
-}
-
 ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }
 
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo,message, maxMessageSize,
+			sentFrom,ignoreFault);
+
+}
+
 MessageQueueId_t MessageQueue::getDefaultDestination() const {
 	return this->defaultDestination;
 }
@@ -281,8 +297,22 @@ bool MessageQueue::isDefaultDestinationSet() const {
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-		MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
+		MessageQueueMessageIF *message, size_t maxSize,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	if(message == nullptr) {
+		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
+				"nullptr!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(message->getMaximumMessageSize() > maxSize) {
+		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message size "
+				<< message->getMaximumMessageSize() << " too large for queue"
+				" with max. message size " << maxSize << "!"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 	message->setSender(sentFrom);
 	int result = mq_send(sendTo,
 			reinterpret_cast<const char*>(message->getBuffer()),
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index 91066bf7..22725d18 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -149,7 +149,8 @@ protected:
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			MessageQueueMessageIF* message, size_t maxSize,
+			MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault=false);
 private:
 	/**
@@ -176,9 +177,10 @@ private:
 	/**
 	 * The name of the message queue, stored for unlinking
 	 */
-	char name[5];
+	char name[16];
 
 	static uint16_t queueCounter;
+	const size_t maxMessageSize;
 
 	ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
 };
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index fe8ac19c..db4005b0 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -31,10 +31,11 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 	            "it implements ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	objectList.push_back(newObject);
+
 	if(setTaskIF) {
 	    newObject->setTaskIF(this);
 	}
-	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -43,14 +44,14 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 }
 
 
-ReturnValue_t PeriodicPosixTask::startTask(void){
+ReturnValue_t PeriodicPosixTask::startTask(void) {
 	started = true;
 	//sif::info << stackSize << std::endl;
 	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicPosixTask::taskFunctionality(void){
+void PeriodicPosixTask::taskFunctionality(void) {
 	if(!started){
 		suspend();
 	}
@@ -64,14 +65,15 @@ void PeriodicPosixTask::taskFunctionality(void){
 		if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
 			char name[20] = {0};
 			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
-			if(status==0){
+			if(status == 0){
 				sif::error << "PeriodicPosixTask " << name << ": Deadline "
 						"missed." << std::endl;
-			}else{
+			}
+			else {
 				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
 						status << std::endl;
 			}
-			if (this->deadlineMissedFunc != NULL) {
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index 1d62a565..9b477e36 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -32,7 +32,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask(void) override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
@@ -42,9 +42,9 @@ public:
 	ReturnValue_t addComponent(object_id_t object,
 	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 private:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index 8bd9d52c..95264a42 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -9,10 +9,10 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-			bool ignoreFault) {
+			MessageQueueMessageIF* message, size_t maxSize,
+			MessageQueueId_t sentFrom, bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
-			sentFrom,ignoreFault);
+			maxSize, sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {

From c0beef44630f991e7307727bbcca6adc81bb48a0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 10:27:44 +0200
Subject: [PATCH 168/307] some include guards, todo comments

---
 devicehandlers/DeviceHandlerFailureIsolation.cpp | 2 +-
 devicehandlers/DeviceHandlerFailureIsolation.h   | 1 +
 fdir/ConfirmsFailuresIF.h                        | 1 +
 fdir/FailureIsolationBase.cpp                    | 3 ++-
 health/HealthTable.h                             | 4 ++--
 health/HealthTableIF.h                           | 8 +++++---
 ipc/MessageQueueSenderIF.h                       | 1 -
 returnvalues/HasReturnvaluesIF.h                 | 4 ++--
 8 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 1df2afa0..46e73cd8 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -137,7 +137,7 @@ void DeviceHandlerFailureIsolation::decrementFaultCounters() {
 
 void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
 	clearFaultCounters();
-	if (!recoveryCounter.incrementAndCheck()) {
+	if (not recoveryCounter.incrementAndCheck()) {
 		startRecovery(reason);
 	} else {
 		setFaulty(reason);
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h
index 379edae3..4343d88b 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.h
+++ b/devicehandlers/DeviceHandlerFailureIsolation.h
@@ -31,6 +31,7 @@ protected:
 	bool hasPowerConfirmation = false;
 	MessageQueueId_t powerConfirmation;
 	static object_id_t powerConfirmationId;
+	// TODO: Are those hardcoded value? How can they be changed.
 	static const uint32_t MAX_REBOOT = 1;
 	static const uint32_t REBOOT_TIME_MS = 180000;
 	static const uint32_t MAX_STRANGE_REPLIES = 10;
diff --git a/fdir/ConfirmsFailuresIF.h b/fdir/ConfirmsFailuresIF.h
index 99cd212a..460749ee 100644
--- a/fdir/ConfirmsFailuresIF.h
+++ b/fdir/ConfirmsFailuresIF.h
@@ -4,6 +4,7 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
 
+// TODO: Documentation.
 class ConfirmsFailuresIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HANDLES_FAILURES_IF;
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index 46114467..018fbe6a 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -9,7 +9,8 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner,
 		object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
 		eventQueue(NULL), ownerId(owner), owner(NULL),
 		faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-	eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
+	eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
+			EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
diff --git a/health/HealthTable.h b/health/HealthTable.h
index 32a7eee2..194ad259 100644
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@@ -1,5 +1,5 @@
-#ifndef HEALTHTABLE_H_
-#define HEALTHTABLE_H_
+#ifndef FRAMEWORK_HEALTH_HEALTHTABLE_H_
+#define FRAMEWORK_HEALTH_HEALTHTABLE_H_
 
 #include <framework/health/HealthTableIF.h>
 #include <framework/objectmanager/SystemObject.h>
diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h
index 6fdfc2c0..c8d2c74a 100644
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@@ -1,5 +1,5 @@
-#ifndef HEALTHTABLEIF_H_
-#define HEALTHTABLEIF_H_
+#ifndef FRAMEWORK_HEALTH_HEALTHTABLEIF_H_
+#define FRAMEWORK_HEALTH_HEALTHTABLEIF_H_
 
 #include <framework/health/ManagesHealthIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
@@ -8,6 +8,8 @@
 
 
 class HealthTableIF: public ManagesHealthIF {
+	// TODO: This is in the mission folder and not in the framework folder.
+	// delete it?
 	friend class HealthCommandingService;
 public:
 	virtual ~HealthTableIF() {
@@ -23,4 +25,4 @@ protected:
 	virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false) = 0;
 };
 
-#endif /* HEALTHTABLEIF_H_ */
+#endif /* FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ */
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 912f4d7e..8bc14948 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -12,7 +12,6 @@ public:
 	/**
 	 * Allows sending messages without actually "owing" a message queue.
 	 * Not sure whether this is actually a good idea.
-	 * Must be implemented by a subclass.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
 			MessageQueueMessageIF* message, size_t maxMessageSize,
diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 9bbaf601..b51dfc82 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -1,5 +1,5 @@
-#ifndef HASRETURNVALUESIF_H_
-#define HASRETURNVALUESIF_H_
+#ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
+#define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
 
 #include <framework/returnvalues/FwClassIds.h>
 #include <config/returnvalues/classIds.h>

From 918329163f2148ed80b62f74d584ebcc28b511d5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 10:31:53 +0200
Subject: [PATCH 169/307] removed empty line

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 323eab03..0fb1e1d7 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -57,7 +57,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-
 	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
 		if(slotTimeMs == 0) {
 			// FreeRTOS throws a sanity error for zero values, so we set

From e27310da40a420e78cc894746301d318da632bc9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 10:47:31 +0200
Subject: [PATCH 170/307] updates for tmtcbridge

---
 tmtcservices/TmTcBridge.cpp | 17 +++++------------
 tmtcservices/TmTcBridge.h   | 11 ++++++-----
 2 files changed, 11 insertions(+), 17 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index c5eaf78b..f9a7d3bc 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -3,6 +3,7 @@
 #include <framework/ipc/QueueFactory.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/arrayprinter.h>
 
 TmTcBridge::TmTcBridge(object_id_t objectId_,
         object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
@@ -85,7 +86,7 @@ ReturnValue_t TmTcBridge::handleTm() {
 		return RETURN_FAILED;
 	}
 
-	if(tmStored && communicationLinkUp) {
+	if(tmStored and communicationLinkUp) {
 		result = handleStoredTm();
 	}
 	return result;
@@ -141,11 +142,11 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 ReturnValue_t TmTcBridge::handleStoredTm() {
 	uint8_t counter = 0;
 	ReturnValue_t result = RETURN_OK;
-	while(not tmFifo.empty() && counter < sentPacketsPerCycle) {
+	while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
 		//info << "TMTC Bridge: Sending stored TM data. There are "
 		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
 		store_address_t storeId;
-		const uint8_t* data = NULL;
+		const uint8_t* data = nullptr;
 		size_t size = 0;
 		tmFifo.retrieve(&storeId);
 		result = tmStore->getData(storeId, &data, &size);
@@ -186,14 +187,6 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
 }
 
 
-
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
-	sif::info << "TMTC Bridge: Printing data: [";
-	for(uint32_t i = 0; i < dataLen; i++) {
-		sif::info << std::hex << (int)data[i];
-		if(i < dataLen-1){
-			sif::info << " , ";
-		}
-	}
-	sif::info << " ] " << std::endl;
+	arrayprinter::print(data, dataLen);
 }
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 0a1fcfab..3e0432d8 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -43,26 +43,27 @@ public:
 	 */
 	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
 
-	void registerCommConnect();
-	void registerCommDisconnect();
+	virtual void registerCommConnect();
+	virtual void registerCommDisconnect();
 
 	/**
 	 * Initializes necessary FSFW components for the TMTC Bridge
 	 * @return
 	 */
-	ReturnValue_t initialize() override;
+	virtual ReturnValue_t initialize() override;
 
 	/**
 	 * @brief	Handles TMTC reception
 	 */
-	ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
 	/**
 	 * Return TMTC Reception Queue
 	 * @param virtualChannel
 	 * @return
 	 */
-	MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
+	MessageQueueId_t getReportReceptionQueue(
+			uint8_t virtualChannel = 0) override;
 protected:
 	//! Used to send and receive TMTC messages.
 	//! TmTcMessage is used to transport messages between tasks.

From 45ffb7549aa0654f1423ef5cd8dd0f012ab0537a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 10:58:48 +0200
Subject: [PATCH 171/307] storage accessor const in own file now

---
 storagemanager/ConstStorageAccessor.cpp |  93 +++++++++++++++++++
 storagemanager/ConstStorageAccessor.h   | 116 ++++++++++++++++++++++++
 storagemanager/StorageAccessor.cpp      |  98 +-------------------
 storagemanager/StorageAccessor.h        | 109 +---------------------
 4 files changed, 215 insertions(+), 201 deletions(-)
 create mode 100644 storagemanager/ConstStorageAccessor.cpp
 create mode 100644 storagemanager/ConstStorageAccessor.h

diff --git a/storagemanager/ConstStorageAccessor.cpp b/storagemanager/ConstStorageAccessor.cpp
new file mode 100644
index 00000000..be3188c1
--- /dev/null
+++ b/storagemanager/ConstStorageAccessor.cpp
@@ -0,0 +1,93 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/storagemanager/ConstStorageAccessor.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
+		storeId(storeId) {}
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		storeId(storeId), store(store) {
+	internalState = AccessState::ASSIGNED;
+}
+
+ConstStorageAccessor::~ConstStorageAccessor() {
+	if(deleteData and store != nullptr) {
+		sif::debug << "deleting store data" << std::endl;
+		store->deleteData(storeId);
+	}
+}
+
+ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
+		constDataPointer(other.constDataPointer), storeId(other.storeId),
+		size_(other.size_), store(other.store), deleteData(other.deleteData),
+		internalState(other.internalState) {
+	// This prevent premature deletion
+	other.store = nullptr;
+}
+
+ConstStorageAccessor& ConstStorageAccessor::operator=(
+		ConstStorageAccessor&& other) {
+	constDataPointer = other.constDataPointer;
+	storeId = other.storeId;
+	store = other.store;
+	size_ = other.size_;
+	deleteData = other.deleteData;
+	this->store = other.store;
+	// This prevents premature deletion
+	other.store = nullptr;
+	return *this;
+}
+
+const uint8_t* ConstStorageAccessor::data() const {
+	return constDataPointer;
+}
+
+size_t ConstStorageAccessor::size() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return size_;
+}
+
+ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
+		size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(constDataPointer, constDataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ConstStorageAccessor::release() {
+	deleteData = false;
+}
+
+store_address_t ConstStorageAccessor::getId() const {
+	return storeId;
+}
+
+void ConstStorageAccessor::print() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return;
+	}
+	sif::info << "StorageAccessor: Printing data: [";
+	for(uint16_t iPool = 0; iPool < size_; iPool++) {
+		sif::info << std::hex << (int)constDataPointer[iPool];
+		if(iPool < size_ - 1){
+			sif::info << " , ";
+		}
+	}
+	sif::info << " ] " << std::endl;
+}
+
+void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
+	internalState = AccessState::ASSIGNED;
+	this->store = store;
+}
diff --git a/storagemanager/ConstStorageAccessor.h b/storagemanager/ConstStorageAccessor.h
new file mode 100644
index 00000000..cf8ca08f
--- /dev/null
+++ b/storagemanager/ConstStorageAccessor.h
@@ -0,0 +1,116 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+#define FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+
+#include <framework/storagemanager/storeAddress.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+
+class StorageManagerIF;
+
+/**
+ * @brief 	Helper classes to facilitate safe access to storages which is also
+ * 			conforming to RAII principles
+ * @details
+ * Accessor class which can be returned by pool manager or passed and set by
+ * pool managers to have safe access to the pool resources.
+ *
+ * These helper can be used together with the StorageManager classes to manage
+ * access to a storage. It can take care of thread-safety while also providing
+ * mechanisms to automatically clear storage data.
+ */
+class ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	/**
+	 * @brief	Simple constructor which takes the store ID of the storage
+	 * 			entry to access.
+	 * @param storeId
+	 */
+	ConstStorageAccessor(store_address_t storeId);
+	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief 	The destructor in default configuration takes care of
+	 * 			deleting the accessed pool entry and unlocking the mutex
+	 */
+	virtual ~ConstStorageAccessor();
+
+	/**
+	 * @brief	Returns a pointer to the read-only data
+	 * @return
+	 */
+	const uint8_t* data() const;
+
+	/**
+	 * @brief	Copies the read-only data to the supplied pointer
+	 * @param pointer
+	 */
+	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
+
+	/**
+	 * @brief   Calling this will prevent the Accessor from deleting the data
+	 *          when the destructor is called.
+	 */
+	void release();
+
+	/**
+	 * Get the size of the data
+	 * @return
+	 */
+	size_t size() const;
+
+	/**
+	 * Get the storage ID.
+	 * @return
+	 */
+	store_address_t getId() const;
+
+	void print() const;
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being free prematurely.
+	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
+	ConstStorageAccessor (ConstStorageAccessor&&);
+
+	//! The copy ctor and copy assignemnt should be deleted implicitely
+	//! according to https://foonathan.net/2019/02/special-member-functions/
+	//! but I still deleted them to make it more explicit. (remember rule of 5).
+	ConstStorageAccessor& operator= (ConstStorageAccessor&) = delete;
+	ConstStorageAccessor (ConstStorageAccessor&) = delete;
+protected:
+	const uint8_t* constDataPointer = nullptr;
+	store_address_t storeId;
+	size_t size_ = 0;
+	//! Managing pool, has to assign itself.
+	StorageManagerIF* store = nullptr;
+	bool deleteData = true;
+
+	enum class AccessState {
+		UNINIT,
+		ASSIGNED
+	};
+	//! Internal state for safety reasons.
+	AccessState internalState = AccessState::UNINIT;
+	/**
+	 * Used by the pool manager instances to assign themselves to the
+	 * accessor. This is necessary to delete the data when the acessor
+	 * exits the scope ! The internal state will be considered read
+	 * when this function is called, so take care all data is set properly as
+	 * well.
+	 * @param
+	 */
+	void assignStore(StorageManagerIF*);
+};
+
+
+#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */
diff --git a/storagemanager/StorageAccessor.cpp b/storagemanager/StorageAccessor.cpp
index c0c8126b..b827b9c0 100644
--- a/storagemanager/StorageAccessor.cpp
+++ b/storagemanager/StorageAccessor.cpp
@@ -1,96 +1,6 @@
 #include <framework/storagemanager/StorageAccessor.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-
-ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
-		storeId(storeId) {}
-
-ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
-		StorageManagerIF* store):
-		storeId(storeId), store(store) {
-	internalState = AccessState::ASSIGNED;
-}
-
-ConstStorageAccessor::~ConstStorageAccessor() {
-	if(deleteData and store != nullptr) {
-		sif::debug << "deleting store data" << std::endl;
-		store->deleteData(storeId);
-	}
-}
-
-ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
-		constDataPointer(other.constDataPointer), storeId(other.storeId),
-		size_(other.size_), store(other.store), deleteData(other.deleteData),
-		internalState(other.internalState) {
-	// This prevent premature deletion
-	other.store = nullptr;
-}
-
-ConstStorageAccessor& ConstStorageAccessor::operator=(
-		ConstStorageAccessor&& other) {
-	constDataPointer = other.constDataPointer;
-	storeId = other.storeId;
-	store = other.store;
-	size_ = other.size_;
-	deleteData = other.deleteData;
-	this->store = other.store;
-	// This prevents premature deletion
-	other.store = nullptr;
-	return *this;
-}
-
-const uint8_t* ConstStorageAccessor::data() const {
-	return constDataPointer;
-}
-
-size_t ConstStorageAccessor::size() const {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-	}
-	return size_;
-}
-
-ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
-		size_t maxSize) {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	std::copy(constDataPointer, constDataPointer + size_, pointer);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void ConstStorageAccessor::release() {
-	deleteData = false;
-}
-
-store_address_t ConstStorageAccessor::getId() const {
-	return storeId;
-}
-
-void ConstStorageAccessor::print() const {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return;
-	}
-	sif::info << "StorageAccessor: Printing data: [";
-	for(uint16_t iPool = 0; iPool < size_; iPool++) {
-		sif::info << std::hex << (int)constDataPointer[iPool];
-		if(iPool < size_ - 1){
-			sif::info << " , ";
-		}
-	}
-	sif::info << " ] " << std::endl;
-}
-
-void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
-	internalState = AccessState::ASSIGNED;
-	this->store = store;
-}
-
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 StorageAccessor::StorageAccessor(store_address_t storeId):
 		ConstStorageAccessor(storeId) {
@@ -120,7 +30,8 @@ ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		sif::error << "StorageAccessor: Supplied buffer not large "
+				"enough" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	std::copy(dataPointer, dataPointer + size_, pointer);
@@ -141,7 +52,8 @@ ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(offset + size > size_) {
-		sif::error << "StorageAccessor: Data too large for pool entry!" << std::endl;
+		sif::error << "StorageAccessor: Data too large for pool "
+				"entry!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	std::copy(data, data + size, dataPointer + offset);
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index 06947974..c5e38306 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -1,117 +1,10 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
 #define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
 
-#include <framework/ipc/MutexHelper.h>
-#include <framework/storagemanager/storeAddress.h>
+#include <framework/storagemanager/ConstStorageAccessor.h>
 
 class StorageManagerIF;
 
-/**
- * @brief 	Helper classes to facilitate safe access to storages which is also
- * 			conforming to RAII principles
- * @details
- * Accessor class which can be returned by pool manager or passed and set by
- * pool managers to have safe access to the pool resources.
- *
- * These helper can be used together with the StorageManager classes to manage
- * access to a storage. It can take care of thread-safety while also providing
- * mechanisms to automatically clear storage data.
- */
-class ConstStorageAccessor {
-	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class LocalPool;
-public:
-	/**
-	 * @brief	Simple constructor which takes the store ID of the storage
-	 * 			entry to access.
-	 * @param storeId
-	 */
-	ConstStorageAccessor(store_address_t storeId);
-	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
-
-	/**
-	 * @brief 	The destructor in default configuration takes care of
-	 * 			deleting the accessed pool entry and unlocking the mutex
-	 */
-	virtual ~ConstStorageAccessor();
-
-	/**
-	 * @brief	Returns a pointer to the read-only data
-	 * @return
-	 */
-	const uint8_t* data() const;
-
-	/**
-	 * @brief	Copies the read-only data to the supplied pointer
-	 * @param pointer
-	 */
-	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
-
-	/**
-	 * @brief   Calling this will prevent the Accessor from deleting the data
-	 *          when the destructor is called.
-	 */
-	void release();
-
-	/**
-	 * Get the size of the data
-	 * @return
-	 */
-	size_t size() const;
-
-	/**
-	 * Get the storage ID.
-	 * @return
-	 */
-	store_address_t getId() const;
-
-	void print() const;
-
-	/**
-	 * @brief	Move ctor and move assignment allow returning accessors as
-	 * 			a returnvalue. They prevent resource being free prematurely.
-	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
-	 * move-constructors-and-move-assignment-operators-cpp.md
-	 * @param
-	 * @return
-	 */
-	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
-	ConstStorageAccessor (ConstStorageAccessor&&);
-
-	//! The copy ctor and copy assignemnt should be deleted implicitely
-	//! according to https://foonathan.net/2019/02/special-member-functions/
-	//! but I still deleted them to make it more explicit. (remember rule of 5).
-	ConstStorageAccessor& operator= (const ConstStorageAccessor&) = delete;
-	ConstStorageAccessor (const ConstStorageAccessor&) = delete;
-protected:
-	const uint8_t* constDataPointer = nullptr;
-	store_address_t storeId;
-	size_t size_ = 0;
-	//! Managing pool, has to assign itself.
-	StorageManagerIF* store = nullptr;
-	bool deleteData = true;
-
-	enum class AccessState {
-		UNINIT,
-		ASSIGNED
-	};
-	//! Internal state for safety reasons.
-	AccessState internalState = AccessState::UNINIT;
-	/**
-	 * Used by the pool manager instances to assign themselves to the
-	 * accessor. This is necessary to delete the data when the acessor
-	 * exits the scope ! The internal state will be considered read
-	 * when this function is called, so take care all data is set properly as
-	 * well.
-	 * @param
-	 */
-	void assignStore(StorageManagerIF*);
-};
-
-
 /**
  * @brief   Child class for modifyable data. Also has a normal pointer member.
  */

From 446e7d2f82d46ce9690d3f2c4c84b166407a8c2d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 11:00:40 +0200
Subject: [PATCH 172/307] const storage accessor improvement

---
 storagemanager/ConstStorageAccessor.cpp | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/storagemanager/ConstStorageAccessor.cpp b/storagemanager/ConstStorageAccessor.cpp
index be3188c1..0bfde58c 100644
--- a/storagemanager/ConstStorageAccessor.cpp
+++ b/storagemanager/ConstStorageAccessor.cpp
@@ -1,6 +1,7 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/storagemanager/ConstStorageAccessor.h>
 #include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/globalfunctions/arrayprinter.h>
 
 ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
 		storeId(storeId) {}
@@ -73,18 +74,11 @@ store_address_t ConstStorageAccessor::getId() const {
 }
 
 void ConstStorageAccessor::print() const {
-	if(internalState == AccessState::UNINIT) {
+	if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
 		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
 		return;
 	}
-	sif::info << "StorageAccessor: Printing data: [";
-	for(uint16_t iPool = 0; iPool < size_; iPool++) {
-		sif::info << std::hex << (int)constDataPointer[iPool];
-		if(iPool < size_ - 1){
-			sif::info << " , ";
-		}
-	}
-	sif::info << " ] " << std::endl;
+	arrayprinter::print(constDataPointer, size_);
 }
 
 void ConstStorageAccessor::assignStore(StorageManagerIF* store) {

From 2ecd7c44937180ab0aad13a1185ed9cc54c9eaa4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 11:05:40 +0200
Subject: [PATCH 173/307] some minor improvements

---
 storagemanager/LocalPool.h     | 11 +++++++----
 storagemanager/PoolManager.h   |  3 +++
 storagemanager/PoolManager.tpp |  6 +++---
 3 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index bb94a3be..7e349dcd 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -35,7 +35,7 @@ public:
 	/**
 	 * @brief	This is the default constructor for a pool manager instance.
 	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
-	 * 			allocates memory (with \c new) for store and size_list. These
+	 * 			allocates memory (with @c new) for store and size_list. These
 	 * 			regions are all set to zero on start up.
 	 * @param setObjectId	The object identifier to be set. This allows for
 	 * 						multiple instances of LocalPool in the system.
@@ -87,7 +87,7 @@ public:
 	ReturnValue_t initialize() override;
 protected:
 	/**
-	 * With this helper method, a free element of \c size is reserved.
+	 * With this helper method, a free element of @c size is reserved.
 	 * @param size	The minimum packet size that shall be reserved.
 	 * @param[out] address Storage ID of the reserved data.
 	 * @return	- #RETURN_OK on success,
@@ -100,7 +100,8 @@ protected:
 private:
 	/**
 	 * Indicates that this element is free.
-	 * This value limits the maximum size of a pool. Change to larger data type if increase is required.
+	 * This value limits the maximum size of a pool. Change to larger data type
+	 * if increase is required.
 	 */
 	static const uint32_t STORAGE_FREE = 0xFFFFFFFF;
 	/**
@@ -126,7 +127,9 @@ private:
 	 * 			is also dynamically allocated there.
 	 */
 	uint32_t* size_list[NUMBER_OF_POOLS];
-	bool spillsToHigherPools; //!< A variable to determine whether higher n pools are used if the store is full.
+	//! A variable to determine whether higher n pools are used if
+	//! the store is full.
+	bool spillsToHigherPools;
 	/**
 	 * @brief	This method safely stores the given data in the given packet_id.
 	 * @details	It also sets the size in size_list. The method does not perform
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 7c2e8a71..3c1c1217 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -29,6 +29,9 @@ public:
 			store_address_t* storeId = nullptr) override;
 
 protected:
+	//! Default mutex timeout value to prevent permanent blocking.
+	static constexpr uint32_t mutexTimeout = 50;
+
 	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
 			bool ignoreFault) override;
 
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index a35b810c..4ca22b85 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -21,7 +21,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex, mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
 			address,ignoreFault);
 	return status;
@@ -33,7 +33,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 	// debug << "PoolManager( " << translateObject(getObjectId()) <<
 	//       " )::deleteData from store " << packet_id.pool_index <<
 	//       ". id is "<< packet_id.packet_index << std::endl;
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex, mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 	return status;
 }
@@ -41,7 +41,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 		size_t size, store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex, mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
 			size, storeId);
 	return status;

From 6f4682e1c8848e8fb578af9329c6f274e84a6f60 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 12:53:30 +0200
Subject: [PATCH 174/307] hasactionsIF include guard and doc

---
 action/HasActionsIF.h | 47 ++++++++++++++++++++++++-------------------
 1 file changed, 26 insertions(+), 21 deletions(-)

diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index 12ecb89a..9c2a9c01 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -1,5 +1,5 @@
-#ifndef HASACTIONSIF_H_
-#define HASACTIONSIF_H_
+#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
+#define FRAMEWORK_ACTION_HASACTIONSIF_H_
 
 #include <framework/action/ActionHelper.h>
 #include <framework/action/ActionMessage.h>
@@ -11,22 +11,26 @@
  * Interface for component which uses actions
  *
  * @details
- * This interface is used to execute actions in the component. Actions, in the sense of this interface, are activities with a well-defined beginning and
- * end in time. They may adjust sub-states of components, but are not supposed to change
- * the main mode of operation, which is handled with the HasModesIF described below.
+ * This interface is used to execute actions in the component. Actions, in the
+ * sense of this interface, are activities with a well-defined beginning and
+ * end in time. They may adjust sub-states of components, but are not supposed
+ * to change the main mode of operation, which is handled with the HasModesIF
+ * described below.
  *
- * The HasActionsIF allows components to define such actions and make them available
- * for other components to use. Implementing the interface is straightforward: There’s a
- * single executeAction call, which provides an identifier for the action to execute, as well
- * as arbitrary parameters for input. Aside from direct, software-based
- * actions, it is used in device handler components as an interface to forward commands to
- * devices.
- * Implementing components of the interface are supposed to check identifier (ID) and
- * parameters and immediately start execution of the action. It is, however, not required to
- * immediately finish execution. Instead, this may be deferred to a later point in time, at
- * which the component needs to inform the caller about finished or failed execution.
+ * The HasActionsIF allows components to define such actions and make them
+ * available for other components to use. Implementing the interface is
+ * straightforward: There’s a single executeAction call, which provides an
+ * identifier for the action to execute, as well as arbitrary parameters for
+ * input.
+ * Aside from direct, software-based actions, it is used in device handler
+ * components as an interface to forward commands to devices.
+ * Implementing components of the interface are supposed to check identifier
+ * (ID) and parameters and immediately start execution of the action.
+ * It is, however, not required to immediately finish execution.
+ * Instead, this may be deferred to a later point in time, at which the
+ * component needs to inform the caller about finished or failed execution.
  *
- * \ingroup interfaces
+ * @ingroup interfaces
  */
 class HasActionsIF {
 public:
@@ -43,13 +47,14 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	/**
 	 * Execute or initialize the execution of a certain function.
-	 * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to be done.
-	 * When needing more steps, return RETURN_OK and issue steps and completion manually.
+	 * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
+	 * be done. When needing more steps, return RETURN_OK and issue steps and
+	 * completion manually.
 	 * One "step failed" or completion report must be issued!
 	 */
-	virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-			const uint8_t* data, size_t size) = 0;
+	virtual ReturnValue_t executeAction(ActionId_t actionId,
+			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
 };
 
 
-#endif /* HASACTIONSIF_H_ */
+#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */

From fd8a3e9fcc4efa40f84c6ecaa9163aac9843730f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 13:00:38 +0200
Subject: [PATCH 175/307] new returnvalues, return failed is 0xFFFF now

---
 returnvalues/FwClassIds.h        | 13 +++++++++----
 returnvalues/HasReturnvaluesIF.h | 18 +++++-------------
 2 files changed, 14 insertions(+), 17 deletions(-)

diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index d21861c0..ddee539e 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -24,6 +24,7 @@ enum {
 	MEMORY_HELPER, //MH
 	SERIALIZE_IF, //SE
 	FIXED_MAP, //FM
+	FIXED_MULTIMAP, //FMM
 	HAS_HEALTH_IF, //HHI
 	FIFO_CLASS, //FF
 	MESSAGE_PROXY, //MQP
@@ -54,11 +55,15 @@ enum {
 	HAS_ACTIONS_IF, //HF
 	DEVICE_COMMUNICATION_IF, //DC
 	BSP, //BSP
-	TIME_STAMPER_IF, //TSI 52
+	TIME_STAMPER_IF, //TSI 53
 	//TODO This will shift all IDs for FLP
-	SGP4PROPAGATOR_CLASS, //SGP4 53
-	MUTEX_IF, //MUX 54
-	MESSAGE_QUEUE_IF,//MQI 55
+	SGP4PROPAGATOR_CLASS, //SGP4 54
+	MUTEX_IF, //MUX 55
+	MESSAGE_QUEUE_IF,//MQI 56
+	SEMAPHORE_IF, //SPH 57
+	LOCAL_POOL_OWNER_IF, //LPIF 58
+	POOL_VARIABLE_IF, //PVA 59
+	HOUSEKEEPING_MANAGER, //HKM 60
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };
diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 5adbca3f..b51dfc82 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -1,27 +1,19 @@
-#ifndef HASRETURNVALUESIF_H_
-#define HASRETURNVALUESIF_H_
+#ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
+#define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
 
-#include <stdint.h>
 #include <framework/returnvalues/FwClassIds.h>
 #include <config/returnvalues/classIds.h>
+#include <cstdint>
 
 #define MAKE_RETURN_CODE( number )	((INTERFACE_ID << 8) + (number))
 typedef uint16_t ReturnValue_t;
 
 
-
-
-
-
 class HasReturnvaluesIF {
 public:
 	static const ReturnValue_t RETURN_OK = 0;
-	static const ReturnValue_t RETURN_FAILED = 1;
-	virtual ~HasReturnvaluesIF() {
-	}
-
+	static const ReturnValue_t RETURN_FAILED = 0xFFFF;
+	virtual ~HasReturnvaluesIF() {}
 };
 
-
-
 #endif /* HASRETURNVALUESIF_H_ */

From 1d6ce656829b0ac7c4202fb7b015b01a89e43827 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 13:46:43 +0200
Subject: [PATCH 176/307] returnvalue all ones now

---
 returnvalues/HasReturnvaluesIF.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index b51dfc82..6ead6fbb 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -12,7 +12,8 @@ typedef uint16_t ReturnValue_t;
 class HasReturnvaluesIF {
 public:
 	static const ReturnValue_t RETURN_OK = 0;
-	static const ReturnValue_t RETURN_FAILED = 0xFFFF;
+	//! This will be the alll-ones value irrespective of used unsigned datatype.
+	static const ReturnValue_t RETURN_FAILED = -1;
 	virtual ~HasReturnvaluesIF() {}
 };
 

From 5f16d30d822a26fd42ddd2cdc4bc5211db695f41 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 13:47:38 +0200
Subject: [PATCH 177/307] all ones value for return failed now

---
 returnvalues/HasReturnvaluesIF.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index b51dfc82..6ead6fbb 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -12,7 +12,8 @@ typedef uint16_t ReturnValue_t;
 class HasReturnvaluesIF {
 public:
 	static const ReturnValue_t RETURN_OK = 0;
-	static const ReturnValue_t RETURN_FAILED = 0xFFFF;
+	//! This will be the alll-ones value irrespective of used unsigned datatype.
+	static const ReturnValue_t RETURN_FAILED = -1;
 	virtual ~HasReturnvaluesIF() {}
 };
 

From 9dc2ea426bd70b6e9229a7c61f74423fcf0e358a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 13:49:04 +0200
Subject: [PATCH 178/307] typo fix

---
 returnvalues/HasReturnvaluesIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 6ead6fbb..7a861b50 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -12,7 +12,7 @@ typedef uint16_t ReturnValue_t;
 class HasReturnvaluesIF {
 public:
 	static const ReturnValue_t RETURN_OK = 0;
-	//! This will be the alll-ones value irrespective of used unsigned datatype.
+	//! This will be the all-ones value irrespective of used unsigned datatype.
 	static const ReturnValue_t RETURN_FAILED = -1;
 	virtual ~HasReturnvaluesIF() {}
 };

From 67366c25a0bd0b4e532cb8ee48d3d795215c773b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 13:49:25 +0200
Subject: [PATCH 179/307] typo fix

---
 returnvalues/HasReturnvaluesIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 6ead6fbb..7a861b50 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -12,7 +12,7 @@ typedef uint16_t ReturnValue_t;
 class HasReturnvaluesIF {
 public:
 	static const ReturnValue_t RETURN_OK = 0;
-	//! This will be the alll-ones value irrespective of used unsigned datatype.
+	//! This will be the all-ones value irrespective of used unsigned datatype.
 	static const ReturnValue_t RETURN_FAILED = -1;
 	virtual ~HasReturnvaluesIF() {}
 };

From 56455a5fa290d69f62ad6a17a2ad66b311401c5e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 14:11:53 +0200
Subject: [PATCH 180/307] added static function as alternative to macro

---
 returnvalues/HasReturnvaluesIF.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 7a861b50..04acd66e 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -15,6 +15,10 @@ public:
 	//! This will be the all-ones value irrespective of used unsigned datatype.
 	static const ReturnValue_t RETURN_FAILED = -1;
 	virtual ~HasReturnvaluesIF() {}
+
+	static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
+	    return (interfaceId << 8) + number;
+	}
 };
 
 #endif /* HASRETURNVALUESIF_H_ */

From 7aa713a45238f62580fa04d55f16f643cd697b28 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 14:12:55 +0200
Subject: [PATCH 181/307] added function as alternative to macro

---
 returnvalues/HasReturnvaluesIF.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 7a861b50..04acd66e 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -15,6 +15,10 @@ public:
 	//! This will be the all-ones value irrespective of used unsigned datatype.
 	static const ReturnValue_t RETURN_FAILED = -1;
 	virtual ~HasReturnvaluesIF() {}
+
+	static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
+	    return (interfaceId << 8) + number;
+	}
 };
 
 #endif /* HASRETURNVALUESIF_H_ */

From 905c1a92e38865558e25bebb10a8c7ca380d2ab6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 21:03:22 +0200
Subject: [PATCH 182/307] reverted some changes

---
 action/ActionHelper.cpp               |  3 +--
 datalinklayer/MapPacketExtraction.cpp |  3 +--
 events/EventManager.cpp               |  1 -
 events/EventManagerIF.h               |  3 +--
 health/HealthHelper.cpp               |  2 --
 housekeeping/HousekeepingMessage.cpp  | 10 +++++-----
 housekeeping/HousekeepingMessage.h    |  2 +-
 ipc/CommandMessage.cpp                | 22 +++++++++++-----------
 ipc/CommandMessage.h                  |  2 +-
 ipc/CommandMessageBase.cpp            | 16 ++++++----------
 ipc/CommandMessageBase.h              |  7 -------
 ipc/MessageQueueMessage.cpp           | 16 ++++++----------
 ipc/MessageQueueMessage.h             | 12 ------------
 ipc/MessageQueueMessageIF.h           | 14 +-------------
 ipc/MessageQueueSenderIF.h            |  7 +++----
 modes/ModeHelper.cpp                  |  5 +----
 monitoring/LimitViolationReporter.cpp |  3 +--
 osal/FreeRTOS/MessageQueue.cpp        | 19 ++++++-------------
 osal/FreeRTOS/MessageQueue.h          |  5 ++---
 osal/FreeRTOS/QueueFactory.cpp        | 11 +++--------
 parameters/ParameterHelper.cpp        |  6 ++----
 tmtcpacket/pus/TmPacketStored.cpp     |  2 +-
 tmtcservices/VerificationReporter.cpp |  8 ++++----
 23 files changed, 57 insertions(+), 122 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 026df4e1..0df5f2d4 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -101,8 +101,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
 
 	//TODO Service Implementation sucks at the moment
 	if (hideSender){
-		result = MessageQueueSenderIF::sendMessage(reportTo, &reply,
-		        MessageQueueMessage::MAX_MESSAGE_SIZE);
+		result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
 	} else {
 		result = queueToUse->sendMessage(reportTo, &reply);
 	}
diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index 87b46556..4ea45e89 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -117,8 +117,7 @@ ReturnValue_t MapPacketExtraction::sendCompletePacket(uint8_t* data,
 	ReturnValue_t status = this->packetStore->addData(&store_id, data, size);
 	if (status == RETURN_OK) {
 		TmTcMessage message(store_id);
-		status = MessageQueueSenderIF::sendMessage(tcQueueId,&message,
-		        MessageQueueMessage::MAX_MESSAGE_SIZE);
+		status = MessageQueueSenderIF::sendMessage(tcQueueId,&message);
 	}
 	return status;
 }
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index a5d14569..04be6f68 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -52,7 +52,6 @@ void EventManager::notifyListeners(EventMessage* message) {
 	for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
 		if (iter->second.match(message)) {
 			MessageQueueSenderIF::sendMessage(iter->first, message,
-			        MessageQueueMessage::MAX_MESSAGE_SIZE,
 			        message->getSender());
 		}
 	}
diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h
index 053e320b..bc0de432 100644
--- a/events/EventManagerIF.h
+++ b/events/EventManagerIF.h
@@ -44,8 +44,7 @@ public:
 				eventmanagerQueue = eventmanager->getEventReportQueue();
 			}
 		}
-		MessageQueueSenderIF::sendMessage(eventmanagerQueue, message,
-		        MessageQueueMessage::MAX_MESSAGE_SIZE, sentFrom);
+		MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom);
 	}
 
 };
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index 935bf5e3..0b3bffcb 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -70,7 +70,6 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
 	HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO,
 			health, oldHealth);
 	if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
-	        MessageQueueMessage::MAX_MESSAGE_SIZE,
 	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
 		sif::debug << "HealthHelper::informParent: sending health reply failed."
 				<< std::endl;
@@ -91,7 +90,6 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
 		reply.setReplyRejected(result, command->getCommand());
 	}
 	if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
-	        MessageQueueMessage::MAX_MESSAGE_SIZE,
 	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
 		sif::debug << "HealthHelper::handleHealthCommand: sending health "
 		        "reply failed." << std::endl;
diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index d7efd703..f425d16e 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -3,13 +3,13 @@
 
 HousekeepingMessage::HousekeepingMessage(MessageQueueMessageIF* message):
 		CommandMessageBase(message) {
-	if(message->getMaximumMessageSize() < HK_MESSAGE_SIZE) {
+	if(message->getMessageSize() < HK_MESSAGE_SIZE) {
 		sif::error << "HousekeepingMessage::HousekeepingMessage: Passed "
 		        "message buffer can not hold minimum " << HK_MESSAGE_SIZE
 				<< " bytes!" << std::endl;
 		return;
 	}
-	message->setMessageSize(HK_MESSAGE_SIZE);
+	//message->setMessageSize(HK_MESSAGE_SIZE);
 }
 
 HousekeepingMessage::~HousekeepingMessage() {}
@@ -38,9 +38,9 @@ void HousekeepingMessage::setHkDiagnosticsMessage(sid_t sid,
 	setParameter(storeId.raw);
 }
 
-size_t HousekeepingMessage::getMinimumMessageSize() const {
-	return HK_MESSAGE_SIZE;
-}
+//size_t HousekeepingMessage::getMinimumMessageSize() const {
+//	return HK_MESSAGE_SIZE;
+//}
 
 sid_t HousekeepingMessage::getSid() const {
 	sid_t sid;
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index c6a33c83..f568a418 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -104,7 +104,7 @@ public:
 	//! to distinguish between diagnostics and regular HK packets
 	sid_t getHkReportMessage(store_address_t * storeIdToSet) const;
 
-	virtual size_t getMinimumMessageSize() const override;
+	//virtual size_t getMinimumMessageSize() const override;
 	virtual void clear() override;
 private:
 
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 9a8a82f2..11355e38 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -9,14 +9,14 @@ CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
 				" message!" << std::endl;
 		return;
 	}
-	if(receiverMessage->getMaximumMessageSize() <
-			getMinimumMessageSize()) {
-		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
-				" can not hold minimum "<< getMinimumMessageSize()
-				<< " bytes!" << std::endl;
-		return;
-	}
-	internalMessage->setMessageSize(getMinimumMessageSize());
+//	if(receiverMessage->getMessageSize() <
+//			getMinimumMessageSize()) {
+//		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
+//				" can not hold minimum "<< getMinimumMessageSize()
+//				<< " bytes!" << std::endl;
+//		return;
+//	}
+//	internalMessage->setMessageSize(getMinimumMessageSize());
 }
 
 CommandMessage::CommandMessage(MessageQueueMessageIF* messageToSet,
@@ -49,9 +49,9 @@ void CommandMessage::setParameter2(uint32_t parameter2) {
 			sizeof(parameter2));
 }
 
-size_t CommandMessage::getMinimumMessageSize() const {
-	return MINIMUM_COMMAND_MESSAGE_SIZE;
-}
+//size_t CommandMessage::getMinimumMessageSize() const {
+//	return MINIMUM_COMMAND_MESSAGE_SIZE;
+//}
 
 bool CommandMessage::isClearedCommandMessage() {
 	return getCommand() == CMD_NONE;
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index a09494c6..ae4016b0 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -54,7 +54,7 @@ public:
 	virtual ~CommandMessage() {}
 
 	/** MessageQueueMessageIF functions used for minimum size check. */
-	size_t getMinimumMessageSize() const override;
+	//size_t getMinimumMessageSize() const override;
 
 	/**
 	 * Get the first parameter of the message
diff --git a/ipc/CommandMessageBase.cpp b/ipc/CommandMessageBase.cpp
index 80f9d378..ea50f4ea 100644
--- a/ipc/CommandMessageBase.cpp
+++ b/ipc/CommandMessageBase.cpp
@@ -47,25 +47,21 @@ const uint8_t* CommandMessageBase::getData() const {
 	return internalMessage->getData() + sizeof(Command_t);
 }
 
-void CommandMessageBase::setMessageSize(size_t messageSize) {
-	internalMessage->setMessageSize(messageSize);
-}
+//void CommandMessageBase::setMessageSize(size_t messageSize) {
+//	//internalMessage->setMessageSize(messageSize);
+//}
 
 size_t CommandMessageBase::getMessageSize() const {
 	return internalMessage->getMessageSize();
 }
 
-size_t CommandMessageBase::getMaximumMessageSize() const {
-	return internalMessage->getMaximumMessageSize();
-}
-
 MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
 	return internalMessage;
 }
 
-size_t CommandMessageBase::getMinimumMessageSize() const {
-	return MINIMUM_COMMAND_MESSAGE_BASE_SIZE;
-}
+//size_t CommandMessageBase::getMinimumMessageSize() const {
+//	return MINIMUM_COMMAND_MESSAGE_BASE_SIZE;
+//}
 
 void CommandMessageBase::setReplyRejected(ReturnValue_t reason,
 		Command_t initialCommand) {
diff --git a/ipc/CommandMessageBase.h b/ipc/CommandMessageBase.h
index b237b68f..1ee1b970 100644
--- a/ipc/CommandMessageBase.h
+++ b/ipc/CommandMessageBase.h
@@ -63,15 +63,8 @@ public:
 	virtual MessageQueueId_t getSender() const override;
 	virtual uint8_t * getData() override;
 	virtual const uint8_t* getData() const override;
-	virtual void setMessageSize(size_t messageSize) override;
 	virtual size_t getMessageSize() const override;
 
-	//! This depends on the maximum message size of the passed internal message.
-	virtual size_t getMaximumMessageSize() const override;
-
-	//! Return the constant minimum message size.
-	virtual size_t getMinimumMessageSize() const override;
-
 	/**
 	 * A command message can be rejected and needs to offer a function
 	 * to set a rejected reply
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index b173f2c4..f3665074 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -51,9 +51,9 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
 	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
 }
 
-size_t MessageQueueMessage::getMinimumMessageSize() const {
-	return this->HEADER_SIZE;
-}
+//size_t MessageQueueMessage::getMinimumMessageSize() const {
+//	return this->HEADER_SIZE;
+//}
 
 void MessageQueueMessage::print() {
 	sif::debug << "MessageQueueMessage has size: " << this->messageSize <<
@@ -69,13 +69,9 @@ void MessageQueueMessage::clear() {
 }
 
 size_t MessageQueueMessage::getMessageSize() const {
-	return this->messageSize;
-}
-
-size_t MessageQueueMessage::getMaximumMessageSize() const {
 	return this->MAX_MESSAGE_SIZE;
 }
 
-void MessageQueueMessage::setMessageSize(size_t messageSize) {
-	this->messageSize = messageSize;
-}
+//void MessageQueueMessage::setMessageSize(size_t messageSize) {
+//	this->messageSize = messageSize;
+//}
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 8716df54..a994c323 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -139,20 +139,8 @@ public:
 	 * The message queue id that identifies the sending message queue.
 	 */
 	void setSender(MessageQueueId_t setId) override;
-	/**
-	 * @brief	This helper function is used by the MessageQueue class to check
-	 * 			the size of an incoming message.
-	 * @details
-	 * The method must be overwritten by child classes if size
-	 * checks shall be more strict.
-	 * @return	The default implementation returns HEADER_SIZE.
-	 */
-	virtual size_t getMinimumMessageSize() const override;
 
 	virtual size_t getMessageSize() const override;
-	virtual void setMessageSize(size_t messageSize) override;
-
-	virtual size_t getMaximumMessageSize() const override;
 
 	/**
 	 * @brief	This is a debug method that prints the content
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index f34cab98..19c69bfb 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -68,23 +68,11 @@ public:
 	virtual uint8_t* getData() = 0;
 
 	/**
-	 * @brief	This helper function is used by the MessageQueue class to
-	 * 			check the size of an incoming message.
-	 */
-	virtual size_t getMinimumMessageSize() const = 0;
-
-	/**
-	 * Get message size of current message implementation.
+	 * Get constant message size of current message implementation.
 	 * @return
 	 */
 	virtual size_t getMessageSize() const = 0;
-	virtual void setMessageSize(size_t messageSize) = 0;
 
-	/**
-	 * Get maximum allowed size of current message implementation.
-	 * @return
-	 */
-	virtual size_t getMaximumMessageSize() const = 0;
 };
 
 
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 8bc14948..e4b9670e 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -10,17 +10,16 @@ public:
 	virtual ~MessageQueueSenderIF() {}
 
 	/**
-	 * Allows sending messages without actually "owing" a message queue.
+	 * Allows sending messages without actually "owning" a message queue.
 	 * Not sure whether this is actually a good idea.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, size_t maxMessageSize,
+			MessageQueueMessageIF* message,
 			MessageQueueId_t sentFrom = MessageQueueMessageIF::NO_QUEUE,
-			bool ignoreFault=false);
+			bool ignoreFault = false);
 private:
 	MessageQueueSenderIF() {}
 };
 
 
-
 #endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index f636c0bf..59a6d974 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -28,7 +28,6 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			ModeMessage::cantReachMode(&reply, result);
 			MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
-			        MessageQueueMessage::MAX_MESSAGE_SIZE,
 			        owner->getCommandQueue());
 			break;
 		}
@@ -51,7 +50,6 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode,
 				submode);
 		MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
-		        MessageQueueMessage::MAX_MESSAGE_SIZE,
 		       owner->getCommandQueue());
 	}
 		break;
@@ -97,7 +95,7 @@ void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
 					ownerMode, ownerSubmode);
 		}
 		MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
-		        MessageQueueMessage::MAX_MESSAGE_SIZE, owner->getCommandQueue());
+		        owner->getCommandQueue());
 	}
 }
 
@@ -111,7 +109,6 @@ void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
 				ownerMode, ownerSubmode);
 		MessageQueueSenderIF::sendMessage(parentQueueId, &reply,
-		        MessageQueueMessage::MAX_MESSAGE_SIZE,
 		        owner->getCommandQueue());
 	}
 }
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index c6e2b5db..1378d754 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -34,8 +34,7 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	MessageQueueMessage message;
 	CommandMessage report(&message);
 	MonitoringMessage::setLimitViolationReport(&report, storeId);
-	return MessageQueueSenderIF::sendMessage(reportQueue, &report,
-	        MessageQueueMessage::MAX_MESSAGE_SIZE);
+	return MessageQueueSenderIF::sendMessage(reportQueue, &report);
 }
 
 ReturnValue_t LimitViolationReporter::checkClassLoaded() {
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index c9adf229..464a4f16 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -50,8 +50,8 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo, message, maxMessageSize, sentFrom,
-			ignoreFault, callContext);
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
+	        callContext);
 }
 
 
@@ -80,9 +80,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 }
 
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
-    if(message->getMaximumMessageSize() < maxMessageSize) {
+    if(message->getMessageSize() < maxMessageSize) {
         sif::error << "MessageQueue::receiveMessage: Message size "
-                << message->getMaximumMessageSize() <<
+                << message->getMessageSize() <<
                 " too small to receive data!" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -127,17 +127,10 @@ bool MessageQueue::isDefaultDestinationSet() const {
 
 // static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-        MessageQueueMessageIF* message, size_t maxSize,
-        MessageQueueId_t sentFrom, bool ignoreFault, CallContext callContext) {
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+        bool ignoreFault, CallContext callContext) {
     message->setSender(sentFrom);
     BaseType_t result;
-    if(message->getMaximumMessageSize() > maxSize) {
-    	sif::error << "MessageQueue::sendMessageFromMessageQueue: Message size "
-    			 << message->getMaximumMessageSize() << " too large for queue"
-    			  " with max. message size " << maxSize << "!"
-    			 << std::endl;
-    	return HasReturnvaluesIF::RETURN_FAILED;
-    }
 
     if(callContext == CallContext::TASK) {
         result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index e87e884f..b7e52bb3 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -194,9 +194,8 @@ protected:
 	 * @param context Specify whether call is made from task or from an ISR.
 	 */
 	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, size_t maxSize,
-			MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault=false,
-			CallContext callContext = CallContext::TASK);
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false, CallContext callContext = CallContext::TASK);
 
 	static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index d754b2b9..beb4969b 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -7,14 +7,9 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, size_t maxSize,
-			MessageQueueId_t sentFrom, bool ignoreFault) {
-    if(maxSize == 0) {
-        sif::error << "MessageQueueSenderIF::sendMessage: Max Size is 0!"
-                << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message, maxSize,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);
 }
 
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 68ff5ab0..8b91020f 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -107,8 +107,7 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 
 	ParameterMessage::setParameterDumpReply(&reply, id, address);
 
-	MessageQueueSenderIF::sendMessage(to, &reply,
-	        MessageQueueMessage::MAX_MESSAGE_SIZE, ownerQueueId);
+	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
 
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -130,6 +129,5 @@ void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
 	MessageQueueMessage message;
 	CommandMessage reply(&message);
 	reply.setReplyRejected(reason, initialCommand);
-	MessageQueueSenderIF::sendMessage(to, &reply,
-	        MessageQueueMessage::MAX_MESSAGE_SIZE, ownerQueueId);
+	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
 }
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index d589db8d..c0ff874b 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -118,7 +118,7 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 	}
 	TmTcMessage tmMessage(getStoreAddress());
 	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination,
-	        &tmMessage, MessageQueueMessage::MAX_MESSAGE_SIZE, sentFrom);
+	        &tmMessage, sentFrom);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		deletePacket();
 		if (doErrorReporting) {
diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp
index a54c1f8d..bcb4756c 100644
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@@ -23,7 +23,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
-	        &message, MessageQueueMessage::MAX_MESSAGE_SIZE);
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
 				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
@@ -39,7 +39,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 	PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
 			tcSequenceControl, 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
-	        &message, MessageQueueMessage::MAX_MESSAGE_SIZE);
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
 				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
@@ -58,7 +58,7 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 			current_packet->getPacketSequenceControl(), error_code, step,
 			parameter1, parameter2);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
-	        &message, MessageQueueMessage::MAX_MESSAGE_SIZE);
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error
 				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
@@ -76,7 +76,7 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 	PusVerificationMessage message(report_id, ackFlags, tcPacketId,
 			tcSequenceControl, error_code, step, parameter1, parameter2);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
-	        &message, MessageQueueMessage::MAX_MESSAGE_SIZE);
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error
 				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "

From 3bf29a7315d926dc1447e954494f393061ee2c8a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 00:24:15 +0200
Subject: [PATCH 183/307] removed CommandMessageBase, changed interfaces

---
 action/ActionHelper.cpp                |  15 +--
 action/CommandActionHelper.cpp         |   3 +-
 action/SimpleActionHelper.cpp          |   3 +-
 controller/ControllerBase.cpp          |   3 +-
 datapool/HkSwitchHelper.cpp            |   3 +-
 datapoolglob/DataPoolAdmin.cpp         |   9 +-
 datapoollocal/LocalDataPoolManager.cpp |  33 +++--
 datapoollocal/LocalDataPoolManager.h   |   2 +-
 devicehandlers/AssemblyBase.cpp        |   3 +-
 devicehandlers/DeviceHandlerBase.cpp   |  18 +--
 devicehandlers/HealthDevice.cpp        |   3 +-
 health/HealthHelper.cpp                |   6 +-
 housekeeping/HousekeepingMessage.cpp   |  22 ++--
 housekeeping/HousekeepingMessage.h     |   7 +-
 ipc/CommandMessage.cpp                 |  77 ++++++++----
 ipc/CommandMessage.h                   |  73 ++++++++---
 ipc/CommandMessageBase.cpp             | 168 ++++++++++++-------------
 ipc/CommandMessageBase.h               |  67 +++-------
 ipc/CommandMessageIF.h                 |  34 +++--
 ipc/MessageQueueMessage.cpp            |  41 +++---
 ipc/MessageQueueMessage.h              |  16 ++-
 ipc/MessageQueueMessageIF.h            |  11 +-
 memory/MemoryHelper.cpp                |  15 +--
 modes/ModeHelper.cpp                   |   9 +-
 monitoring/LimitViolationReporter.cpp  |   3 +-
 parameters/ParameterHelper.cpp         |   6 +-
 power/Fuse.cpp                         |   3 +-
 power/PowerSensor.cpp                  |   3 +-
 subsystem/Subsystem.cpp                |  14 +--
 subsystem/SubsystemBase.cpp            |  14 +--
 thermal/AbstractTemperatureSensor.cpp  |   5 +-
 thermal/Heater.cpp                     |   3 +-
 tmtcservices/CommandingServiceBase.cpp |  28 ++---
 tmtcservices/CommandingServiceBase.h   |  10 +-
 34 files changed, 348 insertions(+), 382 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 0df5f2d4..57b64686 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -33,15 +33,13 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
 }
 
 void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
 	queueToUse->sendMessage(reportTo, &reply);
 }
 
 void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	ActionMessage::setCompletionReply(&reply, commandId, result);
 	queueToUse->sendMessage(reportTo, &reply);
 }
@@ -56,8 +54,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		MessageQueueMessage message;
-		CommandMessage reply(&message);
+		CommandMessage reply;
 		ActionMessage::setStepReply(&reply, actionId, 0, result);
 		queueToUse->sendMessage(commandedBy, &reply);
 		return;
@@ -65,8 +62,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 	result = owner->executeAction(actionId, commandedBy, dataPtr, size);
 	ipcStore->deleteData(dataAddress);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		MessageQueueMessage message;
-		CommandMessage reply(&message);
+		CommandMessage reply;
 		ActionMessage::setStepReply(&reply, actionId, 0, result);
 		queueToUse->sendMessage(commandedBy, &reply);
 		return;
@@ -75,8 +71,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 
 ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
 		ActionId_t replyId, SerializeIF* data, bool hideSender) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	store_address_t storeAddress;
 	uint8_t *dataPtr;
 	size_t maxSize = data->getSerializedSize();
diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp
index c871a2d0..77295401 100644
--- a/action/CommandActionHelper.cpp
+++ b/action/CommandActionHelper.cpp
@@ -53,8 +53,7 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
 
 ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
 		ActionId_t actionId, store_address_t storeId) {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ActionMessage::setCommand(&command, actionId, storeId);
 	ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp
index f97474b1..6861fc28 100644
--- a/action/SimpleActionHelper.cpp
+++ b/action/SimpleActionHelper.cpp
@@ -36,8 +36,7 @@ void SimpleActionHelper::resetHelper() {
 
 void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
 		ActionId_t actionId, store_address_t dataAddress) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	if (isExecuting) {
 		ipcStore->deleteData(dataAddress);
 		ActionMessage::setStepReply(&reply, actionId, 0,
diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp
index ad0a0b97..674d0fc8 100644
--- a/controller/ControllerBase.cpp
+++ b/controller/ControllerBase.cpp
@@ -56,8 +56,7 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 }
 
 void ControllerBase::handleQueue() {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ReturnValue_t result;
 	for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&command)) {
diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp
index 6a923776..cf5114f7 100644
--- a/datapool/HkSwitchHelper.cpp
+++ b/datapool/HkSwitchHelper.cpp
@@ -21,8 +21,7 @@ ReturnValue_t HkSwitchHelper::initialize() {
 }
 
 ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
 		ReturnValue_t result = commandActionHelper.handleReply(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
diff --git a/datapoolglob/DataPoolAdmin.cpp b/datapoolglob/DataPoolAdmin.cpp
index 6387263f..05de1eb2 100644
--- a/datapoolglob/DataPoolAdmin.cpp
+++ b/datapoolglob/DataPoolAdmin.cpp
@@ -66,8 +66,7 @@ ReturnValue_t DataPoolAdmin::getParameter(uint8_t domainId,
 }
 
 void DataPoolAdmin::handleCommand() {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != RETURN_OK) {
 		return;
@@ -283,8 +282,7 @@ ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 
 	ParameterMessage::setParameterDumpReply(&reply, id, address);
 
@@ -296,8 +294,7 @@ ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 //identical to ParameterHelper::rejectCommand()
 void DataPoolAdmin::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
 		Command_t initialCommand) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	reply.setReplyRejected(reason, initialCommand);
 	commandQueue->sendMessage(to, &reply);
 }
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index e0731a96..bc57468a 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -45,8 +45,8 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
-		HousekeepingMessage& message) {
-    Command_t command = message.getCommand();
+		CommandMessage* message) {
+    Command_t command = message->getCommand();
     switch(command) {
     // I think those are the only commands which can be handled here..
     case(HousekeepingMessage::ADD_HK_REPORT_STRUCT):
@@ -55,10 +55,10 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
         return HasReturnvaluesIF::RETURN_OK;
     case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
     case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
-        return generateSetStructurePacket(message.getSid());
+        //return generateSetStructurePacket(message->getSid());
     case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
     case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT):
-        return generateHousekeepingPacket(message.getSid());
+        //return generateHousekeepingPacket(message->getSid());
     default:
         return CommandMessageIF::UNKNOWN_COMMAND;
     }
@@ -105,19 +105,18 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	}
 
 	// and now we set a HK message and send it the HK packet destination.
-	MessageQueueMessage message;
-	HousekeepingMessage hkMessage(&message);
-	hkMessage.setHkReportMessage(sid, storeId);
-	if(hkQueue == nullptr) {
-	    return QUEUE_NOT_SET;
-	}
-
-	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
-	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
-	}
-	else {
-	    result = hkQueue->sendToDefault(&hkMessage);
-	}
+	//HousekeepingMessage hkMessage;
+//	hkMessage.setHkReportMessage(sid, storeId);
+//	if(hkQueue == nullptr) {
+//	    return QUEUE_NOT_SET;
+//	}
+//
+//	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
+//	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
+//	}
+//	else {
+//	    result = hkQueue->sendToDefault(&hkMessage);
+//	}
 
 	return result;
 }
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index b6491724..9d072bf4 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -58,7 +58,7 @@ public:
 	ReturnValue_t generateHousekeepingPacket(sid_t sid);
 	ReturnValue_t generateSetStructurePacket(sid_t sid);
 
-	ReturnValue_t handleHousekeepingMessage(HousekeepingMessage& message);
+	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
 
 	/**
 	 * This function is used to fill the local data pool map with pool
diff --git a/devicehandlers/AssemblyBase.cpp b/devicehandlers/AssemblyBase.cpp
index a5dcad21..bd85d1de 100644
--- a/devicehandlers/AssemblyBase.cpp
+++ b/devicehandlers/AssemblyBase.cpp
@@ -148,8 +148,7 @@ void AssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
 
 void AssemblyBase::sendHealthCommand(MessageQueueId_t sendTo,
 		HealthState health) {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	HealthMessage::setHealthMessage(&command, HealthMessage::HEALTH_SET,
 			health);
 	if (commandQueue->sendMessage(sendTo, &command) == RETURN_OK) {
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 1ae056a6..0442be89 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -214,12 +214,7 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	// This is not ideal. What if it is not a command message? (e.g. another
-	// message with 3 parameters). The full buffer is filled anyway
-	// and I could just copy the content into the other message but
-	// all I need are few additional functions the other message type offers.
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != RETURN_OK) {
 		return;
@@ -247,8 +242,7 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	HousekeepingMessage hkMessage(&message);
-	result = hkManager.handleHousekeepingMessage(hkMessage);
+	result = hkManager.handleHousekeepingMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
@@ -484,13 +478,12 @@ void DeviceHandlerBase::setMode(Mode_t newMode) {
 
 void DeviceHandlerBase::replyReturnvalueToCommand(ReturnValue_t status,
 		uint32_t parameter) {
-	MessageQueueMessage message;
 	//This is actually the reply protocol for raw and misc DH commands.
 	if (status == RETURN_OK) {
-		CommandMessage reply(&message, CommandMessage::REPLY_COMMAND_OK, 0, parameter);
+		CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, parameter);
 		commandQueue->reply(&reply);
 	} else {
-		CommandMessage reply(&message, CommandMessage::REPLY_REJECTED, status, parameter);
+		CommandMessage reply(CommandMessage::REPLY_REJECTED, status, parameter);
 		commandQueue->reply(&reply);
 	}
 }
@@ -760,8 +753,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		return;
 	}
 
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 
 	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
 			getObjectId(), address, isCommand);
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index 7e3a59bd..0bce34ec 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -13,8 +13,7 @@ HealthDevice::~HealthDevice() {
 }
 
 ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		healthHelper.handleHealthCommand(&command);
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index 0b3bffcb..e01e6fbb 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -65,8 +65,7 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
 	if (parentQueue == MessageQueueMessageIF::NO_QUEUE) {
 		return;
 	}
-	MessageQueueMessage message;
-	CommandMessage information(&message);
+	CommandMessage information;
 	HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO,
 			health, oldHealth);
 	if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
@@ -81,8 +80,7 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
 	if (command->getSender() == MessageQueueMessageIF::NO_QUEUE) {
 		return;
 	}
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		HealthMessage::setHealthMessage(&reply,
 				HealthMessage::REPLY_HEALTH_SET);
diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index f425d16e..0d0f9860 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -1,15 +1,7 @@
 #include <framework/housekeeping/HousekeepingMessage.h>
 #include <cstring>
 
-HousekeepingMessage::HousekeepingMessage(MessageQueueMessageIF* message):
-		CommandMessageBase(message) {
-	if(message->getMessageSize() < HK_MESSAGE_SIZE) {
-		sif::error << "HousekeepingMessage::HousekeepingMessage: Passed "
-		        "message buffer can not hold minimum " << HK_MESSAGE_SIZE
-				<< " bytes!" << std::endl;
-		return;
-	}
-	//message->setMessageSize(HK_MESSAGE_SIZE);
+HousekeepingMessage::HousekeepingMessage(): CommandMessage() {
 }
 
 HousekeepingMessage::~HousekeepingMessage() {}
@@ -26,14 +18,14 @@ uint32_t HousekeepingMessage::getParameter() const {
 
 void HousekeepingMessage::setHkReportMessage(sid_t sid,
 		store_address_t storeId) {
-	CommandMessageBase::setCommand(HK_REPORT);
+	CommandMessage::setCommand(HK_REPORT);
 	setSid(sid);
 	setParameter(storeId.raw);
 }
 
 void HousekeepingMessage::setHkDiagnosticsMessage(sid_t sid,
 		store_address_t storeId) {
-	CommandMessageBase::setCommand(DIAGNOSTICS_REPORT);
+	CommandMessage::setCommand(DIAGNOSTICS_REPORT);
 	setSid(sid);
 	setParameter(storeId.raw);
 }
@@ -44,7 +36,7 @@ void HousekeepingMessage::setHkDiagnosticsMessage(sid_t sid,
 
 sid_t HousekeepingMessage::getSid() const {
 	sid_t sid;
-	std::memcpy(&sid.raw, CommandMessageBase::getData(), sizeof(sid.raw));
+	std::memcpy(&sid.raw, CommandMessage::getData(), sizeof(sid.raw));
 	return sid;
 }
 
@@ -58,16 +50,16 @@ sid_t HousekeepingMessage::getHkReportMessage(
 }
 
 void HousekeepingMessage::setSid(sid_t sid) {
-	std::memcpy(CommandMessageBase::getData(), &sid.raw, sizeof(sid.raw));
+	std::memcpy(CommandMessage::getData(), &sid.raw, sizeof(sid.raw));
 }
 
 
 uint8_t* HousekeepingMessage::getData() {
-	return CommandMessageBase::getData() + sizeof(sid_t);
+	return CommandMessage::getData() + sizeof(sid_t);
 }
 
 const uint8_t* HousekeepingMessage::getData() const {
-	return CommandMessageBase::getData() + sizeof(sid_t);
+	return CommandMessage::getData() + sizeof(sid_t);
 }
 
 void HousekeepingMessage::clear() {
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index f568a418..8958201e 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_HK_HOUSEKEEPINGMESSAGE_H_
 #define FRAMEWORK_HK_HOUSEKEEPINGMESSAGE_H_
-#include <framework/ipc/CommandMessageBase.h>
+
+#include <framework/ipc/CommandMessage.h>
 #include <framework/ipc/FwMessageTypes.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/storagemanager/StorageManagerIF.h>
@@ -33,7 +34,7 @@ union sid_t {
  * This message is slightly larger than regular command messages to accomodate
  * the uint64_t structure ID (SID).
  */
-class HousekeepingMessage : public CommandMessageBase {
+class HousekeepingMessage : public CommandMessage {
 public:
 
 	static constexpr size_t HK_MESSAGE_SIZE = CommandMessageIF::HEADER_SIZE +
@@ -44,7 +45,7 @@ public:
 	 * the message data, see CommandMessageIF and getInternalMessage().
 	 * @param message
 	 */
-	HousekeepingMessage(MessageQueueMessageIF* message);
+	HousekeepingMessage();
 	virtual ~HousekeepingMessage();
 
 	static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 11355e38..6aa433df 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -1,57 +1,64 @@
 #include <framework/ipc/CommandMessage.h>
+#include <framework/ipc/CommandMessageCleaner.h>
 #include <cstring>
 
-CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
-			CommandMessageBase(receiverMessage) {
-	if(receiverMessage == nullptr) {
-		sif::error << "CommandMessage::CommandMessage: Don't pass a nullptr"
-				" as the message queue message, pass the address of an actual"
-				" message!" << std::endl;
-		return;
-	}
-//	if(receiverMessage->getMessageSize() <
-//			getMinimumMessageSize()) {
-//		sif::error << "CommandMessage::ComandMessage: Passed message buffer"
-//				" can not hold minimum "<< getMinimumMessageSize()
-//				<< " bytes!" << std::endl;
-//		return;
-//	}
-//	internalMessage->setMessageSize(getMinimumMessageSize());
+CommandMessage::CommandMessage() {
+	MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
+    setCommand(CMD_NONE);
 }
 
-CommandMessage::CommandMessage(MessageQueueMessageIF* messageToSet,
-		Command_t command, uint32_t parameter1, uint32_t parameter2):
-		CommandMessage(messageToSet) {
+CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
+        uint32_t parameter2) {
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
 	setCommand(command);
 	setParameter(parameter1);
 	setParameter2(parameter2);
 }
 
+Command_t CommandMessage::getCommand() const {
+  Command_t command;
+  std::memcpy(&command, getData(), sizeof(Command_t));
+  return command;
+}
+
+void CommandMessage::setCommand(Command_t command) {
+  std::memcpy(getData(), &command, sizeof(Command_t));
+}
+
+uint8_t CommandMessage::getMessageType() const {
+  // first byte of command ID.
+  return getCommand() >> 8 & 0xff;
+}
+
 uint32_t CommandMessage::getParameter() const {
 	uint32_t parameter1;
-	std::memcpy(&parameter1, CommandMessageBase::getData(), sizeof(parameter1));
+	std::memcpy(&parameter1, MessageQueueMessage::getData(), sizeof(parameter1));
 	return parameter1;
 }
 
 void CommandMessage::setParameter(uint32_t parameter1) {
-	std::memcpy(CommandMessageBase::getData(), &parameter1, sizeof(parameter1));
+	std::memcpy(MessageQueueMessage::getData(), &parameter1, sizeof(parameter1));
 }
 
 uint32_t CommandMessage::getParameter2() const {
 	uint32_t parameter2;
-	std::memcpy(&parameter2, CommandMessageBase::getData() + sizeof(uint32_t),
+	std::memcpy(&parameter2, MessageQueueMessage::getData() + sizeof(uint32_t),
 			sizeof(parameter2));
 	return parameter2;
 }
 
 void CommandMessage::setParameter2(uint32_t parameter2) {
-	std::memcpy(CommandMessageBase::getData()  + sizeof(uint32_t), &parameter2,
+	std::memcpy(MessageQueueMessage::getData()  + sizeof(uint32_t), &parameter2,
 			sizeof(parameter2));
 }
 
-//size_t CommandMessage::getMinimumMessageSize() const {
-//	return MINIMUM_COMMAND_MESSAGE_SIZE;
-//}
+size_t CommandMessage::getMinimumMessageSize() const {
+	return MINIMUM_COMMAND_MESSAGE_SIZE;
+}
+
+void CommandMessage::clear() {
+    CommandMessageCleaner::clearCommandMessage(this);
+}
 
 bool CommandMessage::isClearedCommandMessage() {
 	return getCommand() == CMD_NONE;
@@ -62,3 +69,21 @@ void CommandMessage::setToUnknownCommand() {
 	this->clear();
 	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }
+
+void CommandMessage::setReplyRejected(ReturnValue_t reason,
+      Command_t initialCommand) {
+  std::memcpy(getData(), &reason, sizeof(reason));
+  std::memcpy(getData() + sizeof(reason), &initialCommand,
+          sizeof(initialCommand));
+}
+
+ReturnValue_t CommandMessage::getReplyRejectedReason(
+      Command_t *initialCommand) const {
+  ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
+  std::memcpy(&reason, getData(), sizeof(reason));
+  if(initialCommand != nullptr) {
+      std::memcpy(initialCommand, getData() + sizeof(reason),
+              sizeof(Command_t));
+  }
+  return reason;
+}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index ae4016b0..a319a0cf 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
 #define FRAMEWORK_IPC_COMMANDMESSAGE_H_
 
-#include <framework/ipc/CommandMessageBase.h>
+#include <framework/ipc/CommandMessageIF.h>
 #include <framework/ipc/MessageQueueMessage.h>
 #include <framework/ipc/FwMessageTypes.h>
 
@@ -20,23 +20,21 @@
  * currently has an internal message size of 28 bytes.
  * @author	Bastian Baetz
  */
-class CommandMessage: public CommandMessageBase {
+class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
 public:
-	/**
-	 * This is the size of a message as it is seen by the MessageQueue.
-	 * It can hold the CommandMessage header plus 2 4-byte parameters.
-	 * 14 of the 24 available MessageQueueMessage bytes are used.
-	 */
-	static const size_t MINIMUM_COMMAND_MESSAGE_SIZE =
-			CommandMessageIF::HEADER_SIZE + 2 * sizeof(uint32_t);
+    /**
+     * Default size can accomodate 2 4-byte parameters.
+     */
+    static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
+            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
 
 	/**
-	 * Default Constructor, does not initialize anything.
-	 *
+	 * @brief   Default Constructor, does not initialize anything.
+	 * @details
 	 * This constructor should be used when receiving a Message, as the
 	 * content is filled by the MessageQueue.
 	 */
-	CommandMessage(MessageQueueMessageIF* receiverMessage);
+	CommandMessage();
 	/**
 	 * This constructor creates a new message with all message content
 	 * initialized
@@ -45,17 +43,13 @@ public:
 	 * @param parameter1	The first parameter
 	 * @param parameter2	The second parameter
 	 */
-	CommandMessage(MessageQueueMessageIF* messageToSet, Command_t command,
-			uint32_t parameter1, uint32_t parameter2);
+	CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
 
 	/**
 	 * @brief 	Default Destructor
 	 */
 	virtual ~CommandMessage() {}
 
-	/** MessageQueueMessageIF functions used for minimum size check. */
-	//size_t getMinimumMessageSize() const override;
-
 	/**
 	 * Get the first parameter of the message
 	 * @return the first Parameter of the message
@@ -91,8 +85,49 @@ public:
 	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
 	 * Is needed quite often, so we better code it once only.
 	 */
-	void setToUnknownCommand();
+	void setToUnknownCommand() override;
+
+    /**
+     * A command message can be rejected and needs to offer a function
+     * to set a rejected reply
+     * @param reason
+     * @param initialCommand
+     */
+    void setReplyRejected(ReturnValue_t reason,
+            Command_t initialCommand) override;
+    /**
+     * Corrensonding getter function.
+     * @param initialCommand
+     * @return
+     */
+    ReturnValue_t getReplyRejectedReason(
+            Command_t* initialCommand = nullptr) const override;
+
+    virtual void clear() override;
+
+    /**
+     * Read the DeviceHandlerCommand_t that is stored in the message,
+     * usually used after receiving.
+     *
+     * @return the Command stored in the Message
+     */
+    virtual Command_t getCommand() const override;
+    /**
+     * Set the command type of the message. Default implementation also
+     * sets the message type, which will be the first byte of the command ID.
+     * @param the Command to be sent
+     */
+    virtual void setCommand(Command_t command);
+
+    /**
+     * Extract message ID, which is the first byte of the command ID for the
+     * default implementation.
+     * @return
+     */
+    virtual uint8_t getMessageType() const override;
+
+    /** MessageQueueMessageIF functions used for minimum size check. */
+    size_t getMinimumMessageSize() const override;
 };
 
-
 #endif /* COMMANDMESSAGE_H_ */
diff --git a/ipc/CommandMessageBase.cpp b/ipc/CommandMessageBase.cpp
index ea50f4ea..745e6c5f 100644
--- a/ipc/CommandMessageBase.cpp
+++ b/ipc/CommandMessageBase.cpp
@@ -1,86 +1,86 @@
-#include <framework/ipc/CommandMessageBase.h>
-#include <framework/ipc/CommandMessageCleaner.h>
-#include <cstring>
-
-CommandMessageBase::CommandMessageBase(MessageQueueMessageIF *message):
-		internalMessage(message) {
-}
-
-Command_t CommandMessageBase::getCommand() const {
-	Command_t command;
-	std::memcpy(&command, internalMessage->getData(), sizeof(Command_t));
-	return command;
-}
-
-void CommandMessageBase::setCommand(Command_t command) {
-	std::memcpy(internalMessage->getData(), &command, sizeof(Command_t));
-}
-
-uint8_t CommandMessageBase::getMessageType() const {
-	// first byte of command ID.
-	return getCommand() >> 8 & 0xff;
-}
-
-MessageQueueId_t CommandMessageBase::getSender() const {
-	return internalMessage->getSender();
-}
-
-uint8_t* CommandMessageBase::getBuffer() {
-	return internalMessage->getBuffer();
-}
-
-void CommandMessageBase::setSender(MessageQueueId_t setId) {
-	internalMessage->setSender(setId);
-}
-
-const uint8_t* CommandMessageBase::getBuffer() const {
-	return internalMessage->getBuffer();
-}
-
-// Header includes command ID.
-uint8_t* CommandMessageBase::getData() {
-	return internalMessage->getData() + sizeof(Command_t);
-}
-
-// Header includes command ID.
-const uint8_t* CommandMessageBase::getData() const {
-	return internalMessage->getData() + sizeof(Command_t);
-}
-
-//void CommandMessageBase::setMessageSize(size_t messageSize) {
-//	//internalMessage->setMessageSize(messageSize);
+//#include <framework/ipc/CommandMessageBase.h>
+//#include <framework/ipc/CommandMessageCleaner.h>
+//#include <cstring>
+//
+//CommandMessageBase::CommandMessageBase(MessageQueueMessageIF *message):
+//		internalMessage(message) {
 //}
-
-size_t CommandMessageBase::getMessageSize() const {
-	return internalMessage->getMessageSize();
-}
-
-MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
-	return internalMessage;
-}
-
-//size_t CommandMessageBase::getMinimumMessageSize() const {
-//	return MINIMUM_COMMAND_MESSAGE_BASE_SIZE;
+//
+//Command_t CommandMessageBase::getCommand() const {
+//	Command_t command;
+//	std::memcpy(&command, internalMessage->getData(), sizeof(Command_t));
+//	return command;
+//}
+//
+//void CommandMessageBase::setCommand(Command_t command) {
+//	std::memcpy(internalMessage->getData(), &command, sizeof(Command_t));
+//}
+//
+//uint8_t CommandMessageBase::getMessageType() const {
+//	// first byte of command ID.
+//	return getCommand() >> 8 & 0xff;
+//}
+//
+//MessageQueueId_t CommandMessageBase::getSender() const {
+//	return internalMessage->getSender();
+//}
+//
+//uint8_t* CommandMessageBase::getBuffer() {
+//	return internalMessage->getBuffer();
+//}
+//
+//void CommandMessageBase::setSender(MessageQueueId_t setId) {
+//	internalMessage->setSender(setId);
+//}
+//
+//const uint8_t* CommandMessageBase::getBuffer() const {
+//	return internalMessage->getBuffer();
+//}
+//
+//// Header includes command ID.
+//uint8_t* CommandMessageBase::getData() {
+//	return internalMessage->getData() + sizeof(Command_t);
+//}
+//
+//// Header includes command ID.
+//const uint8_t* CommandMessageBase::getData() const {
+//	return internalMessage->getData() + sizeof(Command_t);
+//}
+//
+////void CommandMessageBase::setMessageSize(size_t messageSize) {
+////	//internalMessage->setMessageSize(messageSize);
+////}
+//
+//size_t CommandMessageBase::getMessageSize() const {
+//	return internalMessage->getMessageSize();
+//}
+//
+//MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
+//	return internalMessage;
+//}
+//
+////size_t CommandMessageBase::getMinimumMessageSize() const {
+////	return MINIMUM_COMMAND_MESSAGE_BASE_SIZE;
+////}
+//
+//void CommandMessageBase::setReplyRejected(ReturnValue_t reason,
+//		Command_t initialCommand) {
+//	std::memcpy(getData(), &reason, sizeof(reason));
+//	std::memcpy(getData() + sizeof(reason), &initialCommand,
+//			sizeof(initialCommand));
+//}
+//
+//ReturnValue_t CommandMessageBase::getReplyRejectedReason(
+//		Command_t *initialCommand) const {
+//	ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
+//	std::memcpy(&reason, getData(), sizeof(reason));
+//	if(initialCommand != nullptr) {
+//		std::memcpy(initialCommand, getData() + sizeof(reason),
+//				sizeof(Command_t));
+//	}
+//	return reason;
+//}
+//
+//void CommandMessageBase::clear() {
+//	CommandMessageCleaner::clearCommandMessage(this);
 //}
-
-void CommandMessageBase::setReplyRejected(ReturnValue_t reason,
-		Command_t initialCommand) {
-	std::memcpy(getData(), &reason, sizeof(reason));
-	std::memcpy(getData() + sizeof(reason), &initialCommand,
-			sizeof(initialCommand));
-}
-
-ReturnValue_t CommandMessageBase::getReplyRejectedReason(
-		Command_t *initialCommand) const {
-	ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
-	std::memcpy(&reason, getData(), sizeof(reason));
-	if(initialCommand != nullptr) {
-		std::memcpy(initialCommand, getData() + sizeof(reason),
-				sizeof(Command_t));
-	}
-	return reason;
-}
-
-void CommandMessageBase::clear() {
-	CommandMessageCleaner::clearCommandMessage(this);
-}
diff --git a/ipc/CommandMessageBase.h b/ipc/CommandMessageBase.h
index 1ee1b970..59795114 100644
--- a/ipc/CommandMessageBase.h
+++ b/ipc/CommandMessageBase.h
@@ -23,67 +23,28 @@
  */
 class CommandMessageBase: public CommandMessageIF {
 public:
-	//! This minimum size is derived from the interface requirement to be able
-	//! to set a rejected reply, which contains a returnvalue and the initial
-	//! command.
-	static constexpr size_t MINIMUM_COMMAND_MESSAGE_BASE_SIZE =
-			CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
-			sizeof(Command_t);
+
 
 	CommandMessageBase(MessageQueueMessageIF* message);
 
-	/**
-	 * Read the DeviceHandlerCommand_t that is stored in the message,
-	 * usually used after receiving.
-	 *
-	 * @return the Command stored in the Message
-	 */
-	virtual Command_t getCommand() const override;
-	/**
-	 * Set the command type of the message. Default implementation also
-	 * sets the message type, which will be the first byte of the command ID.
-	 * @param the Command to be sent
-	 */
-	virtual void setCommand(Command_t command);
 
-	/**
-	 * Extract message ID, which is the first byte of the command ID for the
-	 * default implementation.
-	 * @return
-	 */
-	virtual uint8_t getMessageType() const override;
 
-	/*
-	 * MessageQueueMessageIF functions, which generally just call the
-	 * respective functions of the internal message queue message.
-	 */
-	virtual uint8_t * getBuffer() override;
-	virtual const uint8_t * getBuffer() const override;
-	virtual void setSender(MessageQueueId_t setId) override;
-	virtual MessageQueueId_t getSender() const override;
-	virtual uint8_t * getData() override;
-	virtual const uint8_t* getData() const override;
-	virtual size_t getMessageSize() const override;
+//	/*
+//	 * MessageQueueMessageIF functions, which generally just call the
+//	 * respective functions of the internal message queue message.
+//	 */
+//	virtual uint8_t * getBuffer() override;
+//	virtual const uint8_t * getBuffer() const override;
+//	virtual void setSender(MessageQueueId_t setId) override;
+//	virtual MessageQueueId_t getSender() const override;
+//	virtual uint8_t * getData() override;
+//	virtual const uint8_t* getData() const override;
+//	virtual size_t getMessageSize() const override;
 
-	/**
-	 * A command message can be rejected and needs to offer a function
-	 * to set a rejected reply
-	 * @param reason
-	 * @param initialCommand
-	 */
-	void setReplyRejected(ReturnValue_t reason,
-			Command_t initialCommand) override;
-	/**
-	 * Corrensonding getter function.
-	 * @param initialCommand
-	 * @return
-	 */
-	ReturnValue_t getReplyRejectedReason(
-			Command_t* initialCommand = nullptr) const override;
 
-	virtual MessageQueueMessageIF* getInternalMessage() const override;
+	//virtual MessageQueueMessageIF* getInternalMessage() const override;
+
 
-	virtual void clear() override;
 protected:
 	/**
 	 * @brief 	Pointer to the message containing the data.
diff --git a/ipc/CommandMessageIF.h b/ipc/CommandMessageIF.h
index fbfbddbb..ca050c32 100644
--- a/ipc/CommandMessageIF.h
+++ b/ipc/CommandMessageIF.h
@@ -5,20 +5,24 @@
 #include <framework/ipc/FwMessageTypes.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
-
 #define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
 typedef uint16_t Command_t;
 
-// TODO: actually, this interface propably does not have to implement
-// MQM IF, because there is a getter function for the internal message..
-// But it is also convenient to have the full access to all MQM IF functions.
-// That way, I can just pass CommandMessages to functions expecting a MQM IF.
-// The command message implementations just forwards the calls. Maybe
-// we should just leave it like that.
-class CommandMessageIF: public MessageQueueMessageIF {
+class CommandMessageIF: virtual public MessageQueueMessageIF {
 public:
-	static constexpr size_t HEADER_SIZE = sizeof(MessageQueueId_t) +
+    /**
+     * Header consists of sender ID and command ID.
+     */
+	static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
 			sizeof(Command_t);
+	/**
+	 * This minimum size is derived from the interface requirement to be able
+     * to set a rejected reply, which contains a returnvalue and the initial
+     * command.
+	 */
+	static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
+	        CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
+	        sizeof(Command_t);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
 	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
@@ -60,15 +64,9 @@ public:
 	virtual ReturnValue_t getReplyRejectedReason(
 			Command_t* initialCommand = nullptr) const  = 0;
 
-	/**
-	 * This function is used to get a pointer to the internal message, as
-	 * the command message implementations always operate on the memory
-	 * contained in the message queue message implementation.
-	 * This pointer can be used to set the internal message of different
-	 * command message implementations.
-	 * @return
-	 */
-	virtual MessageQueueMessageIF* getInternalMessage() const = 0;
+	virtual void setToUnknownCommand() = 0;
+
+	virtual void clear() = 0;
 
 };
 
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index f3665074..0f4d861b 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -1,10 +1,10 @@
 #include <framework/ipc/MessageQueueMessage.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-#include <string.h>
+#include <framework/globalfunctions/arrayprinter.h>
+#include <cstring>
 
 MessageQueueMessage::MessageQueueMessage() :
-		messageSize(this->HEADER_SIZE) {
+		messageSize(getMinimumMessageSize()) {
 	memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
 }
 
@@ -51,17 +51,15 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
 	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
 }
 
-//size_t MessageQueueMessage::getMinimumMessageSize() const {
-//	return this->HEADER_SIZE;
-//}
-
-void MessageQueueMessage::print() {
-	sif::debug << "MessageQueueMessage has size: " << this->messageSize <<
-			std::hex << std::endl;
-	for (uint8_t count = 0; count < this->messageSize; count++) {
-		sif::debug << (uint32_t) this->internalBuffer[count] << ":";
+void MessageQueueMessage::print(bool printWholeMessage) {
+	sif::debug << "MessageQueueMessage content: " << std::endl;
+	if(printWholeMessage) {
+	    arrayprinter::print(getData(), getMaximumMessageSize());
 	}
-	sif::debug << std::dec << std::endl;
+	else {
+	    arrayprinter::print(getData(), getMessageSize());
+	}
+
 }
 
 void MessageQueueMessage::clear() {
@@ -69,9 +67,18 @@ void MessageQueueMessage::clear() {
 }
 
 size_t MessageQueueMessage::getMessageSize() const {
-	return this->MAX_MESSAGE_SIZE;
+	return this->messageSize;
+}
+
+void MessageQueueMessage::setMessageSize(size_t messageSize) {
+	this->messageSize = messageSize;
+}
+
+size_t MessageQueueMessage::getMinimumMessageSize() const {
+    return this->MIN_MESSAGE_SIZE;
+}
+
+size_t MessageQueueMessage::getMaximumMessageSize() const {
+    return this->MAX_MESSAGE_SIZE;
 }
 
-//void MessageQueueMessage::setMessageSize(size_t messageSize) {
-//	this->messageSize = messageSize;
-//}
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index a994c323..c4e82a94 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -23,7 +23,7 @@
  *	receive messages from other tasks.
  *	@ingroup message_queue
  */
-class MessageQueueMessage: public MessageQueueMessageIF {
+class MessageQueueMessage: virtual public MessageQueueMessageIF {
 public:
 	/**
 	 * @brief	The class is initialized empty with this constructor.
@@ -74,11 +74,7 @@ public:
 	 * as small as possible.
 	 */
 	static const size_t MAX_DATA_SIZE = 24;
-	/**
-	 * @brief	This constants defines the size of the header,
-	 * 			which is added to every message.
-	 */
-	static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
+
 	/**
 	 * @brief	This constant defines the maximum total size in bytes
 	 * 			of a sent message.
@@ -141,12 +137,14 @@ public:
 	void setSender(MessageQueueId_t setId) override;
 
 	virtual size_t getMessageSize() const override;
+	virtual void setMessageSize(size_t messageSize) override;
+	virtual size_t getMinimumMessageSize() const override;
+	virtual size_t getMaximumMessageSize() const override;
 
 	/**
-	 * @brief	This is a debug method that prints the content
-	 * 			(till messageSize) to the debug output.
+	 * @brief	This is a debug method that prints the content.
 	 */
-	void print();
+	void print(bool printWholeMessage);
 };
 
 #endif /* MESSAGEQUEUEMESSAGE_H_ */
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index 19c69bfb..c6c677c1 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -18,7 +18,12 @@ typedef uint32_t MessageQueueId_t;
 
 class MessageQueueMessageIF {
 public:
-	static const MessageQueueId_t NO_QUEUE = 0xffffffff;
+	static const MessageQueueId_t NO_QUEUE = -1;
+    /**
+     * @brief   This constants defines the size of the header,
+     *          which is added to every message.
+     */
+    static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
 
 	virtual ~MessageQueueMessageIF() {};
 
@@ -73,6 +78,10 @@ public:
 	 */
 	virtual size_t getMessageSize() const = 0;
 
+    virtual void setMessageSize(size_t messageSize) = 0;
+    virtual size_t getMinimumMessageSize() const = 0;
+    virtual size_t getMaximumMessageSize() const = 0;
+
 };
 
 
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index fb4d9eb6..ea7ef9e1 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -51,16 +51,14 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 		break;
 	default:
 		ipcStore->deleteData(ipcAddress);
-		MessageQueueMessage message;
-		CommandMessage reply(&message);
+		CommandMessage reply;
 		MemoryMessage::setMemoryReplyFailed(&reply, errorCode,
 				MemoryMessage::CMD_MEMORY_LOAD);
 		queueToUse->sendMessage(lastSender, &reply);
 		return;
 	}
 	//Only reached on success
-	MessageQueueMessage message;
-	CommandMessage reply(&message, CommandMessage::REPLY_COMMAND_OK, 0, 0);
+	CommandMessage reply( CommandMessage::REPLY_COMMAND_OK, 0, 0);
 	queueToUse->sendMessage(lastSender, &reply);
 	ipcStore->deleteData(ipcAddress);
 }
@@ -68,8 +66,7 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 void MemoryHelper::completeDump(ReturnValue_t errorCode,
 		const uint8_t* dataToCopy, const uint32_t size) {
 	busy = false;
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	MemoryMessage::setMemoryReplyFailed(&reply, errorCode, lastCommand);
 	switch (errorCode) {
 	case HasMemoryIF::DO_IT_MYSELF:
@@ -154,8 +151,7 @@ void MemoryHelper::handleMemoryLoad(CommandMessage* message) {
 		completeLoad(returnCode, p_data, size, dataPointer);
 	} else {
 		//At least inform sender.
-		MessageQueueMessage message;
-		CommandMessage reply(&message);
+		CommandMessage reply;
 		MemoryMessage::setMemoryReplyFailed(&reply, returnCode,
 				MemoryMessage::CMD_MEMORY_LOAD);
 		queueToUse->sendMessage(lastSender, &reply);
@@ -173,8 +169,7 @@ void MemoryHelper::handleMemoryCheckOrDump(CommandMessage* message) {
 				reservedSpaceInIPC);
 		completeDump(returnCode, dataPointer, size);
 	} else {
-		MessageQueueMessage message;
-		CommandMessage reply(&message);
+		CommandMessage reply;
 		MemoryMessage::setMemoryReplyFailed(&reply, returnCode, lastCommand);
 		queueToUse->sendMessage(lastSender, &reply);
 	}
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index 59a6d974..030f1db3 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -12,8 +12,7 @@ ModeHelper::~ModeHelper() {
 }
 
 ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	Mode_t mode;
 	Submode_t submode;
 	switch (command->getCommand()) {
@@ -79,8 +78,7 @@ void ModeHelper::modeChanged(Mode_t ownerMode, Submode_t ownerSubmode) {
 
 void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
 		Submode_t ownerSubmode) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	if (theOneWhoCommandedAMode != MessageQueueMessageIF::NO_QUEUE)
 	{
 		if (ownerMode != commandedMode or ownerSubmode != commandedSubmode)
@@ -101,8 +99,7 @@ void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
 
 void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
 		Submode_t ownerSubmode) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	if (theOneWhoCommandedAMode != parentQueueId
 			and parentQueueId != MessageQueueMessageIF::NO_QUEUE)
 	{
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index 1378d754..234a0bff 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -31,8 +31,7 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	MessageQueueMessage message;
-	CommandMessage report(&message);
+	CommandMessage report;
 	MonitoringMessage::setLimitViolationReport(&report, storeId);
 	return MessageQueueSenderIF::sendMessage(reportQueue, &report);
 }
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 8b91020f..20e7e8ec 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -102,8 +102,7 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 
 	ParameterMessage::setParameterDumpReply(&reply, id, address);
 
@@ -126,8 +125,7 @@ ReturnValue_t ParameterHelper::initialize() {
 
 void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
 		Command_t initialCommand) {
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	reply.setReplyRejected(reason, initialCommand);
 	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
 }
diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index a80a111f..eee91984 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -163,8 +163,7 @@ void Fuse::setAllMonitorsToUnchecked() {
 }
 
 void Fuse::checkCommandQueue() {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return;
diff --git a/power/PowerSensor.cpp b/power/PowerSensor.cpp
index b1aea270..5433acc9 100644
--- a/power/PowerSensor.cpp
+++ b/power/PowerSensor.cpp
@@ -74,8 +74,7 @@ void PowerSensor::setAllMonitorsToUnchecked() {
 }
 
 void PowerSensor::checkCommandQueue() {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return;
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index d774b4d5..52f2c474 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -309,8 +309,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 		break;
 	case ModeSequenceMessage::READ_FREE_SEQUENCE_SLOTS: {
 		uint32_t freeSlots = modeSequences.maxSize() - modeSequences.size();
-		MessageQueueMessage message;
-		CommandMessage reply(&message);
+		CommandMessage reply;
 		ModeSequenceMessage::setModeSequenceMessage(&reply,
 				ModeSequenceMessage::FREE_SEQUENCE_SLOTS, freeSlots);
 		commandQueue->reply(&reply);
@@ -318,8 +317,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 		break;
 	case ModeSequenceMessage::READ_FREE_TABLE_SLOTS: {
 		uint32_t free = modeTables.maxSize() - modeTables.size();
-		MessageQueueMessage message;
-		CommandMessage reply(&message);
+		CommandMessage reply;
 		ModeSequenceMessage::setModeSequenceMessage(&reply,
 				ModeSequenceMessage::FREE_TABLE_SLOTS, free);
 		commandQueue->reply(&reply);
@@ -332,12 +330,11 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 }
 
 void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
-	MessageQueueMessage message;
 	if (status == RETURN_OK) {
-		CommandMessage reply(&message, CommandMessage::REPLY_COMMAND_OK, 0, 0);
+		CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, 0);
 		commandQueue->reply(&reply);
 	} else {
-		CommandMessage reply(&message, CommandMessage::REPLY_REJECTED, status, 0);
+		CommandMessage reply(CommandMessage::REPLY_REJECTED, status, 0);
 		commandQueue->reply(&reply);
 	}
 }
@@ -620,8 +617,7 @@ void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
 	for (uint8_t i = 0; i < count; i++) {
 		elements[i]->serialize(&storeBuffer, &size, maxSize, true);
 	}
-	MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);
 	if (commandQueue->reply(&reply) != RETURN_OK) {
 		IPCStore->deleteData(address);
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index 5527f215..737accef 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -77,8 +77,7 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(
 }
 
 void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 
 	std::map<object_id_t, ChildInfo>::iterator iter;
 
@@ -129,7 +128,7 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 			continue; //don't send redundant mode commands (produces event spam), but still command if mode is forced to reach lower levels
 		}
 		ReturnValue_t result = commandQueue->sendMessage(
-				iter->second.commandQueue, &message);
+				iter->second.commandQueue, &command);
 		if (result == RETURN_OK) {
 			++commandsOutstanding;
 		}
@@ -297,8 +296,7 @@ void SubsystemBase::setToExternalControl() {
 void SubsystemBase::announceMode(bool recursive) {
 	triggerEvent(MODE_INFO, mode, submode);
 	if (recursive) {
-		MessageQueueMessage message;
-		CommandMessage command(&message);
+		CommandMessage command;
 		ModeMessage::setModeMessage(&command,
 				ModeMessage::CMD_MODE_ANNOUNCE_RECURSIVELY, 0, 0);
 		commandAllChildren(&command);
@@ -307,8 +305,7 @@ void SubsystemBase::announceMode(bool recursive) {
 
 void SubsystemBase::checkCommandQueue() {
 	ReturnValue_t result;
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 
 	for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&command)) {
@@ -330,8 +327,7 @@ void SubsystemBase::checkCommandQueue() {
 
 		result = handleCommandMessage(&command);
 		if (result != RETURN_OK) {
-			MessageQueueMessage message;
-			CommandMessage reply(&message);
+			CommandMessage reply;
 			reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
 					command.getCommand());
 			replyToCommand(&reply);
diff --git a/thermal/AbstractTemperatureSensor.cpp b/thermal/AbstractTemperatureSensor.cpp
index 759af87e..41230f59 100644
--- a/thermal/AbstractTemperatureSensor.cpp
+++ b/thermal/AbstractTemperatureSensor.cpp
@@ -44,8 +44,7 @@ ReturnValue_t AbstractTemperatureSensor::performHealthOp() {
 }
 
 void AbstractTemperatureSensor::handleCommandQueue() {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		result = healthHelper.handleHealthCommand(&command);
@@ -57,7 +56,7 @@ void AbstractTemperatureSensor::handleCommandQueue() {
 			return;
 		}
 		command.setToUnknownCommand();
-		commandQueue->reply(&message);
+		commandQueue->reply(&command);
 	}
 }
 
diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp
index 6e191fc1..b1cf38f2 100644
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@@ -279,8 +279,7 @@ ReturnValue_t Heater::initialize() {
 }
 
 void Heater::handleQueue() {
-	MessageQueueMessage message;
-	CommandMessage command(&message);
+	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		result = healthHelper.handleHealthCommand(&command);
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 4d29c10e..bd6fa5b5 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -76,28 +76,18 @@ ReturnValue_t CommandingServiceBase::initialize() {
 }
 
 void CommandingServiceBase::handleCommandQueue() {
-    MessageQueueMessage message;
-	CommandMessage reply(&message);
+	CommandMessage reply;
 	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		if(reply.getInternalMessage() == nullptr) {
-			// This should never happen unless the passed message maximum size
-			// is too small!
-			sif::error << "CommandingServiceBase::handleCommandMessage: Reply"
-					"does not satisfy minimum requirements for a command "
-					"message!" << std::endl;
-			continue;
-		}
 		handleCommandMessage(&reply);
 	}
 }
 
 
-void CommandingServiceBase::handleCommandMessage(CommandMessageIF* reply) {
+void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	bool isStep = false;
-	MessageQueueMessage message;
-	CommandMessage nextCommand(&message);
+	CommandMessage nextCommand;
 	CommandMapIter iter = commandMap.find(reply->getSender());
 
 	// handle unrequested reply first
@@ -303,8 +293,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
 void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
         CommandMapIter iter) {
     ReturnValue_t result = RETURN_OK;
-    MessageQueueMessage message;
-    CommandMessage command(&message);
+    CommandMessage command;
     iter->subservice = storedPacket->getSubService();
     result = prepareCommand(&command, iter->subservice,
             storedPacket->getApplicationData(),
@@ -316,7 +305,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 	case RETURN_OK:
 		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			sendResult = commandQueue->sendMessage(iter.value->first,
-					&message);
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
 			Clock::getUptime(&iter->uptimeOfStart);
@@ -338,7 +327,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			//Fire-and-forget command.
 			sendResult = commandQueue->sendMessage(iter.value->first,
-					&message);
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
 			verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
@@ -384,9 +373,8 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 }
 
 
-void CommandingServiceBase::handleUnrequestedReply(CommandMessageIF* reply) {
-	CommandMessage commandReply(reply->getInternalMessage());
-	commandReply.clear();
+void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
+	reply->clear();
 }
 
 
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 05f50709..54a0dc7a 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -139,7 +139,7 @@ protected:
 	 * @param objectId Target object ID
 	 * @return
 	 */
-	virtual ReturnValue_t prepareCommand(CommandMessageIF *message,
+	virtual ReturnValue_t prepareCommand(CommandMessage* message,
 			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
@@ -168,9 +168,9 @@ protected:
 	 *   a failure verification message with the reason as the error parameter
 	 *   and the initial command as failure parameter 1.
 	 */
-	virtual ReturnValue_t handleReply(const CommandMessageIF *reply,
+	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,
-			CommandMessageIF *optionalNextCommand, object_id_t objectId,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
 	/**
@@ -182,7 +182,7 @@ protected:
 	 * Reply which is non-const so the default implementation can clear the
 	 * message.
 	 */
-	virtual void handleUnrequestedReply(CommandMessageIF *reply);
+	virtual void handleUnrequestedReply(CommandMessage* reply);
 
 	virtual void doPeriodicOperation();
 
@@ -310,7 +310,7 @@ private:
 
 	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
 
-	void handleCommandMessage(CommandMessageIF* reply);
+	void handleCommandMessage(CommandMessage* reply);
 	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
 			CommandMessageIF* nextCommand,CommandMessageIF* reply, bool& isStep);
 

From c7c49b4239fe42f4c4da47eba686c41ff687cf17 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 00:30:32 +0200
Subject: [PATCH 184/307] deleted command messge base

---
 ipc/CommandMessageBase.cpp             | 86 --------------------------
 ipc/CommandMessageBase.h               | 60 ------------------
 ipc/CommandMessageIF.h                 |  2 +-
 ipc/MessageQueueMessage.h              |  2 +-
 tmtcservices/CommandingServiceBase.cpp |  4 +-
 tmtcservices/CommandingServiceBase.h   |  2 +-
 6 files changed, 5 insertions(+), 151 deletions(-)
 delete mode 100644 ipc/CommandMessageBase.cpp
 delete mode 100644 ipc/CommandMessageBase.h

diff --git a/ipc/CommandMessageBase.cpp b/ipc/CommandMessageBase.cpp
deleted file mode 100644
index 745e6c5f..00000000
--- a/ipc/CommandMessageBase.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-//#include <framework/ipc/CommandMessageBase.h>
-//#include <framework/ipc/CommandMessageCleaner.h>
-//#include <cstring>
-//
-//CommandMessageBase::CommandMessageBase(MessageQueueMessageIF *message):
-//		internalMessage(message) {
-//}
-//
-//Command_t CommandMessageBase::getCommand() const {
-//	Command_t command;
-//	std::memcpy(&command, internalMessage->getData(), sizeof(Command_t));
-//	return command;
-//}
-//
-//void CommandMessageBase::setCommand(Command_t command) {
-//	std::memcpy(internalMessage->getData(), &command, sizeof(Command_t));
-//}
-//
-//uint8_t CommandMessageBase::getMessageType() const {
-//	// first byte of command ID.
-//	return getCommand() >> 8 & 0xff;
-//}
-//
-//MessageQueueId_t CommandMessageBase::getSender() const {
-//	return internalMessage->getSender();
-//}
-//
-//uint8_t* CommandMessageBase::getBuffer() {
-//	return internalMessage->getBuffer();
-//}
-//
-//void CommandMessageBase::setSender(MessageQueueId_t setId) {
-//	internalMessage->setSender(setId);
-//}
-//
-//const uint8_t* CommandMessageBase::getBuffer() const {
-//	return internalMessage->getBuffer();
-//}
-//
-//// Header includes command ID.
-//uint8_t* CommandMessageBase::getData() {
-//	return internalMessage->getData() + sizeof(Command_t);
-//}
-//
-//// Header includes command ID.
-//const uint8_t* CommandMessageBase::getData() const {
-//	return internalMessage->getData() + sizeof(Command_t);
-//}
-//
-////void CommandMessageBase::setMessageSize(size_t messageSize) {
-////	//internalMessage->setMessageSize(messageSize);
-////}
-//
-//size_t CommandMessageBase::getMessageSize() const {
-//	return internalMessage->getMessageSize();
-//}
-//
-//MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
-//	return internalMessage;
-//}
-//
-////size_t CommandMessageBase::getMinimumMessageSize() const {
-////	return MINIMUM_COMMAND_MESSAGE_BASE_SIZE;
-////}
-//
-//void CommandMessageBase::setReplyRejected(ReturnValue_t reason,
-//		Command_t initialCommand) {
-//	std::memcpy(getData(), &reason, sizeof(reason));
-//	std::memcpy(getData() + sizeof(reason), &initialCommand,
-//			sizeof(initialCommand));
-//}
-//
-//ReturnValue_t CommandMessageBase::getReplyRejectedReason(
-//		Command_t *initialCommand) const {
-//	ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
-//	std::memcpy(&reason, getData(), sizeof(reason));
-//	if(initialCommand != nullptr) {
-//		std::memcpy(initialCommand, getData() + sizeof(reason),
-//				sizeof(Command_t));
-//	}
-//	return reason;
-//}
-//
-//void CommandMessageBase::clear() {
-//	CommandMessageCleaner::clearCommandMessage(this);
-//}
diff --git a/ipc/CommandMessageBase.h b/ipc/CommandMessageBase.h
deleted file mode 100644
index 59795114..00000000
--- a/ipc/CommandMessageBase.h
+++ /dev/null
@@ -1,60 +0,0 @@
-#ifndef FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_
-#define FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_
-#include <framework/ipc/CommandMessageIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
-
-/**
- * @brief	Base implementation of a generic command message, which has
- * 			a Command_t ID and message type ID in the header in addition
- * 			to the sender message queue ID.
- * @details
- * This is the base implementation serves as a base for other command messages
- * and which implements most functions required for MessageQueueMessageIF.
- * The only functions which have to be supplied by a specific command message
- * impelementations are the size related functions which are used for
- * size checks:
- *
- *  1. getMinimumMessageSize()
- *
- * The maximum message size generally depends on the buffer size of the passed
- * internal message.
- * Don't forget to set the message size of the passed message in the concrete
- * commandmessage implementation!
- */
-class CommandMessageBase: public CommandMessageIF {
-public:
-
-
-	CommandMessageBase(MessageQueueMessageIF* message);
-
-
-
-//	/*
-//	 * MessageQueueMessageIF functions, which generally just call the
-//	 * respective functions of the internal message queue message.
-//	 */
-//	virtual uint8_t * getBuffer() override;
-//	virtual const uint8_t * getBuffer() const override;
-//	virtual void setSender(MessageQueueId_t setId) override;
-//	virtual MessageQueueId_t getSender() const override;
-//	virtual uint8_t * getData() override;
-//	virtual const uint8_t* getData() const override;
-//	virtual size_t getMessageSize() const override;
-
-
-	//virtual MessageQueueMessageIF* getInternalMessage() const override;
-
-
-protected:
-	/**
-	 * @brief 	Pointer to the message containing the data.
-	 * @details
-	 * The command message does not actually own the memory containing a
-	 * message, it just oprates on it via a pointer to a message queue message.
-	 */
-	MessageQueueMessageIF* internalMessage = nullptr;
-};
-
-
-
-#endif /* FRAMEWORK_IPC_COMMANDMESSAGEBASE_H_ */
diff --git a/ipc/CommandMessageIF.h b/ipc/CommandMessageIF.h
index ca050c32..2cb6324e 100644
--- a/ipc/CommandMessageIF.h
+++ b/ipc/CommandMessageIF.h
@@ -8,7 +8,7 @@
 #define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
 typedef uint16_t Command_t;
 
-class CommandMessageIF: virtual public MessageQueueMessageIF {
+class CommandMessageIF {
 public:
     /**
      * Header consists of sender ID and command ID.
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index c4e82a94..3d5d4283 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -23,7 +23,7 @@
  *	receive messages from other tasks.
  *	@ingroup message_queue
  */
-class MessageQueueMessage: virtual public MessageQueueMessageIF {
+class MessageQueueMessage: public MessageQueueMessageIF {
 public:
 	/**
 	 * @brief	The class is initialized empty with this constructor.
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index bd6fa5b5..acf66389 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -146,8 +146,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 }
 
 void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
-		CommandMapIter iter, CommandMessageIF* nextCommand,
-		CommandMessageIF* reply, bool& isStep) {
+		CommandMapIter iter, CommandMessage* nextCommand,
+		CommandMessage* reply, bool& isStep) {
 	iter->command = nextCommand->getCommand();
 
 	// In case a new command is to be sent immediately, this is performed here.
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 54a0dc7a..8806bd52 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -312,7 +312,7 @@ private:
 
 	void handleCommandMessage(CommandMessage* reply);
 	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
-			CommandMessageIF* nextCommand,CommandMessageIF* reply, bool& isStep);
+			CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
 
 	void checkTimeout();
 };

From af24cc7d047cccf09ff5a002a86aa222b18b19ed Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 00:49:13 +0200
Subject: [PATCH 185/307] some bugfixes

---
 ipc/CommandMessage.cpp         | 82 +++++++++++++++++++---------------
 ipc/CommandMessage.h           | 30 +++++++------
 ipc/CommandMessageCleaner.cpp  | 20 ++++-----
 ipc/CommandMessageCleaner.h    |  6 +--
 osal/FreeRTOS/MessageQueue.cpp |  6 ---
 5 files changed, 74 insertions(+), 70 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 6aa433df..2b0c34d5 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -3,57 +3,57 @@
 #include <cstring>
 
 CommandMessage::CommandMessage() {
-	MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
     setCommand(CMD_NONE);
 }
 
 CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
         uint32_t parameter2) {
     MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
-	setCommand(command);
-	setParameter(parameter1);
-	setParameter2(parameter2);
+    setCommand(command);
+    setParameter(parameter1);
+    setParameter2(parameter2);
 }
 
 Command_t CommandMessage::getCommand() const {
-  Command_t command;
-  std::memcpy(&command, getData(), sizeof(Command_t));
-  return command;
+    Command_t command;
+    std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
+    return command;
 }
 
 void CommandMessage::setCommand(Command_t command) {
-  std::memcpy(getData(), &command, sizeof(Command_t));
+    std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
 }
 
 uint8_t CommandMessage::getMessageType() const {
-  // first byte of command ID.
-  return getCommand() >> 8 & 0xff;
+    // first byte of command ID.
+    return getCommand() >> 8 & 0xff;
 }
 
 uint32_t CommandMessage::getParameter() const {
-	uint32_t parameter1;
-	std::memcpy(&parameter1, MessageQueueMessage::getData(), sizeof(parameter1));
-	return parameter1;
+    uint32_t parameter1;
+    std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
+    return parameter1;
 }
 
 void CommandMessage::setParameter(uint32_t parameter1) {
-	std::memcpy(MessageQueueMessage::getData(), &parameter1, sizeof(parameter1));
+    std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
 }
 
 uint32_t CommandMessage::getParameter2() const {
-	uint32_t parameter2;
-	std::memcpy(&parameter2, MessageQueueMessage::getData() + sizeof(uint32_t),
-			sizeof(parameter2));
-	return parameter2;
+    uint32_t parameter2;
+    std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
+            sizeof(parameter2));
+    return parameter2;
 }
 
 void CommandMessage::setParameter2(uint32_t parameter2) {
-	std::memcpy(MessageQueueMessage::getData()  + sizeof(uint32_t), &parameter2,
-			sizeof(parameter2));
+    std::memcpy(this->getData()  + sizeof(uint32_t), &parameter2,
+            sizeof(parameter2));
 }
 
 size_t CommandMessage::getMinimumMessageSize() const {
-	return MINIMUM_COMMAND_MESSAGE_SIZE;
+    return MINIMUM_COMMAND_MESSAGE_SIZE;
 }
 
 void CommandMessage::clear() {
@@ -61,29 +61,37 @@ void CommandMessage::clear() {
 }
 
 bool CommandMessage::isClearedCommandMessage() {
-	return getCommand() == CMD_NONE;
+    return getCommand() == CMD_NONE;
 }
 
 void CommandMessage::setToUnknownCommand() {
-	Command_t initialCommand = getCommand();
-	this->clear();
-	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
+    Command_t initialCommand = getCommand();
+    this->clear();
+    setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
-      Command_t initialCommand) {
-  std::memcpy(getData(), &reason, sizeof(reason));
-  std::memcpy(getData() + sizeof(reason), &initialCommand,
-          sizeof(initialCommand));
+        Command_t initialCommand) {
+    std::memcpy(getData(), &reason, sizeof(reason));
+    std::memcpy(getData() + sizeof(reason), &initialCommand,
+            sizeof(initialCommand));
 }
 
 ReturnValue_t CommandMessage::getReplyRejectedReason(
-      Command_t *initialCommand) const {
-  ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
-  std::memcpy(&reason, getData(), sizeof(reason));
-  if(initialCommand != nullptr) {
-      std::memcpy(initialCommand, getData() + sizeof(reason),
-              sizeof(Command_t));
-  }
-  return reason;
+        Command_t *initialCommand) const {
+    ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
+    std::memcpy(&reason, getData(), sizeof(reason));
+    if(initialCommand != nullptr) {
+        std::memcpy(initialCommand, getData() + sizeof(reason),
+                sizeof(Command_t));
+    }
+    return reason;
+}
+
+uint8_t* CommandMessage::getData() {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}
+
+const uint8_t* CommandMessage::getData() const {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
 }
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index a319a0cf..53df1c08 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -50,6 +50,22 @@ public:
 	 */
 	virtual ~CommandMessage() {}
 
+    /**
+     * Read the DeviceHandlerCommand_t that is stored in the message,
+     * usually used after receiving.
+     *
+     * @return the Command stored in the Message
+     */
+    virtual Command_t getCommand() const override;
+    /**
+     * Set the command type of the message. Default implementation also
+     * sets the message type, which will be the first byte of the command ID.
+     * @param the Command to be sent
+     */
+    virtual void setCommand(Command_t command);
+
+    virtual uint8_t* getData() override;
+    virtual const uint8_t* getData() const override;
 	/**
 	 * Get the first parameter of the message
 	 * @return the first Parameter of the message
@@ -105,20 +121,6 @@ public:
 
     virtual void clear() override;
 
-    /**
-     * Read the DeviceHandlerCommand_t that is stored in the message,
-     * usually used after receiving.
-     *
-     * @return the Command stored in the Message
-     */
-    virtual Command_t getCommand() const override;
-    /**
-     * Set the command type of the message. Default implementation also
-     * sets the message type, which will be the first byte of the command ID.
-     * @param the Command to be sent
-     */
-    virtual void setCommand(Command_t command);
-
     /**
      * Extract message ID, which is the first byte of the command ID for the
      * default implementation.
diff --git a/ipc/CommandMessageCleaner.cpp b/ipc/CommandMessageCleaner.cpp
index 7153a8e7..23e6e168 100644
--- a/ipc/CommandMessageCleaner.cpp
+++ b/ipc/CommandMessageCleaner.cpp
@@ -9,34 +9,34 @@
 #include <framework/tmstorage/TmStoreMessage.h>
 #include <framework/parameters/ParameterMessage.h>
 
-void CommandMessageCleaner::clearCommandMessage(CommandMessageIF* message) {
+void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
 	switch(message->getMessageType()){
 	case  messagetypes::MODE_COMMAND:
-		ModeMessage::clear(dynamic_cast<CommandMessage*>(message));
+		ModeMessage::clear(message);
 		break;
 	case messagetypes::HEALTH_COMMAND:
-		HealthMessage::clear(dynamic_cast<CommandMessage*>(message));
+		HealthMessage::clear(message);
 		break;
 	case messagetypes::MODE_SEQUENCE:
-		ModeSequenceMessage::clear(dynamic_cast<CommandMessage*>(message));
+		ModeSequenceMessage::clear(message);
 		break;
 	case messagetypes::ACTION:
-		ActionMessage::clear(dynamic_cast<CommandMessage*>(message));
+		ActionMessage::clear(message);
 		break;
 	case messagetypes::DEVICE_HANDLER_COMMAND:
-		DeviceHandlerMessage::clear(dynamic_cast<CommandMessage*>(message));
+		DeviceHandlerMessage::clear(message);
 		break;
 	case messagetypes::MEMORY:
-		MemoryMessage::clear(dynamic_cast<CommandMessage*>(message));
+		MemoryMessage::clear(message);
 		break;
 	case messagetypes::MONITORING:
-		MonitoringMessage::clear(dynamic_cast<CommandMessage*>(message));
+		MonitoringMessage::clear(message);
 		break;
 	case messagetypes::TM_STORE:
-		TmStoreMessage::clear(dynamic_cast<CommandMessage*>(message));
+		TmStoreMessage::clear(message);
 		break;
 	case messagetypes::PARAMETER:
-		ParameterMessage::clear(dynamic_cast<CommandMessage*>(message));
+		ParameterMessage::clear(message);
 		break;
 	default:
 		messagetypes::clearMissionMessage(message);
diff --git a/ipc/CommandMessageCleaner.h b/ipc/CommandMessageCleaner.h
index 0bd369a2..48aaa478 100644
--- a/ipc/CommandMessageCleaner.h
+++ b/ipc/CommandMessageCleaner.h
@@ -1,15 +1,15 @@
 #ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
 #define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
-#include <framework/ipc/CommandMessageIF.h>
+#include <framework/ipc/CommandMessage.h>
 
 namespace messagetypes {
 // Implemented in config.
-void clearMissionMessage(CommandMessageIF* message);
+void clearMissionMessage(CommandMessage* message);
 }
 
 class CommandMessageCleaner {
 public:
-	static void clearCommandMessage(CommandMessageIF* message);
+	static void clearCommandMessage(CommandMessage* message);
 };
 
 
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 464a4f16..8eb669ed 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -80,12 +80,6 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 }
 
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
-    if(message->getMessageSize() < maxMessageSize) {
-        sif::error << "MessageQueue::receiveMessage: Message size "
-                << message->getMessageSize() <<
-                " too small to receive data!" << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
 	BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
 			message->getBuffer()), 0);
 	if (result == pdPASS){

From 16cbbb2693a18cc588661270c482325d4257e95f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 01:11:48 +0200
Subject: [PATCH 186/307] linux fixes

---
 osal/linux/MessageQueue.cpp | 15 +++------------
 osal/linux/MessageQueue.h   |  3 +--
 osal/linux/QueueFactory.cpp |  6 +++---
 3 files changed, 7 insertions(+), 17 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index c4b24a13..b11b9b6f 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -281,8 +281,7 @@ ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo,message, maxMessageSize,
-			sentFrom,ignoreFault);
+	return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
 
 }
 
@@ -297,22 +296,14 @@ bool MessageQueue::isDefaultDestinationSet() const {
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-		MessageQueueMessageIF *message, size_t maxSize,
-		MessageQueueId_t sentFrom, bool ignoreFault) {
+		MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
 	if(message == nullptr) {
 		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
 				"nullptr!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-	if(message->getMaximumMessageSize() > maxSize) {
-		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message size "
-				<< message->getMaximumMessageSize() << " too large for queue"
-				" with max. message size " << maxSize << "!"
-				<< std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
 	message->setSender(sentFrom);
 	int result = mq_send(sendTo,
 			reinterpret_cast<const char*>(message->getBuffer()),
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index 22725d18..8e3a5191 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -149,8 +149,7 @@ protected:
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, size_t maxSize,
-			MessageQueueId_t sentFrom = NO_QUEUE,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
 			bool ignoreFault=false);
 private:
 	/**
diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index 95264a42..8bd9d52c 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -9,10 +9,10 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, size_t maxSize,
-			MessageQueueId_t sentFrom, bool ignoreFault) {
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
-			maxSize, sentFrom,ignoreFault);
+			sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {

From 7f3607c3d998fb4473fd7b35b3ddf9ebff7b1dbb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 02:00:26 +0200
Subject: [PATCH 187/307] hk service fixed

---
 housekeeping/HousekeepingMessage.cpp | 66 ++++++++++------------------
 housekeeping/HousekeepingMessage.h   | 27 +++++-------
 ipc/CommandMessage.cpp               | 12 +++++
 ipc/CommandMessage.h                 | 14 ++----
 4 files changed, 50 insertions(+), 69 deletions(-)

diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index 0d0f9860..64b07c17 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -1,67 +1,47 @@
 #include <framework/housekeeping/HousekeepingMessage.h>
 #include <cstring>
 
-HousekeepingMessage::HousekeepingMessage(): CommandMessage() {
-}
-
 HousekeepingMessage::~HousekeepingMessage() {}
 
-void HousekeepingMessage::setParameter(uint32_t parameter) {
-	std::memcpy(getData(), &parameter, sizeof(parameter));
-}
-
-uint32_t HousekeepingMessage::getParameter() const {
-	uint32_t parameter;
-	std::memcpy(&parameter, getData(), sizeof(parameter));
-	return parameter;
-}
-
-void HousekeepingMessage::setHkReportMessage(sid_t sid,
+void HousekeepingMessage::setHkReportMessage(CommandMessage* message, sid_t sid,
 		store_address_t storeId) {
-	CommandMessage::setCommand(HK_REPORT);
-	setSid(sid);
-	setParameter(storeId.raw);
+	message->setCommand(HK_REPORT);
+	message->setMessageSize(HK_MESSAGE_SIZE);
+	setSid(message, sid);
+	message->setParameter(storeId.raw);
 }
 
-void HousekeepingMessage::setHkDiagnosticsMessage(sid_t sid,
-		store_address_t storeId) {
-	CommandMessage::setCommand(DIAGNOSTICS_REPORT);
-	setSid(sid);
-	setParameter(storeId.raw);
+void HousekeepingMessage::setHkDiagnosticsMessage(CommandMessage* message,
+		sid_t sid, store_address_t storeId) {
+	message->setCommand(DIAGNOSTICS_REPORT);
+	setSid(message, sid);
+	setParameter(message, storeId.raw);
 }
-
-//size_t HousekeepingMessage::getMinimumMessageSize() const {
-//	return HK_MESSAGE_SIZE;
-//}
-
-sid_t HousekeepingMessage::getSid() const {
+sid_t HousekeepingMessage::getSid(const CommandMessage* message) {
 	sid_t sid;
-	std::memcpy(&sid.raw, CommandMessage::getData(), sizeof(sid.raw));
+	std::memcpy(&sid.raw, message->getData(), sizeof(sid.raw));
 	return sid;
 }
 
 
-sid_t HousekeepingMessage::getHkReportMessage(
-		store_address_t *storeIdToSet) const {
+sid_t HousekeepingMessage::getHkReportMessage(const CommandMessage *message,
+		store_address_t *storeIdToSet) {
 	if(storeIdToSet != nullptr) {
-		*storeIdToSet = getParameter();
+		*storeIdToSet = getParameter(message);
 	}
-	return getSid();
+	return getSid(message);
 }
 
-void HousekeepingMessage::setSid(sid_t sid) {
-	std::memcpy(CommandMessage::getData(), &sid.raw, sizeof(sid.raw));
+void HousekeepingMessage::setSid(CommandMessage *message, sid_t sid) {
+	std::memcpy(message->getData(), &sid.raw, sizeof(sid.raw));
 }
 
 
-uint8_t* HousekeepingMessage::getData() {
-	return CommandMessage::getData() + sizeof(sid_t);
+void HousekeepingMessage::setParameter(CommandMessage *message,
+		uint32_t parameter) {
+	message->setParameter3(parameter);
 }
 
-const uint8_t* HousekeepingMessage::getData() const {
-	return CommandMessage::getData() + sizeof(sid_t);
-}
-
-void HousekeepingMessage::clear() {
-	// clear IPC store where it is needed.
+uint32_t HousekeepingMessage::getParameter(const CommandMessage *message) {
+	return message->getParameter3();
 }
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index 8958201e..e2a69805 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -34,7 +34,7 @@ union sid_t {
  * This message is slightly larger than regular command messages to accomodate
  * the uint64_t structure ID (SID).
  */
-class HousekeepingMessage : public CommandMessage {
+class HousekeepingMessage {
 public:
 
 	static constexpr size_t HK_MESSAGE_SIZE = CommandMessageIF::HEADER_SIZE +
@@ -45,7 +45,7 @@ public:
 	 * the message data, see CommandMessageIF and getInternalMessage().
 	 * @param message
 	 */
-	HousekeepingMessage();
+	HousekeepingMessage() = delete;
 	virtual ~HousekeepingMessage();
 
 	static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
@@ -94,25 +94,22 @@ public:
 	static constexpr Command_t MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL =
 			MAKE_COMMAND_ID(32);
 
+	static sid_t getSid(const CommandMessage* message);
 
-	void setParameter(uint32_t parameter);
-	uint32_t getParameter() const;
-	sid_t getSid() const;
+	static void setHkReportMessage(CommandMessage* message, sid_t sid,
+			store_address_t storeId);
+	static void setHkDiagnosticsMessage(CommandMessage* message, sid_t sid,
+			store_address_t storeId);
 
-	void setHkReportMessage(sid_t sid, store_address_t storeId);
-	void setHkDiagnosticsMessage(sid_t sid, store_address_t storeId);
 	//! Get the respective SID and store ID. Command ID can be used beforehand
 	//! to distinguish between diagnostics and regular HK packets
-	sid_t getHkReportMessage(store_address_t * storeIdToSet) const;
+	static sid_t getHkReportMessage(const CommandMessage* message,
+			store_address_t * storeIdToSet);
 
-	//virtual size_t getMinimumMessageSize() const override;
-	virtual void clear() override;
 private:
-
-	void setSid(sid_t sid);
-
-	virtual uint8_t* getData() override;
-	virtual const uint8_t* getData() const override;
+	static void setSid(CommandMessage* message, sid_t sid);
+	static void setParameter(CommandMessage* message, uint32_t parameter);
+	static uint32_t getParameter(const CommandMessage* message);
 };
 
 
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 2b0c34d5..e1d4dfae 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -52,6 +52,18 @@ void CommandMessage::setParameter2(uint32_t parameter2) {
             sizeof(parameter2));
 }
 
+uint32_t CommandMessage::getParameter3() const {
+    uint32_t parameter3;
+    std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
+            sizeof(parameter3));
+    return parameter3;
+}
+
+void CommandMessage::setParameter3(uint32_t parameter3) {
+    std::memcpy(this->getData()  + 2 * sizeof(uint32_t), &parameter3,
+            sizeof(parameter3));
+}
+
 size_t CommandMessage::getMinimumMessageSize() const {
     return MINIMUM_COMMAND_MESSAGE_SIZE;
 }
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 53df1c08..021fa49a 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -66,29 +66,21 @@ public:
 
     virtual uint8_t* getData() override;
     virtual const uint8_t* getData() const override;
+
 	/**
 	 * Get the first parameter of the message
 	 * @return the first Parameter of the message
 	 */
 	uint32_t getParameter() const;
-
 	/**
 	 * Set the first parameter of the message
 	 * @param the first parameter of the message
 	 */
 	void setParameter(uint32_t parameter1);
-
-	/**
-	 * Get the second parameter of the message
-	 * @return the second Parameter of the message
-	 */
 	uint32_t getParameter2() const;
-
-	/**
-	 * Set the second parameter of the message
-	 * @param the second parameter of the message
-	 */
 	void setParameter2(uint32_t parameter2);
+	uint32_t getParameter3() const;
+	void setParameter3(uint32_t parameter3);
 
 	/**
 	 * check if a message was cleared

From 6f2bb4125d7e4cd9baaf812c3dcd118883f65e71 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 02:02:57 +0200
Subject: [PATCH 188/307] bugfix

---
 housekeeping/HousekeepingMessage.cpp | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index 64b07c17..2335f03d 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -8,21 +8,16 @@ void HousekeepingMessage::setHkReportMessage(CommandMessage* message, sid_t sid,
 	message->setCommand(HK_REPORT);
 	message->setMessageSize(HK_MESSAGE_SIZE);
 	setSid(message, sid);
-	message->setParameter(storeId.raw);
+	setParameter(message, storeId.raw);
 }
 
 void HousekeepingMessage::setHkDiagnosticsMessage(CommandMessage* message,
 		sid_t sid, store_address_t storeId) {
 	message->setCommand(DIAGNOSTICS_REPORT);
+	message->setMessageSize(HK_MESSAGE_SIZE);
 	setSid(message, sid);
 	setParameter(message, storeId.raw);
 }
-sid_t HousekeepingMessage::getSid(const CommandMessage* message) {
-	sid_t sid;
-	std::memcpy(&sid.raw, message->getData(), sizeof(sid.raw));
-	return sid;
-}
-
 
 sid_t HousekeepingMessage::getHkReportMessage(const CommandMessage *message,
 		store_address_t *storeIdToSet) {
@@ -32,6 +27,12 @@ sid_t HousekeepingMessage::getHkReportMessage(const CommandMessage *message,
 	return getSid(message);
 }
 
+sid_t HousekeepingMessage::getSid(const CommandMessage* message) {
+	sid_t sid;
+	std::memcpy(&sid.raw, message->getData(), sizeof(sid.raw));
+	return sid;
+}
+
 void HousekeepingMessage::setSid(CommandMessage *message, sid_t sid) {
 	std::memcpy(message->getData(), &sid.raw, sizeof(sid.raw));
 }

From 8d633bf1278e473a23ab67ee86458771a5c45bc2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 11:40:48 +0200
Subject: [PATCH 189/307] took over changed for singly linked list

---
 container/SinglyLinkedList.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 3c0078fc..a78a1467 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -88,14 +88,15 @@ public:
 	ElementIterator begin() const {
 		return ElementIterator::Iterator(start);
 	}
-	typename ElementIterator::Iterator end() const {
+
+	ElementIterator end() const {
 		return ElementIterator::Iterator();
 	}
 
-	uint32_t getSize() const {
-		uint32_t size = 0;
+	size_t getSize() const {
+		size_t size = 0;
 		LinkedElement<T> *element = start;
-		while (element != NULL) {
+		while (element != nullptr) {
 			size++;
 			element = element->getNext();
 		}

From 0c32a964529105b611b600938c84df647f8fa0cf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 11:54:41 +0200
Subject: [PATCH 190/307] some more singly linked list improvements

---
 container/SinglyLinkedList.h | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index a78a1467..85a92e6a 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -16,8 +16,13 @@ public:
 	class Iterator {
 	public:
 		LinkedElement<T> *value = nullptr;
+		//! Creates an uninitialized iterator which points to nullptr.
 		Iterator() {}
 
+		/**
+		 * Initialize iterator at specified linked element.
+		 * @param element
+		 */
 		Iterator(LinkedElement<T> *element) :
 				value(element) {
 		}
@@ -72,6 +77,11 @@ private:
 	LinkedElement *next;
 };
 
+/**
+ * @brief 	SinglyLinkedList data structure which keeps a pointer to its
+ * 			first element to perform all operations.
+ * @tparam T
+ */
 template<typename T>
 class SinglyLinkedList {
 public:
@@ -90,7 +100,11 @@ public:
 	}
 
 	ElementIterator end() const {
-		return ElementIterator::Iterator();
+		LinkedElement<T> *element = start;
+		while (element != nullptr) {
+			element = element->getNext();
+		}
+		return ElementIterator::Iterator(element);
 	}
 
 	size_t getSize() const {

From df418ae1b4d1cd97d3b676813dcd8f4a67664365 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 12:02:01 +0200
Subject: [PATCH 191/307] typedef in class declaration now

---
 devicehandlers/FixedSlotSequence.h  | 9 ++++-----
 osal/FreeRTOS/FixedTimeslotTask.cpp | 2 +-
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/devicehandlers/FixedSlotSequence.h b/devicehandlers/FixedSlotSequence.h
index fa4c4aeb..32b61f56 100644
--- a/devicehandlers/FixedSlotSequence.h
+++ b/devicehandlers/FixedSlotSequence.h
@@ -1,13 +1,10 @@
-#ifndef FIXEDSLOTSEQUENCE_H_
-#define FIXEDSLOTSEQUENCE_H_
+#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
+#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
 
 #include <framework/devicehandlers/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObject.h>
 #include <set>
 
-using SlotList = std::multiset<FixedSequenceSlot>;
-using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
-
 /**
  * @brief	This class is the representation of a Polling Sequence Table in software.
  *
@@ -27,6 +24,8 @@ using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
  */
 class FixedSlotSequence {
 public:
+	using SlotList = std::multiset<FixedSequenceSlot>;
+	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
 
 	/**
 	 * @brief	The constructor of the FixedSlotSequence object.
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 0fb1e1d7..eea2f7d8 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -82,7 +82,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
-	SlotListIter slotListIter = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;

From 08f25370f3505ebf39f26166b2bf5a4000c28461 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 12:03:52 +0200
Subject: [PATCH 192/307] moved typedefs into namespace

---
 tasks/FixedSlotSequence.h | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
index 7de1884c..61883658 100644
--- a/tasks/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -6,9 +6,6 @@
 
 #include <set>
 
-using SlotList = std::multiset<FixedSequenceSlot>;
-using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
-
 /**
  * @brief	This class is the representation of a Polling Sequence Table in software.
  * @details
@@ -27,6 +24,8 @@ using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
  */
 class FixedSlotSequence {
 public:
+	using SlotList = std::multiset<FixedSequenceSlot>;
+	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
 
 	/**
 	 * @brief	The constructor of the FixedSlotSequence object.

From ba5b8bd682e1e3e36612a9c8974a4b27c8bf1151 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 26 Jun 2020 13:28:58 +0200
Subject: [PATCH 193/307] hybrid iter update

---
 container/HybridIterator.h | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index db1ce4bc..f2fd6b28 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -1,5 +1,5 @@
-#ifndef HYBRIDITERATOR_H_
-#define HYBRIDITERATOR_H_
+#ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
+#define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/container/SinglyLinkedList.h>
@@ -17,23 +17,23 @@ public:
 	}
 
 	HybridIterator(LinkedElement<T> *start) :
-		LinkedElement<T>::Iterator(start), value(
-					start->value), linked(true), end(NULL) {
+		LinkedElement<T>::Iterator(start), value(start->value),
+		linked(true) {
 
 	}
 
 	HybridIterator(typename ArrayList<T, count_t>::Iterator start,
 			typename ArrayList<T, count_t>::Iterator end) :
-			ArrayList<T, count_t>::Iterator(start), value(start.value), linked(
-					false), end(end.value) {
+			ArrayList<T, count_t>::Iterator(start), value(start.value),
+			linked(false), end(end.value) {
 		if (value == this->end) {
 			value = NULL;
 		}
 	}
 
 	HybridIterator(T *firstElement, T *lastElement) :
-			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement), linked(
-					false), end(++lastElement) {
+			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
+			linked(false), end(++lastElement) {
 		if (value == end) {
 			value = NULL;
 		}
@@ -42,17 +42,17 @@ public:
 	HybridIterator& operator++() {
 		if (linked) {
 			LinkedElement<T>::Iterator::operator++();
-			if (LinkedElement<T>::Iterator::value != NULL) {
+			if (LinkedElement<T>::Iterator::value != nullptr) {
 				value = LinkedElement<T>::Iterator::value->value;
 			} else {
-				value = NULL;
+				value = nullptr;
 			}
 		} else {
 			ArrayList<T, count_t>::Iterator::operator++();
 			value = ArrayList<T, count_t>::Iterator::value;
 
 			if (value == end) {
-				value = NULL;
+				value = nullptr;
 			}
 		}
 		return *this;
@@ -64,11 +64,11 @@ public:
 		return tmp;
 	}
 
-	bool operator==(const HybridIterator& other) {
+	bool operator==(const HybridIterator& other) const {
 		return value == other.value;
 	}
 
-	bool operator!=(const HybridIterator& other) {
+	bool operator!=(const HybridIterator& other) const {
 		return !(*this == other);
 	}
 
@@ -87,4 +87,4 @@ private:
 	T *end = nullptr;
 };
 
-#endif /* HYBRIDITERATOR_H_ */
+#endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */

From b81b458ba6cc5c6819b9dae6045e25469a1d43cc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 15:44:18 +0200
Subject: [PATCH 194/307] exec task if new init function, some corrections

---
 ipc/CommandMessage.cpp                 |  5 ++---
 osal/host/FixedTimeslotTask.cpp        |  2 +-
 osal/host/QueueMapManager.h            |  2 +-
 tasks/ExecutableObjectIF.h             | 13 +++++++++++--
 tasks/FixedSequenceSlot.cpp            |  1 +
 tmtcservices/CommandingServiceBase.cpp |  4 ++--
 6 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index e1d4dfae..0aeaa79a 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -84,9 +84,8 @@ void CommandMessage::setToUnknownCommand() {
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
         Command_t initialCommand) {
-    std::memcpy(getData(), &reason, sizeof(reason));
-    std::memcpy(getData() + sizeof(reason), &initialCommand,
-            sizeof(initialCommand));
+    setParameter(reason);
+    setParameter2(initialCommand);
 }
 
 ReturnValue_t CommandMessage::getReplyRejectedReason(
diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index 48d11843..dac399f6 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -92,7 +92,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 void FixedTimeslotTask::taskFunctionality() {
     // A local iterator for the Polling Sequence Table is created to
     // find the start time for the first entry.
-    SlotListIter slotListIter = pollingSeqTable.current;
+    FixedSlotSequence::SlotListIter slotListIter = pollingSeqTable.current;
     // Get start time for first entry.
     chron_ms interval(slotListIter->pollingTimeMs);
     auto currentStartTime {
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
index 34f0fc95..499b1622 100644
--- a/osal/host/QueueMapManager.h
+++ b/osal/host/QueueMapManager.h
@@ -36,7 +36,7 @@ public:
 private:
 	//! External instantiation is forbidden.
 	QueueMapManager();
-	std::atomic<uint32_t> queueCounter = MessageQueueIF::NO_QUEUE + 1;
+	std::atomic<uint32_t> queueCounter = 1;
 	MutexIF* mapLock;
 	QueueMap queueMap;
 	static QueueMapManager* mqManagerInstance;
diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h
index 516b4084..f66b53da 100644
--- a/tasks/ExecutableObjectIF.h
+++ b/tasks/ExecutableObjectIF.h
@@ -43,9 +43,18 @@ public:
 	 * a reference to the executing task
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_) {
+	virtual void setTaskIF(PeriodicTaskIF* task_) {};
 
-	}
+	/**
+	 * This function will be called after the object was assigned to a specific
+	 * task.
+	 *
+	 * Example: Can be used to get task execution frequency.
+	 * The task is created after initialize() and the object ctors have been
+	 * called so the execution frequency can't be cached in initialize()
+	 * @return
+	 */
+	//virtual ReturnValue_t initializeAfterTaskCreation() = 0;
 };
 
 #endif /* EXECUTABLEOBJECTIF_H_ */
diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
index c46b4fc0..430ce019 100644
--- a/tasks/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@@ -9,6 +9,7 @@ FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 	if(executingTask != nullptr) {
 	    handler->setTaskIF(executingTask);
 	}
+	//handler->initializeAfterTaskCreation();
 }
 
 FixedSequenceSlot::~FixedSequenceSlot() {}
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index acf66389..5a48bd63 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -109,8 +109,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	 * command as failure parameter 1 */
 	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
 			result == RETURN_FAILED) {
-		result = reply->getReplyRejectedReason(
-				reinterpret_cast<Command_t*>(&failureParameter1));
+		result = reply->getReplyRejectedReason();
+		failureParameter1 = iter->command;
 	}
 
 	switch (result) {

From d5d968a39365b2b0c285d8f283a054050e94be3b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 15:46:16 +0200
Subject: [PATCH 195/307] some more correctioons

---
 datapoollocal/LocalDataPoolManager.cpp | 24 ++++++++++++------------
 ipc/CommandMessage.cpp                 |  6 ++----
 2 files changed, 14 insertions(+), 16 deletions(-)

diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index bc57468a..55d36a9a 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -105,18 +105,18 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	}
 
 	// and now we set a HK message and send it the HK packet destination.
-	//HousekeepingMessage hkMessage;
-//	hkMessage.setHkReportMessage(sid, storeId);
-//	if(hkQueue == nullptr) {
-//	    return QUEUE_NOT_SET;
-//	}
-//
-//	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
-//	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
-//	}
-//	else {
-//	    result = hkQueue->sendToDefault(&hkMessage);
-//	}
+	CommandMessage hkMessage;
+	HousekeepingMessage::setHkReportMessage(&hkMessage, sid, storeId);
+	if(hkQueue == nullptr) {
+	    return QUEUE_NOT_SET;
+	}
+
+	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
+	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
+	}
+	else {
+	    result = hkQueue->sendToDefault(&hkMessage);
+	}
 
 	return result;
 }
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 0aeaa79a..1470fe85 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -90,11 +90,9 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 
 ReturnValue_t CommandMessage::getReplyRejectedReason(
         Command_t *initialCommand) const {
-    ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
-    std::memcpy(&reason, getData(), sizeof(reason));
+    ReturnValue_t reason = getParameter();
     if(initialCommand != nullptr) {
-        std::memcpy(initialCommand, getData() + sizeof(reason),
-                sizeof(Command_t));
+        *initialCommand = getParameter2();
     }
     return reason;
 }

From 003e70bf4785a8b9e57a8f8ab5f67ae0b0dfade3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 15:55:20 +0200
Subject: [PATCH 196/307] new initializeAfterTaskCreation()

---
 osal/FreeRTOS/PeriodicTask.cpp   |  3 ++-
 osal/linux/PeriodicPosixTask.cpp |  4 +++-
 osal/rtems/MultiObjectTask.cpp   |  3 ++-
 tasks/ExecutableObjectIF.h       | 25 +++++++++----------------
 tasks/FixedSequenceSlot.cpp      |  2 +-
 5 files changed, 17 insertions(+), 20 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 170eb0a4..2ebfebf4 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -94,7 +94,8 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	if(setTaskIF) {
 	     newObject->setTaskIF(this);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+	ReturnValue_t result = newObject->initializeAfterTaskCreation();
+	return result;
 }
 
 uint32_t PeriodicTask::getPeriodMs() const {
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index db4005b0..b811274b 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -36,7 +36,9 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 	if(setTaskIF) {
 	    newObject->setTaskIF(this);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+
+	ReturnValue_t result = newObject->initializeAfterTaskCreation();
+	return result;
 }
 
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index bb8c2c81..6b9c8c8e 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -78,7 +78,8 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
-	return HasReturnvaluesIF::RETURN_OK;
+	ReturnValue_t result = newObject->initializeAfterTaskCreation();
+	return result;
 }
 
 uint32_t MultiObjectTask::getPeriodMs() const {
diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h
index f66b53da..d716cdfb 100644
--- a/tasks/ExecutableObjectIF.h
+++ b/tasks/ExecutableObjectIF.h
@@ -1,15 +1,5 @@
-/**
- * @file	ExecutableObjectIF.h
- *
- * @brief	This file contains the definition for the ExecutableObjectIF interface.
- *
- * @author	Bastian Baetz
- *
- * @date	12.03.2012
- */
-
-#ifndef EXECUTABLEOBJECTIF_H_
-#define EXECUTABLEOBJECTIF_H_
+#ifndef FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
+#define FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
 
 class PeriodicTaskIF;
 
@@ -20,6 +10,7 @@ class PeriodicTaskIF;
  * @brief	The interface provides a method to execute objects within a task.
  * @details	The performOperation method, that is required by the interface is
  * 			executed cyclically within a task context.
+ * @author  Bastian Baetz
  */
 class ExecutableObjectIF {
 public:
@@ -46,15 +37,17 @@ public:
 	virtual void setTaskIF(PeriodicTaskIF* task_) {};
 
 	/**
-	 * This function will be called after the object was assigned to a specific
-	 * task.
+	 * This function should be called after the object was assigned to a
+	 * specific task.
 	 *
 	 * Example: Can be used to get task execution frequency.
 	 * The task is created after initialize() and the object ctors have been
 	 * called so the execution frequency can't be cached in initialize()
 	 * @return
 	 */
-	//virtual ReturnValue_t initializeAfterTaskCreation() = 0;
+	virtual ReturnValue_t initializeAfterTaskCreation() {
+	    return HasReturnvaluesIF::RETURN_OK;
+	}
 };
 
-#endif /* EXECUTABLEOBJECTIF_H_ */
+#endif /* FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_ */
diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
index 430ce019..4331aada 100644
--- a/tasks/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@@ -9,7 +9,7 @@ FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 	if(executingTask != nullptr) {
 	    handler->setTaskIF(executingTask);
 	}
-	//handler->initializeAfterTaskCreation();
+	handler->initializeAfterTaskCreation();
 }
 
 FixedSequenceSlot::~FixedSequenceSlot() {}

From ae6314d8cd43a0ad8f0c1a7b9bd567be378203d3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:06:53 +0200
Subject: [PATCH 197/307] added task handle member

---
 tmtcservices/PusServiceBase.cpp | 11 +++++++++++
 tmtcservices/PusServiceBase.h   | 17 +++++++++++++----
 2 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index f5d1e30b..82e5ff5c 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -32,6 +32,10 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 	return RETURN_OK;
 }
 
+void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
+    this->taskHandle = taskHandle;
+}
+
 void PusServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result = RETURN_FAILED;
@@ -108,3 +112,10 @@ ReturnValue_t PusServiceBase::initialize() {
 		return RETURN_FAILED;
 	}
 }
+
+ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
+    // If task parameters, for example task frequency are required, this
+    // function should be overriden and the system object task IF can
+    // be used to get those parameters.
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 39600c41..6d3d9bac 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -96,11 +96,20 @@ public:
 	 * @return	@c RETURN_OK if the periodic performService was successful.
 	 * 			@c RETURN_FAILED else.
 	 */
-	ReturnValue_t performOperation(uint8_t opCode);
-	virtual uint16_t getIdentifier();
-	MessageQueueId_t getRequestQueue();
-	virtual ReturnValue_t initialize();
+	ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual uint16_t getIdentifier() override;
+	MessageQueueId_t getRequestQueue() override;
+	virtual ReturnValue_t initialize() override;
+
+	virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 protected:
+	/**
+	 * @brief   Handle to the underlying task
+	 * @details
+	 * Will be set by setTaskIF(), which is called on task creation.
+	 */
+	PeriodicTaskIF* taskHandle = nullptr;
 	/**
 	 * The APID of this instance of the Service.
 	 */

From 044aa259e6298bf8accff8c8ab53cd373ed186bc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:37:55 +0200
Subject: [PATCH 198/307] dhb cached pst interval now

---
 devicehandlers/DeviceHandlerBase.cpp |  9 +++++++++
 devicehandlers/DeviceHandlerBase.h   | 11 +++++++++--
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 0442be89..3994dc12 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1374,6 +1374,15 @@ ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
+    // In this function, the task handle should be valid in any case.
+    // We still check to be 1000 % sure :-)
+    if(executingTask != nullptr) {
+        pstIntervalMs = executingTask->getPeriodMs();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
 	auto iter = deviceReplyMap.find(sid.ownerSetId);
 	if(iter != deviceReplyMap.end()) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 1290742c..b2b4798d 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -11,6 +11,8 @@
 #include <framework/modes/HasModesIF.h>
 #include <framework/power/PowerSwitchIF.h>
 #include <framework/ipc/MessageQueueIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
+
 #include <framework/action/ActionHelper.h>
 #include <framework/health/HealthHelper.h>
 #include <framework/parameters/ParameterHelper.h>
@@ -18,6 +20,7 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
 #include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
+
 #include <map>
 
 namespace Factory{
@@ -563,6 +566,8 @@ protected:
 
 	/** This is the counter value from performOperation(). */
 	uint8_t pstStep = 0;
+	uint32_t pstIntervalMs = 0;
+
 	/**
 	 * Wiretapping flag:
 	 *
@@ -1196,9 +1201,11 @@ private:
 
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
-	void parseReply(const uint8_t* receivedData,
-			size_t receivedDataLen);
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 	DataSetIF* getDataSetHandle(sid_t sid) override;
+
+	void parseReply(const uint8_t* receivedData,
+	            size_t receivedDataLen);
 };
 
 #endif /* DEVICEHANDLERBASE_H_ */

From 691be0dcd4f6c8586b4a29b866bc7d9808d345c5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:39:55 +0200
Subject: [PATCH 199/307] dhb doc improvements

---
 devicehandlers/DeviceHandlerBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 3994dc12..cebe8953 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1375,8 +1375,8 @@ ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
 }
 
 ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
-    // In this function, the task handle should be valid in any case.
-    // We still check to be 1000 % sure :-)
+    // In this function, the task handle should be valid if the task
+    // was implemented correctly. We still check to be 1000 % sure :-)
     if(executingTask != nullptr) {
         pstIntervalMs = executingTask->getPeriodMs();
     }

From 48df3cbe8382423b671d7b5d651e3b623f4e2d90 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:43:02 +0200
Subject: [PATCH 200/307] csb comment improved

---
 tmtcservices/CommandingServiceBase.h | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 8806bd52..37fa0a04 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -276,7 +276,6 @@ protected:
 	void checkAndExecuteFifo(CommandMapIter iter);
 
 private:
-
 	/**
 	 * This method handles internal execution of a command,
 	 * once it has been started by @sa{startExecution()} in the request
@@ -296,10 +295,13 @@ private:
 	void handleCommandQueue();
 
 	/**
+	 * @brief       Handler function for request queue
+	 * @details
 	 * Sequence of request queue handling:
 	 * isValidSubservice -> getMessageQueueAndObject -> startExecution
-	 * Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()}
-	 * or Start Failure Report TM[1,4] by using the TC Verification Service
+	 * Generates a Start Success Reports TM[1,3] in subfunction
+	 * @sa{startExecution()} or  a Start Failure Report TM[1,4] by using the
+	 * TC Verification Service.
 	 */
 	void handleRequestQueue();
 

From e2a36efce3d210c85c1ba924cd627a43b1cac922 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:47:58 +0200
Subject: [PATCH 201/307] csb changes taken over

---
 tmtcservices/CommandingServiceBase.cpp | 22 +++++++++++++---------
 1 file changed, 13 insertions(+), 9 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 5a48bd63..f8af15af 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -57,7 +57,9 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
 	if (packetForwarding == nullptr or distributor == nullptr) {
-		return RETURN_FAILED;
+	    sif::error << "CommandingServiceBase::intialize: Packet source or "
+	            "packet destination invalid!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	distributor->registerService(this);
@@ -68,7 +70,9 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
 	if (IPCStore == nullptr or TCStore == nullptr) {
-		return RETURN_FAILED;
+	    sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
+	                    "not initialized yet!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	return RETURN_OK;
@@ -109,8 +113,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	 * command as failure parameter 1 */
 	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
 			result == RETURN_FAILED) {
-		result = reply->getReplyRejectedReason();
-		failureParameter1 = iter->command;
+	    result = reply->getReplyRejectedReason();
+	    failureParameter1 = iter->command;
 	}
 
 	switch (result) {
@@ -176,14 +180,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 	}
 	else {
 		if (isStep) {
-			nextCommand->clear();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, sendResult,
 					++iter->step, failureParameter1, failureParameter2);
 		} else {
-			nextCommand->clear();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@@ -318,7 +322,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			command.clear();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -335,7 +339,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			command.clear();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -374,7 +378,7 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 
 
 void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
-	reply->clear();
+	reply->clearCommandMessage();
 }
 
 

From 85cc936d5da669f8f74ea02c87a8204f4a6235c4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:50:45 +0200
Subject: [PATCH 202/307] added back clear CommandMessage function

---
 ipc/CommandMessage.cpp | 4 ++++
 ipc/CommandMessage.h   | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 1470fe85..8c296abd 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -68,6 +68,10 @@ size_t CommandMessage::getMinimumMessageSize() const {
     return MINIMUM_COMMAND_MESSAGE_SIZE;
 }
 
+void CommandMessage::clearCommandMessage() {
+    clear();
+}
+
 void CommandMessage::clear() {
     CommandMessageCleaner::clearCommandMessage(this);
 }
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 021fa49a..d843e4c5 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -111,7 +111,9 @@ public:
     ReturnValue_t getReplyRejectedReason(
             Command_t* initialCommand = nullptr) const override;
 
+
     virtual void clear() override;
+    void clearCommandMessage();
 
     /**
      * Extract message ID, which is the first byte of the command ID for the

From 3a850018550b319476a4ec8b68bd75b035909df2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 30 Jun 2020 00:48:48 +0200
Subject: [PATCH 203/307] bit setter correction

---
 datapoollocal/LocalDataSet.cpp |  7 +++----
 datapoollocal/LocalDataSet.h   | 10 +++-------
 2 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index 27ad4bc2..3fc8592e 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -42,7 +42,7 @@ ReturnValue_t LocalDataSet::serializeWithValidityBuffer(uint8_t **buffer,
         if(registeredVariables[count]->isValid()) {
             // set validity buffer here.
             this->bitSetter(validityMask + validBufferIndex,
-                    validBufferIndexBit, true);
+                    validBufferIndexBit);
             if(validBufferIndexBit == 7) {
                 validBufferIndex ++;
                 validBufferIndexBit = 0;
@@ -83,13 +83,12 @@ ReturnValue_t LocalDataSet::serializeLocalPoolIds(uint8_t** buffer,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position,
-        bool value) const {
+void LocalDataSet::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 |= 1UL << shiftNumber;
+    *byte |= 1 << shiftNumber;
 }
 
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index 48138e63..aea699d8 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -98,14 +98,10 @@ private:
 	LocalDataPoolManager* hkManager;
 
 	/**
-	 * Sets the bit at the bit-position of a byte provided by its address
-	 * to the specified value (zero or one).
-	 * @param byte Pointer to byte to bitset.
-	 * @param position MSB first, 0 to 7 possible.
-	 * @param value Value to set.
-	 * @return
+	 * 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, bool value) const;
+	void bitSetter(uint8_t* byte, uint8_t position) const;
 };
 
 #endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */

From 2de972bb8a9a35b81824f5c6bc5d00802c32dadd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 30 Jun 2020 15:51:19 +0200
Subject: [PATCH 204/307] const store accessor copy ctor fixx

---
 storagemanager/ConstStorageAccessor.h | 6 +++---
 storagemanager/StorageAccessor.h      | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/storagemanager/ConstStorageAccessor.h b/storagemanager/ConstStorageAccessor.h
index cf8ca08f..020030a9 100644
--- a/storagemanager/ConstStorageAccessor.h
+++ b/storagemanager/ConstStorageAccessor.h
@@ -80,13 +80,13 @@ public:
 	 * @return
 	 */
 	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
-	ConstStorageAccessor (ConstStorageAccessor&&);
+	ConstStorageAccessor(ConstStorageAccessor&&);
 
 	//! The copy ctor and copy assignemnt should be deleted implicitely
 	//! according to https://foonathan.net/2019/02/special-member-functions/
 	//! but I still deleted them to make it more explicit. (remember rule of 5).
-	ConstStorageAccessor& operator= (ConstStorageAccessor&) = delete;
-	ConstStorageAccessor (ConstStorageAccessor&) = delete;
+	ConstStorageAccessor& operator=(const ConstStorageAccessor&) = delete;
+	ConstStorageAccessor(const ConstStorageAccessor&) = delete;
 protected:
 	const uint8_t* constDataPointer = nullptr;
 	store_address_t storeId;
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index c5e38306..475b2f4f 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -26,7 +26,7 @@ public:
 	 * @return
 	 */
 	StorageAccessor& operator= (StorageAccessor&&);
-	StorageAccessor (StorageAccessor&&);
+	StorageAccessor(StorageAccessor&&);
 
 	ReturnValue_t write(uint8_t *data, size_t size,
 		uint16_t offset = 0);

From 1820b5f95c4e3d03c06cd7c0ee9b2fa6639adac9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 30 Jun 2020 16:02:07 +0200
Subject: [PATCH 205/307] hotfix for copy ctor

---
 storagemanager/ConstStorageAccessor.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/storagemanager/ConstStorageAccessor.h b/storagemanager/ConstStorageAccessor.h
index cf8ca08f..020030a9 100644
--- a/storagemanager/ConstStorageAccessor.h
+++ b/storagemanager/ConstStorageAccessor.h
@@ -80,13 +80,13 @@ public:
 	 * @return
 	 */
 	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
-	ConstStorageAccessor (ConstStorageAccessor&&);
+	ConstStorageAccessor(ConstStorageAccessor&&);
 
 	//! The copy ctor and copy assignemnt should be deleted implicitely
 	//! according to https://foonathan.net/2019/02/special-member-functions/
 	//! but I still deleted them to make it more explicit. (remember rule of 5).
-	ConstStorageAccessor& operator= (ConstStorageAccessor&) = delete;
-	ConstStorageAccessor (ConstStorageAccessor&) = delete;
+	ConstStorageAccessor& operator=(const ConstStorageAccessor&) = delete;
+	ConstStorageAccessor(const ConstStorageAccessor&) = delete;
 protected:
 	const uint8_t* constDataPointer = nullptr;
 	store_address_t storeId;

From 837fecf8599a54102c59ea549ac56a876ff5c32b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 30 Jun 2020 21:22:26 +0200
Subject: [PATCH 206/307] added hk receiver obj id to dhb ctor

---
 datapoollocal/LocalDataPoolManager.cpp    | 66 +++++++++++++-----
 datapoollocal/LocalDataPoolManager.h      | 84 +++++++++++++++--------
 devicehandlers/AcceptsDeviceResponsesIF.h | 17 ++---
 devicehandlers/ChildHandlerBase.cpp       |  7 +-
 devicehandlers/ChildHandlerBase.h         |  6 +-
 devicehandlers/DeviceHandlerBase.cpp      | 34 +++++----
 devicehandlers/DeviceHandlerBase.h        | 23 ++++---
 housekeeping/AcceptsHkPacketsIF.h         | 11 +++
 tmtcservices/CommandingServiceBase.h      |  2 +-
 9 files changed, 169 insertions(+), 81 deletions(-)
 create mode 100644 housekeeping/AcceptsHkPacketsIF.h

diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index 55d36a9a..bb06206e 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -1,5 +1,6 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
+#include <framework/housekeeping/AcceptsHkPacketsIF.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/ipc/MutexHelper.h>
 #include <framework/ipc/QueueFactory.h>
@@ -7,7 +8,7 @@
 #include <array>
 
 LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
-        uint32_t replyQueueDepth, bool appendValidityBuffer):
+        MessageQueueIF* queueToUse, bool appendValidityBuffer):
         appendValidityBuffer(appendValidityBuffer) {
 	if(owner == nullptr) {
 		sif::error << "HkManager: Invalid supplied owner!" << std::endl;
@@ -24,16 +25,44 @@ LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
 	    sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
 	            "Could not set IPC store." << std::endl;
 	}
-	hkQueue = QueueFactory::instance()->createMessageQueue(replyQueueDepth,
-	        HousekeepingMessage::HK_MESSAGE_SIZE);
+	hkQueue = queueToUse;
+}
+
+ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse,
+        object_id_t hkDestination) {
+    if(queueToUse == nullptr) {
+        sif::error << "LocalDataPoolManager::initialize: Supplied queue "
+                "invalid!" << std::endl;
+    }
+    hkQueue = queueToUse;
+
+    if(hkDestination == objects::NO_OBJECT) {
+        return initializeHousekeepingPoolEntriesOnce();
+    }
+
+    AcceptsHkPacketsIF* hkReceiver =
+            objectManager->get<AcceptsHkPacketsIF>(hkDestination);
+    if(hkReceiver != nullptr) {
+        setHkPacketDestination(hkReceiver->getHkQueue());
+    }
+    else {
+        sif::warning << "LocalDataPoolManager::initialize: Could not retrieve"
+                " queue ID from HK destination object ID. Make sure it exists"
+                " and the object impements AcceptsHkPacketsIF!" << std::endl;
+    }
+    return initializeHousekeepingPoolEntriesOnce();
+}
+
+void LocalDataPoolManager::setHkPacketDestination(
+        MessageQueueId_t hkDestination) {
+    this->hkDestination = hkDestination;
 }
 
 LocalDataPoolManager::~LocalDataPoolManager() {}
 
 ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	if(not mapInitialized) {
-		ReturnValue_t result =
-				owner->initializePoolEntries(localDpMap);
+		ReturnValue_t result = owner->initializePoolEntries(localDpMap);
 		if(result == HasReturnvaluesIF::RETURN_OK) {
 			mapInitialized = true;
 		}
@@ -80,16 +109,12 @@ MutexIF* LocalDataPoolManager::getMutexHandle() {
 	return mutex;
 }
 
-void LocalDataPoolManager::setHkPacketDestination(
-        MessageQueueId_t destinationQueueId) {
-    this->currentHkPacketDestination = destinationQueueId;
-}
-
 const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
     return owner;
 }
 
-ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
+ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
+        MessageQueueId_t sendTo) {
 	LocalDataSet* dataSetToSerialize = dynamic_cast<LocalDataSet*>(
 			owner->getDataSetHandle(sid));
 	if(dataSetToSerialize == nullptr) {
@@ -108,14 +133,21 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	CommandMessage hkMessage;
 	HousekeepingMessage::setHkReportMessage(&hkMessage, sid, storeId);
 	if(hkQueue == nullptr) {
-	    return QUEUE_NOT_SET;
+	    return QUEUE_OR_DESTINATION_NOT_SET;
 	}
 
-	if(currentHkPacketDestination != MessageQueueIF::NO_QUEUE) {
-	    result = hkQueue->sendMessage(currentHkPacketDestination, &hkMessage);
+	if(sendTo != MessageQueueIF::NO_QUEUE) {
+	    result = hkQueue->sendMessage(sendTo, &hkMessage);
 	}
 	else {
-	    result = hkQueue->sendToDefault(&hkMessage);
+	    if(hkDestination == MessageQueueIF::NO_QUEUE) {
+	        sif::warning << "LocalDataPoolManager::generateHousekeepingPacket:"
+	                " Destination is not set properly!" << std::endl;
+	        return QUEUE_OR_DESTINATION_NOT_SET;
+	    }
+	    else {
+	        result = hkQueue->sendMessage(hkDestination, &hkMessage);
+	    }
 	}
 
 	return result;
@@ -149,6 +181,9 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid) {
     return result;
 }
 
+void LocalDataPoolManager::setMinimalSamplingFrequency(float frequencySeconds) {
+}
+
 ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
         store_address_t *storeId, LocalDataSet* dataSet) {
     size_t hkSize = dataSet->getSerializedSize();
@@ -177,4 +212,3 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
 }
 
 
-
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index 9d072bf4..3841b99c 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -44,18 +44,45 @@ public:
     static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x0);
     static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x1);
 
-    static constexpr ReturnValue_t QUEUE_NOT_SET = MAKE_RETURN_CODE(0x2);
+    static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x2);
     //static constexpr ReturnValue_t SET_NOT_FOUND = MAKE_RETURN_CODE(0x3);
 
-	LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
-	        uint32_t replyQueueDepth = 20, bool appendValidityBuffer = true);
+    /**
+     * 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
+     */
+	LocalDataPoolManager(OwnsLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
+	        bool appendValidityBuffer = true);
+	/**
+	 * Initializes the map by calling the map initialization function of the
+	 * owner abd assigns the queue to use.
+	 * @param queueToUse
+	 * @return
+	 */
+	ReturnValue_t initialize(MessageQueueIF* queueToUse,
+	        object_id_t hkDestination);
+	/**
+	 * This function is used to set the default HK packet destination.
+	 * This destination will usually only be set once.
+	 * @param hkDestination
+	 */
+	void setHkPacketDestination(MessageQueueId_t hkDestination);
+
 	virtual~ LocalDataPoolManager();
 
-	/* Copying forbidden */
-	LocalDataPoolManager(const LocalDataPoolManager &) = delete;
-	LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
-
-	ReturnValue_t generateHousekeepingPacket(sid_t sid);
+	/**
+	 * Generate a housekeeping packet with a given SID.
+	 * @param sid
+	 * @return
+	 */
+	ReturnValue_t generateHousekeepingPacket(sid_t sid, MessageQueueId_t sendTo
+	        = MessageQueueIF::NO_QUEUE);
 	ReturnValue_t generateSetStructurePacket(sid_t sid);
 
 	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
@@ -68,40 +95,43 @@ public:
 	 */
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
-	//! Set the queue for HK packets, which are sent unrequested.
-	void setHkPacketDestination(MessageQueueId_t destinationQueueId);
-
 	const OwnsLocalDataPoolIF* getOwner() const;
 
 	ReturnValue_t printPoolEntry(lp_id_t localPoolId);
 
+    /* Copying forbidden */
+    LocalDataPoolManager(const LocalDataPoolManager &) = delete;
+    LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
 private:
-	//! This is the map holding the actual data. Should only be initialized
-	//! once !
+	/** 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.
+	/** This specifies whether a validity buffer is appended at the end
+	 * of generated housekeeping packets. */
 	bool appendValidityBuffer = true;
 
 	LocalDataPool localDpMap;
 
-	//! Every housekeeping data manager has a mutex to protect access
-	//! to it's data pool.
+	/** 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).
+	/** The class which actually owns the manager (and its datapool). */
 	OwnsLocalDataPoolIF* owner = nullptr;
-
-	//! Queue used for communication, for example commands.
-	//! Is also used to send messages.
+	/**
+	 * @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;
 
-	//! HK replies will always be a reply to the commander, but HK packet
-	//! can be sent to another destination by specifying this message queue
-	//! ID, for example to a dedicated housekeeping service implementation.
-	MessageQueueId_t currentHkPacketDestination = MessageQueueIF::NO_QUEUE;
+	/**
+	 * HK replies will always be a reply to the commander, but HK packet
+	 * can be sent to another destination by specifying this message queue
+	 * ID, for example to a dedicated housekeeping service implementation.
+	 */
+	MessageQueueId_t hkDestination = MessageQueueIF::NO_QUEUE;
 
-	//! Global IPC store is used to store all packets.
+	/** 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
diff --git a/devicehandlers/AcceptsDeviceResponsesIF.h b/devicehandlers/AcceptsDeviceResponsesIF.h
index c811158f..fcf5237d 100644
--- a/devicehandlers/AcceptsDeviceResponsesIF.h
+++ b/devicehandlers/AcceptsDeviceResponsesIF.h
@@ -1,15 +1,12 @@
-/**
- * @file	AcceptsDeviceResponsesIF.h
- * @brief	This file defines the AcceptsDeviceResponsesIF class.
- * @date	15.05.2013
- * @author	baetz
- */
-
-#ifndef ACCEPTSDEVICERESPONSESIF_H_
-#define ACCEPTSDEVICERESPONSESIF_H_
+#ifndef FRAMEWORK_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
+#define FRAMEWORK_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
 
 #include <framework/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:
 	/**
@@ -19,4 +16,4 @@ public:
 	virtual MessageQueueId_t getDeviceQueue() = 0;
 };
 
-#endif /* ACCEPTSDEVICERESPONSESIF_H_ */
+#endif /* FRAMEWORK_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_ */
diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index c3484676..3e5bcc60 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -5,10 +5,11 @@
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
 		uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		uint32_t parent, FailureIsolationBase* customFdir, size_t cmdQueueSize) :
+		object_id_t hkDestination, uint32_t thermalStatePoolId,
+		uint32_t thermalRequestPoolId, uint32_t parent,
+		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
 		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
-			setDeviceSwitch,  thermalStatePoolId,
+		    hkDestination, setDeviceSwitch,  thermalStatePoolId,
 			thermalRequestPoolId, (customFdir == NULL? &childHandlerFdir : customFdir),
 			cmdQueueSize),
 		parentId(parent), childHandlerFdir(setObjectId) {
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 493b22ee..10021631 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -8,9 +8,9 @@ class ChildHandlerBase: public DeviceHandlerBase {
 public:
 	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
 			CookieIF * cookie, uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-			uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-			uint32_t parent, FailureIsolationBase* customFdir = nullptr,
-			size_t cmdQueueSize = 20);
+			object_id_t hkDestination, uint32_t thermalStatePoolId,
+			uint32_t thermalRequestPoolId, uint32_t parent,
+			FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index cebe8953..867bf415 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -22,21 +22,21 @@ object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
-		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
-		uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
-		size_t cmdQueueSize) :
+		uint8_t setDeviceSwitch, object_id_t hkDestination,
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
-		actionHelper(this, nullptr), hkManager(this),
+		actionHelper(this, nullptr), hkManager(this, nullptr),
 		deviceThermalStatePoolId(thermalStatePoolId),
 		deviceThermalRequestPoolId(thermalRequestPoolId),
 		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
 		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-		switchOffWasReported(false), childTransitionDelay(5000),
-		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
-		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
+		switchOffWasReported(false), hkDestination(hkDestination),
+		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
+		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			MessageQueueMessage::MAX_MESSAGE_SIZE);
 	insertInCommandMap(RAW_COMMAND_ID);
@@ -173,7 +173,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
-	result = hkManager.initializeHousekeepingPoolEntriesOnce();
+	result = hkManager.initialize(commandQueue, hkDestination);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -315,6 +315,12 @@ void DeviceHandlerBase::doStateMachine() {
 	case _MODE_WAIT_OFF: {
 		uint32_t currentUptime;
 		Clock::getUptime(&currentUptime);
+
+		if(powerSwitcher == nullptr) {
+		    setMode(MODE_OFF);
+		    return;
+		}
+
 		if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
 			triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
 					0);
@@ -696,19 +702,23 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 
 	if (info->delayCycles != 0) {
 
-		if (info->periodic != 0) {
+		if (info->periodic != false) {
 			info->delayCycles = info->maxDelayCycles;
-		} else {
+		}
+		else {
 			info->delayCycles = 0;
 		}
+
 		result = interpretDeviceReply(foundId, receivedData);
+
 		if (result != RETURN_OK) {
 			// Report failed interpretation to FDIR.
 			replyRawReplyIfnotWiretapped(receivedData, foundLen);
 			triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
 		}
 		replyToReply(iter, result);
-	} else {
+	}
+	else {
 		// Other completion failure messages are created by timeout.
 		// Powering down the device might take some time during which periodic
 		// replies may still come in.
@@ -719,7 +729,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 }
 
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
-		uint8_t * *data, uint32_t * len) {
+		uint8_t** data, uint32_t * len) {
 	size_t lenTmp;
 
 	if (IPCStore == nullptr) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index b2b4798d..3fdab9ed 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -107,6 +107,7 @@ public:
 	 */
 	DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
 			CookieIF * comCookie, uint8_t setDeviceSwitch,
+			object_id_t hkDestination = objects::NO_OBJECT,
 			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
 			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
 			FailureIsolationBase* fdirInstance = nullptr,
@@ -652,11 +653,13 @@ protected:
 		size_t replyLen = 0; //!< Expected size of the reply.
 		//! if this is !=0, the delayCycles will not be reset to 0 but to
 		//! maxDelayCycles
-		bool periodic;
+		bool periodic = false;
 		//! The dataset used to access housekeeping data related to the
 		//! respective device reply. Will point to a dataset held by
 		//! the child handler (if one is specified)
-		DataSetIF* dataSet;
+		DataSetIF* dataSet = nullptr;
+		float collectionInterval = 0.0;
+		uint32_t intervalCounter = 0;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -1035,18 +1038,19 @@ private:
 	};
 
 	/**
-	 * Info about the #cookie
-	 *
+	 * @brief   Info about the #cookie
 	 * Used to track the state of the communication
 	 */
 	CookieInfo cookieInfo;
 
-	/** the object used to set power switches*/
+	/** the object used to set power switches */
 	PowerSwitchIF *powerSwitcher = nullptr;
 
+	/** Cached for initialize() */
+	object_id_t hkDestination = objects::NO_OBJECT;
+
 	/**
-	 * Used for timing out mode transitions.
-	 *
+	 * @brief   Used for timing out mode transitions.
 	 * Set when setMode() is called.
 	 */
 	uint32_t timeoutStart = 0;
@@ -1057,11 +1061,12 @@ private:
 	uint32_t childTransitionDelay;
 
 	/**
-	 * The mode the current transition originated from
+	 * @brief   The mode the current transition originated from
 	 *
 	 * This is private so the child can not change it and fuck up the timeouts
 	 *
-	 * IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!! (it is _MODE_POWER_DOWN during this modes)
+	 * IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!!
+	 * (it is _MODE_POWER_DOWN during this modes)
 	 *
 	 * is element of [MODE_ON, MODE_NORMAL, MODE_RAW]
 	 */
diff --git a/housekeeping/AcceptsHkPacketsIF.h b/housekeeping/AcceptsHkPacketsIF.h
new file mode 100644
index 00000000..f44e1d95
--- /dev/null
+++ b/housekeeping/AcceptsHkPacketsIF.h
@@ -0,0 +1,11 @@
+#ifndef FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
+#define FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
+#include <framework/ipc/MessageQueueMessageIF.h>
+
+class AcceptsHkPacketsIF {
+public:
+    virtual~ AcceptsHkPacketsIF() {};
+    virtual MessageQueueId_t getHkQueue() const = 0;
+};
+
+#endif /* FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_ */
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 37fa0a04..700503c6 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -89,7 +89,7 @@ public:
 	 */
 	virtual MessageQueueId_t getCommandQueue();
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 
 	/**
 	 * Implementation of ExecutableObjectIF function

From d7bff31a4cfd5e720847a0c9525a4099b97560ac Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 1 Jul 2020 14:17:55 +0200
Subject: [PATCH 207/307] compiling again

---
 datapool/DataSetBase.cpp                |   8 +-
 datapool/DataSetBase.h                  |   5 +-
 datapool/PoolRawAccessHelper.cpp        |  20 ++--
 datapool/PoolRawAccessHelper.h          |   6 +-
 datapoolglob/GlobalPoolVariable.h       |  14 +--
 datapoolglob/GlobalPoolVector.h         |   4 +-
 datapoolglob/GlobalPoolVector.tpp       |  16 ++--
 datapoolglob/PIDReader.h                |   6 +-
 datapoolglob/PoolRawAccess.cpp          |  70 +++++++-------
 datapoolglob/PoolRawAccess.h            |  14 +--
 datapoollocal/LocalDataPoolManager.cpp  |   7 +-
 datapoollocal/LocalDataSet.cpp          |  12 ++-
 datapoollocal/LocalDataSet.h            |   6 +-
 datapoollocal/LocalPoolVariable.h       |   6 +-
 datapoollocal/LocalPoolVariable.tpp     |  12 +--
 datapoollocal/LocalPoolVector.h         |   5 +-
 datapoollocal/LocalPoolVector.tpp       |  16 ++--
 health/HealthTableIF.h                  |   2 +-
 power/PowerComponent.h                  |   9 --
 serialize/SerialBufferAdapter.cpp       |   8 +-
 serialize/SerialFixedArrayListAdapter.h |  35 +++----
 serialize/SerializeAdapter.h            |   3 +-
 serialize/SerializeAdapterInternal.h    | 118 ------------------------
 tmtcpacket/pus/TmPacketStored.cpp       |   2 +-
 24 files changed, 144 insertions(+), 260 deletions(-)
 delete mode 100644 serialize/SerializeAdapterInternal.h

diff --git a/datapool/DataSetBase.cpp b/datapool/DataSetBase.cpp
index b788d05d..55801eb1 100644
--- a/datapool/DataSetBase.cpp
+++ b/datapool/DataSetBase.cpp
@@ -131,11 +131,11 @@ ReturnValue_t DataSetBase::unlockDataPool() {
 }
 
 ReturnValue_t DataSetBase::serialize(uint8_t** buffer, size_t* size,
-		const size_t maxSize, bool bigEndian) const {
+		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,
-				bigEndian);
+		        streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
@@ -144,11 +144,11 @@ ReturnValue_t DataSetBase::serialize(uint8_t** buffer, size_t* size,
 }
 
 ReturnValue_t DataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
-		bool bigEndian) {
+        SerializeIF::Endianness streamEndianness) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
 	for (uint16_t count = 0; count < fillCount; count++) {
 		result = registeredVariables[count]->deSerialize(buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
diff --git a/datapool/DataSetBase.h b/datapool/DataSetBase.h
index 8f7d892a..8eae6a09 100644
--- a/datapool/DataSetBase.h
+++ b/datapool/DataSetBase.h
@@ -105,10 +105,11 @@ public:
 
 	/* SerializeIF implementations */
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-				const size_t maxSize, bool bigEndian) const override;
+				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,
-			bool bigEndian) override;
+	        SerializeIF::Endianness streamEndianness) override;
 
 	// SHOULDDO we could use a linked list of datapool variables
 	//!< This definition sets the maximum number of variables to
diff --git a/datapool/PoolRawAccessHelper.cpp b/datapool/PoolRawAccessHelper.cpp
index 6e289303..2324a56c 100644
--- a/datapool/PoolRawAccessHelper.cpp
+++ b/datapool/PoolRawAccessHelper.cpp
@@ -24,8 +24,9 @@ PoolRawAccessHelper::~PoolRawAccessHelper() {
 }
 
 ReturnValue_t PoolRawAccessHelper::serialize(uint8_t **buffer, size_t *size,
-		const size_t max_size, bool bigEndian) {
-	SerializationArgs serializationArgs = {buffer, size, max_size, bigEndian};
+		const size_t max_size, SerializeIF::Endianness streamEndianness) {
+	SerializationArgs serializationArgs = {buffer, size, max_size,
+	        streamEndianness};
 	ReturnValue_t result = RETURN_OK;
 	size_t remainingParametersSize = numberOfParameters * 4;
 	for(uint8_t count=0; count < numberOfParameters; count++) {
@@ -44,9 +45,10 @@ ReturnValue_t PoolRawAccessHelper::serialize(uint8_t **buffer, size_t *size,
 }
 
 ReturnValue_t PoolRawAccessHelper::serializeWithValidityMask(uint8_t ** buffer,
-		size_t * size, const size_t max_size, bool bigEndian) {
+		size_t * size, const size_t max_size,
+		SerializeIF::Endianness streamEndianness) {
 	ReturnValue_t result = RETURN_OK;
-	SerializationArgs argStruct = {buffer, size, max_size, bigEndian};
+	SerializationArgs argStruct = {buffer, size, max_size, streamEndianness};
 	size_t remainingParametersSize = numberOfParameters * 4;
 	uint8_t validityMaskSize = ceil((float)numberOfParameters/8.0);
 	uint8_t validityMask[validityMaskSize];
@@ -76,8 +78,8 @@ ReturnValue_t PoolRawAccessHelper::serializeCurrentPoolEntryIntoBuffer(
 		bool withValidMask, uint8_t * validityMask) {
 	uint32_t currentPoolId;
 	// Deserialize current pool ID from pool ID buffer
-	ReturnValue_t result = AutoSerializeAdapter::deSerialize(&currentPoolId,
-			&poolIdBuffer,remainingParameters, false);
+	ReturnValue_t result = SerializeAdapter::deSerialize(&currentPoolId,
+			&poolIdBuffer,remainingParameters, SerializeIF::Endianness::MACHINE);
 	if(result != RETURN_OK) {
 		sif::debug << std::hex << "PoolRawAccessHelper: Error deSeralizing "
 				"pool IDs" << std::dec << std::endl;
@@ -109,8 +111,8 @@ ReturnValue_t PoolRawAccessHelper::handlePoolEntrySerialization(
 
 		GlobDataSet currentDataSet;
 		//debug << "Current array position: " << (int)arrayPosition << std::endl;
-		PoolRawAccess currentPoolRawAccess(currentPoolId,arrayPosition,
-				&currentDataSet,PoolVariableIF::VAR_READ);
+		PoolRawAccess currentPoolRawAccess(currentPoolId, arrayPosition,
+				&currentDataSet, PoolVariableIF::VAR_READ);
 
 		result = currentDataSet.read();
 		if (result != RETURN_OK) {
@@ -137,7 +139,7 @@ ReturnValue_t PoolRawAccessHelper::handlePoolEntrySerialization(
 		}
 
 		result = currentDataSet.serialize(argStruct.buffer, argStruct.size,
-				argStruct.max_size, argStruct.bigEndian);
+				argStruct.max_size, argStruct.streamEndianness);
 		if (result != RETURN_OK) {
 			sif::debug << "Pool Raw Access Helper: Error serializing pool data with "
 					 "ID 0x" << std::hex << currentPoolId << " into send buffer "
diff --git a/datapool/PoolRawAccessHelper.h b/datapool/PoolRawAccessHelper.h
index 52d9ebe5..0d8f8d6d 100644
--- a/datapool/PoolRawAccessHelper.h
+++ b/datapool/PoolRawAccessHelper.h
@@ -43,7 +43,7 @@ public:
 	 * 			@c RETURN_FAILED on failure
 	 */
 	ReturnValue_t serialize(uint8_t ** buffer, size_t * size,
-			const size_t max_size, bool bigEndian);
+			const size_t max_size, SerializeIF::Endianness streamEndianness);
 
 	/**
 	 * Serializes data pool entries into provided buffer with the validity mask buffer
@@ -56,7 +56,7 @@ public:
 	 * 			@c RETURN_FAILED on failure
 	 */
 	ReturnValue_t serializeWithValidityMask(uint8_t ** buffer, size_t * size,
-			const size_t max_size, bool bigEndian);
+			const size_t max_size, SerializeIF::Endianness streamEndianness);
 
 
 private:
@@ -71,7 +71,7 @@ private:
 		uint8_t ** buffer;
 		size_t * size;
 		const size_t max_size;
-		bool bigEndian;
+		SerializeIF::Endianness streamEndianness;
 	};
 	/**
 	 * Helper function to serialize single pool entries
diff --git a/datapoolglob/GlobalPoolVariable.h b/datapoolglob/GlobalPoolVariable.h
index 9e3eea0c..b4aa6c4c 100644
--- a/datapoolglob/GlobalPoolVariable.h
+++ b/datapoolglob/GlobalPoolVariable.h
@@ -181,18 +181,20 @@ public:
 	}
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			const size_t max_size, bool bigEndian) const override {
-		return SerializeAdapter<T>::serialize(&value, buffer, size, max_size,
-				bigEndian);
+			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<T>::getSerializedSize(&value);
+		return SerializeAdapter::getSerializedSize(&value);
 	}
 
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&value, buffer, size, bigEndian);
+	        SerializeIF::Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&value, buffer, size,
+		        streamEndianness);
 	}
 };
 
diff --git a/datapoolglob/GlobalPoolVector.h b/datapoolglob/GlobalPoolVector.h
index 93092228..0e03f77d 100644
--- a/datapoolglob/GlobalPoolVector.h
+++ b/datapoolglob/GlobalPoolVector.h
@@ -109,10 +109,10 @@ public:
 	const T &operator [](int i) const {return value[i];}
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			const size_t max_size, bool bigEndian) const override;
+			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,
-			bool bigEndian) override;
+	        Endianness streamEndianness) override;
 
 	/**
 	 * @brief	This is a call to read the array's values
diff --git a/datapoolglob/GlobalPoolVector.tpp b/datapoolglob/GlobalPoolVector.tpp
index 5710da57..ccf33138 100644
--- a/datapoolglob/GlobalPoolVector.tpp
+++ b/datapoolglob/GlobalPoolVector.tpp
@@ -79,12 +79,13 @@ inline ReturnValue_t GlobPoolVector<T, vectorSize>::commitWithoutLock() {
 
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t GlobPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
-		size_t* size, const size_t max_size, bool bigEndian) const {
+		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<T>::serialize(&(value[i]), buffer, size,
-				max_size, bigEndian);
+		result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+				max_size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
@@ -94,17 +95,18 @@ inline ReturnValue_t GlobPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
 
 template<typename T, uint16_t vectorSize>
 inline size_t GlobPoolVector<T, vectorSize>::getSerializedSize() const {
-	return vectorSize * SerializeAdapter<T>::getSerializedSize(value);
+	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, bool bigEndian) {
+		const uint8_t** buffer, size_t* size,
+		SerializeIF::Endianness streamEndianness) {
 	uint16_t i;
 	ReturnValue_t result;
 	for (i = 0; i < vectorSize; i++) {
-		result = SerializeAdapter<T>::deSerialize(&(value[i]), buffer, size,
-				bigEndian);
+		result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+		        streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
diff --git a/datapoolglob/PIDReader.h b/datapoolglob/PIDReader.h
index 1b337f28..a1116040 100644
--- a/datapoolglob/PIDReader.h
+++ b/datapoolglob/PIDReader.h
@@ -16,9 +16,9 @@ protected:
 	uint32_t parameterId;
 	uint8_t valid;
 	ReturnValue_t readWithoutLock() {
-		uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
-		PoolEntry<T> *read_out = ::dataPool.getData<T>(
-				DataPool::PIDToDataPoolId(parameterId), arrayIndex);
+		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];
diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp
index 39cfd58c..bec54ab3 100644
--- a/datapoolglob/PoolRawAccess.cpp
+++ b/datapoolglob/PoolRawAccess.cpp
@@ -145,27 +145,29 @@ ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
 
 
 ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
-		const size_t max_size, bool bigEndian) const {
-	if (typeSize + *size <= max_size) {
-		if (bigEndian) {
+        size_t maxSize, Endianness streamEndianness) const {
+    //TODO integer overflow
+    if (typeSize + *size <= maxSize) {
+#warning use endian swapper
+        if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-			for (uint8_t count = 0; count < typeSize; count++) {
-				(*buffer)[count] = value[typeSize - count - 1];
-			}
+            for (uint8_t count = 0; count < typeSize; count++) {
+                (*buffer)[count] = value[typeSize - count - 1];
+            }
 #elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			memcpy(*buffer, value, typeSize);
+            memcpy(*buffer, value, typeSize);
 #endif
-		} else {
-			memcpy(*buffer, value, typeSize);
-		}
-		*size += typeSize;
-		(*buffer) += typeSize;
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return SerializeIF::BUFFER_TOO_SHORT;
-	}
+        } else {
+            memcpy(*buffer, value, typeSize);
+        }
+        *size += typeSize;
+        (*buffer) += typeSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    } else {
+        return SerializeIF::BUFFER_TOO_SHORT;
+    }
 }
 
 
@@ -231,28 +233,26 @@ size_t PoolRawAccess::getSerializedSize() const {
 }
 
 ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, size_t* size,
-		bool bigEndian) {
-	// TODO: Needs to be tested!!!
-	if (*size >= typeSize) {
-		*size -= typeSize;
-		if (bigEndian) {
+        Endianness streamEndianness) {
+
+    if (*size >= typeSize) {
+        *size -= typeSize;
+        if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-			for (uint8_t count = 0; count < typeSize; count++) {
-				value[count] = (*buffer)[typeSize - count - 1];
-			}
+            for (uint8_t count = 0; count < typeSize; count++) {
+                value[count] = (*buffer)[typeSize - count - 1];
+            }
 #elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			memcpy(value, *buffer, typeSize);
+            memcpy(value, *buffer, typeSize);
 #endif
-		}
-		else {
-			memcpy(value, *buffer, typeSize);
-		}
-		*buffer += typeSize;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return SerializeIF::STREAM_TOO_SHORT;
-	}
+        } else {
+            memcpy(value, *buffer, typeSize);
+        }
+        *buffer += typeSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    } else {
+        return SerializeIF::STREAM_TOO_SHORT;
+    }
 }
diff --git a/datapoolglob/PoolRawAccess.h b/datapoolglob/PoolRawAccess.h
index 60e3c71e..ea07356e 100644
--- a/datapoolglob/PoolRawAccess.h
+++ b/datapoolglob/PoolRawAccess.h
@@ -69,8 +69,13 @@ public:
 	 * @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,
-			const size_t max_size, bool bigEndian) 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;
 
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
@@ -130,11 +135,6 @@ public:
 	 */
 	uint16_t getSizeTillEnd() const;
 
-	size_t getSerializedSize() const;
-
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			bool bigEndian);
-
 	/**
 	 * @brief	This is a call to read the value from the global data pool.
 	 * @details
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index bb06206e..78116138 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -173,7 +173,7 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid) {
     }
     size_t size = 0;
     result = dataSet->serializeLocalPoolIds(&storePtr, &size,
-            expectedSize, false);
+            expectedSize, SerializeIF::Endianness::BIG);
     if(expectedSize != size) {
         sif::error << "HousekeepingManager::generateSetStructurePacket: "
                 "Expected size is not equal to serialized size" << std::endl;
@@ -198,10 +198,11 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
 
     if(appendValidityBuffer) {
         result = dataSet->serializeWithValidityBuffer(&storePtr,
-                &size, hkSize, false);
+                &size, hkSize, SerializeIF::Endianness::MACHINE);
     }
     else {
-        result = dataSet->serialize(&storePtr, &size, hkSize, false);
+        result = dataSet->serialize(&storePtr, &size, hkSize,
+                SerializeIF::Endianness::MACHINE);
     }
 
     if(result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index 3fc8592e..72d79103 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -32,7 +32,8 @@ ReturnValue_t LocalDataSet::lockDataPool(uint32_t timeoutMs) {
 }
 
 ReturnValue_t LocalDataSet::serializeWithValidityBuffer(uint8_t **buffer,
-        size_t *size, const size_t maxSize, bool bigEndian) const {
+        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];
@@ -52,7 +53,7 @@ ReturnValue_t LocalDataSet::serializeWithValidityBuffer(uint8_t **buffer,
             }
         }
         result = registeredVariables[count]->serialize(buffer, size, maxSize,
-                bigEndian);
+                streamEndianness);
         if (result != HasReturnvaluesIF::RETURN_OK) {
             return result;
         }
@@ -69,11 +70,12 @@ ReturnValue_t LocalDataSet::unlockDataPool() {
 }
 
 ReturnValue_t LocalDataSet::serializeLocalPoolIds(uint8_t** buffer,
-        size_t* size, const size_t maxSize, bool bigEndian) const {
+        size_t* size, size_t maxSize,
+        SerializeIF::Endianness streamEndianness) const {
     for (uint16_t count = 0; count < fillCount; count++) {
         lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
-        auto result = AutoSerializeAdapter::serialize(&currentPoolId, buffer,
-                size, maxSize, bigEndian);
+        auto result = SerializeAdapter::serialize(&currentPoolId, buffer,
+                size, maxSize, streamEndianness);
         if(result != HasReturnvaluesIF::RETURN_OK) {
             sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
                     " error!" << std::endl;
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index aea699d8..e997b729 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -68,10 +68,12 @@ public:
 	 * @return
 	 */
 	ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
-	        size_t* size, const size_t maxSize, bool bigEndian) const;
+	        size_t* size, size_t maxSize,
+	        SerializeIF::Endianness streamEndianness) const;
 
 	ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
-            size_t* size, const size_t maxSize, bool bigEndian) const;
+	        size_t* size, size_t maxSize,
+	        SerializeIF::Endianness streamEndianness) const;
 protected:
 private:
 	/**
diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
index 4b6e24aa..98782b8d 100644
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@@ -84,11 +84,11 @@ public:
 	void setValid(bool validity) override;
 	uint8_t getValid() const;
 
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			const size_t max_size, bool bigEndian) const override;
+	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,
-			bool bigEndian) override;
+	        SerializeIF::Endianness streamEndianness) override;
 
 	/**
 	 * @brief	This is a call to read the array's values
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index 9dcd0699..7f9fbf13 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -133,20 +133,20 @@ inline uint8_t LocalPoolVar<T>::getValid() const {
 
 template<typename T>
 inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
-		const size_t max_size, bool bigEndian) const {
-	return AutoSerializeAdapter::serialize(&value,
-			buffer, size ,max_size, bigEndian);
+		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 AutoSerializeAdapter::getSerializedSize(&value);
+	return SerializeAdapter::getSerializedSize(&value);
 }
 
 template<typename T>
 inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
-		size_t* size, bool bigEndian) {
-	return AutoSerializeAdapter::deSerialize(&value, buffer, size, bigEndian);
+		size_t* size, SerializeIF::Endianness streamEndianness) {
+	return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 }
 
 template<typename T>
diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h
index a8d0a7bb..f6532894 100644
--- a/datapoollocal/LocalPoolVector.h
+++ b/datapoollocal/LocalPoolVector.h
@@ -114,10 +114,11 @@ public:
 	const T &operator [](int i) const;
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			const size_t max_size, bool bigEndian) const override;
+			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,
-			bool bigEndian) override;
+	        SerializeIF::Endianness streamEndianness) override;
 
 	/**
 	 * @brief	This is a call to read the array's values
diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp
index a18f8327..872c49ec 100644
--- a/datapoollocal/LocalPoolVector.tpp
+++ b/datapoollocal/LocalPoolVector.tpp
@@ -125,11 +125,12 @@ inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
 
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
-		size_t* size, const size_t max_size, bool bigEndian) const {
+		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<T>::serialize(&(value[i]), buffer, size,
-				max_size, bigEndian);
+		result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+				maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			break;
 		}
@@ -139,16 +140,17 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
 
 template<typename T, uint16_t vectorSize>
 inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
-	return vectorSize * SerializeAdapter<T>::getSerializedSize(value);
+	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, bool bigEndian) {
+		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<T>::deSerialize(&(value[i]), buffer, size,
-				bigEndian);
+		result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			break;
 		}
diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h
index c8d2c74a..e4606286 100644
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@@ -19,7 +19,7 @@ public:
 			HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
 
 	virtual uint32_t getPrintSize() = 0;
-	virtual void printAll(uint8_t *pointer, uint32_t maxSize) = 0;
+	virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
 
 protected:
 	virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false) = 0;
diff --git a/power/PowerComponent.h b/power/PowerComponent.h
index 1c550776..61ab3674 100644
--- a/power/PowerComponent.h
+++ b/power/PowerComponent.h
@@ -20,21 +20,12 @@ public:
 	float getMax();
 
 	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-<<<<<<< HEAD
-			const size_t max_size, bool bigEndian) const;
-
-	size_t getSerializedSize() const;
-
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			bool bigEndian);
-=======
 			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;
->>>>>>> upstream/mohr_serialize
 
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 				ParameterWrapper *parameterWrapper,
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 69f40a34..1224bba1 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -36,18 +36,18 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
 					maxSize, streamEndianness);
 		}
 		if (constBuffer != nullptr) {
-			memcpy(*buffer_, this->constBuffer, bufferLength);
+			memcpy(*buffer, this->constBuffer, bufferLength);
 		}
 		else if (buffer != nullptr) {
 			// This will propably be never reached, constBuffer should always be
 			// set if non-const buffer is set.
-			memcpy(*buffer_, this->buffer, bufferLength);
+			memcpy(*buffer, this->buffer, bufferLength);
 		}
 		else {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
-		*size_ += bufferLength;
-		(*buffer_) += bufferLength;
+		*size += bufferLength;
+		(*buffer) += bufferLength;
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 }
diff --git a/serialize/SerialFixedArrayListAdapter.h b/serialize/SerialFixedArrayListAdapter.h
index 6ad154a8..196af67c 100644
--- a/serialize/SerialFixedArrayListAdapter.h
+++ b/serialize/SerialFixedArrayListAdapter.h
@@ -39,30 +39,25 @@ public:
 	 */
 	template<typename... Args>
 	SerialFixedArrayListAdapter(Args... args) :
-	FixedArrayList<BUFFER_TYPE, MAX_SIZE, count_t>(std::forward<Args>(args)...)
-	{}
+	        FixedArrayList<BUFFER_TYPE, MAX_SIZE, count_t>(
+	        std::forward<Args>(args)...){}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			const size_t max_size, bool bigEndian) const  override {
-		return SerialArrayListAdapter<BUFFER_TYPE, count_t>::serialize(this,
-				buffer, size, max_size, bigEndian);
-	}
+    ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            size_t maxSize, Endianness streamEndianness) const {
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::serialize(this,
+                buffer, size, maxSize, streamEndianness);
+    }
 
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const {
-		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, maxSize, streamEndianness);
-	}
+    size_t getSerializedSize() const {
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::getSerializedSize(this);
+    }
 
-	size_t getSerializedSize() const {
-		return SerialArrayListAdapter<T, count_t>::getSerializedSize(this);
-	}
+    ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            Endianness streamEndianness) {
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::deSerialize(this,
+                buffer, size, streamEndianness);
+    }
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) {
-		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, streamEndianness);
-	}
 };
 
-
-
 #endif /* SERIALFIXEDARRAYLISTADAPTER_H_ */
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index f8042861..2be39d5c 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -2,8 +2,9 @@
 #define SERIALIZEADAPTER_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/serialize/EndianSwapper.h>
+#include <framework/container/IsDerivedFrom.h>
 #include <framework/serialize/SerializeIF.h>
-#include <framework/serialize/SerializeAdapterInternal.h>
 #include <type_traits>
 
  /**
diff --git a/serialize/SerializeAdapterInternal.h b/serialize/SerializeAdapterInternal.h
deleted file mode 100644
index c57af0c9..00000000
--- a/serialize/SerializeAdapterInternal.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/**
- * @file 	SerializeAdapterInternal.h
- *
- * @date	13.04.2020
- * @author	R. Mueller
- */
-
-#ifndef FRAMEWORK_SERIALIZE_SERIALIZEADAPTERINTERNAL_H_
-#define FRAMEWORK_SERIALIZE_SERIALIZEADAPTERINTERNAL_H_
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/container/IsDerivedFrom.h>
-#include <framework/serialize/EndianSwapper.h>
-
-/**
- * This template specialization will be chosen for fundamental types or
- * anything else not implementing SerializeIF, based on partial
- * template specialization.
- * @tparam T
- * @tparam
- */
-template<typename T, int>
-class SerializeAdapter_ {
-public:
-	/**
-	 *
-	 * @param object
-	 * @param buffer
-	 * @param size
-	 * @param max_size
-	 * @param bigEndian
-	 * @return
-	 */
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			size_t* size, const size_t max_size, bool bigEndian) {
-	    // function eventuelly serializes structs here.
-	    // does this work on every architecture?
-	    // static_assert(std::is_fundamental<T>::value);
-		size_t ignoredSize = 0;
-		if (size == nullptr) {
-			size = &ignoredSize;
-		}
-		if (sizeof(T) + *size <= max_size) {
-			T tmp;
-			if (bigEndian) {
-				tmp = EndianSwapper::swap<T>(*object);
-			} else {
-				tmp = *object;
-			}
-			memcpy(*buffer, &tmp, sizeof(T));
-			*size += sizeof(T);
-			(*buffer) += sizeof(T);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return SerializeIF::BUFFER_TOO_SHORT;
-		}
-	}
-
-	/**
-	 * Deserialize buffer into object
-	 * @param object [out] Object to be deserialized with buffer data
-	 * @param buffer contains the data. Non-Const pointer to non-const
-	 * 				 pointer to const data.
-	 * @param size Size to deSerialize. wil be decremented by sizeof(T)
-	 * @param bigEndian Specify endianness
-	 * @return
-	 */
-	ReturnValue_t deSerialize(T* object, const uint8_t** buffer, size_t* size,
-			bool bigEndian) {
-		T tmp;
-		if (*size >= sizeof(T)) {
-			*size -= sizeof(T);
-			memcpy(&tmp, *buffer, sizeof(T));
-			if (bigEndian) {
-				*object = EndianSwapper::swap<T>(tmp);
-			} else {
-				*object = tmp;
-			}
-			*buffer += sizeof(T);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return SerializeIF::STREAM_TOO_SHORT;
-		}
-	}
-
-	size_t getSerializedSize(const T * object) {
-		return sizeof(T);
-	}
-};
-
-/**
- * This template specialization will be chosen for class derived from
- * SerializeIF, based on partial template specialization.
- * @tparam T
- * @tparam
- */
-template<typename T>
-class SerializeAdapter_<T, true> {
-public:
-	ReturnValue_t serialize(const T* object, uint8_t** buffer, size_t* size,
-			const size_t max_size, bool bigEndian) const {
-		size_t ignoredSize = 0;
-		if (size == NULL) {
-			size = &ignoredSize;
-		}
-		return object->serialize(buffer, size, max_size, bigEndian);
-	}
-
-	size_t getSerializedSize(const T* object) const {
-		return object->getSerializedSize();
-	}
-
-	ReturnValue_t deSerialize(T* object, const uint8_t** buffer, size_t* size,
-			bool bigEndian) {
-		return object->deSerialize(buffer, size, bigEndian);
-	}
-};
-
-#endif /* FRAMEWORK_SERIALIZE_SERIALIZEADAPTERINTERNAL_H_ */
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index 14cf6a03..d6a4a69f 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -84,7 +84,7 @@ void TmPacketStored::deletePacket() {
 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
 	const uint8_t *temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	if (!checkAndSetStore()) {
 		return;
 	}

From 47b8ed2321c1a71743cb50fa555cbb3f6b2a3a62 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 1 Jul 2020 14:34:16 +0200
Subject: [PATCH 208/307] split up long debug message

---
 datapoollocal/LocalDataPoolManager.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index 78116138..9c70c74f 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -47,8 +47,9 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse,
     }
     else {
         sif::warning << "LocalDataPoolManager::initialize: Could not retrieve"
-                " queue ID from HK destination object ID. Make sure it exists"
-                " and the object impements AcceptsHkPacketsIF!" << std::endl;
+                " queue ID from HK destination object ID. " << std::flush;
+        sif::warning << "Make sure it exists and the object impements "
+                "AcceptsHkPacketsIF!" << std::endl;
     }
     return initializeHousekeepingPoolEntriesOnce();
 }

From f67c836dedd087b18afe03f931d1ab69a0872f95 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 2 Jul 2020 14:42:16 +0200
Subject: [PATCH 209/307] RETURN_FAILED is 1 again

---
 returnvalues/HasReturnvaluesIF.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 04acd66e..38b343d4 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -12,8 +12,7 @@ typedef uint16_t ReturnValue_t;
 class HasReturnvaluesIF {
 public:
 	static const ReturnValue_t RETURN_OK = 0;
-	//! This will be the all-ones value irrespective of used unsigned datatype.
-	static const ReturnValue_t RETURN_FAILED = -1;
+	static const ReturnValue_t RETURN_FAILED = 1;
 	virtual ~HasReturnvaluesIF() {}
 
 	static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {

From a09aa8df4ae8ba8fba3a7c6dd2e4b13ffc588d79 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 2 Jul 2020 14:43:19 +0200
Subject: [PATCH 210/307] include guard commnet

---
 returnvalues/HasReturnvaluesIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 38b343d4..d231f4ee 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -20,4 +20,4 @@ public:
 	}
 };
 
-#endif /* HASRETURNVALUESIF_H_ */
+#endif /* FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ */

From 3e069c34aa6a076f0394ab6bdf3c66f14294ba53 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 2 Jul 2020 16:29:29 +0200
Subject: [PATCH 211/307] datasetbase stays same f or now

---
 datapool/{StaticDataSetBase.cpp => DataSetBase.cpp} | 2 +-
 datapool/{StaticDataSetBase.h => DataSetBase.h}     | 6 +++---
 datapoolglob/GlobalDataSet.h                        | 2 +-
 datapoollocal/LocalDataSet.h                        | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)
 rename datapool/{StaticDataSetBase.cpp => DataSetBase.cpp} (98%)
 rename datapool/{StaticDataSetBase.h => DataSetBase.h} (97%)

diff --git a/datapool/StaticDataSetBase.cpp b/datapool/DataSetBase.cpp
similarity index 98%
rename from datapool/StaticDataSetBase.cpp
rename to datapool/DataSetBase.cpp
index 3815534e..b788d05d 100644
--- a/datapool/StaticDataSetBase.cpp
+++ b/datapool/DataSetBase.cpp
@@ -1,4 +1,4 @@
-#include <framework/datapool/StaticDataSetBase.h>
+#include <framework/datapool/DataSetBase.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 DataSetBase::DataSetBase() {
diff --git a/datapool/StaticDataSetBase.h b/datapool/DataSetBase.h
similarity index 97%
rename from datapool/StaticDataSetBase.h
rename to datapool/DataSetBase.h
index 708849ce..8f7d892a 100644
--- a/datapool/StaticDataSetBase.h
+++ b/datapool/DataSetBase.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DATAPOOL_STATICDATASETBASE_H_
-#define FRAMEWORK_DATAPOOL_STATICDATASETBASE_H_
+#ifndef FRAMEWORK_DATAPOOL_DATASETBASE_H_
+#define FRAMEWORK_DATAPOOL_DATASETBASE_H_
 #include <framework/datapool/DataSetIF.h>
 #include <framework/datapool/PoolVariableIF.h>
 #include <framework/ipc/MutexIF.h>
@@ -146,4 +146,4 @@ private:
 	ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
 };
 
-#endif /* FRAMEWORK_DATAPOOL_STATICDATASETBASE_H_ */
+#endif /* FRAMEWORK_DATAPOOL_DATASETBASE_H_ */
diff --git a/datapoolglob/GlobalDataSet.h b/datapoolglob/GlobalDataSet.h
index dec66dbc..f0bf7daa 100644
--- a/datapoolglob/GlobalDataSet.h
+++ b/datapoolglob/GlobalDataSet.h
@@ -1,7 +1,7 @@
 #ifndef DATASET_H_
 #define DATASET_H_
 
-#include <framework/datapool/StaticDataSetBase.h>
+#include <framework/datapool/DataSetBase.h>
 
 /**
  * @brief	The DataSet class manages a set of locally checked out variables
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index 52a227e5..aea699d8 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
 #define FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
+#include <framework/datapool/DataSetBase.h>
 #include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/StaticDataSetBase.h>
 #include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
 #include <framework/serialize/SerializeIF.h>
 

From 099e6281ecdaccf39127da33e7b86b6eaa3f2335 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 2 Jul 2020 16:54:53 +0200
Subject: [PATCH 212/307] DataSetBase not bound to max size anymore

---
 datapool/DataSetBase.cpp             |  9 ++++++---
 datapool/DataSetBase.h               | 13 ++++++-------
 datapoolglob/GlobalDataSet.cpp       |  4 +++-
 datapoolglob/GlobalDataSet.h         |  6 ++++++
 datapoollocal/LocalDataSet.cpp       | 14 ++++++++++++--
 datapoollocal/LocalDataSet.h         | 10 ++++++++--
 datapoollocal/StaticLocalDataSet.cpp |  6 ++++++
 datapoollocal/StaticLocalDataSet.h   | 11 +++++++++++
 8 files changed, 58 insertions(+), 15 deletions(-)
 create mode 100644 datapoollocal/StaticLocalDataSet.cpp
 create mode 100644 datapoollocal/StaticLocalDataSet.h

diff --git a/datapool/DataSetBase.cpp b/datapool/DataSetBase.cpp
index b788d05d..3d38e143 100644
--- a/datapool/DataSetBase.cpp
+++ b/datapool/DataSetBase.cpp
@@ -1,8 +1,11 @@
 #include <framework/datapool/DataSetBase.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-DataSetBase::DataSetBase() {
-	for (uint8_t count = 0; count < DATA_SET_MAX_SIZE; count++) {
+DataSetBase::DataSetBase(PoolVariableIF** registeredVariablesArray,
+        const size_t maxFillCount):
+        registeredVariables(registeredVariablesArray),
+        maxFillCount(maxFillCount) {
+	for (uint8_t count = 0; count < maxFillCount; count++) {
 		registeredVariables[count] = nullptr;
 	}
 }
@@ -21,7 +24,7 @@ ReturnValue_t DataSetBase::registerVariable(
 				"Pool variable is nullptr." << std::endl;
 		return DataSetIF::POOL_VAR_NULL;
 	}
-	if (fillCount >= DATA_SET_MAX_SIZE) {
+	if (fillCount >= maxFillCount) {
 		sif::error << "DataSet::registerVariable: "
 				"DataSet is full." << std::endl;
 		return DataSetIF::DATA_SET_FULL;
diff --git a/datapool/DataSetBase.h b/datapool/DataSetBase.h
index 8f7d892a..12ae2b53 100644
--- a/datapool/DataSetBase.h
+++ b/datapool/DataSetBase.h
@@ -37,7 +37,8 @@ public:
 	 * 			supply a pointer to this dataset to PoolVariable
 	 * 			initializations to register pool variables.
 	 */
-	DataSetBase();
+	DataSetBase(PoolVariableIF** registeredVariablesArray,
+	        const size_t maxFillCount);
 	virtual~ DataSetBase();
 
 	/**
@@ -110,11 +111,6 @@ public:
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			bool bigEndian) override;
 
-	// SHOULDDO we could use a linked list of datapool variables
-	//!< This definition sets the maximum number of variables to
-	//! register in one DataSet.
-	static const uint8_t DATA_SET_MAX_SIZE = 63;
-
 protected:
 	/**
 	 * @brief	The fill_count attribute ensures that the variables
@@ -137,8 +133,11 @@ protected:
 
 	/**
 	 * @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[DATA_SET_MAX_SIZE] = { };
+	PoolVariableIF** registeredVariables = nullptr;
+	const size_t maxFillCount = 0;
 
 private:
 	ReturnValue_t readVariable(uint16_t count);
diff --git a/datapoolglob/GlobalDataSet.cpp b/datapoolglob/GlobalDataSet.cpp
index 9da8d524..883f6157 100644
--- a/datapoolglob/GlobalDataSet.cpp
+++ b/datapoolglob/GlobalDataSet.cpp
@@ -2,7 +2,9 @@
 #include <framework/datapoolglob/GlobalDataSet.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-GlobDataSet::GlobDataSet(): DataSetBase() {}
+GlobDataSet::GlobDataSet(): DataSetBase(
+        reinterpret_cast<PoolVariableIF**>(&registeredVariables),
+        DATA_SET_MAX_SIZE) {}
 
 // Don't do anything with your variables, they are dead already!
 // (Destructor is already called)
diff --git a/datapoolglob/GlobalDataSet.h b/datapoolglob/GlobalDataSet.h
index f0bf7daa..519b08c0 100644
--- a/datapoolglob/GlobalDataSet.h
+++ b/datapoolglob/GlobalDataSet.h
@@ -61,6 +61,10 @@ public:
 	 */
 	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
@@ -85,6 +89,8 @@ private:
 
 	void handleAlreadyReadDatasetCommit();
 	ReturnValue_t handleUnreadDatasetCommit();
+
+	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
 };
 
 #endif /* DATASET_H_ */
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index 3fc8592e..c5142bfc 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -5,20 +5,30 @@
 #include <cmath>
 #include <cstring>
 
-LocalDataSet::LocalDataSet(OwnsLocalDataPoolIF *hkOwner): DataSetBase() {
+LocalDataSet::LocalDataSet(OwnsLocalDataPoolIF *hkOwner,
+        const size_t maxNumberOfVariables):
+        DataSetBase(poolVarList.data(), maxNumberOfVariables) {
+    poolVarList.reserve(maxNumberOfVariables);
+    poolVarList.resize(maxNumberOfVariables);
     if(hkOwner == nullptr) {
         sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
                 << std::endl;
+        return;
     }
     hkManager = hkOwner->getHkManagerHandle();
 }
 
-LocalDataSet::LocalDataSet(object_id_t ownerId): DataSetBase()  {
+LocalDataSet::LocalDataSet(object_id_t ownerId,
+        const size_t maxNumberOfVariables):
+        DataSetBase(poolVarList.data(), maxNumberOfVariables)  {
+    poolVarList.reserve(maxNumberOfVariables);
+    poolVarList.resize(maxNumberOfVariables);
     OwnsLocalDataPoolIF* hkOwner = objectManager->get<OwnsLocalDataPoolIF>(
             ownerId);
     if(hkOwner == nullptr) {
         sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
                 << std::endl;
+        return;
     }
     hkManager = hkOwner->getHkManagerHandle();
 }
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index aea699d8..1a894130 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -5,6 +5,8 @@
 #include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
 #include <framework/serialize/SerializeIF.h>
 
+#include <vector>
+
 class LocalDataPoolManager;
 
 /**
@@ -35,7 +37,8 @@ public:
 	 * 			The constructor simply sets the fill_count to zero and sets
 	 *  		the state to "uninitialized".
 	 */
-	LocalDataSet(OwnsLocalDataPoolIF* hkOwner);
+	LocalDataSet(OwnsLocalDataPoolIF *hkOwner,
+	        const size_t maxNumberOfVariables);
 
 	/**
 	 * @brief	Constructor for users of local pool data. The passed pool
@@ -43,7 +46,8 @@ public:
 	 * 			The constructor simply sets the fill_count to zero and sets
 	 *  		the state to "uninitialized".
 	 */
-	LocalDataSet(object_id_t ownerId);
+	LocalDataSet(object_id_t ownerId,
+	        const size_t maxNumberOfVariables);
 
 	/**
 	 * @brief	The destructor automatically manages writing the valid
@@ -102,6 +106,8 @@ private:
 	 * (most significant bit) to 7 (least significant bit)
 	 */
 	void bitSetter(uint8_t* byte, uint8_t position) const;
+
+	std::vector<PoolVariableIF*> poolVarList;
 };
 
 #endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */
diff --git a/datapoollocal/StaticLocalDataSet.cpp b/datapoollocal/StaticLocalDataSet.cpp
new file mode 100644
index 00000000..15d4251a
--- /dev/null
+++ b/datapoollocal/StaticLocalDataSet.cpp
@@ -0,0 +1,6 @@
+#include <framework/datapoollocal/StaticLocalDataSet.h>
+
+
+
+
+
diff --git a/datapoollocal/StaticLocalDataSet.h b/datapoollocal/StaticLocalDataSet.h
new file mode 100644
index 00000000..15a79aae
--- /dev/null
+++ b/datapoollocal/StaticLocalDataSet.h
@@ -0,0 +1,11 @@
+#ifndef FRAMEWORK_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+#define FRAMEWORK_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+#include <framework/datapool/DataSetBase.h>
+
+
+class StaticLocalDataSet: public DataSetBase {
+
+};
+
+
+#endif /* FRAMEWORK_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */

From 72768a68152b3fb6778e7c90aead2b6f46d596ab Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 4 Jul 2020 00:51:49 +0200
Subject: [PATCH 213/307] started unix udp bridge

---
 osal/linux/TmTcUnixUdpBridge.cpp | 37 ++++++++++++++++++++++++++++++++
 osal/linux/TmTcUnixUdpBridge.h   | 28 ++++++++++++++++++++++++
 tmtcservices/TmTcBridge.cpp      |  6 +++---
 tmtcservices/TmTcBridge.h        |  2 +-
 4 files changed, 69 insertions(+), 4 deletions(-)
 create mode 100644 osal/linux/TmTcUnixUdpBridge.cpp
 create mode 100644 osal/linux/TmTcUnixUdpBridge.h

diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
new file mode 100644
index 00000000..02c17312
--- /dev/null
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -0,0 +1,37 @@
+#include <framework/osal/linux/TmTcUnixUdpBridge.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
+		object_id_t ccsdsPacketDistributor):
+		TmTcBridge(objectId, ccsdsPacketDistributor) {
+	serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
+	if(socket < 0) {
+		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
+				" UDP socket!" << std::endl;
+		// check errno here.
+		return;
+	}
+
+	serverAddress.sin_family = AF_INET;
+	serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+	serverAddress.sin_port = htons(UDP_SERVER_PORT);
+	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
+			sizeof(serverSocketOptions));
+
+	int result = bind(serverSocket,
+			reinterpret_cast<struct sockaddr*>(&serverAddress),
+			sizeof(serverAddress));
+	if(result== -1) {
+		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
+				"local port " << UDP_SERVER_PORT << " to server socket!"
+				<< std::endl;
+		// check errno here.
+		return;
+	}
+
+
+
+}
+
+TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
+}
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
new file mode 100644
index 00000000..b84d9fe1
--- /dev/null
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -0,0 +1,28 @@
+#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
+#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
+
+#include <framework/tmtcservices/TmTcBridge.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netinet/udp.h>
+
+class TmTcUnixUdpBridge: public TmTcBridge {
+public:
+	static constexpr int UDP_SERVER_PORT = 7;
+	static constexpr int UDP_CLIENT_PORT = 2008;
+
+	TmTcUnixUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor);
+	virtual~ TmTcUnixUdpBridge();
+
+protected:
+
+private:
+	int serverSocket = 0;
+	const int serverSocketOptions = 0;
+	struct sockaddr_in clientAddress;
+	struct sockaddr_in serverAddress;
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */
diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index f9a7d3bc..092884bb 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -5,9 +5,9 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/globalfunctions/arrayprinter.h>
 
-TmTcBridge::TmTcBridge(object_id_t objectId_,
-        object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
-        ccsdsPacketDistributor(ccsdsPacketDistributor_)
+TmTcBridge::TmTcBridge(object_id_t objectId,
+        object_id_t ccsdsPacketDistributor): SystemObject(objectId),
+        ccsdsPacketDistributor(ccsdsPacketDistributor)
 {
     TmTcReceptionQueue = QueueFactory::instance()->
             createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 3e0432d8..b50e9e1b 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -22,7 +22,7 @@ public:
 	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
 	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
 
-	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
+	TmTcBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor);
 	virtual ~TmTcBridge();
 
 	/**

From e0a3257f8b945da09aba28e784ebc2756e72f984 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 4 Jul 2020 23:20:29 +0200
Subject: [PATCH 214/307] even better output for unset max msg size

---
 osal/linux/MessageQueue.cpp | 27 ++++++++++++++++-----------
 1 file changed, 16 insertions(+), 11 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index b11b9b6f..3d5d7a5a 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -62,22 +62,27 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 		// Just an additional helpful printout :-)
 		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
 				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
-			// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
-			// This happens if the msg_max value is not large enough
-			// It is ignored if the executable is run in privileged mode.
-			// Run the unlockRealtime script or grant the mode manually by using:
-			// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
+			/*
+			See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
+			This happens if the msg_max value is not large enough
+			It is ignored if the executable is run in privileged mode.
+		    Run the unlockRealtime script or grant the mode manually by using:
+			sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
 
-			// Persistent solution for session:
-			// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
+			Persistent solution for session:
+			echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
 
-			// Permanent solution:
-			// sudo nano /etc/sysctl.conf
-			// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
-			// Apply changes with: sudo sysctl -p
+			Permanent solution:
+			sudo nano /etc/sysctl.conf
+			Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
+			Apply changes with: sudo sysctl -p
+			*/
 			sif::error << "MessageQueue::MessageQueue: Default MQ size "
 					<< defaultMqMaxMsg << " is too small for requested size "
 					<< messageDepth << std::endl;
+			sif::error << "This error can be fixed by setting the maximum "
+					"allowed message size higher!" << std::endl;
+
 		}
 		break;
 	}

From 571da391087a8c03220989ed61b1333543aef4ee Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 4 Jul 2020 23:52:44 +0200
Subject: [PATCH 215/307] continued new bridge

---
 osal/linux/TmTcUnixUdpBridge.cpp | 29 ++++++++++++++++++++++++++---
 osal/linux/TmTcUnixUdpBridge.h   | 12 ++++++++----
 2 files changed, 34 insertions(+), 7 deletions(-)

diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 02c17312..c2c0c353 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -2,8 +2,19 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
-		object_id_t ccsdsPacketDistributor):
+		object_id_t ccsdsPacketDistributor, uint16_t serverPort,
+		uint16_t clientPort):
 		TmTcBridge(objectId, ccsdsPacketDistributor) {
+	uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
+	if(serverPort != 0xFFFF) {
+		setServerPort = serverPort;
+	}
+
+	uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
+	if(clientPort != 0xFFFF) {
+		setClientPort = clientPort;
+	}
+
 	serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
 	if(socket < 0) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
@@ -14,7 +25,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 
 	serverAddress.sin_family = AF_INET;
 	serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
-	serverAddress.sin_port = htons(UDP_SERVER_PORT);
+	serverAddress.sin_port = htons(setServerPort);
 	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
 			sizeof(serverSocketOptions));
 
@@ -23,7 +34,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 			sizeof(serverAddress));
 	if(result== -1) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
-				"local port " << UDP_SERVER_PORT << " to server socket!"
+				"local port " << setServerPort << " to server socket!"
 				<< std::endl;
 		// check errno here.
 		return;
@@ -35,3 +46,15 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 
 TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
 }
+
+ReturnValue_t TmTcUnixUdpBridge::handleTc() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TmTcUnixUdpBridge::receiveTc(uint8_t **recvBuffer, size_t *size) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index b84d9fe1..ab2e2d67 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -8,14 +8,18 @@
 
 class TmTcUnixUdpBridge: public TmTcBridge {
 public:
-	static constexpr int UDP_SERVER_PORT = 7;
-	static constexpr int UDP_CLIENT_PORT = 2008;
+	static constexpr int DEFAULT_UDP_SERVER_PORT = 7;
+	static constexpr int DEFAULT_UDP_CLIENT_PORT = 2008;
 
-	TmTcUnixUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor);
+	TmTcUnixUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
+			 uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();
 
 protected:
-
+	virtual ReturnValue_t handleTc() override;
+	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer,
+			size_t * size) override;
+	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
 private:
 	int serverSocket = 0;
 	const int serverSocketOptions = 0;

From 5cee12684142153d01f31627b0bd9b17bcee31d2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 00:06:30 +0200
Subject: [PATCH 216/307] formatting

---
 osal/linux/TmTcUnixUdpBridge.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index c2c0c353..045e475a 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -32,7 +32,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 	int result = bind(serverSocket,
 			reinterpret_cast<struct sockaddr*>(&serverAddress),
 			sizeof(serverAddress));
-	if(result== -1) {
+	if(result == -1) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
 				"local port " << setServerPort << " to server socket!"
 				<< std::endl;

From c160000027bbe6311fd9c0d318c62a51179129ac Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 12:44:08 +0200
Subject: [PATCH 217/307] Corrected filename of EndianConverter.h

---
 memory/MemoryHelper.cpp                          | 2 +-
 serialize/{EndianSwapper.h => EndianConverter.h} | 0
 serialize/SerializeAdapter.h                     | 3 +--
 3 files changed, 2 insertions(+), 3 deletions(-)
 rename serialize/{EndianSwapper.h => EndianConverter.h} (100%)

diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 7c8f7610..b07f450c 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -2,7 +2,7 @@
 #include <framework/memory/MemoryHelper.h>
 #include <framework/memory/MemoryMessage.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/EndianSwapper.h>
+#include <framework/serialize/EndianConverter.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis,
diff --git a/serialize/EndianSwapper.h b/serialize/EndianConverter.h
similarity index 100%
rename from serialize/EndianSwapper.h
rename to serialize/EndianConverter.h
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index 2be39d5c..bb364eae 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -2,8 +2,7 @@
 #define SERIALIZEADAPTER_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/EndianSwapper.h>
-#include <framework/container/IsDerivedFrom.h>
+#include <framework/serialize/EndianConverter.h>
 #include <framework/serialize/SerializeIF.h>
 #include <type_traits>
 

From 24240b6c7d73d124af1caae18ead919ccde203c8 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 15:46:00 +0200
Subject: [PATCH 218/307] Documented EndianConverter and changed length to
 size_t

---
 serialize/EndianConverter.h | 59 ++++++++++++++++++++++++++++++-------
 1 file changed, 48 insertions(+), 11 deletions(-)

diff --git a/serialize/EndianConverter.h b/serialize/EndianConverter.h
index 4ab28ecf..81117a5e 100644
--- a/serialize/EndianConverter.h
+++ b/serialize/EndianConverter.h
@@ -5,15 +5,41 @@
 #include <cstring>
 #include <iostream>
 
+/**
+ * Helper class to convert variables or bitstreams between machine
+ * endian and either big or little endian.
+ * Machine endian is the endianness used by the machine running the
+ * program and is one of big or little endian. As this is portable
+ * code, it is not known at coding time which it is. At compile time
+ * it is however, which is why this is implemented using compiler
+ * macros and translates to a copy operation at runtime.
+ *
+ * This changes the layout of multi-byte variables in the machine's
+ * memory. In most cases, you should not need to use this class.
+ * Probably what you are looking for is the SerializeAdapter.
+ * If you still decide you need this class, please read and understand
+ * the code first.
+ *
+ * The order of the individual bytes of the multi-byte variable is
+ * reversed, the byte at the highest address is moved to the lowest
+ * address and vice versa, same for the bytes in between.
+ *
+ * Note that the conversion is also its inversion, that is converting
+ * from machine to a specified endianness is the same operation as
+ * converting from specified to machine (I looked it up, mathematicians
+ * would call it an involution):
+ *
+ * X == convertBigEndian(convertBigEndian(X))
+ *
+ * Thus, there is only one function supplied to do the conversion.
+ */
 class EndianConverter {
 private:
 	EndianConverter() {};
 public:
 	/**
-	 * Swap the endianness of a variable with arbitrary type
-	 * @tparam T Type of variable
-	 * @param in variable
-	 * @return Variable with swapped endianness
+	 * Convert a typed variable between big endian and machine endian.
+	 * Intended for plain old datatypes.
 	 */
 	template<typename T>
 	static T convertBigEndian(T in) {
@@ -23,7 +49,7 @@ public:
 		T tmp;
 		uint8_t *pointerOut = (uint8_t*) &tmp;
 		uint8_t *pointerIn = (uint8_t*) &in;
-		for (uint8_t count = 0; count < sizeof(T); count++) {
+		for (size_t count = 0; count < sizeof(T); count++) {
 			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 		}
 		return tmp;
@@ -34,12 +60,16 @@ public:
 #endif
 	}
 
+	/**
+	 * convert a bytestream representing a single variable between big endian
+	 * and machine endian.
+	 */
 	static void convertBigEndian(uint8_t *out, const uint8_t *in,
-			uint32_t size) {
+			size_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-		for (uint8_t count = 0; count < size; count++) {
+		for (size_t count = 0; count < size; count++) {
 			out[size - count - 1] = in[count];
 		}
 		return;
@@ -49,7 +79,10 @@ public:
 #endif
 	}
 
-
+	/**
+	 * Convert a typed variable between little endian and machine endian.
+	 * Intended for plain old datatypes.
+	 */
 	template<typename T>
 	static T convertLittleEndian(T in) {
 #ifndef BYTE_ORDER_SYSTEM
@@ -58,7 +91,7 @@ public:
 			T tmp;
 			uint8_t *pointerOut = (uint8_t *) &tmp;
 			uint8_t *pointerIn = (uint8_t *) &in;
-			for (uint8_t count = 0; count < sizeof(T); count++) {
+			for (size_t count = 0; count < sizeof(T); count++) {
 				pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 			}
 			return tmp;
@@ -68,12 +101,16 @@ public:
 	#error Unknown Byte Order
 	#endif
 	}
+	/**
+	 * convert a bytestream representing a single variable between little endian
+	 * and machine endian.
+	 */
 	static void convertLittleEndian(uint8_t *out, const uint8_t *in,
-			uint32_t size) {
+			size_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 	#error BYTE_ORDER_SYSTEM not defined
 	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			for (uint8_t count = 0; count < size; count++) {
+			for (size_t count = 0; count < size; count++) {
 				out[size - count - 1] = in[count];
 			}
 			return;

From 1a177d2efa05f62c86fe33352cf3608d1b96340b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 00:28:06 +0200
Subject: [PATCH 219/307] integrated pool raw access serialize changes

---
 datapoolglob/PoolRawAccess.cpp | 84 +++++++++++++---------------------
 datapoolglob/PoolRawAccess.h   |  6 +--
 2 files changed, 34 insertions(+), 56 deletions(-)

diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp
index bec54ab3..cd4138d3 100644
--- a/datapoolglob/PoolRawAccess.cpp
+++ b/datapoolglob/PoolRawAccess.cpp
@@ -1,7 +1,7 @@
 #include <framework/datapoolglob/GlobalDataPool.h>
 #include <framework/datapoolglob/PoolRawAccess.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/Endiness.h>
+#include <framework/serialize/EndianConverter.h>
 
 #include <cstring>
 
@@ -130,15 +130,7 @@ ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
 		return DATA_POOL_ACCESS_FAILED;
 	if (typeSize > max_size)
 		return INCORRECT_SIZE;
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	for (uint8_t count = 0; count < typeSize; count++) {
-		buffer[count] = data_ptr[typeSize - count - 1];
-	}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, data_ptr, typeSize);
-#endif
+	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
 	*writtenBytes = typeSize;
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -146,21 +138,18 @@ ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
 
 ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
         size_t maxSize, Endianness streamEndianness) const {
-    //TODO integer overflow
     if (typeSize + *size <= maxSize) {
-#warning use endian swapper
-        if (1) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-            for (uint8_t count = 0; count < typeSize; count++) {
-                (*buffer)[count] = value[typeSize - count - 1];
-            }
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-            memcpy(*buffer, value, typeSize);
-#endif
-        } else {
+    	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;
@@ -175,11 +164,11 @@ Type PoolRawAccess::getType() {
 	return type;
 }
 
-uint8_t PoolRawAccess::getSizeOfType() {
+size_t PoolRawAccess::getSizeOfType() {
 	return typeSize;
 }
 
-uint8_t PoolRawAccess::getArraySize(){
+size_t PoolRawAccess::getArraySize(){
 	return arraySize;
 }
 
@@ -191,22 +180,14 @@ PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
 	return readWriteMode;
 }
 
-ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t* buffer,
-		uint32_t setSize) {
+ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
+		size_t setSize) {
 	if (typeSize == setSize) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-		for (uint8_t count = 0; count < typeSize; count++) {
-			value[count] = buffer[typeSize - count - 1];
-		}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-		memcpy(value, buffer, typeSize);
-#endif
+		EndianConverter::convertBigEndian(value, buffer, typeSize);
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
-				<< (uint32_t) typeSize << ", Requested: " << setSize
+		sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: "
+				"Internal" << (uint32_t) typeSize << ", Requested: " << setSize
 				<< std::endl;
 		return INCORRECT_SIZE;
 	}
@@ -232,27 +213,24 @@ size_t PoolRawAccess::getSerializedSize() const {
 	return typeSize;
 }
 
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, size_t* size,
+ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
         Endianness streamEndianness) {
 
     if (*size >= typeSize) {
-        *size -= typeSize;
-        if (1) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-            for (uint8_t count = 0; count < typeSize; count++) {
-                value[count] = (*buffer)[typeSize - count - 1];
-            }
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-            memcpy(value, *buffer, typeSize);
-#endif
-        } else {
+        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;
     }
 }
diff --git a/datapoolglob/PoolRawAccess.h b/datapoolglob/PoolRawAccess.h
index ea07356e..2ef1d653 100644
--- a/datapoolglob/PoolRawAccess.h
+++ b/datapoolglob/PoolRawAccess.h
@@ -85,7 +85,7 @@ public:
 	 * 			- @c RETURN_FAILED on failure
 	 */
 	ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
-			uint32_t setSize);
+			size_t setSize);
 	/**
 	 *  @brief This operation returns the type of the entry currently stored.
 	 */
@@ -93,12 +93,12 @@ public:
 	/**
 	 *  @brief This operation returns the size of the entry currently stored.
 	 */
-	uint8_t getSizeOfType();
+	size_t getSizeOfType();
 	/**
 	 *
 	 * @return the size of the datapool array
 	 */
-	uint8_t getArraySize();
+	size_t getArraySize();
 	/**
 	 * @brief	This operation returns the data pool id of the variable.
 	 */

From b86e5664c470bf1b1c9615abb8557d51d3f86eb8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 00:33:03 +0200
Subject: [PATCH 220/307] include which was missing, pool raw access size_t
 replacements

---
 datapoolglob/PoolRawAccess.cpp | 5 ++++-
 datapoolglob/PoolRawAccess.h   | 8 ++++----
 serialize/SerializeAdapter.h   | 1 +
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp
index cd4138d3..4355cd0f 100644
--- a/datapoolglob/PoolRawAccess.cpp
+++ b/datapoolglob/PoolRawAccess.cpp
@@ -204,7 +204,7 @@ void PoolRawAccess::setValid(bool valid) {
 	this->valid = valid;
 }
 
-uint16_t PoolRawAccess::getSizeTillEnd() const {
+size_t PoolRawAccess::getSizeTillEnd() const {
 	return sizeTillEnd;
 }
 
@@ -233,4 +233,7 @@ ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
         *buffer += typeSize;
         return HasReturnvaluesIF::RETURN_OK;
     }
+    else {
+    	return SerializeIF::STREAM_TOO_SHORT;
+    }
 }
diff --git a/datapoolglob/PoolRawAccess.h b/datapoolglob/PoolRawAccess.h
index 2ef1d653..f58efdd0 100644
--- a/datapoolglob/PoolRawAccess.h
+++ b/datapoolglob/PoolRawAccess.h
@@ -133,7 +133,7 @@ public:
 	/**
 	 * Getter for the remaining size.
 	 */
-	uint16_t getSizeTillEnd() const;
+	size_t getSizeTillEnd() const;
 
 	/**
 	 * @brief	This is a call to read the value from the global data pool.
@@ -202,15 +202,15 @@ private:
 	/**
 	 * @brief	This value contains the size of the data pool entry type in bytes.
 	 */
-	uint8_t typeSize;
+	size_t typeSize;
 	/**
 	 * The size of the DP array (single values return 1)
 	 */
-	uint8_t arraySize;
+	size_t arraySize;
 	/**
 	 * The size (in bytes) from the selected entry till the end of this DataPool variable.
 	 */
-	uint16_t sizeTillEnd;
+	size_t sizeTillEnd;
 	/**
 	 * @brief	The information whether the class is read-write or read-only is stored here.
 	 */
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index bb364eae..4534ffb8 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -1,6 +1,7 @@
 #ifndef SERIALIZEADAPTER_H_
 #define SERIALIZEADAPTER_H_
 
+#include <framework/container/IsDerivedFrom.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/serialize/EndianConverter.h>
 #include <framework/serialize/SerializeIF.h>

From 9dcf0c711854aff22789f0bdcb5375bde51e74bd Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 15:50:29 +0200
Subject: [PATCH 221/307] size_t for DataPoolAdmin

---
 datapoolglob/DataPoolAdmin.cpp | 8 ++++----
 datapoolglob/DataPoolAdmin.h   | 6 +++---
 datapoolglob/PoolRawAccess.cpp | 2 +-
 datapoolglob/PoolRawAccess.h   | 4 ++--
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/datapoolglob/DataPoolAdmin.cpp b/datapoolglob/DataPoolAdmin.cpp
index edbac6eb..4d0e5530 100644
--- a/datapoolglob/DataPoolAdmin.cpp
+++ b/datapoolglob/DataPoolAdmin.cpp
@@ -26,7 +26,7 @@ MessageQueueId_t DataPoolAdmin::getCommandQueue() const {
 }
 
 ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
 	if (actionId != SET_VALIDITY) {
 		return INVALID_ACTION_ID;
 	}
@@ -91,7 +91,7 @@ void DataPoolAdmin::handleCommand() {
 }
 
 ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
-		const uint8_t* data, uint32_t size, uint8_t** dataPointer) {
+		const uint8_t* data, size_t size, uint8_t** dataPointer) {
 	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
 	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
 	GlobDataSet testSet;
@@ -129,7 +129,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 	return ACTIVITY_COMPLETED;
 }
 
-ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, uint32_t size,
+ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
 		uint8_t** dataPointer, uint8_t* copyHere) {
 	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
 	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
@@ -151,7 +151,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, uint32_t size,
 				PoolVariableIF::VAR_READ);
 		status = rawSet.read();
 		if (status == RETURN_OK) {
-			uint32_t temp = 0;
+			size_t temp = 0;
 			status = variable.getEntryEndianSafe(ptrToCopy, &temp, size);
 			if (status != RETURN_OK) {
 				return RETURN_FAILED;
diff --git a/datapoolglob/DataPoolAdmin.h b/datapoolglob/DataPoolAdmin.h
index 5f995893..653fdd8e 100644
--- a/datapoolglob/DataPoolAdmin.h
+++ b/datapoolglob/DataPoolAdmin.h
@@ -30,12 +30,12 @@ public:
 	MessageQueueId_t getCommandQueue() const;
 
 	ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
-			uint32_t size, uint8_t** dataPointer);
-	ReturnValue_t handleMemoryDump(uint32_t address, uint32_t size,
+			size_t size, uint8_t** dataPointer);
+	ReturnValue_t handleMemoryDump(uint32_t address, size_t size,
 			uint8_t** dataPointer, uint8_t* copyHere);
 
 	ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size);
+			MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
 
 	//not implemented as ParameterHelper is no used
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp
index 4355cd0f..783418cc 100644
--- a/datapoolglob/PoolRawAccess.cpp
+++ b/datapoolglob/PoolRawAccess.cpp
@@ -121,7 +121,7 @@ uint8_t* PoolRawAccess::getEntry() {
 }
 
 ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
-		uint32_t* writtenBytes, uint32_t max_size) {
+		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 <<
diff --git a/datapoolglob/PoolRawAccess.h b/datapoolglob/PoolRawAccess.h
index f58efdd0..22dc312d 100644
--- a/datapoolglob/PoolRawAccess.h
+++ b/datapoolglob/PoolRawAccess.h
@@ -57,8 +57,8 @@ public:
 	 * @return	- @c RETURN_OK if entry could be acquired
 	 * 			- @c RETURN_FAILED else.
 	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t* buffer, uint32_t* size,
-			uint32_t max_size);
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
+			size_t maxSize);
 
 	/**
 	 * @brief 	Serialize raw pool entry into provided buffer directly

From fcf3f04377910154f4a8302481b5f0cbec5273fe Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 01:25:49 +0200
Subject: [PATCH 222/307] diag output for inits improved

---
 devicehandlers/DeviceHandlerBase.cpp | 8 ++++++--
 fdir/FailureIsolationBase.cpp        | 6 ++++--
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 867bf415..fcb61ace 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -128,8 +128,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
 				AcceptsDeviceResponsesIF>(rawDataReceiverId);
 
-		if (rawReceiver == NULL) {
-			return RETURN_FAILED;
+		if (rawReceiver == nullptr) {
+			sif::error << "DeviceHandlerBase::initialize: Raw receiver object "
+					"ID set but no valid object found." << std::endl;
+			sif::error << "Make sure the raw receiver object is set up properly"
+					" and implements AcceptsDeviceResponsesIF" << std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 		defaultRawReceiver = rawReceiver->getDeviceQueue();
 	}
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index 018fbe6a..a2fc9ea1 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -35,8 +35,10 @@ ReturnValue_t FailureIsolationBase::initialize() {
 			return result;
 		}
 		owner = objectManager->get<HasHealthIF>(ownerId);
-		if (owner == NULL) {
-			return RETURN_FAILED;
+		if (owner == nullptr) {
+			sif::error << "FailureIsolationBase::intialize: Owner object "
+					"invalid. Make sure it implements HasHealthIF" << std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 	}
 	if (faultTreeParent != 0) {

From 9e2fa165506192b18ca2ea4fa2540c7918c9e480 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 15:31:02 +0200
Subject: [PATCH 223/307] mq stack error improved

---
 osal/linux/MessageQueue.cpp      |  2 +-
 osal/linux/PosixThread.cpp       |  6 ++++--
 osal/linux/TmTcUnixUdpBridge.cpp | 21 ++++++++++++++++++---
 osal/linux/TmTcUnixUdpBridge.h   |  2 ++
 4 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 3d5d7a5a..ce1da17c 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -47,7 +47,7 @@ MessageQueue::~MessageQueue() {
 	status = mq_unlink(name);
 	if(status != 0){
 		sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
-				   << strerror(errno) <<std::endl;
+				   << strerror(errno) << std::endl;
 	}
 }
 
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index bc3e62ed..d84c8d9d 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -149,8 +149,10 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 
 	status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
 	if(status != 0){
-		sif::error << "Posix Thread attribute setStack failed with: " <<
-				strerror(status) << std::endl;
+		sif::error << "PosixThread::createTask: pthread_attr_setstack "
+				" failed with: " << strerror(status) <<  std::endl;
+		sif::error << "Make sure the specified stack size is valid and is "
+				"larger than the minimum allowed stack size." << std::endl;
 	}
 
 	status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 045e475a..3beef3d4 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -1,5 +1,6 @@
 #include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <errno.h>
 
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		object_id_t ccsdsPacketDistributor, uint16_t serverPort,
@@ -20,6 +21,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
 				" UDP socket!" << std::endl;
 		// check errno here.
+		handleSocketError();
 		return;
 	}
 
@@ -39,9 +41,6 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		// check errno here.
 		return;
 	}
-
-
-
 }
 
 TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
@@ -58,3 +57,19 @@ ReturnValue_t TmTcUnixUdpBridge::receiveTc(uint8_t **recvBuffer, size_t *size) {
 ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
+
+void TmTcUnixUdpBridge::handleSocketError() {
+	// See: https://man7.org/linux/man-pages/man2/socket.2.html
+	switch(errno) {
+	case(EACCES):
+	case(EINVAL):
+	case(EMFILE):
+	case(ENFILE):
+	case(EAFNOSUPPORT):
+	case(ENOBUFS):
+	case(ENOMEM):
+	case(EPROTONOSUPPORT):
+		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Socket creation failed"
+				<< " with " << strerror(errno) << std::endl;
+	}
+}
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index ab2e2d67..ccab1b1f 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -25,6 +25,8 @@ private:
 	const int serverSocketOptions = 0;
 	struct sockaddr_in clientAddress;
 	struct sockaddr_in serverAddress;
+
+	void handleSocketError();
 };
 
 

From 26ab1983dcad5ae88addd3aa9b947db9ee6edfc6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 18:22:39 +0200
Subject: [PATCH 224/307] new ports

---
 osal/linux/TmTcUnixUdpBridge.cpp | 43 ++++++++++++++++++++++++++++++++
 osal/linux/TmTcUnixUdpBridge.h   |  7 ++++--
 2 files changed, 48 insertions(+), 2 deletions(-)

diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 3beef3d4..60f4214e 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -39,6 +39,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 				"local port " << setServerPort << " to server socket!"
 				<< std::endl;
 		// check errno here.
+		handleBindError();
 		return;
 	}
 }
@@ -59,6 +60,7 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 }
 
 void TmTcUnixUdpBridge::handleSocketError() {
+
 	// See: https://man7.org/linux/man-pages/man2/socket.2.html
 	switch(errno) {
 	case(EACCES):
@@ -71,5 +73,46 @@ void TmTcUnixUdpBridge::handleSocketError() {
 	case(EPROTONOSUPPORT):
 		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Socket creation failed"
 				<< " with " << strerror(errno) << std::endl;
+		break;
+	default:
+		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
+				<< std::endl;
+		break;
 	}
 }
+
+void TmTcUnixUdpBridge::handleBindError() {
+	// See: https://man7.org/linux/man-pages/man2/bind.2.html
+	switch(errno) {
+	case(EACCES):
+		/*
+		 Ephermeral ports can be shown with following command:
+		 sysctl -A | grep ip_local_port_range
+		 */
+		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Port access issue."
+				"Ports 1-1024 are reserved on UNIX systems and require root "
+				"rights while ephermeral ports should not be used as well."
+				<< std::endl;
+		break;
+	case(EADDRINUSE):
+	case(EBADF):
+	case(EINVAL):
+	case(ENOTSOCK):
+	case(EADDRNOTAVAIL):
+	case(EFAULT):
+	case(ELOOP):
+	case(ENAMETOOLONG):
+	case(ENOENT):
+	case(ENOMEM):
+	case(ENOTDIR):
+	case(EROFS):
+		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Socket creation failed"
+					<< " with " << strerror(errno) << std::endl;
+		break;
+	default:
+		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
+						<< std::endl;
+		break;
+	}
+
+}
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index ccab1b1f..7c55ea82 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -8,8 +8,10 @@
 
 class TmTcUnixUdpBridge: public TmTcBridge {
 public:
-	static constexpr int DEFAULT_UDP_SERVER_PORT = 7;
-	static constexpr int DEFAULT_UDP_CLIENT_PORT = 2008;
+	// The ports chosen here should not be used by any other process.
+	// List of used ports on Linux: /etc/services
+	static constexpr int DEFAULT_UDP_SERVER_PORT = 7301;
+	static constexpr int DEFAULT_UDP_CLIENT_PORT = 7302;
 
 	TmTcUnixUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
 			 uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
@@ -27,6 +29,7 @@ private:
 	struct sockaddr_in serverAddress;
 
 	void handleSocketError();
+	void handleBindError();
 };
 
 

From 724fee09ff30d8c1e435870a93cd4800e6ac0c86 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 18:58:16 +0200
Subject: [PATCH 225/307] new task for tc unix polling

---
 osal/linux/TcUnixUdpPollingTask.cpp |  8 ++++++++
 osal/linux/TcUnixUdpPollingTask.h   | 28 ++++++++++++++++++++++++++++
 osal/linux/TmTcUnixUdpBridge.cpp    | 23 ++++++++++++++---------
 osal/linux/TmTcUnixUdpBridge.h      |  1 -
 4 files changed, 50 insertions(+), 10 deletions(-)
 create mode 100644 osal/linux/TcUnixUdpPollingTask.cpp
 create mode 100644 osal/linux/TcUnixUdpPollingTask.h

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
new file mode 100644
index 00000000..0703904c
--- /dev/null
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -0,0 +1,8 @@
+#include <framework/osal/linux/TcSocketPollingTask.h>
+
+TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
+		object_id_t tmtcUnixUdpBridge): SystemObject(objectId) {
+}
+
+TcSocketPollingTask::~TcSocketPollingTask() {
+}
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
new file mode 100644
index 00000000..ffed08a7
--- /dev/null
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -0,0 +1,28 @@
+#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
+#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+
+/**
+ * @brief 	This class can be used to implement the polling of a Unix socket,
+ * 			using UDP for now.
+ * @details
+ * The task will be blocked while the specified number of bytes has not been
+ * received, so TC reception is handled inside a separate task.
+ * This class caches the IP address of the sender. It is assumed there
+ * is only one sender for now.
+ */
+class TcSocketPollingTask: public SystemObject,
+		public ExecutableObjectIF {
+public:
+	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge);
+	virtual~ TcSocketPollingTask();
+
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual ReturnValue_t initialize() override;
+private:
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 60f4214e..ff8b6588 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -47,15 +47,15 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
 }
 
-ReturnValue_t TmTcUnixUdpBridge::handleTc() {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t TmTcUnixUdpBridge::receiveTc(uint8_t **recvBuffer, size_t *size) {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
 ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
+	int flags = 0;
+	ssize_t result = send(serverSocket, data, dataLen, flags);
+	if(result < 0) {
+		//handle error
+		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed "
+				"with error " << strerror(errno) << std::endl;
+	}
+
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -114,5 +114,10 @@ void TmTcUnixUdpBridge::handleBindError() {
 						<< std::endl;
 		break;
 	}
-
+}
+
+
+ReturnValue_t TmTcUnixUdpBridge::receiveTc(uint8_t **recvBuffer, size_t *size) {
+	// TC reception handled by separate polling task because it is blocking.
+	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index 7c55ea82..a969083d 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -18,7 +18,6 @@ public:
 	virtual~ TmTcUnixUdpBridge();
 
 protected:
-	virtual ReturnValue_t handleTc() override;
 	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer,
 			size_t * size) override;
 	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;

From 327b1e9d2f242c49c331533a6d8c34407bf0060f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 19:11:21 +0200
Subject: [PATCH 226/307] file renamed

---
 osal/linux/TcUnixUdpPollingTask.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 0703904c..c470d96f 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -1,4 +1,4 @@
-#include <framework/osal/linux/TcSocketPollingTask.h>
+#include <framework/osal/linux/TcUnixUdpPollingTask.h>
 
 TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
 		object_id_t tmtcUnixUdpBridge): SystemObject(objectId) {

From 2395e487aee6c5cc6701a4e0a50de2ea676e4f0c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 20:42:05 +0200
Subject: [PATCH 227/307] udp polling taks init

---
 osal/linux/TcUnixUdpPollingTask.cpp | 8 ++++++++
 osal/linux/TcUnixUdpPollingTask.h   | 4 ++++
 2 files changed, 12 insertions(+)

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index c470d96f..21ad1d9a 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -6,3 +6,11 @@ TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
 
 TcSocketPollingTask::~TcSocketPollingTask() {
 }
+
+ReturnValue_t TcSocketPollingTask::performOperation(uint8_t opCode) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TcSocketPollingTask::initialize() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
index ffed08a7..eda7fe5d 100644
--- a/osal/linux/TcUnixUdpPollingTask.h
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -2,6 +2,7 @@
 #define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/tasks/ExecutableObjectIF.h>
+#include <sys/socket.h>
 
 /**
  * @brief 	This class can be used to implement the polling of a Unix socket,
@@ -14,6 +15,7 @@
  */
 class TcSocketPollingTask: public SystemObject,
 		public ExecutableObjectIF {
+	friend class TmTcUnixUdpBridge;
 public:
 	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge);
 	virtual~ TcSocketPollingTask();
@@ -21,6 +23,8 @@ public:
 	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 	virtual ReturnValue_t initialize() override;
 private:
+	//! Sender Address is cached here.
+	const struct sockaddr senderAddress;
 };
 
 

From ebec074655d40dd60c4553c8b94ce3018d6f7358 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 5 Jul 2020 23:53:13 +0200
Subject: [PATCH 228/307] Split up FIFO into StaticFIFO and normale FIFO

---
 container/FIFO.h                      | 88 +++++----------------------
 container/FIFOBase.h                  | 59 ++++++++++++++++++
 container/FIFOBase.tpp                | 76 +++++++++++++++++++++++
 container/StaticFIFO.h                | 23 +++++++
 globalfunctions/timevalOperations.cpp |  7 +++
 globalfunctions/timevalOperations.h   |  1 +
 osal/linux/TcUnixUdpPollingTask.cpp   | 66 +++++++++++++++++++-
 osal/linux/TcUnixUdpPollingTask.h     | 30 +++++++--
 osal/linux/TmTcUnixUdpBridge.cpp      | 19 +++++-
 osal/linux/TmTcUnixUdpBridge.h        | 16 ++++-
 tmtcservices/CommandingServiceBase.h  |  4 +-
 tmtcservices/TmTcBridge.h             |  4 +-
 12 files changed, 309 insertions(+), 84 deletions(-)
 create mode 100644 container/FIFOBase.h
 create mode 100644 container/FIFOBase.tpp
 create mode 100644 container/StaticFIFO.h

diff --git a/container/FIFO.h b/container/FIFO.h
index f70c78b0..217ddbca 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -1,82 +1,26 @@
-#ifndef FIFO_H_
-#define FIFO_H_
+#ifndef FRAMEWORK_CONTAINER_FIFO_H_
+#define FRAMEWORK_CONTAINER_FIFO_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/container/FIFOBase.h>
+#include <vector>
 
 /**
- * @brief Simple First-In-First-Out data structure
+ * @brief 	Simple First-In-First-Out data structure. The maximum size
+ * 			can be set in the constructor. THe public interface of
+ * 			FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */
-template<typename T, uint8_t capacity>
-class FIFO {
-private:
-	uint8_t readIndex, writeIndex, currentSize;
-	T data[capacity];
-
-	uint8_t next(uint8_t current) {
-		++current;
-		if (current == capacity) {
-			current = 0;
-		}
-		return current;
-	}
+template<typename T>
+class FIFO: public FIFOBase<T> {
 public:
-	FIFO() :
-			readIndex(0), writeIndex(0), currentSize(0) {
-	}
+	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity) {
+		values.reserve(maxCapacity);
+		values.resize(maxCapacity);
+	};
 
-	bool empty() {
-		return (currentSize == 0);
-	}
-
-	bool full() {
-		return (currentSize == capacity);
-	}
-
-	uint8_t size(){
-		return currentSize;
-	}
-
-	ReturnValue_t insert(T value) {
-		if (full()) {
-			return FULL;
-		} else {
-			data[writeIndex] = value;
-			writeIndex = next(writeIndex);
-			++currentSize;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-
-	ReturnValue_t retrieve(T *value) {
-		if (empty()) {
-			return EMPTY;
-		} else {
-			*value = data[readIndex];
-			readIndex = next(readIndex);
-			--currentSize;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-
-	ReturnValue_t peek(T * value) {
-	    if(empty()) {
-	        return EMPTY;
-	    } else {
-	       *value = data[readIndex];
-	       return HasReturnvaluesIF::RETURN_OK;
-	    }
-	}
-
-	ReturnValue_t pop() {
-		T value;
-		return this->retrieve(&value);
-	}
-
-	static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
-	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
-	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
+private:
+	std::vector<T> values;
 };
 
-#endif /* FIFO_H_ */
+#endif /* FRAMEWORK_CONTAINER_FIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
new file mode 100644
index 00000000..c6a74d2f
--- /dev/null
+++ b/container/FIFOBase.h
@@ -0,0 +1,59 @@
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#define FRAMEWORK_CONTAINER_FIFOBASE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+
+template <typename T>
+class FIFOBase {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
+	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
+	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
+
+
+	/** Default ctor, no input arguments required. */
+	FIFOBase(T* values, const size_t maxCapacity);
+
+	/**
+	 * Insert value into FIFO
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t insert(T value);
+	/**
+	 * Retrieve item from FIFO. This removes the item from the FIFO.
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t retrieve(T *value);
+	/**
+	 * Retrieve item from FIFO without removing it from FIFO.
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t peek(T * value);
+	/**
+	 * Remove item from FIFO.
+	 * @return
+	 */
+	ReturnValue_t pop();
+
+	bool empty();
+	bool full();
+	size_t size();
+
+private:
+	T* values;
+	size_t maxCapacity;
+
+	size_t readIndex = 0;
+	size_t writeIndex = 0;
+	size_t currentSize = 0;
+
+	size_t next(size_t current);
+};
+
+#include <framework/container/FIFOBase.tpp>
+
+#endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
new file mode 100644
index 00000000..011ce6de
--- /dev/null
+++ b/container/FIFOBase.tpp
@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+#define FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#error Include FIFOBase.h before FIFOBase.tpp!
+#endif
+
+template<typename T>
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+		values(values), maxCapacity(maxCapacity) {};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::insert(T value) {
+	if (full()) {
+		return FULL;
+	} else {
+		values[writeIndex] = value;
+		writeIndex = next(writeIndex);
+		++currentSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
+	if (empty()) {
+		return EMPTY;
+	} else {
+		*value = values[readIndex];
+		readIndex = next(readIndex);
+		--currentSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::peek(T* value) {
+	if(empty()) {
+		return EMPTY;
+	} else {
+		*value = values[readIndex];
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::pop() {
+	T value;
+	return this->retrieve(&value);
+};
+
+template<typename T>
+inline bool FIFOBase<T>::empty() {
+	return (currentSize == 0);
+};
+
+template<typename T>
+inline bool FIFOBase<T>::full() {
+	return (currentSize == maxCapacity);
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::size() {
+	return currentSize;
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::next(size_t current) {
+	++current;
+	if (current == maxCapacity) {
+		current = 0;
+	}
+	return current;
+}
+
+#endif
diff --git a/container/StaticFIFO.h b/container/StaticFIFO.h
new file mode 100644
index 00000000..651c4989
--- /dev/null
+++ b/container/StaticFIFO.h
@@ -0,0 +1,23 @@
+#ifndef FRAMEWORK_CONTAINER_STATICFIFO_H_
+#define FRAMEWORK_CONTAINER_STATICFIFO_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/container/FIFOBase.h>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure with size fixed at
+ * 			compile time. The public interface of FIFOBase exposes
+ * 			the user interface for the FIFO.
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
+template<typename T, size_t capacity>
+class StaticFIFO: public FIFOBase<T> {
+public:
+	StaticFIFO(): FIFOBase<T>(values.data(), capacity) {};
+
+private:
+	std::array<T, capacity> values;
+};
+
+#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
diff --git a/globalfunctions/timevalOperations.cpp b/globalfunctions/timevalOperations.cpp
index 253b6eb7..1da45d7b 100644
--- a/globalfunctions/timevalOperations.cpp
+++ b/globalfunctions/timevalOperations.cpp
@@ -90,3 +90,10 @@ double timevalOperations::toDouble(const timeval timeval) {
 	double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
 	return result / 1000000.;
 }
+
+timeval timevalOperations::toTimeval(const double seconds) {
+	timeval tval;
+	tval.tv_sec = seconds;
+	tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
+	return tval;
+}
diff --git a/globalfunctions/timevalOperations.h b/globalfunctions/timevalOperations.h
index a553e60a..3977d5d9 100644
--- a/globalfunctions/timevalOperations.h
+++ b/globalfunctions/timevalOperations.h
@@ -41,6 +41,7 @@ namespace timevalOperations {
  * @return seconds
  */
 double toDouble(const timeval timeval);
+timeval toTimeval(const double seconds);
 }
 
 #endif /* TIMEVALOPERATIONS_H_ */
diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 21ad1d9a..79dbdce2 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -1,16 +1,80 @@
 #include <framework/osal/linux/TcUnixUdpPollingTask.h>
 
 TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
-		object_id_t tmtcUnixUdpBridge): SystemObject(objectId) {
+		object_id_t tmtcUnixUdpBridge, size_t frameSize,
+		double timeoutSeconds): SystemObject(objectId),
+		tmtcBridgeId(tmtcUnixUdpBridge) {
+
+	if(frameSize > 0) {
+		this->frameSize = frameSize;
+	}
+	else {
+		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
+	}
+
+	// Set up reception buffer with specified frame size.
+	// For now, it is assumed that only one frame is held in the buffer!
+	receptionBuffer.reserve(this->frameSize);
+	receptionBuffer.resize(this->frameSize);
+
+	if(timeoutSeconds == -1) {
+		receptionTimeout = DEFAULT_TIMEOUT;
+	}
+	else {
+		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
+	}
+
+	// Set receive timeout.
+	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+			&receptionTimeout, sizeof(receptionTimeout));
+	if(result == -1) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting receive"
+				"timeout failed with " << strerror(errno) << std::endl;
+		return;
+	}
 }
 
 TcSocketPollingTask::~TcSocketPollingTask() {
 }
 
 ReturnValue_t TcSocketPollingTask::performOperation(uint8_t opCode) {
+	// Poll for new data permanently. The call will block until the specified
+	// length of bytes has been received or a timeout occured.
+	while(1) {
+		//! Sender Address is cached here.
+		struct sockaddr_in senderAddress;
+		socklen_t senderSockLen = 0;
+		ssize_t bytesReceived = recvfrom(serverUdpSocket,
+				receptionBuffer.data(), frameSize, receptionFlags,
+				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
+		if(bytesReceived < 0) {
+			//handle error
+			sif::error << "TcSocketPollingTask::performOperation: recvfrom "
+					"failed with " << strerror(errno) << std::endl;
+			continue;
+		}
+		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+				<< " bytes received" << std::endl;
+
+		ReturnValue_t result = handleSuccessfullTcRead();
+		tmtcBridge->checkAndSetClientAddress(senderAddress);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcSocketPollingTask::initialize() {
+	tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
+	if(tmtcBridge == nullptr) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
+				" TMTC bridge object!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	serverUdpSocket = tmtcBridge->serverSocket;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TcSocketPollingTask::handleSuccessfullTcRead() {
+
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
index eda7fe5d..09ee6c99 100644
--- a/osal/linux/TcUnixUdpPollingTask.h
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -1,8 +1,11 @@
 #ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #include <framework/objectmanager/SystemObject.h>
+#include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/tasks/ExecutableObjectIF.h>
+
 #include <sys/socket.h>
+#include <vector>
 
 /**
  * @brief 	This class can be used to implement the polling of a Unix socket,
@@ -17,15 +20,34 @@ class TcSocketPollingTask: public SystemObject,
 		public ExecutableObjectIF {
 	friend class TmTcUnixUdpBridge;
 public:
-	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge);
+	static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
+	//! 0.5  default milliseconds timeout for now.
+	static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
+
+	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+			size_t frameSize = 0, double timeoutSeconds = -1);
 	virtual~ TcSocketPollingTask();
 
 	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 	virtual ReturnValue_t initialize() override;
+
 private:
-	//! Sender Address is cached here.
-	const struct sockaddr senderAddress;
-};
+	//! TMTC bridge is cached.
+	object_id_t tmtcBridgeId = objects::NO_OBJECT;
+	TmTcUnixUdpBridge* tmtcBridge = nullptr;
+	//! Reception flags: https://linux.die.net/man/2/recvfrom.
+	int receptionFlags = 0;
+
+	//! Server socket, which is member of TMTC bridge and is assigned in
+	//! constructor
+	int serverUdpSocket = 0;
+
+	std::vector<uint8_t> receptionBuffer;
+
+	size_t frameSize = 0;
+	timeval receptionTimeout;
+
+	ReturnValue_t handleSuccessfullTcRead();
 
 
 
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index ff8b6588..710761b4 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -1,11 +1,14 @@
 #include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <errno.h>
+#include <framework/ipc/MutexHelper.h>
 
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		object_id_t ccsdsPacketDistributor, uint16_t serverPort,
 		uint16_t clientPort):
 		TmTcBridge(objectId, ccsdsPacketDistributor) {
+	mutex = MutexFactory::instance()->createMutex();
+
 	uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
 	if(serverPort != 0xFFFF) {
 		setServerPort = serverPort;
@@ -16,6 +19,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		setClientPort = clientPort;
 	}
 
+	// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
 	serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
 	if(socket < 0) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
@@ -26,14 +30,16 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 	}
 
 	serverAddress.sin_family = AF_INET;
+	// Accept packets from any interface.
 	serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
 	serverAddress.sin_port = htons(setServerPort);
 	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
 			sizeof(serverSocketOptions));
 
+	serverSocketLen = sizeof(serverAddress);
 	int result = bind(serverSocket,
 			reinterpret_cast<struct sockaddr*>(&serverAddress),
-			sizeof(serverAddress));
+			serverSocketLen);
 	if(result == -1) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
 				"local port " << setServerPort << " to server socket!"
@@ -81,6 +87,17 @@ void TmTcUnixUdpBridge::handleSocketError() {
 	}
 }
 
+void TmTcUnixUdpBridge::setTimeout(float timeoutSeconds) {
+}
+
+void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+	MutexHelper lock(mutex, 10);
+	// Set new IP address if it has changed.
+	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
+	}
+}
+
 void TmTcUnixUdpBridge::handleBindError() {
 	// See: https://man7.org/linux/man-pages/man2/bind.2.html
 	switch(errno) {
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index a969083d..15d256cd 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -7,16 +7,20 @@
 #include <netinet/udp.h>
 
 class TmTcUnixUdpBridge: public TmTcBridge {
+	friend class TcSocketPollingTask;
 public:
 	// The ports chosen here should not be used by any other process.
 	// List of used ports on Linux: /etc/services
-	static constexpr int DEFAULT_UDP_SERVER_PORT = 7301;
-	static constexpr int DEFAULT_UDP_CLIENT_PORT = 7302;
+	static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
+	static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
 
 	TmTcUnixUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
 			 uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();
 
+	void setTimeout(float timeoutSeconds);
+	void checkAndSetClientAddress(sockaddr_in clientAddress);
+
 protected:
 	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer,
 			size_t * size) override;
@@ -24,8 +28,16 @@ protected:
 private:
 	int serverSocket = 0;
 	const int serverSocketOptions = 0;
+
 	struct sockaddr_in clientAddress;
+	socklen_t clientSocketLen = 0;
+
 	struct sockaddr_in serverAddress;
+	socklen_t serverSocketLen = 0;
+
+	//! Access to the client address is mutex protected as it is set
+	//! by another task.
+	MutexIF* mutex;
 
 	void handleSocketError();
 	void handleBindError();
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 700503c6..169eebe1 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -10,7 +10,7 @@
 #include <framework/tmtcservices/VerificationReporter.h>
 #include <framework/ipc/CommandMessage.h>
 #include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
+#include <framework/container/StaticFIFO.h>
 #include <framework/serialize/SerializeIF.h>
 
 class TcPacketStored;
@@ -199,7 +199,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		FIFO<store_address_t, 3> fifo;
+		StaticFIFO<store_address_t, 3> fifo;
 	};
 
 	using CommandMapIter = FixedMap<MessageQueueId_t,
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index b50e9e1b..a24aa805 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -8,7 +8,7 @@
 #include <framework/objectmanager/SystemObject.h>
 
 #include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/container/FIFO.h>
+#include <framework/container/StaticFIFO.h>
 
 class TmTcBridge : public AcceptsTelemetryIF,
 		public ExecutableObjectIF,
@@ -143,7 +143,7 @@ protected:
 	 * This fifo can be used to store downlink data
 	 * which can not be sent at the moment.
 	 */
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+	StaticFIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
     uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
     uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };

From 2158208a2fbbd98c1fa5ced154866803f80d04f1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 00:33:55 +0200
Subject: [PATCH 229/307] new pus parser

---
 osal/linux/TcUnixUdpPollingTask.cpp |  1 -
 osal/linux/TcUnixUdpPollingTask.h   |  2 +-
 tmtcservices/PusParser.cpp          | 10 ++++++
 tmtcservices/PusParser.h            | 51 +++++++++++++++++++++++++++++
 4 files changed, 62 insertions(+), 2 deletions(-)
 create mode 100644 tmtcservices/PusParser.cpp
 create mode 100644 tmtcservices/PusParser.h

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 79dbdce2..f237a0f2 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -75,6 +75,5 @@ ReturnValue_t TcSocketPollingTask::initialize() {
 }
 
 ReturnValue_t TcSocketPollingTask::handleSuccessfullTcRead() {
-
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
index 09ee6c99..a6b0e9d4 100644
--- a/osal/linux/TcUnixUdpPollingTask.h
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -49,6 +49,6 @@ private:
 
 	ReturnValue_t handleSuccessfullTcRead();
 
-
+};
 
 #endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
diff --git a/tmtcservices/PusParser.cpp b/tmtcservices/PusParser.cpp
new file mode 100644
index 00000000..76934e33
--- /dev/null
+++ b/tmtcservices/PusParser.cpp
@@ -0,0 +1,10 @@
+#include <framework/tmtcservices/PusParser.h>
+
+PusParser::PusParser(uint16_t maxExpectedPusPackets,
+		bool storeSplitPackets): indexSizePairFIFO(maxExpectedPusPackets) {
+}
+
+ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
+		size_t frameSize) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/tmtcservices/PusParser.h b/tmtcservices/PusParser.h
new file mode 100644
index 00000000..8fbf9652
--- /dev/null
+++ b/tmtcservices/PusParser.h
@@ -0,0 +1,51 @@
+#ifndef FRAMEWORK_TMTCSERVICES_PUSPARSER_H_
+#define FRAMEWORK_TMTCSERVICES_PUSPARSER_H_
+
+#include <framework/container/FIFO.h>
+
+#include <utility>
+#include <cstdint>
+
+/**
+ * @brief	This small helper class scans a given buffer for PUS packets.
+ * 			Can be used if PUS packets are serialized in a tightly packed frame.
+ * @details
+ * The parser uses the payload length field of PUS packets to find
+ * the respective PUS packet sizes.
+ *
+ * The parser parses a buffer by taking a pointer and the maximum size to scan.
+ * If PUS packets are found, they are stored in a FIFO which stores pairs
+ * consisting of the index in the buffer and the respective packet sizes.
+ *
+ * If the parser detects split packets (which means that the size of the
+ * next packet is larger than the remaining size to scan), it can either
+ * store that split packet or throw away the packet.
+ */
+class PusParser {
+public:
+	/**
+	 * Parser constructor.
+	 * @param maxExpectedPusPackets
+	 * Maximum expected number of PUS packets. A good estimate is to divide
+	 * the frame size by the minimum size of a PUS packet (12 bytes)
+	 * @param storeSplitPackets
+	 * Specifies whether split packets are also stored inside the FIFO,
+	 * with the size being the remaining frame size.
+	 */
+	PusParser(uint16_t maxExpectedPusPackets, bool storeSplitPackets);
+
+	ReturnValue_t parsePusPackets(const uint8_t* frame, size_t frameSize);
+private:
+	//! The first entry is the index inside the buffer while the second index
+	//! is the size of the PUS packet starting at that index.
+	using indexSizePair = std::pair<size_t, size_t>;
+	//! A FIFO is used to store information about multiple PUS packets
+	//! inside the receive buffer. The maximum number of entries is defined
+	//! by the first constructor argument.
+	FIFO<indexSizePair> indexSizePairFIFO;
+
+	bool storeSplitPackets = false;
+};
+
+
+#endif /* FRAMEWORK_TMTCSERVICES_PUSPARSER_H_ */

From bb5de8f11041014ad9f6c33c98fc6d6e0822afc3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 13:41:07 +0200
Subject: [PATCH 230/307] merged new changes

---
 container/FIFO.h       | 11 +++++++++--
 container/FIFOBase.h   |  8 ++++++--
 container/StaticFIFO.h | 11 +++++++++--
 3 files changed, 24 insertions(+), 6 deletions(-)

diff --git a/container/FIFO.h b/container/FIFO.h
index 217ddbca..7251321f 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -4,10 +4,15 @@
 #include <framework/container/FIFOBase.h>
 #include <vector>
 
+namespace fsfw {
+
 /**
  * @brief 	Simple First-In-First-Out data structure. The maximum size
- * 			can be set in the constructor. THe public interface of
- * 			FIFOBase exposes the user interface for the FIFO.
+ * 			can be set in the constructor.
+ * @details
+ * The maximum capacity can be determined at run-time, so this container
+ * performs dynamic memory allocation!
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */
@@ -23,4 +28,6 @@ private:
 	std::vector<T> values;
 };
 
+}
+
 #endif /* FRAMEWORK_CONTAINER_FIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index c6a74d2f..ac5c6e2c 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -4,6 +4,8 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <cstddef>
 
+namespace fsfw {
+
 template <typename T>
 class FIFOBase {
 public:
@@ -11,8 +13,8 @@ public:
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
 
-
-	/** Default ctor, no input arguments required. */
+	/** Default ctor, takes pointer to first entry of underlying container
+	 *  and maximum capacity */
 	FIFOBase(T* values, const size_t maxCapacity);
 
 	/**
@@ -56,4 +58,6 @@ private:
 
 #include <framework/container/FIFOBase.tpp>
 
+}
+
 #endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */
diff --git a/container/StaticFIFO.h b/container/StaticFIFO.h
index 651c4989..f3128200 100644
--- a/container/StaticFIFO.h
+++ b/container/StaticFIFO.h
@@ -3,11 +3,16 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/container/FIFOBase.h>
+#include <array>
+
+namespace fsfw {
 
 /**
  * @brief 	Simple First-In-First-Out data structure with size fixed at
- * 			compile time. The public interface of FIFOBase exposes
- * 			the user interface for the FIFO.
+ * 			compile time
+ * @details
+ * Performs no dynamic memory allocation.
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */
@@ -20,4 +25,6 @@ private:
 	std::array<T, capacity> values;
 };
 
+}
+
 #endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */

From b61e1df8bcd2177f06cbdb28e7c4352cee75422c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 13:43:41 +0200
Subject: [PATCH 231/307] fifo in namespace now

---
 tmtcservices/CommandingServiceBase.h | 2 +-
 tmtcservices/PusParser.h             | 2 +-
 tmtcservices/TmTcBridge.h            | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 169eebe1..72fe13f2 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -199,7 +199,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		StaticFIFO<store_address_t, 3> fifo;
+		fsfw::StaticFIFO<store_address_t, 3> fifo;
 	};
 
 	using CommandMapIter = FixedMap<MessageQueueId_t,
diff --git a/tmtcservices/PusParser.h b/tmtcservices/PusParser.h
index 8fbf9652..ef177079 100644
--- a/tmtcservices/PusParser.h
+++ b/tmtcservices/PusParser.h
@@ -42,7 +42,7 @@ private:
 	//! A FIFO is used to store information about multiple PUS packets
 	//! inside the receive buffer. The maximum number of entries is defined
 	//! by the first constructor argument.
-	FIFO<indexSizePair> indexSizePairFIFO;
+	fsfw::FIFO<indexSizePair> indexSizePairFIFO;
 
 	bool storeSplitPackets = false;
 };
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index a24aa805..23f7dcfa 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -143,7 +143,7 @@ protected:
 	 * This fifo can be used to store downlink data
 	 * which can not be sent at the moment.
 	 */
-	StaticFIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+	fsfw::StaticFIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
     uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
     uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };

From 78283ddbeecefb733fe68408befb3337ad869173 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 14:09:33 +0200
Subject: [PATCH 232/307] queue map manager: not using std::atomic anymore

---
 osal/host/QueueMapManager.cpp | 5 ++++-
 osal/host/QueueMapManager.h   | 2 +-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
index e7c86f30..89b9a948 100644
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@@ -17,6 +17,10 @@ QueueMapManager* QueueMapManager::instance() {
 
 ReturnValue_t QueueMapManager::addMessageQueue(
 		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
+	// Not thread-safe, but it is assumed all message queues are created
+	// at software initialization now. If this is to be made thread-safe in
+	// the future, it propably would be sufficient to lock the increment
+	// operation here
 	uint32_t currentId = queueCounter++;
 	auto returnPair = queueMap.emplace(currentId, queueToInsert);
 	if(not returnPair.second) {
@@ -28,7 +32,6 @@ ReturnValue_t QueueMapManager::addMessageQueue(
 	if (id != nullptr) {
 		*id = currentId;
 	}
-	mapLock = MutexFactory::instance()->createMutex();
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
index 499b1622..a2a1b658 100644
--- a/osal/host/QueueMapManager.h
+++ b/osal/host/QueueMapManager.h
@@ -36,7 +36,7 @@ public:
 private:
 	//! External instantiation is forbidden.
 	QueueMapManager();
-	std::atomic<uint32_t> queueCounter = 1;
+	uint32_t queueCounter = 1;
 	MutexIF* mapLock;
 	QueueMap queueMap;
 	static QueueMapManager* mqManagerInstance;

From f442a5889ec4bb213f35668a9320dd4cfedeee94 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 16:34:11 +0200
Subject: [PATCH 233/307] pus parser continued

---
 returnvalues/FwClassIds.h  |  1 +
 tmtcservices/PusParser.cpp | 33 +++++++++++++++++++++++++++++++++
 tmtcservices/PusParser.h   | 11 +++++++++++
 3 files changed, 45 insertions(+)

diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index ddee539e..abee534a 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -64,6 +64,7 @@ enum {
 	LOCAL_POOL_OWNER_IF, //LPIF 58
 	POOL_VARIABLE_IF, //PVA 59
 	HOUSEKEEPING_MANAGER, //HKM 60
+	PUS_PARSER, //PUSP 61
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };
diff --git a/tmtcservices/PusParser.cpp b/tmtcservices/PusParser.cpp
index 76934e33..5f326b44 100644
--- a/tmtcservices/PusParser.cpp
+++ b/tmtcservices/PusParser.cpp
@@ -1,4 +1,5 @@
 #include <framework/tmtcservices/PusParser.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 PusParser::PusParser(uint16_t maxExpectedPusPackets,
 		bool storeSplitPackets): indexSizePairFIFO(maxExpectedPusPackets) {
@@ -6,5 +7,37 @@ PusParser::PusParser(uint16_t maxExpectedPusPackets,
 
 ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 		size_t frameSize) {
+	if(frame == nullptr) {
+		sif::error << "PusParser::parsePusPackets: Frame pointers in invalid!"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	// Size of a pus packet is the value in the packet length field plus 7.
+	uint16_t packetSize = (frame[4] << 8 | frame[5]) + 7;
+	if(packetSize > 0) {
+		indexSizePairFIFO.insert(indexSizePair(0, packetSize));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return NO_PACKET_FOUND;
+	}
+
+	if(frameSize > packetSize) {
+		return readMultiplePackets(frameSize);
+
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
+
+//ReturnValue_t PusParser::readMultiplePackets(size_t frameSize) {
+//	size_t endOfBuffer = frameSize - 1;
+//	size_t endIndex = firstPacketSize;
+//	size_t startIndex = 0;
+//	while (endIndex < endOfBuffer) {
+//		ReturnValue_t result = readNextPacket(&startIndex, &endIndex);
+//		if(result != RETURN_OK) {
+//			return;
+//		}
+//	}
+//}
diff --git a/tmtcservices/PusParser.h b/tmtcservices/PusParser.h
index ef177079..cdc887ed 100644
--- a/tmtcservices/PusParser.h
+++ b/tmtcservices/PusParser.h
@@ -23,6 +23,9 @@
  */
 class PusParser {
 public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::PUS_PARSER;
+	static constexpr ReturnValue_t NO_PACKET_FOUND = MAKE_RETURN_CODE(0x00);
+
 	/**
 	 * Parser constructor.
 	 * @param maxExpectedPusPackets
@@ -34,6 +37,12 @@ public:
 	 */
 	PusParser(uint16_t maxExpectedPusPackets, bool storeSplitPackets);
 
+	/**
+	 * Parse a given frame for PUS packets
+	 * @param frame
+	 * @param frameSize
+	 * @return -@c NO_PACKET_FOUND if no packet was found.
+	 */
 	ReturnValue_t parsePusPackets(const uint8_t* frame, size_t frameSize);
 private:
 	//! The first entry is the index inside the buffer while the second index
@@ -45,6 +54,8 @@ private:
 	fsfw::FIFO<indexSizePair> indexSizePairFIFO;
 
 	bool storeSplitPackets = false;
+
+	ReturnValue_t readMultiplePackets(size_t frameSize);
 };
 
 

From 8ba75fc3c2fad46fc0e37fe17a627a99cfa3f09a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 19:36:21 +0200
Subject: [PATCH 234/307] pus parser implemented

---
 tmtcservices/PusParser.cpp | 113 ++++++++++++++++++++++++++++++-------
 tmtcservices/PusParser.h   |  32 +++++++++--
 2 files changed, 120 insertions(+), 25 deletions(-)

diff --git a/tmtcservices/PusParser.cpp b/tmtcservices/PusParser.cpp
index 5f326b44..21d44efa 100644
--- a/tmtcservices/PusParser.cpp
+++ b/tmtcservices/PusParser.cpp
@@ -13,31 +13,106 @@ ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-	// Size of a pus packet is the value in the packet length field plus 7.
-	uint16_t packetSize = (frame[4] << 8 | frame[5]) + 7;
-	if(packetSize > 0) {
-		indexSizePairFIFO.insert(indexSizePair(0, packetSize));
-		return HasReturnvaluesIF::RETURN_OK;
+	if(indexSizePairFIFO.full()) {
+		sif::error << "PusParser::parsePusPackets: FIFO is full!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	else {
+
+
+	size_t lengthField = frame[4] << 8 | frame[5];
+
+	if(lengthField == 0) {
 		return NO_PACKET_FOUND;
 	}
 
-	if(frameSize > packetSize) {
-		return readMultiplePackets(frameSize);
+	size_t packetSize = lengthField + 7;
+	if(lengthField > 0) {
+		// Size of a pus packet is the value in the packet length field plus 7.
+		if(packetSize > frameSize)
+		{
+			if(storeSplitPackets)
+			{
+				indexSizePairFIFO.insert(indexSizePair(0, frameSize));
+			}
+			else
+			{
+				sif::debug << "TcSerialPollingTask::readNextPacket: Next packet "
+						"larger than remaining frame," << std::endl;
+				sif::debug << "Throwing away packet. Detected packet size: "
+						<< packetSize << std::endl;
+			}
+			return SPLIT_PACKET;
+		}
+		else
+		{
+			indexSizePairFIFO.insert(indexSizePair(0, packetSize));
+			if(packetSize == frameSize) {
+				return HasReturnvaluesIF::RETURN_OK;
+			}
+		}
+	}
 
+	// packet size is smaller than frame size, parse for more packets.
+	return readMultiplePackets(frame, frameSize, packetSize);
+}
+
+ReturnValue_t PusParser::readMultiplePackets(const uint8_t *frame,
+		size_t frameSize, size_t startIndex) {
+	while (startIndex < frameSize) {
+		ReturnValue_t result = readNextPacket(frame, frameSize, startIndex);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-//ReturnValue_t PusParser::readMultiplePackets(size_t frameSize) {
-//	size_t endOfBuffer = frameSize - 1;
-//	size_t endIndex = firstPacketSize;
-//	size_t startIndex = 0;
-//	while (endIndex < endOfBuffer) {
-//		ReturnValue_t result = readNextPacket(&startIndex, &endIndex);
-//		if(result != RETURN_OK) {
-//			return;
-//		}
-//	}
-//}
+fsfw::FIFO<PusParser::indexSizePair>* PusParser::fifo(){
+	return &indexSizePairFIFO;
+}
+
+PusParser::indexSizePair PusParser::getNextFifoPair() {
+	indexSizePair nextIndexSizePair;
+	indexSizePairFIFO.retrieve(&nextIndexSizePair);
+	return nextIndexSizePair;
+}
+
+ReturnValue_t PusParser::readNextPacket(const uint8_t *frame,
+		size_t frameSize, size_t& currentIndex) {
+	// sif::debug << startIndex << std::endl;
+	uint16_t lengthField = frame[currentIndex + 4] << 8 |
+			frame[currentIndex + 5];
+	if(lengthField == 0) {
+		// It is assumed that no packet follows.
+		currentIndex = frameSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	size_t nextPacketSize = lengthField + 7;
+	size_t remainingSize = frameSize - currentIndex;
+	if(nextPacketSize > remainingSize)
+	{
+		if(storeSplitPackets)
+		{
+			indexSizePairFIFO.insert(indexSizePair(currentIndex, remainingSize));
+		}
+		else
+		{
+			sif::debug << "TcSerialPollingTask::readNextPacket: Next packet "
+					"larger than remaining frame," << std::endl;
+			sif::debug << "Throwing away packet. Detected packet size: "
+					<< nextPacketSize << std::endl;
+		}
+		return SPLIT_PACKET;
+	}
+
+	ReturnValue_t result = indexSizePairFIFO.insert(indexSizePair(currentIndex,
+			nextPacketSize));
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		// FIFO full.
+		sif::debug << "PusParser: Issue inserting into start index size "
+		        "FIFO, it is full!" << std::endl;
+	}
+	currentIndex += nextPacketSize;
+
+	return result;
+}
diff --git a/tmtcservices/PusParser.h b/tmtcservices/PusParser.h
index cdc887ed..82aff57e 100644
--- a/tmtcservices/PusParser.h
+++ b/tmtcservices/PusParser.h
@@ -23,9 +23,13 @@
  */
 class PusParser {
 public:
+	//! The first entry is the index inside the buffer while the second index
+	//! is the size of the PUS packet starting at that index.
+	using indexSizePair = std::pair<size_t, size_t>;
+
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::PUS_PARSER;
 	static constexpr ReturnValue_t NO_PACKET_FOUND = MAKE_RETURN_CODE(0x00);
-
+	static constexpr ReturnValue_t SPLIT_PACKET = MAKE_RETURN_CODE(0x01);
 	/**
 	 * Parser constructor.
 	 * @param maxExpectedPusPackets
@@ -44,10 +48,24 @@ public:
 	 * @return -@c NO_PACKET_FOUND if no packet was found.
 	 */
 	ReturnValue_t parsePusPackets(const uint8_t* frame, size_t frameSize);
+
+	/**
+	 * Accessor function to get a reference to the internal FIFO which
+	 * stores pairs of indexi and packet sizes. This FIFO is filled
+	 * by the parsePusPackets() function.
+	 * @return
+	 */
+	fsfw::FIFO<indexSizePair>* fifo();
+
+	/**
+	 * Retrieve the next index and packet size pair from the FIFO.
+	 * This also removed it from the FIFO. Please note that if the FIFO
+	 * is empty, an empty pair will be returned.
+	 * @return
+	 */
+	indexSizePair getNextFifoPair();
 private:
-	//! The first entry is the index inside the buffer while the second index
-	//! is the size of the PUS packet starting at that index.
-	using indexSizePair = std::pair<size_t, size_t>;
+
 	//! A FIFO is used to store information about multiple PUS packets
 	//! inside the receive buffer. The maximum number of entries is defined
 	//! by the first constructor argument.
@@ -55,8 +73,10 @@ private:
 
 	bool storeSplitPackets = false;
 
-	ReturnValue_t readMultiplePackets(size_t frameSize);
+	ReturnValue_t readMultiplePackets(const uint8_t *frame, size_t frameSize,
+			size_t startIndex);
+	ReturnValue_t readNextPacket(const uint8_t *frame,
+			size_t frameSize, size_t& startIndex);
 };
 
-
 #endif /* FRAMEWORK_TMTCSERVICES_PUSPARSER_H_ */

From fd1e612ea5d931d20177405a827c34bf52ee7c54 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 20:17:05 +0200
Subject: [PATCH 235/307] pus parser fixes

---
 tmtcservices/PusParser.cpp | 40 +++++++++++++++++++-------------------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/tmtcservices/PusParser.cpp b/tmtcservices/PusParser.cpp
index 21d44efa..b43b0519 100644
--- a/tmtcservices/PusParser.cpp
+++ b/tmtcservices/PusParser.cpp
@@ -18,7 +18,6 @@ ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-
 	size_t lengthField = frame[4] << 8 | frame[5];
 
 	if(lengthField == 0) {
@@ -26,32 +25,32 @@ ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 	}
 
 	size_t packetSize = lengthField + 7;
-	if(lengthField > 0) {
-		// Size of a pus packet is the value in the packet length field plus 7.
-		if(packetSize > frameSize)
+	// Size of a pus packet is the value in the packet length field plus 7.
+	if(packetSize > frameSize)
+	{
+		if(storeSplitPackets)
 		{
-			if(storeSplitPackets)
-			{
-				indexSizePairFIFO.insert(indexSizePair(0, frameSize));
-			}
-			else
-			{
-				sif::debug << "TcSerialPollingTask::readNextPacket: Next packet "
-						"larger than remaining frame," << std::endl;
-				sif::debug << "Throwing away packet. Detected packet size: "
-						<< packetSize << std::endl;
-			}
-			return SPLIT_PACKET;
+			indexSizePairFIFO.insert(indexSizePair(0, frameSize));
 		}
 		else
 		{
-			indexSizePairFIFO.insert(indexSizePair(0, packetSize));
-			if(packetSize == frameSize) {
-				return HasReturnvaluesIF::RETURN_OK;
-			}
+			sif::debug << "TcSerialPollingTask::readNextPacket: Next packet "
+					"larger than remaining frame," << std::endl;
+			sif::debug << "Throwing away packet. Detected packet size: "
+					<< packetSize << std::endl;
+		}
+		return SPLIT_PACKET;
+	}
+	else
+	{
+		indexSizePairFIFO.insert(indexSizePair(0, packetSize));
+		if(packetSize == frameSize) {
+			sif::info << "test2" << std::endl;
+			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
 
+
 	// packet size is smaller than frame size, parse for more packets.
 	return readMultiplePackets(frame, frameSize, packetSize);
 }
@@ -59,6 +58,7 @@ ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 ReturnValue_t PusParser::readMultiplePackets(const uint8_t *frame,
 		size_t frameSize, size_t startIndex) {
 	while (startIndex < frameSize) {
+		sif::info << "test" << std::endl;
 		ReturnValue_t result = readNextPacket(frame, frameSize, startIndex);
 		if(result != HasReturnvaluesIF::RETURN_OK) {
 			return result;

From cb691db807d562c8f84178d48650464c4cb58ecc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 23:07:38 +0200
Subject: [PATCH 236/307] fifo tweaks, pus parser fixes

---
 container/FIFO.h           | 6 ++----
 container/FIFOBase.h       | 4 +++-
 container/FIFOBase.tpp     | 5 +++++
 tmtcservices/PusParser.cpp | 3 ---
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/container/FIFO.h b/container/FIFO.h
index 7251321f..19daaf1b 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -19,10 +19,8 @@ namespace fsfw {
 template<typename T>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity) {
-		values.reserve(maxCapacity);
-		values.resize(maxCapacity);
-	};
+	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
+			values(maxCapacity) {};
 
 private:
 	std::vector<T> values;
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index ac5c6e2c..6ed7d924 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -45,9 +45,11 @@ public:
 	bool full();
 	size_t size();
 
+	size_t getMaxCapacity() const;
+
 private:
 	T* values;
-	size_t maxCapacity;
+	size_t maxCapacity = 0;
 
 	size_t readIndex = 0;
 	size_t writeIndex = 0;
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
index 011ce6de..48a060ff 100644
--- a/container/FIFOBase.tpp
+++ b/container/FIFOBase.tpp
@@ -73,4 +73,9 @@ inline size_t FIFOBase<T>::next(size_t current) {
 	return current;
 }
 
+template<typename T>
+inline size_t FIFOBase<T>::getMaxCapacity() const {
+	return maxCapacity;
+}
+
 #endif
diff --git a/tmtcservices/PusParser.cpp b/tmtcservices/PusParser.cpp
index b43b0519..175c2893 100644
--- a/tmtcservices/PusParser.cpp
+++ b/tmtcservices/PusParser.cpp
@@ -45,12 +45,10 @@ ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 	{
 		indexSizePairFIFO.insert(indexSizePair(0, packetSize));
 		if(packetSize == frameSize) {
-			sif::info << "test2" << std::endl;
 			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
 
-
 	// packet size is smaller than frame size, parse for more packets.
 	return readMultiplePackets(frame, frameSize, packetSize);
 }
@@ -58,7 +56,6 @@ ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 ReturnValue_t PusParser::readMultiplePackets(const uint8_t *frame,
 		size_t frameSize, size_t startIndex) {
 	while (startIndex < frameSize) {
-		sif::info << "test" << std::endl;
 		ReturnValue_t result = readNextPacket(frame, frameSize, startIndex);
 		if(result != HasReturnvaluesIF::RETURN_OK) {
 			return result;

From 4f1f610ae03bd4f0fecc9e19ecafa5803ee8a231 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 16:36:41 +0200
Subject: [PATCH 237/307] doc and improvements for DLE encoder

---
 globalfunctions/DleEncoder.cpp | 39 +++++++++++----------
 globalfunctions/DleEncoder.h   | 64 +++++++++++++++++++++++++++++-----
 returnvalues/FwClassIds.h      |  3 +-
 3 files changed, 78 insertions(+), 28 deletions(-)

diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index a68f1524..ee934785 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -1,18 +1,16 @@
 #include <framework/globalfunctions/DleEncoder.h>
 
-DleEncoder::DleEncoder() {
-}
+DleEncoder::DleEncoder() {}
 
-DleEncoder::~DleEncoder() {
-}
+DleEncoder::~DleEncoder() {}
 
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
-		uint32_t maxDestStreamlen, uint32_t *decodedLen) {
-	uint32_t encodedIndex = 0, decodedIndex = 0;
+		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+		size_t maxDestStreamlen, size_t *decodedLen) {
+	size_t encodedIndex = 0, decodedIndex = 0;
 	uint8_t nextByte;
 	if (*sourceStream != STX) {
-		return RETURN_FAILED;
+		return DECODING_ERROR;
 	}
 	++encodedIndex;
 	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
@@ -20,14 +18,18 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 			&& (sourceStream[encodedIndex] != STX)) {
 		if (sourceStream[encodedIndex] == DLE) {
 			nextByte = sourceStream[encodedIndex + 1];
-			if (nextByte == 0x10) {
+			// The next byte is a DLE character that was escaped by another
+			// DLE character, so we can write it to the destination stream.
+			if (nextByte == DLE) {
 				destStream[decodedIndex] = nextByte;
 			} else {
+			    // The next byte is a STX, DTX or 0x0D character which
+			    // was escaped by a DLE character
 				if ((nextByte == 0x42) || (nextByte == 0x43)
 						|| (nextByte == 0x4D)) {
 					destStream[decodedIndex] = nextByte - 0x40;
 				} else {
-					return RETURN_FAILED;
+				    return DECODING_ERROR;
 				}
 			}
 			++encodedIndex;
@@ -38,7 +40,7 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 		++decodedIndex;
 	}
 	if (sourceStream[encodedIndex] != ETX) {
-		return RETURN_FAILED;
+		return DECODING_ERROR;
 	} else {
 		*readLen = ++encodedIndex;
 		*decodedLen = decodedIndex;
@@ -47,12 +49,12 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 }
 
 ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen,
-		uint32_t* encodedLen, bool addStxEtx) {
+		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
+		size_t* encodedLen, bool addStxEtx) {
 	if (maxDestLen < 2) {
-		return RETURN_FAILED;
+		return STREAM_TOO_SHORT;
 	}
-	uint32_t encodedIndex = 0, sourceIndex = 0;
+	size_t encodedIndex = 0, sourceIndex = 0;
 	uint8_t nextByte;
 	if (addStxEtx) {
 		destStream[0] = STX;
@@ -62,15 +64,16 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		nextByte = sourceStream[sourceIndex];
 		if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) {
 			if (encodedIndex + 1 >= maxDestLen) {
-				return RETURN_FAILED;
+				return STREAM_TOO_SHORT;
 			} else {
 				destStream[encodedIndex] = DLE;
 				++encodedIndex;
+				// Escaped byte will be actual byte + 0x40.
 				destStream[encodedIndex] = nextByte + 0x40;
 			}
 		} else if (nextByte == DLE) {
 			if (encodedIndex + 1 >= maxDestLen) {
-				return RETURN_FAILED;
+			    return STREAM_TOO_SHORT;
 			} else {
 				destStream[encodedIndex] = DLE;
 				++encodedIndex;
@@ -90,6 +93,6 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		*encodedLen = encodedIndex;
 		return RETURN_OK;
 	} else {
-		return RETURN_FAILED;
+		return STREAM_TOO_SHORT;
 	}
 }
diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index fc155600..0f4a4c8f 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -1,25 +1,71 @@
-#ifndef DLEENCODER_H_
-#define DLEENCODER_H_
+#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
+#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
 
+/**
+ * @brief   This DLE Encoder (Data Link Encoder) can be used to encode and
+ *          decode arbitrary data with ASCII control characters
+ * @details
+ * List of control codes:
+ * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
+ *
+ * This encoder can be used to achieve a basic transport layer when using
+ * char based transmission systems.
+ * The passed source strean is converted into a encoded stream by adding
+ * a STX marker at the startr of the stream and an ETX marker at the end of
+ * the stream. Any STX, ETX and DLE occurences in the source stream are escaped
+ * by a DLE character.
+ */
 class DleEncoder: public HasReturnvaluesIF {
 private:
 	DleEncoder();
 	virtual ~DleEncoder();
 
 public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
+	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
+	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
+
+	//! Start Of Text character. First character is encoded stream
 	static const uint8_t STX = 0x02;
+	//! End Of Text character. Last character in encoded stream
 	static const uint8_t ETX = 0x03;
+	//! Data Link Escape character. Used to escape STX, ETX and DLE occurences
+	//! in the source stream.
 	static const uint8_t DLE = 0x10;
 
-	static ReturnValue_t decode(const uint8_t *sourceStream,
-			uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
-			uint32_t maxDestStreamlen, uint32_t *decodedLen);
+    /**
+     * Encodes the give data stream by preceding it with the STX marker
+     * and ending it with an ETX marker. STX, ETX and DLE characters inside
+     * the stream are escaped by DLE characters.
+     * @param sourceStream
+     * @param sourceLen
+     * @param destStream
+     * @param maxDestLen
+     * @param encodedLen
+     * @param addStxEtx
+     * Adding STX and ETX can be omitted, if they are added manually.
+     * @return
+     */
+    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
 
-	static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen,
-			uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen,
-			bool addStxEtx = true);
+    /**
+     * Converts an encoded stream back
+     * @param sourceStream
+     * @param sourceStreamLen
+     * @param readLen
+     * @param destStream
+     * @param maxDestStreamlen
+     * @param decodedLen
+     * @return
+     */
+	static ReturnValue_t decode(const uint8_t *sourceStream,
+			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+			size_t maxDestStreamlen, size_t *decodedLen);
 };
 
-#endif /* DLEENCODER_H_ */
+#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */
diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index abee534a..7e4d8953 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -64,7 +64,8 @@ enum {
 	LOCAL_POOL_OWNER_IF, //LPIF 58
 	POOL_VARIABLE_IF, //PVA 59
 	HOUSEKEEPING_MANAGER, //HKM 60
-	PUS_PARSER, //PUSP 61
+	DLE_ENCODER, //DLEE 61
+	PUS_PARSER, //PUSP 62
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

From 359163886ba2d926cefe8f57b6691818a1e70b8e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 17:06:30 +0200
Subject: [PATCH 238/307] pus srv5 and 1 moved to framework

---
 framework.mk                            |   2 +-
 pus/Service1TelecommandVerification.cpp | 100 ++++++++++++++
 pus/Service1TelecommandVerification.h   |  94 ++++++++++++++
 pus/Service5EventReporting.cpp          |  92 +++++++++++++
 pus/Service5EventReporting.h            |  86 ++++++++++++
 pus/servicepackets/Service1Packets.h    | 166 ++++++++++++++++++++++++
 pus/servicepackets/Service5Packets.h    |  83 ++++++++++++
 7 files changed, 622 insertions(+), 1 deletion(-)
 create mode 100644 pus/Service1TelecommandVerification.cpp
 create mode 100644 pus/Service1TelecommandVerification.h
 create mode 100644 pus/Service5EventReporting.cpp
 create mode 100644 pus/Service5EventReporting.h
 create mode 100644 pus/servicepackets/Service1Packets.h
 create mode 100644 pus/servicepackets/Service5Packets.h

diff --git a/framework.mk b/framework.mk
index c8822981..bfbd4b1f 100644
--- a/framework.mk
+++ b/framework.mk
@@ -58,4 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp)
\ No newline at end of file
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
\ No newline at end of file
diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
new file mode 100644
index 00000000..4ce2ce54
--- /dev/null
+++ b/pus/Service1TelecommandVerification.cpp
@@ -0,0 +1,100 @@
+#include <framework/pus/Service1TelecommandVerification.h>
+#include <framework/pus/servicepackets/Service1Packets.h>
+
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcservices/PusVerificationReport.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+
+Service1TelecommandVerification::Service1TelecommandVerification(
+        object_id_t objectId, uint16_t apid, uint8_t serviceId,
+        object_id_t targetDestination):
+        SystemObject(objectId), apid(apid), serviceId(serviceId),
+        targetDestination(targetDestination) {
+	tmQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+Service1TelecommandVerification::~Service1TelecommandVerification() {}
+
+MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){
+	return tmQueue->getId();
+}
+
+
+ReturnValue_t Service1TelecommandVerification::performOperation(
+		uint8_t operationCode){
+	PusVerificationMessage message;
+	ReturnValue_t status = tmQueue->receiveMessage(&message);
+	while(status == HasReturnvaluesIF::RETURN_OK) {
+		status = sendVerificationReport(&message);
+		if(status != HasReturnvaluesIF::RETURN_OK) {
+			return status;
+		}
+		status = tmQueue->receiveMessage(&message);
+	}
+	if (status == MessageQueueIF::EMPTY) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return status;
+	}
+}
+
+
+ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
+		PusVerificationMessage* message) {
+	ReturnValue_t result;
+	if(message->getReportId() % 2 == 0) {
+		result = generateFailureReport(message);
+	} else {
+		result = generateSuccessReport(message);
+	}
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		sif::error << "Service1TelecommandVerification::initialize: "
+		        "Sending verification packet failed !" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t Service1TelecommandVerification::generateFailureReport(
+        PusVerificationMessage *message) {
+	FailureReport report(
+			message->getReportId(), message->getTcPacketId(),
+			message->getTcSequenceControl(), message->getStep(),
+			message->getErrorCode(), message->getParameter1(),
+			message->getParameter2());
+	TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
+	        packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
+			tmQueue->getId());
+	return result;
+}
+
+ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
+        PusVerificationMessage *message) {
+	SuccessReport report(message->getReportId(),message->getTcPacketId(),
+			message->getTcSequenceControl(),message->getStep());
+	TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
+	        packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
+			tmQueue->getId());
+	return result;
+}
+
+
+ReturnValue_t Service1TelecommandVerification::initialize() {
+	// Get target object for TC verification messages
+	AcceptsTelemetryIF* funnel = objectManager->
+			get<AcceptsTelemetryIF>(targetDestination);
+	if(funnel == nullptr){
+	    sif::error << "Service1TelecommandVerification::initialize: Specified"
+	            " TM funnel invalid. Make sure it is set up and implements"
+	            " AcceptsTelemetryIF." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+	tmQueue->setDefaultDestination(funnel->getReportReceptionQueue());
+	return SystemObject::initialize();
+}
diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h
new file mode 100644
index 00000000..1d4b6719
--- /dev/null
+++ b/pus/Service1TelecommandVerification.h
@@ -0,0 +1,94 @@
+#ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+#define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
+#include <framework/tmtcservices/PusVerificationReport.h>
+#include <framework/ipc/MessageQueueIF.h>
+
+/**
+ * @brief Verify TC acceptance, start, progress and execution.
+ *
+ * Full Documentation: ECSS-E70-41A p.51
+ *
+ * The telecommand verification service provides the capability for
+ * explicit verification of each distinct stage of execution of a telecommand
+ * packet, from on-board acceptance through to completion of execution.
+ *
+ * Minimum capabilities of this service:
+ *
+ *  - TM[1,1]: Telecommand Acceptance Report - Success.
+ *  - TM[1,2]: Telecommand Acceptance Report - Failure.
+ *
+ * Additional capabilities of this service:
+ *
+ *  - TM[1,3]: Telecommand Execution Started Report - Success (Req. 4).
+ *  - TM[1,4]: Telecommand Execution Started Report - Failure (Req. 3).
+ *  - TM[1,5]: Telecommand Execution Progress Report - Success (Req. 6).
+ *  - TM[1,6]: Telecommand Execution Progress Report - Failure (Req. 5).
+ *  - TM[1,7]: Telecommand Execution Completed Report - Success (Req. 8).
+ *  - TM[1,8]: Telecommand Execution Completed Report - Failure (Req. 7).
+ *
+ * This Service is not inherited from PUSServiceBase unlike other PUS Services
+ * because all services implementing PUSServiceBase use this service to
+ * generate verification reports.
+ * @ingroup pus_services
+ */
+class Service1TelecommandVerification: public AcceptsVerifyMessageIF,
+		public SystemObject,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1;
+
+	Service1TelecommandVerification(object_id_t objectId,
+	        uint16_t apid, uint8_t serviceId, object_id_t targetDestination);
+	virtual ~Service1TelecommandVerification();
+
+	/**
+	 *
+	 * @return ID of Verification Queue
+	 */
+	virtual MessageQueueId_t getVerificationQueue();
+
+	/**
+	 * Performs the service periodically as specified in init_mission().
+	 * Triggers the handlePacket function to send TC verification messages
+	 * @param operationCode
+	 * @return
+	 */
+	ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+	/**
+	 * Initializes the destination for TC verification messages and initializes
+	 * Service 1 as a system object
+	 * @return
+	 */
+	ReturnValue_t initialize() override;
+private:
+	uint16_t apid = 0;
+	uint8_t serviceId = 0;
+
+	object_id_t targetDestination = objects::NO_OBJECT;
+
+	ReturnValue_t sendVerificationReport(PusVerificationMessage* message);
+	ReturnValue_t generateFailureReport(PusVerificationMessage* message);
+	ReturnValue_t generateSuccessReport(PusVerificationMessage* message);
+
+	uint16_t packetSubCounter = 0;
+
+	MessageQueueIF* tmQueue = nullptr;
+
+	enum class Subservice: uint8_t {
+		VERIFY_ACCEPTANCE_SUCCESS = 1, //!< [EXPORT] : [TM]
+		VERIFY_ACCEPTANCE_FAILED = 2, //!< [EXPORT] : [TM]
+		VERIFY_START_SUCCESS = 3, //!< [EXPORT] : [TM]
+		VERIFY_START_FAILED = 4, //!< [EXPORT] : [TM]
+		VERIFY_STEP_SUCCESS = 5, //!< [EXPORT] : [TM]
+		VERIFY_STEP_FAILED = 6 //!< [EXPORT] : [TM]
+	};
+};
+
+#endif /* MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
new file mode 100644
index 00000000..fe55059c
--- /dev/null
+++ b/pus/Service5EventReporting.cpp
@@ -0,0 +1,92 @@
+#include <framework/pus/Service5EventReporting.h>
+#include <framework/pus/servicepackets/Service5Packets.h>
+
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/events/EventManagerIF.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
+
+
+Service5EventReporting::Service5EventReporting(object_id_t objectId,
+            uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle):
+		PusServiceBase(objectId, apid, serviceId),
+		maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
+	eventQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+Service5EventReporting::~Service5EventReporting(){}
+
+ReturnValue_t Service5EventReporting::performService() {
+	EventMessage message;
+	ReturnValue_t status = RETURN_OK;
+	for(uint8_t counter = 0;
+	        counter < maxNumberReportsPerCycle;
+	        counter++)
+	{
+	    // Receive messages even if reporting is disabled for now.
+	    status = eventQueue->receiveMessage(&message);
+	    if(status == MessageQueueIF::EMPTY) {
+	        return HasReturnvaluesIF::RETURN_OK;
+	    }
+
+	    if(enableEventReport) {
+	       status = generateEventReport(message);
+	       if(status != HasReturnvaluesIF::RETURN_OK) {
+	           return status;
+	       }
+	    }
+	}
+	sif::debug <<  "Service5EventReporting::generateEventReport:"
+	        " Too many events" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service5EventReporting::generateEventReport(
+		EventMessage message)
+{
+	EventReport report(message.getEventId(),message.getReporter(),
+			message.getParameter1(),message.getParameter2());
+	TmPacketStored tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
+			message.getSeverity(), packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(
+	        requestQueue->getDefaultDestination(),requestQueue->getId());
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::debug << "Service5EventReporting::generateEventReport:"
+		        " Could not send TM packet" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
+	switch(subservice)
+	{
+	case Subservice::ENABLE: {
+		enableEventReport = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	case Subservice::DISABLE: {
+		enableEventReport = false;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+
+// In addition to the default PUSServiceBase initialization, this service needs
+// to be registered to the event manager to listen for events.
+ReturnValue_t Service5EventReporting::initialize() {
+	EventManagerIF* manager = objectManager->get<EventManagerIF>(
+				objects::EVENT_MANAGER);
+	if (manager == NULL) {
+			return RETURN_FAILED;
+	}
+	// register Service 5 as listener for events
+	ReturnValue_t result =  manager->registerListener(eventQueue->getId(),true);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+	     return result;
+	}
+	return PusServiceBase::initialize();
+}
diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h
new file mode 100644
index 00000000..79b7c5e7
--- /dev/null
+++ b/pus/Service5EventReporting.h
@@ -0,0 +1,86 @@
+#ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
+#define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
+
+#include <framework/tmtcservices/PusServiceBase.h>
+#include <framework/events/EventMessage.h>
+
+/**
+ * @brief Report on-board events like information or errors
+ * @details
+ * Full Documentation: ECSS-E70-41A p.79
+ * Implements the PusServiceBase template class.
+ * Documentation: Dissertation Baetz p.135,136
+ *
+ * This service provides for the reporting to the service user of information of
+ * operational significance.
+ *   1. reporting of failures or anomalies detected on-board;
+ *   2. reporting of autonomous on-board actions;
+ *   3. reporting of normal progress of operations and activities, e.g.
+ *   detection of events which are not anomalous (such as payload events),
+ *   reaching of predefined steps in an operation. Some reports can combine
+ *   more than one of these events.
+ *
+ * Minimum capabilities of this service:
+ *
+ * - TM[5,1]: Normal/Progress Report
+ * - TM[5,2]: Error/Anomaly Report - Low Severity
+ * - TM[5,3]: Error/Anomaly Report - Medium Severity
+ * - TM[5,4]: Error/Anomaly Report - High Severity
+ *
+ * Events can be translated by using translator files located in
+ * /config/objects/ and /config/events/. Description to events can be added by
+ * adding a comment behind the event definition with [//!<] as leading string
+ *
+ * Additional capabilities of this service:
+ *
+ *  - TC[5,5]: Enable Event Report Generation (Req. 6)
+ *  - TC[5,6]: Disable Event Report Generation (Req. 5)
+ * @author 	R. Mueller
+ * @ingroup pus_services
+ */
+class Service5EventReporting: public PusServiceBase {
+public:
+
+	Service5EventReporting(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, size_t maxNumberReportsPerCycle = 10);
+	virtual ~Service5EventReporting();
+
+	/***
+	* Check for events and generate event reports if required.
+	* @return
+	*/
+	ReturnValue_t performService() override;
+
+	/***
+	 * Turn event generation on or off.
+	 * @return
+	 */
+	ReturnValue_t handleRequest(uint8_t subservice) override;
+
+	/**
+	 * The default PusServiceBase initialize has been overridden but is still
+	 * executed. Registers this service as a listener for events at the
+	 * EventManager.
+	 * @return
+	 */
+	ReturnValue_t initialize() override;
+
+	enum Subservice: uint8_t {
+		NORMAL_REPORT = 1, //!< [EXPORT] : [REPLY] Generate normal report
+		ERROR_LOW_SEVERITY = 2, //!< [EXPORT] : [REPLY] Generate error report with low severity
+		ERROR_MED_SEVERITY = 3, //!< [EXPORT] : [REPLY] Generate error report with medium severity
+		ERROR_HIGH_SEVERITY = 4, //!< [EXPORT] : [REPLY] Generate error report with high severity
+		ENABLE = 5, //!< [EXPORT] : [COMMAND] Enable report generation
+		DISABLE = 6 //!< [EXPORT] : [COMMAND] Disable report generation
+	};
+
+private:
+	uint16_t packetSubCounter = 0;
+	MessageQueueIF* eventQueue = nullptr;
+	bool enableEventReport = true;
+	const uint8_t maxNumberReportsPerCycle;
+
+	ReturnValue_t generateEventReport(EventMessage message);
+};
+
+#endif /* MISSION_PUS_SERVICE5EVENTREPORTING_H_ */
diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
new file mode 100644
index 00000000..b01942c6
--- /dev/null
+++ b/pus/servicepackets/Service1Packets.h
@@ -0,0 +1,166 @@
+/**
+ * @defgroup spacepackets PUS Packet Definitions
+ *  This group contains all implemented TM or TM packages that are sent to
+ *  or sent by the OBC.They are exported later to display
+ *  packet structures in Mission Information Base (MIB).
+ */
+
+#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+#define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/tmtcservices/VerificationCodes.h>
+
+/**
+ * @brief 	FailureReport class to serialize a failure report
+ * @brief 	Subservice 1, 3, 5, 7
+ * @ingroup spacepackets
+ */
+class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
+public:
+	FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
+			uint16_t packetSequenceControl_, uint8_t stepNumber_,
+			ReturnValue_t errorCode_, uint32_t errorParameter1_,
+			uint32_t errorParameter2_) :
+			packetId(packetId_), packetSequenceControl(packetSequenceControl_),
+			stepNumber(stepNumber_), errorCode(errorCode_),
+			errorParameter1(errorParameter1_), errorParameter2(errorParameter2_),
+			failureSubtype(failureSubtype_) {}
+
+	/**
+	 * This function is called by the FSFW when calling the tm packet send
+	 * function and supplying the SerializeIF* as parameter
+	 * @param buffer Object content is serialized into the buffer
+	 * @param size
+	 * @param max_size
+	 * @param bigEndian
+	 * @return
+	 */
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+	        size_t maxSize, SerializeIF::Endianness streamEndianness
+	        ) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&packetSequenceControl, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if (failureSubtype == TC_VERIFY::PROGRESS_FAILURE) {
+			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
+			        maxSize, streamEndianness);
+			if (result != HasReturnvaluesIF::RETURN_OK) {
+				return result;
+			}
+		}
+		result = SerializeAdapter::serialize(&errorCode, buffer, size,
+		        maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&errorParameter1, buffer, size,
+		        maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+
+		result = SerializeAdapter::serialize(&errorParameter2, buffer, size,
+		        maxSize, streamEndianness);
+		return result;
+	}
+
+
+	virtual size_t getSerializedSize() const {
+		size_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&packetId);
+		size += sizeof(packetSequenceControl);
+		if(failureSubtype==TC_VERIFY::PROGRESS_FAILURE){
+			size += SerializeAdapter::getSerializedSize(&stepNumber);
+		}
+		size += SerializeAdapter::getSerializedSize(&errorCode);
+		size += SerializeAdapter::getSerializedSize(&errorParameter1);
+		size += SerializeAdapter::getSerializedSize(&errorParameter2);
+		return size;
+	}
+
+	/**
+	 * Deserialization is not allowed for a report.
+	 * @param buffer
+	 * @param size
+	 * @param bigEndian
+	 * @return
+	 */
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand
+	uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand
+	uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6
+	ReturnValue_t errorCode; //!< [EXPORT] : [COMMENT] Error code which can be looked up in generated error code file
+	uint32_t errorParameter1;
+	uint32_t errorParameter2;
+	const uint8_t failureSubtype; //!< [EXPORT] : [IGNORE]
+};
+
+/**
+ * @brief       Subservices 2, 4, 6, 8
+ * @ingroup     spacepackets
+ */
+class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
+public:
+	SuccessReport(uint8_t subtype_, uint16_t packetId_,
+			uint16_t packetSequenceControl_,uint8_t stepNumber_) :
+			packetId(packetId_), packetSequenceControl(packetSequenceControl_),
+			stepNumber(stepNumber_), subtype(subtype_) {}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, SerializeIF::Endianness streamEndianness
+			) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&packetSequenceControl, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if (subtype == TC_VERIFY::PROGRESS_SUCCESS) {
+			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
+					maxSize, streamEndianness);
+			if (result != HasReturnvaluesIF::RETURN_OK) {
+				return result;
+			}
+		}
+		return result;
+	}
+
+	virtual size_t getSerializedSize() const override {
+		size_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&packetId);
+		size += sizeof(packetSequenceControl);
+		if(subtype == TC_VERIFY::PROGRESS_SUCCESS){
+			size += SerializeAdapter::getSerializedSize(&stepNumber);
+		}
+		return size;
+
+	}
+
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand
+	uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand
+	uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6
+	const uint8_t subtype; //!< [EXPORT] : [IGNORE]
+};
+
+#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ */
diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h
new file mode 100644
index 00000000..f8f730c3
--- /dev/null
+++ b/pus/servicepackets/Service5Packets.h
@@ -0,0 +1,83 @@
+/**
+ * \file Service5Packets.h
+ *
+ * Structure of Event Report.
+ * It consists of:
+ * 		1. Report ID(RID). This is the Event ID in the FSFW
+ *		2. Object ID of the reporter (e.g. subsystem)
+ *		2. Parameter 1
+ *		3. Parameter 2
+ *
+ * Created on: 21.05.2019
+ * Author: R. Mueller, J. Meier
+ */
+
+#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/tmtcservices/VerificationCodes.h>
+
+
+/**
+ * \brief Subservice 1, 2, 3, 4
+ * \ingroup spacepackets
+ */
+class EventReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
+public:
+
+	EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_,
+			uint32_t parameter2_):
+			reportId(reportId_),objectId(objectId_), parameter1(parameter1_),
+			parameter2(parameter2_) {}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize,
+			SerializeIF::Endianness streamEndianness) const override
+	{
+		ReturnValue_t result = SerializeAdapter::serialize(&reportId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&objectId, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&parameter1, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&parameter2, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		return result;
+	}
+
+	virtual size_t getSerializedSize() const override {
+		uint32_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&reportId);
+		size += SerializeAdapter::getSerializedSize(&objectId);
+		size += SerializeAdapter::getSerializedSize(&parameter1);
+		size += SerializeAdapter::getSerializedSize(&parameter2);
+		return size;
+
+	}
+
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	EventId_t reportId;
+	object_id_t objectId;
+	uint32_t parameter1;
+	uint32_t parameter2;
+};
+
+
+#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */

From 7698f3f13e4ff5886c6c56145e56111a49a6ff4f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 17:18:33 +0200
Subject: [PATCH 239/307] moved srv2 to framework

---
 pus/Service2DeviceAccess.cpp         | 178 +++++++++++++++++++++++++++
 pus/Service2DeviceAccess.h           |  96 +++++++++++++++
 pus/servicepackets/Service2Packets.h |  76 ++++++++++++
 pus/servicepackets/Service5Packets.h |  25 ++--
 4 files changed, 359 insertions(+), 16 deletions(-)
 create mode 100644 pus/Service2DeviceAccess.cpp
 create mode 100644 pus/Service2DeviceAccess.h
 create mode 100644 pus/servicepackets/Service2Packets.h

diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
new file mode 100644
index 00000000..5c6ad506
--- /dev/null
+++ b/pus/Service2DeviceAccess.cpp
@@ -0,0 +1,178 @@
+#include <framework/pus/Service2DeviceAccess.h>
+#include <framework/pus/servicepackets/Service2Packets.h>
+
+#include <framework/devicehandlers/DeviceHandlerIF.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/devicehandlers/DeviceHandlerMessage.h>
+#include <framework/serialize/EndianConverter.h>
+#include <framework/action/ActionMessage.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId, object_id_t tcSource,
+        object_id_t tmDestination):
+        CommandingServiceBase(objectId, apid, serviceId,
+	        NUM_OF_PARALLEL_COMMANDS, COMMAND_TIMEOUT_SECONDS,
+	        tcSource, tmDestination) {}
+
+Service2DeviceAccess::~Service2DeviceAccess() {}
+
+ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING:
+	case Subservice::TOGGLE_WIRETAPPING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		sif::error << "Invalid Subservice" << std::endl;
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+	ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = checkInterfaceAndAcquireMessageQueue(id,objectId);
+	return result;
+
+}
+
+ReturnValue_t Service2DeviceAccess::checkAndAcquireTargetID(
+		object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
+	if(SerializeAdapter::deSerialize(objectIdToSet, &tcData,
+	        &tcDataLen, SerializeIF::Endianness::BIG) != RETURN_OK) {
+		sif::error << "Service 2: Target ID not found. ID: " <<
+				std::hex << objectIdToSet ;
+		return CommandingServiceBase::INVALID_TC;
+	}
+	else {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
+	DeviceHandlerIF* possibleTarget =
+			objectManager->get<DeviceHandlerIF>(*objectId);
+	if(possibleTarget == nullptr) {
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		uint32_t* state, object_id_t objectId) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING: {
+		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	case Subservice::TOGGLE_WIRETAPPING: {
+		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::prepareRawCommand(
+        CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
+	RawCommand RawCommand(tcData,tcDataLen);
+	// store command into the Inter Process Communication Store
+	store_address_t storeAddress;
+	ReturnValue_t result = IPCStore->addData(&storeAddress,
+	        RawCommand.getCommand(), RawCommand.getCommandSize());
+	DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
+	        storeAddress);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
+		CommandMessage *messageToSet, const uint8_t *tcData,
+		size_t tcDataLen) {
+	if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	WiretappingToggle command;
+	ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
+	        SerializeIF::Endianness::BIG);
+	DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
+			command.getWiretappingMode());
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
+		Command_t previousCommand, uint32_t* state,
+		CommandMessage* optionalNextCommand, object_id_t objectId,
+		bool* isStep) {
+	switch(reply->getCommand()) {
+	case CommandMessage::REPLY_COMMAND_OK:
+		return HasReturnvaluesIF::RETURN_OK;
+	case CommandMessage::REPLY_REJECTED:
+		return reply->getReplyRejectedReason();
+	default:
+		return CommandingServiceBase::INVALID_REPLY;
+	}
+}
+
+// All device handlers set service 2 as default raw receiver for wiretapping
+// so we have to handle those unrequested messages.
+void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
+	switch(reply->getCommand()) {
+	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
+		break;
+	case DeviceHandlerMessage::REPLY_RAW_REPLY:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::RAW_REPLY));
+		break;
+	default:
+		sif::error << "Unknown message in Service2DeviceAccess::"
+				"handleUnrequestedReply with command ID " <<
+				reply->getCommand() << std::endl;
+		break;
+	}
+	//Must be reached by all cases to clear message
+	reply->clear();
+}
+
+void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
+		uint8_t subservice) {
+	// Raw Wiretapping
+	// Get Address of Data from Message
+	store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
+	const uint8_t* data = nullptr;
+	size_t size = 0;
+	ReturnValue_t result = IPCStore->getData(storeAddress,&data,&size);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
+		        "handleUnrequestedReply with failure ID "<< result
+		        << std::endl;
+		return;
+	}
+
+	// Init our dummy packet and correct endianness of object ID before
+	// sending it back.
+	WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
+	        data);
+	TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
+	sendTmPacket(subservice,TmPacket.data,size,reinterpret_cast<uint8_t*>(
+			&TmPacket.objectId),sizeof(TmPacket.objectId));
+}
+
+MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
+	return commandQueue->getId();
+}
+
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
new file mode 100644
index 00000000..ecab6101
--- /dev/null
+++ b/pus/Service2DeviceAccess.h
@@ -0,0 +1,96 @@
+#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief   Raw Commanding and Wiretapping of devices.
+ * @details
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This service provides the capability to communicate with devices in their
+ * native protocols with raw commands through the DeviceHandlerIF.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base
+ * template class. There is constant interaction between this Service Base und
+ * a Subclass like this service
+ * There are 4 adaption points for component implementation through the
+ * Commanding Service Base.
+ *
+ * This service employs custom subservices exclusively.  This includes a
+ * wiretapping subservice to monitor all traffic between target devices and
+ * this service.
+ *
+ *   - TC[2,128]: Raw Commanding
+ *   - TC[2,129]: Toggle Wiretapping
+ *   - TM[2,130]: Wiretapping Packet TM
+ *   - TM[2,131]: Wiretapping Packet TC
+ * @ingroup pus_services
+ */
+class Service2DeviceAccess : public CommandingServiceBase,
+		public AcceptsDeviceResponsesIF
+{
+public:
+	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, object_id_t tcSource,
+	        object_id_t tmDestination);
+	virtual ~Service2DeviceAccess();
+
+	static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
+	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
+	        object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+	/**
+	 * @brief 	Generates TM packets containing either the TC wiretapping
+	 * 			packets or the TM wiretapping packets.
+	 * Note that for service 2, all telemetry will be treated as an
+	 * unrequested reply regardless of wiretapping mode.
+	 * @param reply
+	 */
+	void handleUnrequestedReply(CommandMessage* reply) override;
+
+	MessageQueueId_t getDeviceQueue() override;
+private:
+	/**
+	 * Generates TM packets for Wiretapping Service
+	 * @param reply
+	 * @param subservice
+	 */
+	void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
+
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+
+	enum class Subservice {
+		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
+		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
+		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
+		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+	};
+};
+
+
+#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h
new file mode 100644
index 00000000..f292611e
--- /dev/null
+++ b/pus/servicepackets/Service2Packets.h
@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+/**
+ * @brief Subservice 128
+ * @ingroup spacepackets
+ */
+class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	RawCommand(const uint8_t* buffer, size_t size) {
+		// Deserialize Adapter to get correct endianness
+		SerializeAdapter::deSerialize(&objectId, &buffer, &size,
+		        SerializeIF::Endianness::BIG);
+		commandBuffer = buffer;
+		// size is decremented by AutoSerializeAdapter,
+		// remaining size is data size
+		dataSize = size;
+	}
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getCommand() {
+		return commandBuffer;
+	}
+
+	size_t getCommandSize() const {
+		return dataSize;
+	}
+private:
+	object_id_t objectId = 0;
+	const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
+	size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
+};
+
+
+/**
+ * @brief Subservice 129: Command packet to set wiretapping mode
+ * @ingroup spacepackets
+ */
+class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
+public:
+	static const size_t WIRETAPPING_COMMAND_SIZE = 5;
+	WiretappingToggle(){
+		setStart(&objectId);
+		objectId.setNext(&wiretappingMode);
+	}
+
+	uint8_t getWiretappingMode() const {
+		return wiretappingMode.entry;
+	}
+private:
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
+};
+
+
+/**
+ * @brief Subservices 130 and 131: TM packets
+ * @ingroup spacepackets
+ */
+class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
+public:
+	object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
+	const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
+	WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
+	    objectId(objectId), data(buffer) {
+	}
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h
index f8f730c3..14219c93 100644
--- a/pus/servicepackets/Service5Packets.h
+++ b/pus/servicepackets/Service5Packets.h
@@ -1,17 +1,3 @@
-/**
- * \file Service5Packets.h
- *
- * Structure of Event Report.
- * It consists of:
- * 		1. Report ID(RID). This is the Event ID in the FSFW
- *		2. Object ID of the reporter (e.g. subsystem)
- *		2. Parameter 1
- *		3. Parameter 2
- *
- * Created on: 21.05.2019
- * Author: R. Mueller, J. Meier
- */
-
 #ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
 #define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
 
@@ -20,8 +6,15 @@
 
 
 /**
- * \brief Subservice 1, 2, 3, 4
- * \ingroup spacepackets
+ * @brief Subservice 1, 2, 3, 4
+ * Structure of Event Report.
+ * It consists of:
+ *      1. Report ID(RID). This is the Event ID in the FSFW
+ *      2. Object ID of the reporter (e.g. subsystem)
+ *      2. Parameter 1
+ *      3. Parameter 2
+ *
+ * @ingroup spacepackets
  */
 class EventReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
 public:

From 684b56ac883b0ee0528edc55b492977518611430 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 17:21:47 +0200
Subject: [PATCH 240/307] srv2 tweak: CSB params now configurable

---
 pus/Service2DeviceAccess.cpp |  5 +++--
 pus/Service2DeviceAccess.h   | 15 +++++++--------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index 5c6ad506..d1f8faf3 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -12,9 +12,10 @@
 
 Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
         uint16_t apid, uint8_t serviceId, object_id_t tcSource,
-        object_id_t tmDestination):
+        object_id_t tmDestination, uint8_t numberOfParallelCommands,
+        uint16_t commandTimeoutSeconds):
         CommandingServiceBase(objectId, apid, serviceId,
-	        NUM_OF_PARALLEL_COMMANDS, COMMAND_TIMEOUT_SECONDS,
+	        numberOfParallelCommands, commandTimeoutSeconds,
 	        tcSource, tmDestination) {}
 
 Service2DeviceAccess::~Service2DeviceAccess() {}
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
index ecab6101..20fc30b9 100644
--- a/pus/Service2DeviceAccess.h
+++ b/pus/Service2DeviceAccess.h
@@ -14,12 +14,12 @@
  * This service provides the capability to communicate with devices in their
  * native protocols with raw commands through the DeviceHandlerIF.
  *
- * This is a gateway service. It relays device commands using the software bus.
- * This service is very closely tied to the Commanding Service Base
- * template class. There is constant interaction between this Service Base und
- * a Subclass like this service
+ * This is a gateway service. It relays device commands to the software bus.
+ * This service is very closely tied to the CommandingServiceBase
+ * template class.
+ *
  * There are 4 adaption points for component implementation through the
- * Commanding Service Base.
+ * CommandingServiceBase.
  *
  * This service employs custom subservices exclusively.  This includes a
  * wiretapping subservice to monitor all traffic between target devices and
@@ -37,11 +37,10 @@ class Service2DeviceAccess : public CommandingServiceBase,
 public:
 	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
 	        uint8_t serviceId, object_id_t tcSource,
-	        object_id_t tmDestination);
+	        object_id_t tmDestination, uint8_t numberOfParallelCommands = 4,
+	        uint16_t commandTimeoutSeconds = 60);
 	virtual ~Service2DeviceAccess();
 
-	static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
-	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
 protected:
 	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
 	ReturnValue_t isValidSubservice(uint8_t subservice) override;

From 06d389ed1e6157f1fe736c5dacf121eec247ea14 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 17:25:52 +0200
Subject: [PATCH 241/307] increased srv2 readability

---
 pus/Service2DeviceAccess.cpp | 24 ++++++------------------
 pus/Service2DeviceAccess.h   |  2 --
 2 files changed, 6 insertions(+), 20 deletions(-)

diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index d1f8faf3..ee48b46d 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -34,29 +34,17 @@ ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
 ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
 		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
 		MessageQueueId_t* id, object_id_t* objectId) {
-	ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData,
+                &tcDataLen, SerializeIF::Endianness::BIG);
 
-	result = checkInterfaceAndAcquireMessageQueue(id,objectId);
+	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
 	return result;
 
 }
 
-ReturnValue_t Service2DeviceAccess::checkAndAcquireTargetID(
-		object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
-	if(SerializeAdapter::deSerialize(objectIdToSet, &tcData,
-	        &tcDataLen, SerializeIF::Endianness::BIG) != RETURN_OK) {
-		sif::error << "Service 2: Target ID not found. ID: " <<
-				std::hex << objectIdToSet ;
-		return CommandingServiceBase::INVALID_TC;
-	}
-	else {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-}
-
 ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
 		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
 	DeviceHandlerIF* possibleTarget =
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
index 20fc30b9..4dab0fa0 100644
--- a/pus/Service2DeviceAccess.h
+++ b/pus/Service2DeviceAccess.h
@@ -73,8 +73,6 @@ private:
 	 */
 	void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
 
-	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
-	        const uint8_t* tcData, size_t tcDataLen);
 	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
 	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
 

From dd48f7ccadc824b275ea3bf2af0da1c9820ad61b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 17:28:00 +0200
Subject: [PATCH 242/307] some form improvements

---
 pus/Service2DeviceAccess.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index ee48b46d..391c1116 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -144,7 +144,7 @@ void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
 	store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
 	const uint8_t* data = nullptr;
 	size_t size = 0;
-	ReturnValue_t result = IPCStore->getData(storeAddress,&data,&size);
+	ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
 	if(result != HasReturnvaluesIF::RETURN_OK){
 		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
 		        "handleUnrequestedReply with failure ID "<< result
@@ -157,8 +157,8 @@ void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
 	WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
 	        data);
 	TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
-	sendTmPacket(subservice,TmPacket.data,size,reinterpret_cast<uint8_t*>(
-			&TmPacket.objectId),sizeof(TmPacket.objectId));
+	sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast<uint8_t*>(
+			&TmPacket.objectId), sizeof(TmPacket.objectId));
 }
 
 MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {

From 399fc0e287048b1fb8e1343185d637c78a791a80 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 17:42:37 +0200
Subject: [PATCH 243/307] fifo replacements

---
 container/DynamicFIFO.h              | 27 +++++++++++++++++++++++++
 container/FIFO.h                     | 23 +++++++++------------
 container/FIFOBase.h                 |  4 ----
 container/SimpleRingBuffer.cpp       |  6 +++---
 container/SimpleRingBuffer.h         |  2 +-
 container/StaticFIFO.h               | 30 ----------------------------
 tmtcservices/CommandingServiceBase.h |  4 ++--
 tmtcservices/PusParser.cpp           |  2 +-
 tmtcservices/PusParser.h             |  7 +++----
 tmtcservices/TmTcBridge.h            |  4 ++--
 10 files changed, 48 insertions(+), 61 deletions(-)
 create mode 100644 container/DynamicFIFO.h
 delete mode 100644 container/StaticFIFO.h

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
new file mode 100644
index 00000000..3a5242c7
--- /dev/null
+++ b/container/DynamicFIFO.h
@@ -0,0 +1,27 @@
+#ifndef FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
+#define FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
+
+#include <framework/container/FIFOBase.h>
+#include <vector>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure. The maximum size
+ * 			can be set in the constructor.
+ * @details
+ * The maximum capacity can be determined at run-time, so this container
+ * performs dynamic memory allocation!
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
+template<typename T>
+class DynamicFIFO: public FIFOBase<T> {
+public:
+	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
+			values(maxCapacity) {};
+
+private:
+	std::vector<T> values;
+};
+
+#endif /* FRAMEWORK_CONTAINER_DYNAMICFIFO_H_ */
diff --git a/container/FIFO.h b/container/FIFO.h
index 19daaf1b..ecb218fd 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -1,31 +1,26 @@
 #ifndef FRAMEWORK_CONTAINER_FIFO_H_
 #define FRAMEWORK_CONTAINER_FIFO_H_
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/container/FIFOBase.h>
-#include <vector>
-
-namespace fsfw {
+#include <array>
 
 /**
- * @brief 	Simple First-In-First-Out data structure. The maximum size
- * 			can be set in the constructor.
+ * @brief 	Simple First-In-First-Out data structure with size fixed at
+ * 			compile time
  * @details
- * The maximum capacity can be determined at run-time, so this container
- * performs dynamic memory allocation!
+ * Performs no dynamic memory allocation.
  * The public interface of FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */
-template<typename T>
+template<typename T, size_t capacity>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
-			values(maxCapacity) {};
+	FIFO(): FIFOBase<T>(values.data(), capacity) {};
 
 private:
-	std::vector<T> values;
+	std::array<T, capacity> values;
 };
 
-}
-
-#endif /* FRAMEWORK_CONTAINER_FIFO_H_ */
+#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index 6ed7d924..8bdb333f 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -4,8 +4,6 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <cstddef>
 
-namespace fsfw {
-
 template <typename T>
 class FIFOBase {
 public:
@@ -60,6 +58,4 @@ private:
 
 #include <framework/container/FIFOBase.tpp>
 
-}
-
 #endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */
diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 4e50109b..731c9dc9 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -17,7 +17,7 @@ SimpleRingBuffer::~SimpleRingBuffer() {
 
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
 		uint32_t amount) {
-	if (availableWriteSpace() >= amount || overwriteOld) {
+	if (availableWriteSpace() >= amount or overwriteOld) {
 		uint32_t amountTillWrap = writeTillWrap();
 		if (amountTillWrap >= amount) {
 			memcpy(&buffer[write], data, amount);
@@ -43,7 +43,7 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
-	if (trueAmount != NULL) {
+	if (trueAmount != nullptr) {
 		*trueAmount = amount;
 	}
 	if (amountTillWrap >= amount) {
@@ -65,7 +65,7 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
-	if (trueAmount != NULL) {
+	if (trueAmount != nullptr) {
 		*trueAmount = amount;
 	}
 	incrementRead(amount, READ_PTR);
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index b5bc2c1c..30dd184c 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -2,7 +2,7 @@
 #define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
 
 #include <framework/container/RingBufferBase.h>
-#include <stddef.h>
+#include <cstddef>
 
 /**
  * @brief 	Circular buffer implementation, useful for buffering
diff --git a/container/StaticFIFO.h b/container/StaticFIFO.h
deleted file mode 100644
index f3128200..00000000
--- a/container/StaticFIFO.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef FRAMEWORK_CONTAINER_STATICFIFO_H_
-#define FRAMEWORK_CONTAINER_STATICFIFO_H_
-
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/container/FIFOBase.h>
-#include <array>
-
-namespace fsfw {
-
-/**
- * @brief 	Simple First-In-First-Out data structure with size fixed at
- * 			compile time
- * @details
- * Performs no dynamic memory allocation.
- * The public interface of FIFOBase exposes the user interface for the FIFO.
- * @tparam T Entry Type
- * @tparam capacity Maximum capacity
- */
-template<typename T, size_t capacity>
-class StaticFIFO: public FIFOBase<T> {
-public:
-	StaticFIFO(): FIFOBase<T>(values.data(), capacity) {};
-
-private:
-	std::array<T, capacity> values;
-};
-
-}
-
-#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 72fe13f2..700503c6 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -10,7 +10,7 @@
 #include <framework/tmtcservices/VerificationReporter.h>
 #include <framework/ipc/CommandMessage.h>
 #include <framework/container/FixedMap.h>
-#include <framework/container/StaticFIFO.h>
+#include <framework/container/FIFO.h>
 #include <framework/serialize/SerializeIF.h>
 
 class TcPacketStored;
@@ -199,7 +199,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		fsfw::StaticFIFO<store_address_t, 3> fifo;
+		FIFO<store_address_t, 3> fifo;
 	};
 
 	using CommandMapIter = FixedMap<MessageQueueId_t,
diff --git a/tmtcservices/PusParser.cpp b/tmtcservices/PusParser.cpp
index 175c2893..4198e36e 100644
--- a/tmtcservices/PusParser.cpp
+++ b/tmtcservices/PusParser.cpp
@@ -64,7 +64,7 @@ ReturnValue_t PusParser::readMultiplePackets(const uint8_t *frame,
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-fsfw::FIFO<PusParser::indexSizePair>* PusParser::fifo(){
+DynamicFIFO<PusParser::indexSizePair>* PusParser::fifo(){
 	return &indexSizePairFIFO;
 }
 
diff --git a/tmtcservices/PusParser.h b/tmtcservices/PusParser.h
index 82aff57e..88570bb2 100644
--- a/tmtcservices/PusParser.h
+++ b/tmtcservices/PusParser.h
@@ -1,8 +1,7 @@
 #ifndef FRAMEWORK_TMTCSERVICES_PUSPARSER_H_
 #define FRAMEWORK_TMTCSERVICES_PUSPARSER_H_
 
-#include <framework/container/FIFO.h>
-
+#include <framework/container/DynamicFIFO.h>
 #include <utility>
 #include <cstdint>
 
@@ -55,7 +54,7 @@ public:
 	 * by the parsePusPackets() function.
 	 * @return
 	 */
-	fsfw::FIFO<indexSizePair>* fifo();
+	DynamicFIFO<indexSizePair>* fifo();
 
 	/**
 	 * Retrieve the next index and packet size pair from the FIFO.
@@ -69,7 +68,7 @@ private:
 	//! A FIFO is used to store information about multiple PUS packets
 	//! inside the receive buffer. The maximum number of entries is defined
 	//! by the first constructor argument.
-	fsfw::FIFO<indexSizePair> indexSizePairFIFO;
+	DynamicFIFO<indexSizePair> indexSizePairFIFO;
 
 	bool storeSplitPackets = false;
 
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 23f7dcfa..5b933c79 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 
+#include <framework/container/FIFO.h>
 #include <framework/tmtcservices/AcceptsTelemetryIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/ipc/MessageQueueIF.h>
@@ -8,7 +9,6 @@
 #include <framework/objectmanager/SystemObject.h>
 
 #include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/container/StaticFIFO.h>
 
 class TmTcBridge : public AcceptsTelemetryIF,
 		public ExecutableObjectIF,
@@ -143,7 +143,7 @@ protected:
 	 * This fifo can be used to store downlink data
 	 * which can not be sent at the moment.
 	 */
-	fsfw::StaticFIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
     uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
     uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };

From 2efcda735f84166665c2c1b42dc604048a7bbb34 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 02:20:38 +0200
Subject: [PATCH 244/307] message arriving.

big clean up in tcdistribution folder
---
 osal/linux/TcUnixUdpPollingTask.cpp |  73 +++++++++++-----
 osal/linux/TcUnixUdpPollingTask.h   |  13 ++-
 osal/linux/TmTcUnixUdpBridge.cpp    |  15 ++--
 osal/linux/TmTcUnixUdpBridge.h      |   2 +-
 tcdistribution/CCSDSDistributor.cpp |  39 +++++----
 tcdistribution/CCSDSDistributor.h   |  87 ++++++++++---------
 tcdistribution/PUSDistributor.cpp   |   4 +-
 tcdistribution/PUSDistributor.h     |  52 +++++++-----
 tcdistribution/TcDistributor.cpp    |   5 +-
 tcdistribution/TcDistributor.h      | 124 ++++++++++++++--------------
 tmtcservices/PusServiceBase.cpp     |  11 ++-
 tmtcservices/TmTcBridge.h           |   2 +-
 12 files changed, 253 insertions(+), 174 deletions(-)

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index f237a0f2..83f7a3da 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -1,6 +1,7 @@
 #include <framework/osal/linux/TcUnixUdpPollingTask.h>
+#include <framework/globalfunctions/arrayprinter.h>
 
-TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
+TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
 		object_id_t tmtcUnixUdpBridge, size_t frameSize,
 		double timeoutSeconds): SystemObject(objectId),
 		tmtcBridgeId(tmtcUnixUdpBridge) {
@@ -23,23 +24,13 @@ TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
 	else {
 		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
 	}
-
-	// Set receive timeout.
-	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
-			&receptionTimeout, sizeof(receptionTimeout));
-	if(result == -1) {
-		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting receive"
-				"timeout failed with " << strerror(errno) << std::endl;
-		return;
-	}
 }
 
-TcSocketPollingTask::~TcSocketPollingTask() {
+TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {
 }
 
-ReturnValue_t TcSocketPollingTask::performOperation(uint8_t opCode) {
-	// Poll for new data permanently. The call will block until the specified
-	// length of bytes has been received or a timeout occured.
+ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
+	// Poll for new UDP datagrams in permanent loop.
 	while(1) {
 		//! Sender Address is cached here.
 		struct sockaddr_in senderAddress;
@@ -48,21 +39,34 @@ ReturnValue_t TcSocketPollingTask::performOperation(uint8_t opCode) {
 				receptionBuffer.data(), frameSize, receptionFlags,
 				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
 		if(bytesReceived < 0) {
-			//handle error
+			// handle error
 			sif::error << "TcSocketPollingTask::performOperation: recvfrom "
 					"failed with " << strerror(errno) << std::endl;
+			if(errno == EAGAIN or errno == EWOULDBLOCK) {
+				sif::info << "timeout" << std::endl;
+			}
 			continue;
 		}
 		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
 				<< " bytes received" << std::endl;
 
-		ReturnValue_t result = handleSuccessfullTcRead();
+		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
+		if(result != HasReturnvaluesIF::RETURN_FAILED) {
+
+		}
 		tmtcBridge->checkAndSetClientAddress(senderAddress);
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t TcSocketPollingTask::initialize() {
+ReturnValue_t TcUnixUdpPollingTask::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	if (tcStore == nullptr) {
+		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
 	tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
 	if(tmtcBridge == nullptr) {
 		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
@@ -70,10 +74,41 @@ ReturnValue_t TcSocketPollingTask::initialize() {
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
+	targetTcDestination = tmtcBridge->getReportReceptionQueue();
+
 	serverUdpSocket = tmtcBridge->serverSocket;
+
+	// Set receive timeout.
+//	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+//			&receptionTimeout, sizeof(receptionTimeout));
+//	if(result == -1) {
+//		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+//				"receive timeout failed with " << strerror(errno) << std::endl;
+//		return ObjectManagerIF::CHILD_INIT_FAILED;
+//	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t TcSocketPollingTask::handleSuccessfullTcRead() {
-	return HasReturnvaluesIF::RETURN_OK;
+ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
+	store_address_t storeId = 0;
+	ReturnValue_t result = tcStore->addData(&storeId,
+			receptionBuffer.data(), bytesRead);
+	// arrayprinter::print(receptionBuffer.data(), bytesRead);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::debug << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
+				"storage failed" << std::endl;
+		sif::debug << "Packet size: " << bytesRead << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	TmTcMessage message(storeId);
+	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Serial Polling: Sending message to queue failed"
+				<< std::endl;
+		tcStore->deleteData(storeId);
+	}
+	return result;
 }
+
+
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
index a6b0e9d4..3503d505 100644
--- a/osal/linux/TcUnixUdpPollingTask.h
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -1,5 +1,6 @@
 #ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
+
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/tasks/ExecutableObjectIF.h>
@@ -16,7 +17,7 @@
  * This class caches the IP address of the sender. It is assumed there
  * is only one sender for now.
  */
-class TcSocketPollingTask: public SystemObject,
+class TcUnixUdpPollingTask: public SystemObject,
 		public ExecutableObjectIF {
 	friend class TmTcUnixUdpBridge;
 public:
@@ -24,17 +25,21 @@ public:
 	//! 0.5  default milliseconds timeout for now.
 	static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
 
-	TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+	TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
 			size_t frameSize = 0, double timeoutSeconds = -1);
-	virtual~ TcSocketPollingTask();
+	virtual~ TcUnixUdpPollingTask();
 
 	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 	virtual ReturnValue_t initialize() override;
 
+protected:
+	StorageManagerIF* tcStore = nullptr;
+
 private:
 	//! TMTC bridge is cached.
 	object_id_t tmtcBridgeId = objects::NO_OBJECT;
 	TmTcUnixUdpBridge* tmtcBridge = nullptr;
+	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
 	//! Reception flags: https://linux.die.net/man/2/recvfrom.
 	int receptionFlags = 0;
 
@@ -47,7 +52,7 @@ private:
 	size_t frameSize = 0;
 	timeval receptionTimeout;
 
-	ReturnValue_t handleSuccessfullTcRead();
+	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
 
 };
 
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 710761b4..a337b8ae 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -101,7 +101,7 @@ void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
 void TmTcUnixUdpBridge::handleBindError() {
 	// See: https://man7.org/linux/man-pages/man2/bind.2.html
 	switch(errno) {
-	case(EACCES):
+	case(EACCES): {
 		/*
 		 Ephermeral ports can be shown with following command:
 		 sysctl -A | grep ip_local_port_range
@@ -110,7 +110,8 @@ void TmTcUnixUdpBridge::handleBindError() {
 				"Ports 1-1024 are reserved on UNIX systems and require root "
 				"rights while ephermeral ports should not be used as well."
 				<< std::endl;
-		break;
+	}
+	break;
 	case(EADDRINUSE):
 	case(EBADF):
 	case(EINVAL):
@@ -122,15 +123,17 @@ void TmTcUnixUdpBridge::handleBindError() {
 	case(ENOENT):
 	case(ENOMEM):
 	case(ENOTDIR):
-	case(EROFS):
+	case(EROFS): {
 		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Socket creation failed"
-					<< " with " << strerror(errno) << std::endl;
+				<< " with " << strerror(errno) << std::endl;
 		break;
-	default:
+	}
+	default: {
 		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
-						<< std::endl;
+				<< std::endl;
 		break;
 	}
+	}
 }
 
 
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index 15d256cd..2fb606b0 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -7,7 +7,7 @@
 #include <netinet/udp.h>
 
 class TmTcUnixUdpBridge: public TmTcBridge {
-	friend class TcSocketPollingTask;
+	friend class TcUnixUdpPollingTask;
 public:
 	// The ports chosen here should not be used by any other process.
 	// List of used ports on Linux: /etc/services
diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp
index 878b8f7d..199e2ed1 100644
--- a/tcdistribution/CCSDSDistributor.cpp
+++ b/tcdistribution/CCSDSDistributor.cpp
@@ -2,30 +2,37 @@
 #include <framework/tcdistribution/CCSDSDistributor.h>
 #include <framework/tmtcpacket/SpacePacketBase.h>
 
-CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
-		TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
+CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
+		object_id_t setObjectId):
+		TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
 }
 
-CCSDSDistributor::~CCSDSDistributor() {
+CCSDSDistributor::~CCSDSDistributor() {}
 
-}
-
-iterator_t CCSDSDistributor::selectDestination() {
-//	debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
-	const uint8_t* p_packet = NULL;
+TcDistributor::TcMessageQueueMapIter CCSDSDistributor::selectDestination() {
+//	sif::debug << "CCSDSDistributor::selectDestination received: " <<
+//			this->currentMessage.getStorageId().pool_index << ", " <<
+//			this->currentMessage.getStorageId().packet_index << std::endl;
+	const uint8_t* packet = nullptr;
 	size_t size = 0;
-	//TODO check returncode?
-	this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
-	SpacePacketBase current_packet( p_packet );
-//	info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl;
-	iterator_t position = this->queueMap.find( current_packet.getAPID() );
+	ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
+			&packet, &size );
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "CCSDSDistributor::selectDestination: Getting data from"
+				"store failed!" << std::endl;
+	}
+	SpacePacketBase currentPacket(packet);
+
+//	sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
+//			<< std::hex << currentPacket.getAPID() << std::dec << std::endl;
+	TcMessageQueueMapIter position = this->queueMap.find(currentPacket.getAPID());
 	if ( position != this->queueMap.end() ) {
 		return position;
 	} else {
-		//The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report.
-		return this->queueMap.find( this->default_apid );
+		//The APID was not found. Forward packet to main SW-APID anyway to
+		// create acceptance failure report.
+		return this->queueMap.find( this->defaultApid );
 	}
-
 }
 
 MessageQueueId_t CCSDSDistributor::getRequestQueue() {
diff --git a/tcdistribution/CCSDSDistributor.h b/tcdistribution/CCSDSDistributor.h
index 9dce34f2..22025f76 100644
--- a/tcdistribution/CCSDSDistributor.h
+++ b/tcdistribution/CCSDSDistributor.h
@@ -1,58 +1,69 @@
-#ifndef CCSDSDISTRIBUTOR_H_
-#define CCSDSDISTRIBUTOR_H_
+#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
+#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tcdistribution/CCSDSDistributorIF.h>
 #include <framework/tcdistribution/TcDistributor.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+
 /**
- * An instantiation of the CCSDSDistributorIF.
- * It receives Space Packets, and selects a destination depending on the APID of the telecommands.
+ * @brief 	An instantiation of the CCSDSDistributorIF.
+ * @details
+ * It receives Space Packets, and selects a destination depending on the
+ * APID of the telecommands.
  * The Secondary Header (with Service/Subservice) is ignored.
- * \ingroup tc_distribution
+ * @ingroup tc_distribution
  */
-class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF {
-protected:
-	/**
-	 * This implementation checks if an Application with fitting APID has registered and forwards the
-	 * packet to the according message queue.
-	 * If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure
-	 * message should be generated.
-	 * @return Iterator to map entry of found APID or iterator to default APID.
-	 */
-	iterator_t selectDestination();
-	/**
-	 * The default APID, where packets with unknown APID are sent to.
-	 */
-	uint16_t default_apid;
-	/**
-	 * A reference to the TC storage must be maintained, as this class handles pure Space Packets and there
-	 * exists no SpacePacketStored class.
-	 */
-	StorageManagerIF* tcStore;
-	/**
-	 * The callback here handles the generation of acceptance success/failure messages.
-	 */
-	ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
+class CCSDSDistributor : public TcDistributor,
+		public CCSDSDistributorIF,
+		public AcceptsTelecommandsIF {
 public:
 	/**
-	 * The constructor sets the default APID and calls the TcDistributor ctor with a certain object id.
-	 * \c tcStore is set in the \c initialize method.
-	 * @param set_default_apid The default APID, where packets with unknown destination are sent to.
+	 * @brief	The constructor sets the default APID and calls the
+	 * 			TcDistributor ctor with a certain object id.
+	 * @details
+	 * @c tcStore is set in the @c initialize method.
+	 * @param set_default_apid The default APID, where packets with unknown
+	 * destination are sent to.
 	 */
 	CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
 	/**
 	 * The destructor is empty.
 	 */
 	~CCSDSDistributor();
-	MessageQueueId_t getRequestQueue();
-	ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id );
-	ReturnValue_t registerApplication( AcceptsTelecommandsIF* application );
+
+	MessageQueueId_t getRequestQueue() override;
+	ReturnValue_t registerApplication( uint16_t apid,
+			MessageQueueId_t id) override;
+	ReturnValue_t registerApplication(
+			AcceptsTelecommandsIF* application) override;
 	uint16_t getIdentifier();
-	ReturnValue_t initialize();
+	ReturnValue_t initialize() override;
+
+protected:
+	/**
+	 * This implementation checks if an application with fitting APID has
+	 * registered and forwards the packet to the according message queue.
+	 * If the packet is not found, it returns the queue to @c defaultApid,
+	 * where a Acceptance Failure message should be generated.
+	 * @return Iterator to map entry of found APID or iterator to default APID.
+	 */
+	TcMessageQueueMapIter selectDestination();
+	/**
+	 * The default APID, where packets with unknown APID are sent to.
+	 */
+	uint16_t defaultApid;
+	/**
+	 * A reference to the TC storage must be maintained, as this class handles
+	 * pure Space Packets and there exists no SpacePacketStored class.
+	 */
+	StorageManagerIF* tcStore = nullptr;
+	/**
+	 * The callback here handles the generation of acceptance
+	 * success/failure messages.
+	 */
+	ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
 };
 
-
-
-#endif /* CCSDSDISTRIBUTOR_H_ */
+#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index bcf6d571..f13b5f8d 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -12,9 +12,9 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
 
 PUSDistributor::~PUSDistributor() {}
 
-iterator_t PUSDistributor::selectDestination() {
+TcDistributor::TcMessageQueueMapIter PUSDistributor::selectDestination() {
 //	debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
-	iterator_t queueMapIt = this->queueMap.end();
+	TcMessageQueueMapIter queueMapIt = this->queueMap.end();
 	this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
 	if (currentPacket.getWholeData() != NULL) {
 		tcStatus = checker.checkPacket(&currentPacket);
diff --git a/tcdistribution/PUSDistributor.h b/tcdistribution/PUSDistributor.h
index 8d774662..3d6717bd 100644
--- a/tcdistribution/PUSDistributor.h
+++ b/tcdistribution/PUSDistributor.h
@@ -1,5 +1,5 @@
-#ifndef PUSDISTRIBUTOR_H_
-#define PUSDISTRIBUTOR_H_
+#ifndef FRAMEWORK_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
+#define FRAMEWORK_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/tcdistribution/PUSDistributorIF.h>
@@ -9,37 +9,42 @@
 #include <framework/tmtcservices/VerificationReporter.h>
 
 /**
- * This class accepts PUS Telecommands and forwards them to Application services.
- * In addition, the class performs a formal packet check and sends acceptance success
- * or failure messages.
- * \ingroup tc_distribution
+ * This class accepts PUS Telecommands and forwards them to Application
+ * services. In addition, the class performs a formal packet check and
+ * sends acceptance success or failure messages.
+ * @ingroup tc_distribution
  */
 class PUSDistributor: public TcDistributor,
 		public PUSDistributorIF,
 		public AcceptsTelecommandsIF {
 public:
 	/**
-	 * The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id.
+	 * The ctor passes @c set_apid to the checker class and calls the
+	 * TcDistribution ctor with a certain object id.
 	 * @param setApid The APID of this receiving Application.
 	 * @param setObjectId Object ID of the distributor itself
-	 * @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF.
+	 * @param setPacketSource Object ID of the source of TC packets.
+	 * Must implement CCSDSDistributorIF.
 	 */
-	PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
+	PUSDistributor(uint16_t setApid, object_id_t setObjectId,
+			object_id_t setPacketSource);
 	/**
 	 * The destructor is empty.
 	 */
 	virtual ~PUSDistributor();
-	ReturnValue_t registerService(AcceptsTelecommandsIF* service);
-	MessageQueueId_t getRequestQueue();
-	uint16_t getIdentifier();
-	ReturnValue_t initialize();
+	ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
+	MessageQueueId_t getRequestQueue() override;
+	ReturnValue_t initialize() override;
+	uint16_t getIdentifier() override;
+
 protected:
 	/**
 	 * This attribute contains the class, that performs a formal packet check.
 	 */
 	TcPacketCheck checker;
 	/**
-	 * With this class, verification messages are sent to the TC Verification service.
+	 * With this class, verification messages are sent to the
+	 * TC Verification service.
 	 */
 	VerificationReporter verifyChannel;
 	/**
@@ -47,21 +52,26 @@ protected:
 	 */
 	TcPacketStored currentPacket;
 	/**
-	 * With this variable, the current check status is stored to generate acceptance messages later.
+	 * With this variable, the current check status is stored to generate
+	 * acceptance messages later.
 	 */
 	ReturnValue_t tcStatus;
 
 	const object_id_t packetSource;
 	/**
-	 * This method reads the packet service, checks if such a service is registered and forwards the packet to the destination.
-	 * It also initiates the formal packet check and sending of verification messages.
-	 * @return Iterator to map entry of found service id or iterator to \c map.end().
+	 * This method reads the packet service, checks if such a service is
+	 * registered and forwards the packet to the destination.
+	 * It also initiates the formal packet check and sending of verification
+	 * messages.
+	 * @return Iterator to map entry of found service id
+	 * or iterator to @c map.end().
 	 */
-	iterator_t selectDestination();
+	TcMessageQueueMapIter selectDestination();
 	/**
-	 * The callback here handles the generation of acceptance success/failure messages.
+	 * The callback here handles the generation of acceptance
+	 * success/failure messages.
 	 */
 	ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus);
 };
 
-#endif /* PUSDISTRIBUTOR_H_ */
+#endif /* FRAMEWORK_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */
diff --git a/tcdistribution/TcDistributor.cpp b/tcdistribution/TcDistributor.cpp
index 57921459..7bebbb9c 100644
--- a/tcdistribution/TcDistributor.cpp
+++ b/tcdistribution/TcDistributor.cpp
@@ -15,7 +15,6 @@ TcDistributor::~TcDistributor() {
 
 ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
 	ReturnValue_t status = RETURN_OK;
-//	debug << "TcDistributor: performing Operation." << std::endl;
 	for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
 			status = tcQueue->receiveMessage(&currentMessage)) {
 		status = handlePacket();
@@ -29,7 +28,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
 
 ReturnValue_t TcDistributor::handlePacket() {
 
-	iterator_t queueMapIt = this->selectDestination();
+	TcMessageQueueMapIter queueMapIt = this->selectDestination();
 	ReturnValue_t returnValue = RETURN_FAILED;
 	if (queueMapIt != this->queueMap.end()) {
 		returnValue = this->tcQueue->sendMessage(queueMapIt->second,
@@ -41,7 +40,7 @@ ReturnValue_t TcDistributor::handlePacket() {
 void TcDistributor::print() {
 	sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
 			<< std::endl;
-	for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
+	for (TcMessageQueueMapIter it = this->queueMap.begin(); it != this->queueMap.end();
 			it++) {
 		sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
 				<< std::endl;
diff --git a/tcdistribution/TcDistributor.h b/tcdistribution/TcDistributor.h
index b80f08e6..5c958de0 100644
--- a/tcdistribution/TcDistributor.h
+++ b/tcdistribution/TcDistributor.h
@@ -1,5 +1,6 @@
-#ifndef TCDISTRIBUTOR_H_
-#define TCDISTRIBUTOR_H_
+#ifndef FRAMEWORK_TMTCSERVICES_TCDISTRIBUTOR_H_
+#define FRAMEWORK_TMTCSERVICES_TCDISTRIBUTOR_H_
+
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
@@ -9,16 +10,12 @@
 #include <framework/ipc/MessageQueueIF.h>
 #include <map>
 
-
 /**
- * \defgroup tc_distribution Telecommand Distribution
- * All classes associated with Routing and Distribution of Telecommands belong to this group.
+ * @defgroup tc_distribution Telecommand Distribution
+ * All classes associated with Routing and Distribution of Telecommands
+ * belong to this group.
  */
 
-/**
- * This typedef simplifies writing down the \c map iterator.
- */
-typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
 
 /**
  * This is the base class to implement distributors for Space Packets.
@@ -28,59 +25,15 @@ typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
  * message queue ids to some identifier. The process of unpacking the
  * destination information from the packet is handled by the child class
  * implementations.
- * \ingroup tc_distribution
+ * @ingroup tc_distribution
  */
-class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
-private:
-	/**
-	 * This constant sets the maximum number of packets distributed per call.
-	 */
-	static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
-protected:
-	/**
-	 * This is the receiving queue for incoming Telecommands.
-	 * The child classes must make its queue id public.
-	 */
-	MessageQueueIF* tcQueue;
-	/**
-	 * The last received incoming packet information is stored in this
-	 * member.
-	 * As different child classes unpack the incoming packet differently
-	 * (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
-	 * is not tried to unpack the packet information within this class.
-	 */
-	TmTcMessage currentMessage;
-	/**
-	 * The map that links certain packet information to a destination.
-	 * The packet information may be the APID of the packet or the service
-	 * identifier. Filling of the map is under control of the different child
-	 * classes.
-	 */
-	std::map<uint32_t, MessageQueueId_t> queueMap;
-	/**
-	 * This method shall unpack the routing information from the incoming
-	 * packet and select the map entry which represents the packet's target.
-	 * @return	An iterator to the map element to forward to or queuMap.end().
-	 */
-	virtual iterator_t selectDestination() = 0;
-	/**
-	 * The handlePacket method calls the child class's selectDestination method
-	 * and forwards the packet to its destination, if found.
-	 * @return The message queue return value or \c RETURN_FAILED, in case no
-	 * 		destination was found.
-	 */
-	ReturnValue_t handlePacket();
-	/**
-	 * This method gives the child class a chance to perform some kind of operation
-	 * after the parent tried to forward the message.
-	 * A typically application would be sending success/failure messages.
-	 * The default implementation just returns \c RETURN_OK.
-	 * @param queueStatus	The status of the message queue after an attempt to send the TC.
-	 * @return	- \c RETURN_OK on success
-	 * 			- \c RETURN_FAILED on failure
-	 */
-	virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
+class TcDistributor : public SystemObject,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF {
 public:
+	using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
+	using TcMessageQueueMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
 	static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
 	static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
@@ -110,6 +63,57 @@ public:
 	 * queueMap.
 	 */
 	void print();
+
+protected:
+	/**
+	 * This is the receiving queue for incoming Telecommands.
+	 * The child classes must make its queue id public.
+	 */
+	MessageQueueIF* tcQueue;
+	/**
+	 * The last received incoming packet information is stored in this
+	 * member.
+	 * As different child classes unpack the incoming packet differently
+	 * (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
+	 * is not tried to unpack the packet information within this class.
+	 */
+	TmTcMessage currentMessage;
+	/**
+	 * The map that links certain packet information to a destination.
+	 * The packet information may be the APID of the packet or the service
+	 * identifier. Filling of the map is under control of the different child
+	 * classes.
+	 */
+	TcMessageQueueMap queueMap;
+	/**
+	 * This method shall unpack the routing information from the incoming
+	 * packet and select the map entry which represents the packet's target.
+	 * @return	An iterator to the map element to forward to or queuMap.end().
+	 */
+	virtual TcMessageQueueMapIter selectDestination() = 0;
+	/**
+	 * The handlePacket method calls the child class's selectDestination method
+	 * and forwards the packet to its destination, if found.
+	 * @return The message queue return value or \c RETURN_FAILED, in case no
+	 * 		destination was found.
+	 */
+	ReturnValue_t handlePacket();
+	/**
+	 * This method gives the child class a chance to perform some kind of operation
+	 * after the parent tried to forward the message.
+	 * A typically application would be sending success/failure messages.
+	 * The default implementation just returns \c RETURN_OK.
+	 * @param queueStatus	The status of the message queue after an attempt to send the TC.
+	 * @return	- \c RETURN_OK on success
+	 * 			- \c RETURN_FAILED on failure
+	 */
+	virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
+
+private:
+	/**
+	 * This constant sets the maximum number of packets distributed per call.
+	 */
+	static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
 };
 
 
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index 82e5ff5c..cb1e633f 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -41,9 +41,14 @@ void PusServiceBase::handleRequestQueue() {
 	ReturnValue_t result = RETURN_FAILED;
 	for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
 		ReturnValue_t status = this->requestQueue->receiveMessage(&message);
-		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
-		//      << std::hex << this->requestQueue.getId()
-		//      << std::dec << " returned: " << status << std::endl;
+//		if(status != MessageQueueIF::EMPTY) {
+//			sif::debug << "PusServiceBase::performOperation: Receiving from "
+//					<< "MQ ID: " << std::hex << "0x" << std::setw(8)
+//					<< std::setfill('0') << this->requestQueue->getId()
+//					<< std::dec << " returned: " << status << std::setfill(' ')
+//					<<  std::endl;
+//		}
+
 		if (status == RETURN_OK) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
 			//info << "Service " << (uint16_t) this->serviceId <<
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 5b933c79..a009c962 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -62,7 +62,7 @@ public:
 	 * @param virtualChannel
 	 * @return
 	 */
-	MessageQueueId_t getReportReceptionQueue(
+	virtual MessageQueueId_t getReportReceptionQueue(
 			uint8_t virtualChannel = 0) override;
 protected:
 	//! Used to send and receive TMTC messages.

From 264914e86a1b9a2854dbc8d83ed96445a1255482 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 03:18:09 +0200
Subject: [PATCH 245/307] tmtcbridge tweaks.

UDP bridge now working :-D
---
 osal/linux/MessageQueue.cpp          |  8 ++--
 osal/linux/PeriodicPosixTask.cpp     |  8 ++--
 osal/linux/TcUnixUdpPollingTask.cpp  | 69 ++++++++++++++++------------
 osal/linux/TcUnixUdpPollingTask.h    |  8 ++++
 osal/linux/TmTcUnixUdpBridge.cpp     | 43 +++++++----------
 osal/linux/TmTcUnixUdpBridge.h       |  7 +--
 tcdistribution/CCSDSDistributor.cpp  |  4 +-
 tcdistribution/CCSDSDistributor.h    |  8 ++--
 tcdistribution/PUSDistributor.cpp    |  4 +-
 tcdistribution/PUSDistributor.h      |  2 +-
 tcdistribution/TcDistributor.cpp     |  4 +-
 tcdistribution/TcDistributor.h       |  4 +-
 tmtcservices/AcceptsTelecommandsIF.h | 10 ++--
 tmtcservices/TmTcBridge.cpp          | 26 +++++++----
 tmtcservices/TmTcBridge.h            | 34 ++++++--------
 15 files changed, 121 insertions(+), 118 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index ce1da17c..153f43d3 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -155,10 +155,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	}
 
 	if(message->getMaximumMessageSize() < maxMessageSize) {
-	        sif::error << "MessageQueue::receiveMessage: Message size "
-	                << message->getMaximumMessageSize() <<
-	                " too small to receive data!" << std::endl;
-	        return HasReturnvaluesIF::RETURN_FAILED;
+		sif::error << "MessageQueue::receiveMessage: Message size "
+				<< message->getMaximumMessageSize()
+				<< " too small to receive data!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
 	unsigned int messagePriority = 0;
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index b811274b..4b0c77fc 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -68,12 +68,12 @@ void PeriodicPosixTask::taskFunctionality(void) {
 			char name[20] = {0};
 			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
 			if(status == 0){
-				sif::error << "PeriodicPosixTask " << name << ": Deadline "
-						"missed." << std::endl;
+				//sif::error << "PeriodicPosixTask " << name << ": Deadline "
+				//		"missed." << std::endl;
 			}
 			else {
-				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
-						status << std::endl;
+				//sif::error << "PeriodicPosixTask X: Deadline missed. " <<
+				//		status << std::endl;
 			}
 			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 83f7a3da..97fbd044 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -26,8 +26,7 @@ TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
 	}
 }
 
-TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {
-}
+TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
 
 ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 	// Poll for new UDP datagrams in permanent loop.
@@ -59,6 +58,30 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+
+ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
+	store_address_t storeId = 0;
+	ReturnValue_t result = tcStore->addData(&storeId,
+			receptionBuffer.data(), bytesRead);
+	// arrayprinter::print(receptionBuffer.data(), bytesRead);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::debug << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
+				"storage failed" << std::endl;
+		sif::debug << "Packet size: " << bytesRead << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	TmTcMessage message(storeId);
+
+	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Serial Polling: Sending message to queue failed"
+				<< std::endl;
+		tcStore->deleteData(storeId);
+	}
+	return result;
+}
+
 ReturnValue_t TcUnixUdpPollingTask::initialize() {
 	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 	if (tcStore == nullptr) {
@@ -74,41 +97,27 @@ ReturnValue_t TcUnixUdpPollingTask::initialize() {
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	targetTcDestination = tmtcBridge->getReportReceptionQueue();
-
 	serverUdpSocket = tmtcBridge->serverSocket;
 
-	// Set receive timeout.
-//	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
-//			&receptionTimeout, sizeof(receptionTimeout));
-//	if(result == -1) {
-//		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
-//				"receive timeout failed with " << strerror(errno) << std::endl;
-//		return ObjectManagerIF::CHILD_INIT_FAILED;
-//	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
-	store_address_t storeId = 0;
-	ReturnValue_t result = tcStore->addData(&storeId,
-			receptionBuffer.data(), bytesRead);
-	// arrayprinter::print(receptionBuffer.data(), bytesRead);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		sif::debug << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
-				"storage failed" << std::endl;
-		sif::debug << "Packet size: " << bytesRead << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
+	// Initialize the destination after task creation. This ensures
+	// that the destination will be set in the TMTC bridge.
+	targetTcDestination = tmtcBridge->getRequestQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
 
-	TmTcMessage message(storeId);
-	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "Serial Polling: Sending message to queue failed"
-				<< std::endl;
-		tcStore->deleteData(storeId);
+void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
+	timeval tval;
+	tval = timevalOperations::toTimeval(timeoutSeconds);
+	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+			&tval, sizeof(receptionTimeout));
+	if(result == -1) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+				"receive timeout failed with " << strerror(errno) << std::endl;
 	}
-	return result;
 }
 
 
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
index 3503d505..86591e8d 100644
--- a/osal/linux/TcUnixUdpPollingTask.h
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -29,8 +29,16 @@ public:
 			size_t frameSize = 0, double timeoutSeconds = -1);
 	virtual~ TcUnixUdpPollingTask();
 
+	/**
+	 * Turn on optional timeout for UDP polling. In the default mode,
+	 * the receive function will block until a packet is received.
+	 * @param timeoutSeconds
+	 */
+	void setTimeout(double timeoutSeconds);
+
 	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 	virtual ReturnValue_t initialize() override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 
 protected:
 	StorageManagerIF* tcStore = nullptr;
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index a337b8ae..4dc61c50 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -1,8 +1,9 @@
 #include <framework/osal/linux/TmTcUnixUdpBridge.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <errno.h>
 #include <framework/ipc/MutexHelper.h>
 
+#include <errno.h>
+
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		object_id_t ccsdsPacketDistributor, uint16_t serverPort,
 		uint16_t clientPort):
@@ -14,17 +15,16 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		setServerPort = serverPort;
 	}
 
-	uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
-	if(clientPort != 0xFFFF) {
-		setClientPort = clientPort;
-	}
+//	uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
+//	if(clientPort != 0xFFFF) {
+//		setClientPort = clientPort;
+//	}
 
 	// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
 	serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
 	if(socket < 0) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
 				" UDP socket!" << std::endl;
-		// check errno here.
 		handleSocketError();
 		return;
 	}
@@ -44,7 +44,6 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
 				"local port " << setServerPort << " to server socket!"
 				<< std::endl;
-		// check errno here.
 		handleBindError();
 		return;
 	}
@@ -57,14 +56,21 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	int flags = 0;
 	ssize_t result = send(serverSocket, data, dataLen, flags);
 	if(result < 0) {
-		//handle error
+		// todo: handle errors
 		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed "
 				"with error " << strerror(errno) << std::endl;
 	}
-
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+	MutexHelper lock(mutex, 10);
+	// Set new IP address if it has changed.
+	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
+	}
+}
+
 void TmTcUnixUdpBridge::handleSocketError() {
 
 	// See: https://man7.org/linux/man-pages/man2/socket.2.html
@@ -87,17 +93,6 @@ void TmTcUnixUdpBridge::handleSocketError() {
 	}
 }
 
-void TmTcUnixUdpBridge::setTimeout(float timeoutSeconds) {
-}
-
-void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
-	MutexHelper lock(mutex, 10);
-	// Set new IP address if it has changed.
-	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
-		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
-	}
-}
-
 void TmTcUnixUdpBridge::handleBindError() {
 	// See: https://man7.org/linux/man-pages/man2/bind.2.html
 	switch(errno) {
@@ -128,16 +123,10 @@ void TmTcUnixUdpBridge::handleBindError() {
 				<< " with " << strerror(errno) << std::endl;
 		break;
 	}
-	default: {
+	default:
 		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
 				<< std::endl;
 		break;
 	}
-	}
 }
 
-
-ReturnValue_t TmTcUnixUdpBridge::receiveTc(uint8_t **recvBuffer, size_t *size) {
-	// TC reception handled by separate polling task because it is blocking.
-	return HasReturnvaluesIF::RETURN_OK;
-}
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index 2fb606b0..538664d8 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
 #define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
 
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/tmtcservices/TmTcBridge.h>
 #include <sys/socket.h>
 #include <netinet/in.h>
@@ -18,13 +19,11 @@ public:
 			 uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();
 
-	void setTimeout(float timeoutSeconds);
 	void checkAndSetClientAddress(sockaddr_in clientAddress);
 
 protected:
-	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer,
-			size_t * size) override;
 	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
+
 private:
 	int serverSocket = 0;
 	const int serverSocketOptions = 0;
@@ -43,6 +42,4 @@ private:
 	void handleBindError();
 };
 
-
-
 #endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */
diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp
index 199e2ed1..24c93730 100644
--- a/tcdistribution/CCSDSDistributor.cpp
+++ b/tcdistribution/CCSDSDistributor.cpp
@@ -9,7 +9,7 @@ CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
 
 CCSDSDistributor::~CCSDSDistributor() {}
 
-TcDistributor::TcMessageQueueMapIter CCSDSDistributor::selectDestination() {
+TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
 //	sif::debug << "CCSDSDistributor::selectDestination received: " <<
 //			this->currentMessage.getStorageId().pool_index << ", " <<
 //			this->currentMessage.getStorageId().packet_index << std::endl;
@@ -25,7 +25,7 @@ TcDistributor::TcMessageQueueMapIter CCSDSDistributor::selectDestination() {
 
 //	sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
 //			<< std::hex << currentPacket.getAPID() << std::dec << std::endl;
-	TcMessageQueueMapIter position = this->queueMap.find(currentPacket.getAPID());
+	TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
 	if ( position != this->queueMap.end() ) {
 		return position;
 	} else {
diff --git a/tcdistribution/CCSDSDistributor.h b/tcdistribution/CCSDSDistributor.h
index 22025f76..60877753 100644
--- a/tcdistribution/CCSDSDistributor.h
+++ b/tcdistribution/CCSDSDistributor.h
@@ -24,14 +24,14 @@ public:
 	 * 			TcDistributor ctor with a certain object id.
 	 * @details
 	 * @c tcStore is set in the @c initialize method.
-	 * @param set_default_apid The default APID, where packets with unknown
+	 * @param setDefaultApid The default APID, where packets with unknown
 	 * destination are sent to.
 	 */
-	CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
+	CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
 	/**
 	 * The destructor is empty.
 	 */
-	~CCSDSDistributor();
+	virtual ~CCSDSDistributor();
 
 	MessageQueueId_t getRequestQueue() override;
 	ReturnValue_t registerApplication( uint16_t apid,
@@ -49,7 +49,7 @@ protected:
 	 * where a Acceptance Failure message should be generated.
 	 * @return Iterator to map entry of found APID or iterator to default APID.
 	 */
-	TcMessageQueueMapIter selectDestination();
+	TcMqMapIter selectDestination() override;
 	/**
 	 * The default APID, where packets with unknown APID are sent to.
 	 */
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index f13b5f8d..d6e20acf 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -12,9 +12,9 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
 
 PUSDistributor::~PUSDistributor() {}
 
-TcDistributor::TcMessageQueueMapIter PUSDistributor::selectDestination() {
+TcDistributor::TcMqMapIter PUSDistributor::selectDestination() {
 //	debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
-	TcMessageQueueMapIter queueMapIt = this->queueMap.end();
+	TcMqMapIter queueMapIt = this->queueMap.end();
 	this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
 	if (currentPacket.getWholeData() != NULL) {
 		tcStatus = checker.checkPacket(&currentPacket);
diff --git a/tcdistribution/PUSDistributor.h b/tcdistribution/PUSDistributor.h
index 3d6717bd..4a22f936 100644
--- a/tcdistribution/PUSDistributor.h
+++ b/tcdistribution/PUSDistributor.h
@@ -66,7 +66,7 @@ protected:
 	 * @return Iterator to map entry of found service id
 	 * or iterator to @c map.end().
 	 */
-	TcMessageQueueMapIter selectDestination();
+	TcMqMapIter selectDestination() override;
 	/**
 	 * The callback here handles the generation of acceptance
 	 * success/failure messages.
diff --git a/tcdistribution/TcDistributor.cpp b/tcdistribution/TcDistributor.cpp
index 7bebbb9c..0190cc97 100644
--- a/tcdistribution/TcDistributor.cpp
+++ b/tcdistribution/TcDistributor.cpp
@@ -28,7 +28,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
 
 ReturnValue_t TcDistributor::handlePacket() {
 
-	TcMessageQueueMapIter queueMapIt = this->selectDestination();
+	TcMqMapIter queueMapIt = this->selectDestination();
 	ReturnValue_t returnValue = RETURN_FAILED;
 	if (queueMapIt != this->queueMap.end()) {
 		returnValue = this->tcQueue->sendMessage(queueMapIt->second,
@@ -40,7 +40,7 @@ ReturnValue_t TcDistributor::handlePacket() {
 void TcDistributor::print() {
 	sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
 			<< std::endl;
-	for (TcMessageQueueMapIter it = this->queueMap.begin(); it != this->queueMap.end();
+	for (TcMqMapIter it = this->queueMap.begin(); it != this->queueMap.end();
 			it++) {
 		sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
 				<< std::endl;
diff --git a/tcdistribution/TcDistributor.h b/tcdistribution/TcDistributor.h
index 5c958de0..73425302 100644
--- a/tcdistribution/TcDistributor.h
+++ b/tcdistribution/TcDistributor.h
@@ -32,7 +32,7 @@ class TcDistributor : public SystemObject,
 		public HasReturnvaluesIF {
 public:
 	using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
-	using TcMessageQueueMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
+	using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
 	static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
@@ -90,7 +90,7 @@ protected:
 	 * packet and select the map entry which represents the packet's target.
 	 * @return	An iterator to the map element to forward to or queuMap.end().
 	 */
-	virtual TcMessageQueueMapIter selectDestination() = 0;
+	virtual TcMqMapIter selectDestination() = 0;
 	/**
 	 * The handlePacket method calls the child class's selectDestination method
 	 * and forwards the packet to its destination, if found.
diff --git a/tmtcservices/AcceptsTelecommandsIF.h b/tmtcservices/AcceptsTelecommandsIF.h
index 0952d3a6..2878dd5d 100644
--- a/tmtcservices/AcceptsTelecommandsIF.h
+++ b/tmtcservices/AcceptsTelecommandsIF.h
@@ -1,5 +1,5 @@
-#ifndef ACCEPTSTELECOMMANDSIF_H_
-#define ACCEPTSTELECOMMANDSIF_H_
+#ifndef FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
+#define FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
 
 #include <framework/ipc/MessageQueueSenderIF.h>
 
@@ -26,9 +26,9 @@ public:
 	/**
 	 * @brief	Getter for the service id.
 	 * @details	Any receiving service (at least any PUS service) shall have a
-	 * 			service id. If the receiver can handle Telecommands, but for
+	 * 			service ID. If the receiver can handle Telecommands, but for
 	 * 			some reason has no service id, it shall return 0.
-	 * @return	The service id or 0.
+	 * @return	The service ID or 0.
 	 */
 	virtual uint16_t getIdentifier() = 0;
 	/**
@@ -40,4 +40,4 @@ public:
 };
 
 
-#endif /* ACCEPTSTELECOMMANDSIF_H_ */
+#endif /* FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_ */
diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 092884bb..9c3e5b94 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -9,7 +9,7 @@ TmTcBridge::TmTcBridge(object_id_t objectId,
         object_id_t ccsdsPacketDistributor): SystemObject(objectId),
         ccsdsPacketDistributor(ccsdsPacketDistributor)
 {
-    TmTcReceptionQueue = QueueFactory::instance()->
+    tmTcReceptionQueue = QueueFactory::instance()->
             createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
@@ -55,7 +55,8 @@ ReturnValue_t TmTcBridge::initialize() {
 	if (tcDistributor == NULL) {
 		return RETURN_FAILED;
 	}
-	TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
+
+	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
 	return RETURN_OK;
 }
 
@@ -73,10 +74,7 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t TmTcBridge::handleTc() {
-	uint8_t * recvBuffer = nullptr;
-	size_t recvLen = 0;
-	ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
-	return result;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TmTcBridge::handleTm() {
@@ -97,8 +95,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 	TmTcMessage message;
 	const uint8_t* data = nullptr;
 	size_t size = 0;
-	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
-		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
+	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
+		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
 	{
 		if(communicationLinkUp == false) {
 			result = storeDownlinkData(&message);
@@ -183,10 +181,20 @@ void TmTcBridge::registerCommDisconnect() {
 }
 
 MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
-	return TmTcReceptionQueue->getId();
+	return tmTcReceptionQueue->getId();
 }
 
 
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
 	arrayprinter::print(data, dataLen);
 }
+
+uint16_t TmTcBridge::getIdentifier() {
+	// This is no PUS service, so we just return 0
+	return 0;
+}
+
+MessageQueueId_t TmTcBridge::getRequestQueue() {
+	// Default implementation: Relay TC messages to TC distributor directly.
+	return tmTcReceptionQueue->getDefaultDestination();
+}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index a009c962..3fcbf84c 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,16 +1,18 @@
 #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 
-#include <framework/container/FIFO.h>
+#include <framework/objectmanager/SystemObject.h>
 #include <framework/tmtcservices/AcceptsTelemetryIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 
+#include <framework/container/FIFO.h>
 #include <framework/tmtcservices/TmTcMessage.h>
 
 class TmTcBridge : public AcceptsTelemetryIF,
+		public AcceptsTelecommandsIF,
 		public ExecutableObjectIF,
 		public HasReturnvaluesIF,
 		public SystemObject {
@@ -57,17 +59,19 @@ public:
 	 */
 	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-	/**
-	 * Return TMTC Reception Queue
-	 * @param virtualChannel
-	 * @return
-	 */
+
+	/** AcceptsTelemetryIF override */
 	virtual MessageQueueId_t getReportReceptionQueue(
 			uint8_t virtualChannel = 0) override;
+
+	/** AcceptsTelecommandsIF override */
+	virtual uint16_t getIdentifier() override;
+	virtual MessageQueueId_t getRequestQueue() override;
+
 protected:
 	//! Used to send and receive TMTC messages.
 	//! TmTcMessage is used to transport messages between tasks.
-	MessageQueueIF* TmTcReceptionQueue = nullptr;
+	MessageQueueIF* tmTcReceptionQueue = nullptr;
 	StorageManagerIF* tcStore = nullptr;
 	StorageManagerIF* tmStore = nullptr;
 	object_id_t ccsdsPacketDistributor = 0;
@@ -79,23 +83,11 @@ protected:
 	 * @brief 	Handle TC reception
 	 * @details
 	 * Default implementation provided, but is empty.
-	 * Child handler should override this in most cases orsend TC to the
-	 * TC distributor directly with the address of the reception queue by
-	 * calling getReportRecptionQueue()
+	 * In most cases, TC reception will be handled in a separate task anyway.
 	 * @return
 	 */
 	virtual ReturnValue_t handleTc();
 
-	/**
-	 * Implemented by child class. Perform receiving of Telecommand,
-	 * for example by implementing specific drivers or wrappers,
-	 * e.g. UART Communication or an ethernet stack
-	 * @param recvBuffer [out] Received data
-	 * @param size [out] Size of received data
-	 * @return
-	 */
-	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
-
 	/**
 	 * Handle Telemetry. Default implementation provided.
 	 * Calls sendTm()

From 94f9b1e1ef0ecdbd0f92751284f74dc02310b7c2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 12:41:15 +0200
Subject: [PATCH 246/307] dle encoder doc finished and hopefully correct

---
 globalfunctions/DleEncoder.cpp | 128 +++++++++++++++++++--------------
 globalfunctions/DleEncoder.h   |  21 ++++--
 2 files changed, 89 insertions(+), 60 deletions(-)

diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index ee934785..d727d665 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -4,50 +4,6 @@ DleEncoder::DleEncoder() {}
 
 DleEncoder::~DleEncoder() {}
 
-ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-		size_t maxDestStreamlen, size_t *decodedLen) {
-	size_t encodedIndex = 0, decodedIndex = 0;
-	uint8_t nextByte;
-	if (*sourceStream != STX) {
-		return DECODING_ERROR;
-	}
-	++encodedIndex;
-	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-			&& (sourceStream[encodedIndex] != ETX)
-			&& (sourceStream[encodedIndex] != STX)) {
-		if (sourceStream[encodedIndex] == DLE) {
-			nextByte = sourceStream[encodedIndex + 1];
-			// The next byte is a DLE character that was escaped by another
-			// DLE character, so we can write it to the destination stream.
-			if (nextByte == DLE) {
-				destStream[decodedIndex] = nextByte;
-			} else {
-			    // The next byte is a STX, DTX or 0x0D character which
-			    // was escaped by a DLE character
-				if ((nextByte == 0x42) || (nextByte == 0x43)
-						|| (nextByte == 0x4D)) {
-					destStream[decodedIndex] = nextByte - 0x40;
-				} else {
-				    return DECODING_ERROR;
-				}
-			}
-			++encodedIndex;
-		} else {
-			destStream[decodedIndex] = sourceStream[encodedIndex];
-		}
-		++encodedIndex;
-		++decodedIndex;
-	}
-	if (sourceStream[encodedIndex] != ETX) {
-		return DECODING_ERROR;
-	} else {
-		*readLen = ++encodedIndex;
-		*decodedLen = decodedIndex;
-		return RETURN_OK;
-	}
-}
-
 ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
 		size_t* encodedLen, bool addStxEtx) {
@@ -60,39 +16,105 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		destStream[0] = STX;
 		++encodedIndex;
 	}
-	while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) {
+
+	while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
 		nextByte = sourceStream[sourceIndex];
-		if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) {
+		// STX, ETX and CR characters in the stream need to be escaped with DLE
+		if (nextByte == STX or nextByte == ETX or nextByte == CARRIAGE_RETURN) {
 			if (encodedIndex + 1 >= maxDestLen) {
 				return STREAM_TOO_SHORT;
-			} else {
+			}
+			else {
 				destStream[encodedIndex] = DLE;
 				++encodedIndex;
-				// Escaped byte will be actual byte + 0x40.
+				/* Escaped byte will be actual byte + 0x40. This prevents
+				 * STX, ETX, and carriage return characters from appearing
+				 * in the encoded data stream at all, so when polling an
+				 * encoded stream, the transmission can be stopped at ETX.
+				 * 0x40 was chosen at random with special requirements:
+				 *  - Prevent going from one control char to another
+				 *  - Prevent overflow for common characters */
 				destStream[encodedIndex] = nextByte + 0x40;
 			}
-		} else if (nextByte == DLE) {
+		}
+		// DLE characters are simply escaped with DLE.
+		else if (nextByte == DLE) {
 			if (encodedIndex + 1 >= maxDestLen) {
 			    return STREAM_TOO_SHORT;
-			} else {
+			}
+			else {
 				destStream[encodedIndex] = DLE;
 				++encodedIndex;
 				destStream[encodedIndex] = DLE;
 			}
-		} else {
+		}
+		else {
 			destStream[encodedIndex] = nextByte;
 		}
 		++encodedIndex;
 		++sourceIndex;
 	}
-	if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) {
+
+	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
 		if (addStxEtx) {
 			destStream[encodedIndex] = ETX;
 			++encodedIndex;
 		}
 		*encodedLen = encodedIndex;
 		return RETURN_OK;
-	} else {
+	}
+	else {
 		return STREAM_TOO_SHORT;
 	}
 }
+
+ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
+		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+		size_t maxDestStreamlen, size_t *decodedLen) {
+	size_t encodedIndex = 0, decodedIndex = 0;
+	uint8_t nextByte;
+	if (*sourceStream != STX) {
+		return DECODING_ERROR;
+	}
+	++encodedIndex;
+
+	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
+			&& (sourceStream[encodedIndex] != ETX)
+			&& (sourceStream[encodedIndex] != STX)) {
+		if (sourceStream[encodedIndex] == DLE) {
+			nextByte = sourceStream[encodedIndex + 1];
+			// The next byte is a DLE character that was escaped by another
+			// DLE character, so we can write it to the destination stream.
+			if (nextByte == DLE) {
+				destStream[decodedIndex] = nextByte;
+			}
+			else {
+			    /* The next byte is a STX, DTX or 0x0D character which
+			     * was escaped by a DLE character. The actual byte was
+				 * also encoded by adding + 0x40 to preven having control chars,
+				 * in the stream at all, so we convert it back. */
+				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
+					destStream[decodedIndex] = nextByte - 0x40;
+				} else {
+				    return DECODING_ERROR;
+				}
+			}
+			++encodedIndex;
+		}
+		else {
+			destStream[decodedIndex] = sourceStream[encodedIndex];
+		}
+		++encodedIndex;
+		++decodedIndex;
+	}
+
+	if (sourceStream[encodedIndex] != ETX) {
+		return DECODING_ERROR;
+	}
+	else {
+		*readLen = ++encodedIndex;
+		*decodedLen = decodedIndex;
+		return RETURN_OK;
+	}
+}
+
diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index 0f4a4c8f..36cb1d3f 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -14,9 +14,15 @@
  * This encoder can be used to achieve a basic transport layer when using
  * char based transmission systems.
  * The passed source strean is converted into a encoded stream by adding
- * a STX marker at the startr of the stream and an ETX marker at the end of
- * the stream. Any STX, ETX and DLE occurences in the source stream are escaped
- * by a DLE character.
+ * a STX marker at the start of the stream and an ETX marker at the end of
+ * the stream. Any STX, ETX, DLE and CR occurences in the source stream are
+ * escaped by a DLE character. The encoder also replaces escaped control chars
+ * by another char, so STX, ETX and CR should not appear anywhere in the actual
+ * encoded data stream.
+ *
+ * When using a strictly char based reception of packets enoded with DLE,
+ * STX can be used to notify a reader that actual data will start to arrive
+ * while ETX can be used to notify the reader that the data has ended.
  */
 class DleEncoder: public HasReturnvaluesIF {
 private:
@@ -29,12 +35,13 @@ public:
 	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
 
 	//! Start Of Text character. First character is encoded stream
-	static const uint8_t STX = 0x02;
+	static constexpr uint8_t STX = 0x02;
 	//! End Of Text character. Last character in encoded stream
-	static const uint8_t ETX = 0x03;
+	static constexpr uint8_t ETX = 0x03;
 	//! Data Link Escape character. Used to escape STX, ETX and DLE occurences
 	//! in the source stream.
-	static const uint8_t DLE = 0x10;
+	static constexpr uint8_t DLE = 0x10;
+	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
 
     /**
      * Encodes the give data stream by preceding it with the STX marker
@@ -54,7 +61,7 @@ public:
             bool addStxEtx = true);
 
     /**
-     * Converts an encoded stream back
+     * Converts an encoded stream back.
      * @param sourceStream
      * @param sourceStreamLen
      * @param readLen

From 01b10803766e61833eaa9762327a48e0fff76c29 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 12:53:46 +0200
Subject: [PATCH 247/307] readability increase

---
 globalfunctions/DleEncoder.cpp | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index d727d665..c8f78872 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -17,7 +17,8 @@ ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
 		++encodedIndex;
 	}
 
-	while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
+	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
+	{
 		nextByte = sourceStream[sourceIndex];
 		// STX, ETX and CR characters in the stream need to be escaped with DLE
 		if (nextByte == STX or nextByte == ETX or nextByte == CARRIAGE_RETURN) {
@@ -80,7 +81,8 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 
 	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
 			&& (sourceStream[encodedIndex] != ETX)
-			&& (sourceStream[encodedIndex] != STX)) {
+			&& (sourceStream[encodedIndex] != STX))
+	{
 		if (sourceStream[encodedIndex] == DLE) {
 			nextByte = sourceStream[encodedIndex + 1];
 			// The next byte is a DLE character that was escaped by another
@@ -95,7 +97,8 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 				 * in the stream at all, so we convert it back. */
 				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
 					destStream[decodedIndex] = nextByte - 0x40;
-				} else {
+				}
+				else {
 				    return DECODING_ERROR;
 				}
 			}
@@ -104,6 +107,7 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 		else {
 			destStream[decodedIndex] = sourceStream[encodedIndex];
 		}
+
 		++encodedIndex;
 		++decodedIndex;
 	}

From b56aa94f99730cee982eebc09dd8fa88a3fbc077 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 12:54:40 +0200
Subject: [PATCH 248/307] additional doc

---
 globalfunctions/DleEncoder.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index 36cb1d3f..29851dfe 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -46,7 +46,8 @@ public:
     /**
      * Encodes the give data stream by preceding it with the STX marker
      * and ending it with an ETX marker. STX, ETX and DLE characters inside
-     * the stream are escaped by DLE characters.
+     * the stream are escaped by DLE characters and also replaced by adding
+     * 0x40 (which is reverted in the decoing process).
      * @param sourceStream
      * @param sourceLen
      * @param destStream

From 5ec78b065c4ca0ba486b9837c0e4c0eba40d5b15 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 13:29:57 +0200
Subject: [PATCH 249/307] error handling for invalid dest queues improved

---
 ipc/MessageQueueIF.h                  | 14 +++----
 objectmanager/frameworkObjects.h      |  4 ++
 osal/linux/MessageQueue.cpp           | 13 ++++---
 tmtcservices/VerificationReporter.cpp | 56 +++++++++++++++------------
 tmtcservices/VerificationReporter.h   | 39 ++++++++++++++-----
 5 files changed, 78 insertions(+), 48 deletions(-)

diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index 500f71e2..c0575442 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -18,18 +18,14 @@ public:
 	static const MessageQueueId_t NO_QUEUE = MessageQueueMessageIF::NO_QUEUE; //!< Ugly hack.
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
-	/**
-	 * No new messages on the queue
-	 */
+	//! No new messages on the queue
 	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
-	/**
-	 * No space left for more messages
-	 */
+	//! No space left for more messages
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
-	/**
-	 * Returned if a reply method was called without partner
-	 */
+	//! Returned if a reply method was called without partner
 	static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
+	//! Returned if the target destination is invalid.
+	static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
 
 	virtual ~MessageQueueIF() {}
 	/**
diff --git a/objectmanager/frameworkObjects.h b/objectmanager/frameworkObjects.h
index c3deafc4..46d5feea 100644
--- a/objectmanager/frameworkObjects.h
+++ b/objectmanager/frameworkObjects.h
@@ -3,6 +3,9 @@
 
 namespace objects {
 enum framework_objects {
+	// Default verification reporter.
+	PUS_SERVICE_1 = 0x53000000,
+
 	//Generic IDs for IPC, modes, health, events
 	HEALTH_TABLE = 0x53010000,
 //	MODE_STORE = 0x53010100,
@@ -12,6 +15,7 @@ enum framework_objects {
 	//IDs for PUS Packet Communication
 	TC_STORE = 0x534f0100,
 	TM_STORE = 0x534f0200,
+
 	NO_OBJECT = 0xFFFFFFFF
 };
 }
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 153f43d3..236e61b6 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -330,13 +330,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			//MQ_NONBLOCK flag was set in its attributes, and the
 			//specified queue is full.
 			return MessageQueueIF::FULL;
-		case EBADF:
+		case EBADF: {
 			//mq_des doesn't represent a valid message queue descriptor,
 			//or mq_des wasn't opened for writing.
-			sif::error << "MessageQueue::sendMessage: Configuration error "
-			           << strerror(errno) << " in mq_send mqSendTo: " << sendTo
-					   << " sent from " << sentFrom << std::endl;
-			/*NO BREAK*/
+			sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
+					<< " destination invalid."  << std::endl;
+			sif::error << strerror(errno) << " in "
+					<<"mq_send to: " << sendTo << " sent from "
+					<< sentFrom << std::endl;
+			return DESTINVATION_INVALID;
+		}
 		case EINTR:
 			//The call was interrupted by a signal.
 		case EINVAL:
diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp
index bcb4756c..40f7e57f 100644
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@@ -1,17 +1,18 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
 #include <framework/tmtcservices/VerificationReporter.h>
 
-object_id_t VerificationReporter::messageReceiver = 0;
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
+#include <framework/tmtcservices/PusVerificationReport.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/objectmanager/frameworkObjects.h>
+
+object_id_t VerificationReporter::messageReceiver = objects::PUS_SERVICE_1;
 
 VerificationReporter::VerificationReporter() :
-		acknowledgeQueue() {
+		acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
 }
 
-VerificationReporter::~VerificationReporter() {
-	//Default, empty
-}
+VerificationReporter::~VerificationReporter() {}
 
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		TcPacketBase* current_packet, uint8_t set_step) {
@@ -23,10 +24,11 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
-	        &message);
+			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
-				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
@@ -39,10 +41,11 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 	PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
 			tcSequenceControl, 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
-	        &message);
+			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
-				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
@@ -60,9 +63,9 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
 	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendFailureReport Error writing "
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
@@ -78,20 +81,25 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
 	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendFailureReport Error writing "
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
 void VerificationReporter::initialize() {
+	if(messageReceiver == objects::NO_OBJECT) {
+		sif::warning << "VerificationReporter::initialize: Verification message"
+				" receiver object ID not set yet in Factory!" << std::endl;
+		return;
+	}
 	AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
 			messageReceiver);
-	if (temp != NULL) {
-		this->acknowledgeQueue = temp->getVerificationQueue();
-	} else {
-		sif::error
-				<< "VerificationReporter::VerificationReporter: Configuration error."
-				<< std::endl;
+	if (temp == nullptr) {
+		sif::error << "VerificationReporter::initialize: Message "
+				<< "receiver invalid. Make sure it is set up properly and "
+				<<"implementsAcceptsVerifyMessageIF" << std::endl;
+
 	}
+	this->acknowledgeQueue = temp->getVerificationQueue();
 }
diff --git a/tmtcservices/VerificationReporter.h b/tmtcservices/VerificationReporter.h
index 370c44c8..f13998d9 100644
--- a/tmtcservices/VerificationReporter.h
+++ b/tmtcservices/VerificationReporter.h
@@ -1,5 +1,5 @@
-#ifndef VERIFICATIONREPORTER_H_
-#define VERIFICATIONREPORTER_H_
+#ifndef FRAMEWORK_TMTCSERVICES_VERIFICATIONREPORTER_H_
+#define FRAMEWORK_TMTCSERVICES_VERIFICATIONREPORTER_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tmtcservices/PusVerificationReport.h>
@@ -8,24 +8,43 @@ namespace Factory{
 void setStaticFrameworkObjectIds();
 }
 
+/**
+ * @brief 	This helper object is used to forward verification messages
+ * 			which are generated by the Flight Software Framework.
+ * @details
+ * The messages can be relayed to an arbitrary object, for example a dedicated
+ * Verification Reporter. The destination is set by setting the static framework
+ * Id VerificationReporter::messageReceiver. The default verification reporter
+ * will be the PUS service 1, which sends verification messages according
+ * to the PUS standard.
+ *
+ */
 class VerificationReporter {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	VerificationReporter();
 	virtual ~VerificationReporter();
-	void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet, uint8_t set_step = 0 );
-	void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t set_step = 0);
-	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0,
-			uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
+
+	void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
+			uint8_t set_step = 0 );
+	void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
+			uint16_t tcPacketId, uint16_t tcSequenceControl,
+			uint8_t set_step = 0);
+
+	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
+			ReturnValue_t error_code = 0,
+			uint8_t step = 0, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0 );
 	void sendFailureReport(uint8_t report_id,
-			uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, ReturnValue_t error_code = 0, uint8_t step = 0,
+			uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
+			ReturnValue_t error_code = 0, uint8_t step = 0,
 			uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+
 	void initialize();
+
 private:
 	static object_id_t messageReceiver;
 	MessageQueueId_t acknowledgeQueue;
-
-
 };
 
-#endif /* VERIFICATIONREPORTER_H_ */
+#endif /* FRAMEWORK_TMTCSERVICES_VERIFICATIONREPORTER_H_ */

From 236ad1b85b600acecc741127faa19c72925542fc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 15:06:46 +0200
Subject: [PATCH 250/307] a lot of debug output added

---
 osal/linux/TcUnixUdpPollingTask.cpp   |  1 +
 osal/linux/TmTcUnixUdpBridge.cpp      | 54 ++++++++++++++++++++-------
 osal/linux/TmTcUnixUdpBridge.h        | 11 ++++--
 tmtcservices/PusServiceBase.cpp       | 20 +++++-----
 tmtcservices/TmTcBridge.cpp           | 32 ++++++++++------
 tmtcservices/TmTcBridge.h             | 17 ++++++---
 tmtcservices/VerificationReporter.cpp |  8 ++--
 7 files changed, 93 insertions(+), 50 deletions(-)

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 97fbd044..122301da 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -53,6 +53,7 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 		if(result != HasReturnvaluesIF::RETURN_FAILED) {
 
 		}
+		tmtcBridge->registerCommConnect();
 		tmtcBridge->checkAndSetClientAddress(senderAddress);
 	}
 	return HasReturnvaluesIF::RETURN_OK;
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 4dc61c50..40e96561 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -3,11 +3,12 @@
 #include <framework/ipc/MutexHelper.h>
 
 #include <errno.h>
+#include <arpa/inet.h>
 
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
-		object_id_t ccsdsPacketDistributor, uint16_t serverPort,
-		uint16_t clientPort):
-		TmTcBridge(objectId, ccsdsPacketDistributor) {
+		object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
+		uint16_t serverPort, uint16_t clientPort):
+		TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
 	mutex = MutexFactory::instance()->createMutex();
 
 	uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
@@ -15,13 +16,14 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		setServerPort = serverPort;
 	}
 
-//	uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
-//	if(clientPort != 0xFFFF) {
-//		setClientPort = clientPort;
-//	}
+	uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
+	if(clientPort != 0xFFFF) {
+		setClientPort = clientPort;
+	}
 
 	// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
-	serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
+	//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
+	serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
 	if(socket < 0) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
 				" UDP socket!" << std::endl;
@@ -36,10 +38,14 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
 			sizeof(serverSocketOptions));
 
-	serverSocketLen = sizeof(serverAddress);
+	clientAddress.sin_family = AF_INET;
+	clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+	clientAddress.sin_port = htons(setClientPort);
+
+	serverAddressLen = sizeof(serverAddress);
 	int result = bind(serverSocket,
 			reinterpret_cast<struct sockaddr*>(&serverAddress),
-			serverSocketLen);
+			serverAddressLen);
 	if(result == -1) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
 				"local port " << setServerPort << " to server socket!"
@@ -54,20 +60,35 @@ TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
 
 ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	int flags = 0;
-	ssize_t result = send(serverSocket, data, dataLen, flags);
-	if(result < 0) {
+	sif::debug << "Client Port: "<<ntohs(clientAddress.sin_port) << std::endl;
+	ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
+			reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
+	if(bytesSent < 0) {
 		// todo: handle errors
-		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed "
-				"with error " << strerror(errno) << std::endl;
+		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
+				<< std::endl;
+		sif::error << "Error: " << strerror(errno) << std::endl;
+		handleSendError();
 	}
+	sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
+			" sent." << std::endl;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
 	MutexHelper lock(mutex, 10);
+
+	char ipAddress [15];
+	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+			&newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+
+	sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
+			&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 	// Set new IP address if it has changed.
 	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+		sif::info << "setting new address" << std::endl;
 		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
+		clientAddressLen = sizeof(clientAddress);
 	}
 }
 
@@ -130,3 +151,8 @@ void TmTcUnixUdpBridge::handleBindError() {
 	}
 }
 
+void TmTcUnixUdpBridge::handleSendError() {
+
+
+}
+
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index 538664d8..dbddc6c3 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -15,8 +15,9 @@ public:
 	static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
 	static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
 
-	TmTcUnixUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
-			 uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
+	TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
+			object_id_t tmStoreId, object_id_t tcStoreId,
+			uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();
 
 	void checkAndSetClientAddress(sockaddr_in clientAddress);
@@ -26,13 +27,14 @@ protected:
 
 private:
 	int serverSocket = 0;
+
 	const int serverSocketOptions = 0;
 
 	struct sockaddr_in clientAddress;
-	socklen_t clientSocketLen = 0;
+	socklen_t clientAddressLen = 0;
 
 	struct sockaddr_in serverAddress;
-	socklen_t serverSocketLen = 0;
+	socklen_t serverAddressLen = 0;
 
 	//! Access to the client address is mutex protected as it is set
 	//! by another task.
@@ -40,6 +42,7 @@ private:
 
 	void handleSocketError();
 	void handleBindError();
+	void handleSendError();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index cb1e633f..4385609b 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -103,19 +103,17 @@ ReturnValue_t PusServiceBase::initialize() {
 			packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((destService != nullptr) && (distributor != nullptr)) {
-		this->requestQueue->setDefaultDestination(
-				destService->getReportReceptionQueue());
-		distributor->registerService(this);
-		return RETURN_OK;
-	}
-	else {
+	if (destService == nullptr or distributor == nullptr) {
 		sif::error << "PusServiceBase::PusServiceBase: Service "
-				<< (uint32_t) this->serviceId << ": Configuration error."
-				<< " Make sure packetSource and packetDestination are defined "
-			       "correctly" << std::endl;
-		return RETURN_FAILED;
+				<< this->serviceId << ": Configuration error. Make sure "
+				<<	"packetSource and packetDestination are defined correctly"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
+	this->requestQueue->setDefaultDestination(
+			destService->getReportReceptionQueue());
+	distributor->registerService(this);
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 9c3e5b94..8c44f7de 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -5,9 +5,11 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/globalfunctions/arrayprinter.h>
 
-TmTcBridge::TmTcBridge(object_id_t objectId,
-        object_id_t ccsdsPacketDistributor): SystemObject(objectId),
-        ccsdsPacketDistributor(ccsdsPacketDistributor)
+TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+		object_id_t tmStoreId, object_id_t tcStoreId):
+		SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
+		tcDestination(tcDestination)
+
 {
     tmTcReceptionQueue = QueueFactory::instance()->
             createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
@@ -42,18 +44,24 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
 }
 
 ReturnValue_t TmTcBridge::initialize() {
-	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
-	if (tcStore == NULL) {
-		return RETURN_FAILED;
+	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
+	if (tcStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
-	tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
-	if (tmStore == NULL) {
-		return RETURN_FAILED;
+	tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
+	if (tmStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 	AcceptsTelecommandsIF* tcDistributor =
-			objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
-	if (tcDistributor == NULL) {
-		return RETURN_FAILED;
+			objectManager->get<AcceptsTelecommandsIF>(tcDestination);
+	if (tcDistributor == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC Distributor invalid"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 3fcbf84c..3e3d1b71 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -24,7 +24,8 @@ public:
 	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
 	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
 
-	TmTcBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor);
+	TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+			object_id_t tmStoreId, object_id_t tcStoreId);
 	virtual ~TmTcBridge();
 
 	/**
@@ -69,14 +70,20 @@ public:
 	virtual MessageQueueId_t getRequestQueue() override;
 
 protected:
+	//! Cached for initialize function.
+	object_id_t tmStoreId = objects::NO_OBJECT;
+	object_id_t tcStoreId = objects::NO_OBJECT;
+	object_id_t tcDestination = objects::NO_OBJECT;
+
 	//! Used to send and receive TMTC messages.
 	//! TmTcMessage is used to transport messages between tasks.
 	MessageQueueIF* tmTcReceptionQueue = nullptr;
-	StorageManagerIF* tcStore = nullptr;
+
 	StorageManagerIF* tmStore = nullptr;
-	object_id_t ccsdsPacketDistributor = 0;
-	//! Used to specify whether communication link is up
-	bool communicationLinkUp = false;
+	StorageManagerIF* tcStore = nullptr;
+
+	//! Used to specify whether communication link is up by default.
+	bool communicationLinkUp = true;
 	bool tmStored = false;
 
 	/**
diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp
index 40f7e57f..79e650f1 100644
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@@ -16,7 +16,7 @@ VerificationReporter::~VerificationReporter() {}
 
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		TcPacketBase* current_packet, uint8_t set_step) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(set_report_id,
@@ -35,7 +35,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		uint8_t set_step) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE)  {
 		this->initialize();
 	}
 	PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
@@ -52,7 +52,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 void VerificationReporter::sendFailureReport(uint8_t report_id,
 		TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
 		uint32_t parameter1, uint32_t parameter2) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(report_id,
@@ -73,7 +73,7 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t error_code, uint8_t step, uint32_t parameter1,
 		uint32_t parameter2) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(report_id, ackFlags, tcPacketId,

From 8046d005a46e734aa2112cbd6f617920da2ec753 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 18:18:54 +0200
Subject: [PATCH 251/307] CSB static framework id setting

---
 osal/linux/FixedTimeslotTask.cpp       |  2 +-
 osal/linux/TcUnixUdpPollingTask.cpp    | 35 +++++++++++++------
 osal/linux/TcUnixUdpPollingTask.h      |  2 +-
 osal/linux/TmTcUnixUdpBridge.cpp       | 48 ++++++++++++++++----------
 pus/Service2DeviceAccess.cpp           |  3 +-
 tcdistribution/PUSDistributor.cpp      |  8 ++---
 tmtcservices/CommandingServiceBase.cpp | 18 +++++++---
 tmtcservices/CommandingServiceBase.h   | 28 ++++++++++++---
 tmtcservices/PusServiceBase.cpp        |  5 ++-
 9 files changed, 99 insertions(+), 50 deletions(-)

diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp
index e5c68f9d..9d7d08f6 100644
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@@ -45,7 +45,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 	}
 
 	sif::error << "Component " << std::hex << componentId <<
-			" not found, not adding it to pst" << std::endl;
+			" not found, not adding it to pst" << std::dec << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 122301da..8cf7b285 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -39,15 +39,14 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
 		if(bytesReceived < 0) {
 			// handle error
-			sif::error << "TcSocketPollingTask::performOperation: recvfrom "
-					"failed with " << strerror(errno) << std::endl;
-			if(errno == EAGAIN or errno == EWOULDBLOCK) {
-				sif::info << "timeout" << std::endl;
-			}
+			sif::error << "TcSocketPollingTask::performOperation: Reception"
+					"error." << std::endl;
+			handleReadError();
+
 			continue;
 		}
-		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
-				<< " bytes received" << std::endl;
+//		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+//				<< " bytes received" << std::endl;
 
 		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
 		if(result != HasReturnvaluesIF::RETURN_FAILED) {
@@ -61,14 +60,14 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 
 
 ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
-	store_address_t storeId = 0;
+	store_address_t storeId;
 	ReturnValue_t result = tcStore->addData(&storeId,
 			receptionBuffer.data(), bytesRead);
 	// arrayprinter::print(receptionBuffer.data(), bytesRead);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		sif::debug << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
+		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
 				"storage failed" << std::endl;
-		sif::debug << "Packet size: " << bytesRead << std::endl;
+		sif::error << "Packet size: " << bytesRead << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
@@ -121,4 +120,18 @@ void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
 	}
 }
 
-
+void TcUnixUdpPollingTask::handleReadError() {
+	switch(errno) {
+	case(EAGAIN): {
+		// todo: When working in timeout mode, this will occur more often
+		// and is not an error.
+		sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
+				<< std::endl;
+		break;
+	}
+	default: {
+		sif::error << "TcUnixUdpPollingTask::handleReadError: "
+				<< strerror(errno) << std::endl;
+	}
+	}
+}
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
index 86591e8d..d8de1458 100644
--- a/osal/linux/TcUnixUdpPollingTask.h
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -61,7 +61,7 @@ private:
 	timeval receptionTimeout;
 
 	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
-
+	void handleReadError();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 40e96561..92fbbdfa 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -32,17 +32,20 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 	}
 
 	serverAddress.sin_family = AF_INET;
+
 	// Accept packets from any interface.
+	//serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0");
 	serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
 	serverAddress.sin_port = htons(setServerPort);
+	serverAddressLen = sizeof(serverAddress);
 	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
 			sizeof(serverSocketOptions));
 
 	clientAddress.sin_family = AF_INET;
 	clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
 	clientAddress.sin_port = htons(setClientPort);
+	clientAddressLen = sizeof(clientAddress);
 
-	serverAddressLen = sizeof(serverAddress);
 	int result = bind(serverSocket,
 			reinterpret_cast<struct sockaddr*>(&serverAddress),
 			serverAddressLen);
@@ -60,33 +63,38 @@ TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
 
 ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	int flags = 0;
-	sif::debug << "Client Port: "<<ntohs(clientAddress.sin_port) << std::endl;
+
+	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,
+//					&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+
 	ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
 			reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
 	if(bytesSent < 0) {
-		// todo: handle errors
 		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
 				<< std::endl;
-		sif::error << "Error: " << strerror(errno) << std::endl;
 		handleSendError();
 	}
-	sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
-			" sent." << std::endl;
+//	sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
+//			" sent." << std::endl;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
 	MutexHelper lock(mutex, 10);
 
-	char ipAddress [15];
-	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-			&newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+//	char ipAddress [15];
+//	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+//			&newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+//	sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
+//			&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 
-	sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
-			&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 	// Set new IP address if it has changed.
 	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
-		sif::info << "setting new address" << std::endl;
 		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
 		clientAddressLen = sizeof(clientAddress);
 	}
@@ -104,11 +112,11 @@ void TmTcUnixUdpBridge::handleSocketError() {
 	case(ENOBUFS):
 	case(ENOMEM):
 	case(EPROTONOSUPPORT):
-		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Socket creation failed"
+		sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
 				<< " with " << strerror(errno) << std::endl;
 		break;
 	default:
-		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
+		sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
 				<< std::endl;
 		break;
 	}
@@ -122,7 +130,7 @@ void TmTcUnixUdpBridge::handleBindError() {
 		 Ephermeral ports can be shown with following command:
 		 sysctl -A | grep ip_local_port_range
 		 */
-		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Port access issue."
+		sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
 				"Ports 1-1024 are reserved on UNIX systems and require root "
 				"rights while ephermeral ports should not be used as well."
 				<< std::endl;
@@ -140,19 +148,21 @@ void TmTcUnixUdpBridge::handleBindError() {
 	case(ENOMEM):
 	case(ENOTDIR):
 	case(EROFS): {
-		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Socket creation failed"
+		sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
 				<< " with " << strerror(errno) << std::endl;
 		break;
 	}
 	default:
-		sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
+		sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
 				<< std::endl;
 		break;
 	}
 }
 
 void TmTcUnixUdpBridge::handleSendError() {
-
-
+	switch(errno) {
+	default:
+		sif::error << "Error: " << strerror(errno) << std::endl;
+	}
 }
 
diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index 391c1116..4648aa9c 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -15,8 +15,7 @@ Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
         object_id_t tmDestination, uint8_t numberOfParallelCommands,
         uint16_t commandTimeoutSeconds):
         CommandingServiceBase(objectId, apid, serviceId,
-	        numberOfParallelCommands, commandTimeoutSeconds,
-	        tcSource, tmDestination) {}
+	        numberOfParallelCommands, commandTimeoutSeconds) {}
 
 Service2DeviceAccess::~Service2DeviceAccess() {}
 
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index d6e20acf..969380d6 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -13,12 +13,12 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
 PUSDistributor::~PUSDistributor() {}
 
 TcDistributor::TcMqMapIter PUSDistributor::selectDestination() {
-//	debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
 	TcMqMapIter queueMapIt = this->queueMap.end();
 	this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
 	if (currentPacket.getWholeData() != NULL) {
 		tcStatus = checker.checkPacket(&currentPacket);
-//		info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl;
+//		sif::debug << "PUSDistributor::handlePacket: packetCheck returned with "
+//				<< (int)tcStatus << std::endl;
 		uint32_t queue_id = currentPacket.getService();
 		queueMapIt = this->queueMap.find(queue_id);
 	} else {
@@ -29,8 +29,8 @@ TcDistributor::TcMqMapIter PUSDistributor::selectDestination() {
 	}
 
 	if (tcStatus != RETURN_OK) {
-		sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
-				<< ", 0x"<< std::hex << (int) tcStatus << std::endl;
+		sif::debug << "PUSDistributor::handlePacket: Error with " << tcStatus
+				<< ", 0x"<< std::hex << tcStatus << std::dec << std::endl;
 		return this->queueMap.end();
 	} else {
 		return queueMapIt;
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 0c5f5eab..63a3d943 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -8,18 +8,28 @@
 #include <framework/tmtcpacket/pus/TcPacketStored.h>
 #include <framework/tmtcpacket/pus/TmPacketStored.h>
 
+object_id_t CommandingServiceBase::packetSource = objects::NO_OBJECT;
+object_id_t CommandingServiceBase::packetDestination = objects::NO_OBJECT;
+
 CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
-		uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
-		object_id_t setPacketDestination, size_t queueDepth) :
+		uint16_t commandTimeoutSeconds, size_t queueDepth) :
 		SystemObject(setObjectId), apid(apid), service(service),
 		timeoutSeconds(commandTimeoutSeconds),
-		commandMap(numberOfParallelCommands), packetSource(setPacketSource),
-		packetDestination(setPacketDestination) {
+		commandMap(numberOfParallelCommands) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
 
+void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
+	this->packetSource = packetSource;
+}
+
+void CommandingServiceBase::setPacketDestination(
+		object_id_t packetDestination) {
+	this->packetDestination = packetDestination;
+}
+
 
 CommandingServiceBase::~CommandingServiceBase() {
 	QueueFactory::instance()->deleteMessageQueue(commandQueue);
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 700503c6..e9b5f047 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -15,6 +15,10 @@
 
 class TcPacketStored;
 
+namespace Factory{
+void setStaticFrameworkObjectIds();
+}
+
 /**
  * @brief 	This class is the basis for all PUS Services, which have to
  * 			relay Telecommands to software bus.
@@ -33,6 +37,7 @@ class CommandingServiceBase: public SystemObject,
 		public AcceptsTelecommandsIF,
 		public ExecutableObjectIF,
 		public HasReturnvaluesIF {
+	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
 	static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
@@ -57,10 +62,24 @@ public:
 	 */
 	CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
 			uint8_t service, uint8_t numberOfParallelCommands,
-			uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
-			object_id_t setPacketDestination, size_t queueDepth = 20);
+			uint16_t commandTimeoutSeconds, size_t queueDepth = 20);
 	virtual ~CommandingServiceBase();
 
+	/**
+	 * This setter can be used to set the packet source individually instead
+	 * of using the default static framework ID set in the factory.
+	 * This should be called at object initialization and not during run-time!
+	 * @param packetSource
+	 */
+	void setPacketSource(object_id_t packetSource);
+	/**
+	 * This setter can be used to set the packet destination individually
+	 * instead of using the default static framework ID set in the factory.
+	 * This should be called at object initialization and not during run-time!
+	 * @param packetDestination
+	 */
+	void setPacketDestination(object_id_t packetDestination);
+
 	/***
 	 * This is the periodically called function.
 	 * Handle request queue for external commands.
@@ -229,9 +248,8 @@ protected:
 	uint32_t failureParameter1 = 0;
 	uint32_t failureParameter2 = 0;
 
-	object_id_t packetSource;
-
-	object_id_t packetDestination;
+	static object_id_t packetSource;
+	static object_id_t packetDestination;
 
 	/**
 	 * Pointer to the task which executes this component,
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index 4385609b..877eff3e 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -79,9 +79,8 @@ void PusServiceBase::handleRequestQueue() {
 		}
 		else {
 			sif::error << "PusServiceBase::performOperation: Service "
-					<< (uint16_t) this->serviceId
-					<< ": Error receiving packet. Code: " << std::hex << status
-					<< std::dec << std::endl;
+					<< this->serviceId << ": Error receiving packet. Code: "
+					<< std::hex << status << std::dec << std::endl;
 		}
 	}
 }

From dc27cc9aff73e6c17eb36281d056bd7c217ba6b6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 18:37:26 +0200
Subject: [PATCH 252/307] srv8 added to framework

---
 pus/Service2DeviceAccess.cpp         |   7 +-
 pus/Service2DeviceAccess.h           |   3 +-
 pus/Service8FunctionManagement.cpp   | 129 +++++++++++++++++++++++++
 pus/Service8FunctionManagement.h     |  64 +++++++++++++
 pus/servicepackets/Service8Packets.h | 136 +++++++++++++++++++++++++++
 5 files changed, 334 insertions(+), 5 deletions(-)
 create mode 100644 pus/Service8FunctionManagement.cpp
 create mode 100644 pus/Service8FunctionManagement.h
 create mode 100644 pus/servicepackets/Service8Packets.h

diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index 4648aa9c..1d5f21eb 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -11,14 +11,14 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
-        uint16_t apid, uint8_t serviceId, object_id_t tcSource,
-        object_id_t tmDestination, uint8_t numberOfParallelCommands,
+        uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
         uint16_t commandTimeoutSeconds):
         CommandingServiceBase(objectId, apid, serviceId,
 	        numberOfParallelCommands, commandTimeoutSeconds) {}
 
 Service2DeviceAccess::~Service2DeviceAccess() {}
 
+
 ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
 	switch(static_cast<Subservice>(subservice)){
 	case Subservice::RAW_COMMANDING:
@@ -41,7 +41,6 @@ ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
 
 	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
 	return result;
-
 }
 
 ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
@@ -55,6 +54,7 @@ ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+
 ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
 		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
 		uint32_t* state, object_id_t objectId) {
@@ -100,6 +100,7 @@ ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
 	return result;
 }
 
+
 ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
 		Command_t previousCommand, uint32_t* state,
 		CommandMessage* optionalNextCommand, object_id_t objectId,
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
index 4dab0fa0..1a0bede0 100644
--- a/pus/Service2DeviceAccess.h
+++ b/pus/Service2DeviceAccess.h
@@ -36,8 +36,7 @@ class Service2DeviceAccess : public CommandingServiceBase,
 {
 public:
 	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
-	        uint8_t serviceId, object_id_t tcSource,
-	        object_id_t tmDestination, uint8_t numberOfParallelCommands = 4,
+	        uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
 	        uint16_t commandTimeoutSeconds = 60);
 	virtual ~Service2DeviceAccess();
 
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
new file mode 100644
index 00000000..47afeae6
--- /dev/null
+++ b/pus/Service8FunctionManagement.cpp
@@ -0,0 +1,129 @@
+#include <framework/pus/Service8FunctionManagement.h>
+#include <framework/pus/servicepackets/Service8Packets.h>
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/action/HasActionsIF.h>
+#include <framework/devicehandlers/DeviceHandlerIF.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
+		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+		uint16_t commandTimeoutSeconds):
+		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
+		commandTimeoutSeconds) {}
+
+Service8FunctionManagement::~Service8FunctionManagement() {}
+
+
+ReturnValue_t Service8FunctionManagement::isValidSubservice(
+		uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)) {
+	case Subservice::DIRECT_COMMANDING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+	if(tcDataLen < sizeof(object_id_t)) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	SerializeAdapter::deSerialize(objectId, &tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+	// check HasActionIF property of target
+	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
+	if(possibleTarget == nullptr){
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service8FunctionManagement::prepareCommand(
+		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
+		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	if(subservice == static_cast<uint8_t>(Subservice::DIRECT_COMMANDING)) {
+		result = prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	return result;
+}
+
+ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
+		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+	// Create direct command instance by extracting data from Telecommand
+	DirectCommand command(tcData,tcDataLen);
+
+	// store additional parameters into the Inter Process Communication Store
+	store_address_t parameterAddress;
+	ReturnValue_t result = IPCStore->addData(&parameterAddress,
+			command.getParameters(),command.getParametersSize());
+
+	// setCommand expects a Command Message, an Action ID and a store adress
+	// pointing to additional parameters
+	ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
+	return result;
+}
+
+
+ReturnValue_t Service8FunctionManagement::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t* state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool* isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	ActionId_t actionId = ActionMessage::getActionId(reply);
+	ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
+
+	switch(replyId)  {
+	case ActionMessage::COMPLETION_SUCCESS: {
+		DirectReply completionReply(objectId, actionId,returnCode);
+		result = CommandingServiceBase::EXECUTION_COMPLETE;
+		break;
+	}
+	case ActionMessage::STEP_SUCCESS: {
+		*isStep = true;
+		result = HasReturnvaluesIF::RETURN_OK;
+		break;
+	}
+	case ActionMessage::DATA_REPLY: {
+		store_address_t storeId = ActionMessage::getStoreId(reply);
+		size_t size = 0;
+		const uint8_t * buffer = nullptr;
+		result = IPCStore->getData(storeId, &buffer, &size);
+		if(result != RETURN_OK) {
+			sif::error << "Service 8: Could not retrieve data for data reply";
+			return result;
+		}
+		DataReply dataReply(objectId,actionId,buffer,size);
+		sendTmPacket(static_cast<uint8_t>(
+				Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
+		result = IPCStore ->deleteData(storeId);
+		break;
+	}
+	case ActionMessage::STEP_FAILED:
+		*isStep = true;
+		/*No break, falls through*/
+	case ActionMessage::COMPLETION_FAILED:
+		result = ActionMessage::getReturnCode(reply);
+		break;
+	default:
+		result = INVALID_REPLY;
+	}
+	return result;
+}
+
+
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
new file mode 100644
index 00000000..e06c554c
--- /dev/null
+++ b/pus/Service8FunctionManagement.h
@@ -0,0 +1,64 @@
+#ifndef MISSION_SERVICE8FUNCTIONMANAGEMENT_H_
+#define MISSION_SERVICE8FUNCTIONMANAGEMENT_H_
+
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief Functional commanding.
+ * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
+ * Dissertation Baetz p. 115, 116, 165-167
+ *
+ * This service provides the capability to perform functions of an
+ * application process and provides high-level commanding as opposed to the
+ * Raw Access provided by Service 2. Examples for these functions can include
+ * control and operation of payload or the AOCS subsystem.
+ * This service will be the primary means to control the spacecraft as it is
+ * considered safer than the Raw Access provided
+ * by Service 2 and is generally sufficient for most tasks.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base template
+ * class. There is constant interaction between this Service Base und a
+ * subclass like this service.
+ *
+ * Service Capability:
+ * 	 - TC[8,128]: Direct Commanding
+ *   - TM[8,130]: Direct Commanding Data Reply
+ *
+ * @ingroup pus_services
+ */
+class Service8FunctionManagement : public CommandingServiceBase
+{
+public:
+	Service8FunctionManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId, uint8_t numParallelCommands = 4,
+			uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service8FunctionManagement();
+
+protected:
+	/* CSB abstract functions implementation . See CSB documentation. */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+				uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+				uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+private:
+	enum class Subservice {
+		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
+		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
+	};
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+	ReturnValue_t prepareDirectCommand(CommandMessage* message,
+			const uint8_t* tcData, size_t tcDataLen);
+};
+
+#endif /* MISSION_DEVICE2DEVICECOMMANDING_H_ */
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
new file mode 100644
index 00000000..5ef91280
--- /dev/null
+++ b/pus/servicepackets/Service8Packets.h
@@ -0,0 +1,136 @@
+/**
+ * \file Service8Packets.h
+ *
+ * \brief Structure of a Direct Command.
+ * Normal reply (subservice 130) consists of
+ *   1. Target object ID
+ *   2. Action ID (taget device has specified functions with action IDs)
+ *   3. Return Code
+ *   4. Optional step number for step replies
+ *
+ * Data reply (subservice 132) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ *
+ *  \date 01.07.2019
+ *  \author R. Mueller
+ */
+
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/serialize/SerialBufferAdapter.h>
+#include <framework/serialize/SerializeElement.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serialize/SerialFixedArrayListAdapter.h>
+
+
+/**
+ * \brief Subservice 128
+ * \ingroup spacepackets
+ */
+class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	//typedef uint16_t typeOfMaxData;
+	//static const typeOfMaxData MAX_DATA = 256;
+	DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) {
+		size_t size = sizeof(objectId);
+		SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size,
+		        SerializeIF::Endianness::BIG);
+		size = sizeof(actionId);
+		SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size,
+		        SerializeIF::Endianness::BIG);
+		parameterBuffer = dataBuffer_;
+		parametersSize = size_ - sizeof(objectId) - sizeof(actionId);
+	}
+	ActionId_t getActionId() const {
+		return actionId;
+	}
+
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getParameters() {
+		return parameterBuffer;
+	}
+
+	uint32_t getParametersSize() const {
+		return parametersSize;
+	}
+
+private:
+	DirectCommand(const DirectCommand &command);
+	object_id_t objectId;
+	ActionId_t actionId;
+	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
+	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
+
+};
+
+
+/**
+ * \brief Subservice 130
+ * \ingroup spacepackets
+ */
+class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+	DataReply(object_id_t objectId_, ActionId_t actionId_,
+		const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
+		objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
+		setLinks();
+	}
+
+private:
+	DataReply(const DataReply &reply);
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&replyData);
+	}
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<ActionId_t> actionId;
+	SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
+};
+
+
+/**
+ * \brief Subservice 132
+ * \ingroup spacepackets
+ */
+class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+
+	DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
+			bool isStep_ = false, uint8_t step_ = 0):
+			isStep(isStep_), objectId(objectId_), actionId(actionId_),
+			returnCode(returnCode_),step(step_)  {
+		setLinks();
+	}
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&returnCode);
+		if(isStep) {
+			returnCode.setNext(&step);
+		}
+	}
+	bool isDataReply; //!< [EXPORT] : [IGNORE]
+	bool isStep; //!< [EXPORT] : [IGNORE]
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
+	SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
+
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */

From 64c290ffe44ce6a4352152bcb1a04ff643bfd395 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 8 Jul 2020 18:38:58 +0200
Subject: [PATCH 253/307] include guard fix

---
 pus/Service8FunctionManagement.cpp | 2 +-
 pus/Service8FunctionManagement.h   | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 47afeae6..24338464 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -67,7 +67,7 @@ ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
 	// Create direct command instance by extracting data from Telecommand
 	DirectCommand command(tcData,tcDataLen);
 
-	// store additional parameters into the Inter Process Communication Store
+	// store additional parameters into the IPC Store
 	store_address_t parameterAddress;
 	ReturnValue_t result = IPCStore->addData(&parameterAddress,
 			command.getParameters(),command.getParametersSize());
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
index e06c554c..54c98b97 100644
--- a/pus/Service8FunctionManagement.h
+++ b/pus/Service8FunctionManagement.h
@@ -1,5 +1,5 @@
-#ifndef MISSION_SERVICE8FUNCTIONMANAGEMENT_H_
-#define MISSION_SERVICE8FUNCTIONMANAGEMENT_H_
+#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
 
 #include <framework/tmtcservices/CommandingServiceBase.h>
 
@@ -61,4 +61,4 @@ private:
 			const uint8_t* tcData, size_t tcDataLen);
 };
 
-#endif /* MISSION_DEVICE2DEVICECOMMANDING_H_ */
+#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */

From ac9e6e1337acc8a5f68811be1f5da30c69a3e52e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 00:59:10 +0200
Subject: [PATCH 254/307] continued with local data pool manager

---
 datapoolglob/GlobalDataSet.h                  |  6 +-
 ...LocalDataPoolIF.h => HasLocalDataPoolIF.h} |  4 +-
 datapoollocal/LocalDataPoolManager.cpp        | 14 +--
 datapoollocal/LocalDataPoolManager.h          | 95 ++++++++++++++-----
 datapoollocal/LocalDataSet.cpp                |  4 +-
 datapoollocal/LocalDataSet.h                  |  4 +-
 datapoollocal/LocalPoolVariable.h             |  4 +-
 datapoollocal/LocalPoolVariable.tpp           |  6 +-
 datapoollocal/LocalPoolVector.h               |  2 +-
 datapoollocal/LocalPoolVector.tpp             |  6 +-
 devicehandlers/DeviceHandlerBase.h            |  5 +-
 11 files changed, 97 insertions(+), 53 deletions(-)
 rename datapoollocal/{OwnsLocalDataPoolIF.h => HasLocalDataPoolIF.h} (97%)

diff --git a/datapoolglob/GlobalDataSet.h b/datapoolglob/GlobalDataSet.h
index 519b08c0..d237cc1b 100644
--- a/datapoolglob/GlobalDataSet.h
+++ b/datapoolglob/GlobalDataSet.h
@@ -1,5 +1,5 @@
-#ifndef DATASET_H_
-#define DATASET_H_
+#ifndef FRAMEWORK_DATAPOOLGLOB_DATASET_H_
+#define FRAMEWORK_DATAPOOLGLOB_DATASET_H_
 
 #include <framework/datapool/DataSetBase.h>
 
@@ -93,4 +93,4 @@ private:
 	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
 };
 
-#endif /* DATASET_H_ */
+#endif /* FRAMEWORK_DATAPOOLGLOB_DATASET_H_ */
diff --git a/datapoollocal/OwnsLocalDataPoolIF.h b/datapoollocal/HasLocalDataPoolIF.h
similarity index 97%
rename from datapoollocal/OwnsLocalDataPoolIF.h
rename to datapoollocal/HasLocalDataPoolIF.h
index 6fc10889..0095f894 100644
--- a/datapoollocal/OwnsLocalDataPoolIF.h
+++ b/datapoollocal/HasLocalDataPoolIF.h
@@ -36,9 +36,9 @@ using LocalDataPoolMapIter = LocalDataPool::iterator;
  * pragmatic solution I found was to offer the client the full interface
  * of the LocalDataPoolManager.
  */
-class OwnsLocalDataPoolIF {
+class HasLocalDataPoolIF {
 public:
-	virtual~ OwnsLocalDataPoolIF() {};
+	virtual~ HasLocalDataPoolIF() {};
 
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
 
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index 9c70c74f..02016abf 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -7,7 +7,7 @@
 
 #include <array>
 
-LocalDataPoolManager::LocalDataPoolManager(OwnsLocalDataPoolIF* owner,
+LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
         MessageQueueIF* queueToUse, bool appendValidityBuffer):
         appendValidityBuffer(appendValidityBuffer) {
 	if(owner == nullptr) {
@@ -63,7 +63,7 @@ LocalDataPoolManager::~LocalDataPoolManager() {}
 
 ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	if(not mapInitialized) {
-		ReturnValue_t result = owner->initializePoolEntries(localDpMap);
+		ReturnValue_t result = owner->initializePoolEntries(localPoolMap);
 		if(result == HasReturnvaluesIF::RETURN_OK) {
 			mapInitialized = true;
 		}
@@ -96,8 +96,8 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 
 ReturnValue_t LocalDataPoolManager::printPoolEntry(
 		lp_id_t localPoolId) {
-	auto poolIter = localDpMap.find(localPoolId);
-	if (poolIter == localDpMap.end()) {
+	auto poolIter = localPoolMap.find(localPoolId);
+	if (poolIter == localPoolMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
 				" Pool entry not found." << std::endl;
 		return POOL_ENTRY_NOT_FOUND;
@@ -110,7 +110,7 @@ MutexIF* LocalDataPoolManager::getMutexHandle() {
 	return mutex;
 }
 
-const OwnsLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
+const HasLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
     return owner;
 }
 
@@ -213,4 +213,6 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
     return result;
 }
 
-
+ReturnValue_t LocalDataPoolManager::performHkOperation() {
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index 3841b99c..847c309c 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -1,12 +1,13 @@
-#ifndef FRAMEWORK_HK_HOUSEKEEPINGHELPER_H_
-#define FRAMEWORK_HK_HOUSEKEEPINGHELPER_H_
+#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
+#define FRAMEWORK_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
+
 #include <framework/datapool/DataSetIF.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/ipc/MutexIF.h>
 
 #include <framework/housekeeping/HousekeepingMessage.h>
 #include <framework/datapool/PoolEntry.h>
-#include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
+#include <framework/datapoollocal/HasLocalDataPoolIF.h>
 #include <framework/ipc/CommandMessage.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/ipc/MutexHelper.h>
@@ -20,7 +21,7 @@ class LocalDataSet;
  * @details
  * The actual data pool structure is a member of this class. Any class which
  * has a local data pool shall have this class as a member and implement
- * the OwnsLocalDataPoolIF.
+ * the HasLocalDataPoolIF.
  *
  * Users of the data pool use the helper classes LocalDataSet,
  * LocalPoolVariable and LocalPoolVector to access pool entries in
@@ -57,16 +58,24 @@ public:
      * @param queueToUse
      * @param appendValidityBuffer
      */
-	LocalDataPoolManager(OwnsLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
+	LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
 	        bool appendValidityBuffer = true);
+	virtual~ LocalDataPoolManager();
+
 	/**
 	 * Initializes the map by calling the map initialization function of the
-	 * owner abd assigns the queue to use.
+	 * owner and assigns the queue to use.
 	 * @param queueToUse
 	 * @return
 	 */
 	ReturnValue_t initialize(MessageQueueIF* queueToUse,
 	        object_id_t hkDestination);
+	/**
+	 * This should be called in the periodic handler of the owner.
+	 * It performs all the periodic functionalities of the data pool manager.
+	 * @return
+	 */
+	ReturnValue_t performHkOperation();
 	/**
 	 * This function is used to set the default HK packet destination.
 	 * This destination will usually only be set once.
@@ -74,8 +83,6 @@ public:
 	 */
 	void setHkPacketDestination(MessageQueueId_t hkDestination);
 
-	virtual~ LocalDataPoolManager();
-
 	/**
 	 * Generate a housekeeping packet with a given SID.
 	 * @param sid
@@ -95,28 +102,64 @@ public:
 	 */
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
-	const OwnsLocalDataPoolIF* getOwner() const;
+	const HasLocalDataPoolIF* getOwner() const;
 
 	ReturnValue_t printPoolEntry(lp_id_t localPoolId);
 
+    /**
+     * Different types of housekeeping reporting are possible.
+     *  1. PERIODIC: HK packets are generated in fixed intervals
+     *  2. UPDATED: HK packets are generated if a value was updated
+     *  3. REQUESTED: HK packets are only generated if explicitely requested
+     */
+    enum class ReportingType: uint8_t {
+        PERIODIC,
+        ON_UPDATE,
+        REQUESTED
+    };
+
     /* Copying forbidden */
     LocalDataPoolManager(const LocalDataPoolManager &) = delete;
     LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
+
 private:
-	/** This is the map holding the actual data. Should only be initialized
-	 * once ! */
-	bool mapInitialized = false;
-	/** This specifies whether a validity buffer is appended at the end
-	 * of generated housekeeping packets. */
-	bool appendValidityBuffer = true;
+    LocalDataPool 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;
 
-	LocalDataPool localDpMap;
+    /**
+     * The data pool manager will keep an internal map of HK receivers.
+     */
+    struct HkReceiver {
+        LocalDataSet* dataSet = nullptr;
+        MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
+        ReportingType reportingType = ReportingType::PERIODIC;
+        bool reportingStatus = true;
+        /** Different members of this union will be used depending on reporting
+         * type */
+        union hkParameter {
+            /** This parameter will be used for the PERIODIC type */
+            dur_seconds_t collectionInterval = 0;
+            /** This parameter will be used for the ON_UPDATE type */
+            bool hkDataChanged;
+        };
+    };
+
+    /** Using a multimap as the same object might request multiple datasets */
+    using HkReceiversMap = std::multimap<object_id_t, struct HkReceiver>;
+
+    HkReceiversMap hkReceiversMap;
+
+    /** 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;
 
-	/** 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). */
-	OwnsLocalDataPoolIF* owner = nullptr;
 	/**
 	 * @brief Queue used for communication, for example commands.
 	 * Is also used to send messages. Can be set either in the constructor
@@ -165,10 +208,10 @@ private:
 template<class T> inline
 ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 		PoolEntry<T> **poolEntry) {
-	auto poolIter = localDpMap.find(localPoolId);
-	if (poolIter == localDpMap.end()) {
-		sif::debug << "HousekeepingManager::fechPoolEntry:"
-				" Pool entry not found." << std::endl;
+	auto poolIter = localPoolMap.find(localPoolId);
+	if (poolIter == localPoolMap.end()) {
+		sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry "
+		        "not found." << std::endl;
 		return POOL_ENTRY_NOT_FOUND;
 	}
 
@@ -182,4 +225,4 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 }
 
 
-#endif /* FRAMEWORK_HK_HOUSEKEEPINGHELPER_H_ */
+#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
index 272a1b6f..2a42cd38 100644
--- a/datapoollocal/LocalDataSet.cpp
+++ b/datapoollocal/LocalDataSet.cpp
@@ -5,7 +5,7 @@
 #include <cmath>
 #include <cstring>
 
-LocalDataSet::LocalDataSet(OwnsLocalDataPoolIF *hkOwner,
+LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner,
         const size_t maxNumberOfVariables):
         DataSetBase(poolVarList.data(), maxNumberOfVariables) {
     poolVarList.reserve(maxNumberOfVariables);
@@ -23,7 +23,7 @@ LocalDataSet::LocalDataSet(object_id_t ownerId,
         DataSetBase(poolVarList.data(), maxNumberOfVariables)  {
     poolVarList.reserve(maxNumberOfVariables);
     poolVarList.resize(maxNumberOfVariables);
-    OwnsLocalDataPoolIF* hkOwner = objectManager->get<OwnsLocalDataPoolIF>(
+    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
             ownerId);
     if(hkOwner == nullptr) {
         sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
index 20c647ca..2c70de82 100644
--- a/datapoollocal/LocalDataSet.h
+++ b/datapoollocal/LocalDataSet.h
@@ -2,7 +2,7 @@
 #define FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
 #include <framework/datapool/DataSetBase.h>
 #include <framework/datapool/DataSetIF.h>
-#include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
+#include <framework/datapoollocal/HasLocalDataPoolIF.h>
 #include <framework/serialize/SerializeIF.h>
 
 #include <vector>
@@ -37,7 +37,7 @@ public:
 	 * 			The constructor simply sets the fill_count to zero and sets
 	 *  		the state to "uninitialized".
 	 */
-	LocalDataSet(OwnsLocalDataPoolIF *hkOwner,
+	LocalDataSet(HasLocalDataPoolIF *hkOwner,
 	        const size_t maxNumberOfVariables);
 
 	/**
diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
index 98782b8d..73d691d7 100644
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@@ -3,8 +3,8 @@
 
 #include <framework/datapool/PoolVariableIF.h>
 #include <framework/datapool/DataSetIF.h>
+#include <framework/datapoollocal/HasLocalDataPoolIF.h>
 #include <framework/datapoollocal/LocalDataPoolManager.h>
-#include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 
 #include <framework/serialize/SerializeAdapter.h>
@@ -42,7 +42,7 @@ public:
 	 * @param dataSet The data set in which the variable shall register itself.
 	 * If nullptr, the variable is not registered.
 	 */
-	LocalPoolVar(lp_id_t poolId, OwnsLocalDataPoolIF* hkOwner,
+	LocalPoolVar(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
 			DataSetIF* dataSet = nullptr);
 
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index 7f9fbf13..0b96bb4f 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -7,7 +7,7 @@
 
 template<typename T>
 inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId,
-		OwnsLocalDataPoolIF* hkOwner, pool_rwm_t setReadWriteMode,
+		HasLocalDataPoolIF* hkOwner, pool_rwm_t setReadWriteMode,
 		DataSetIF* dataSet):
 		localPoolId(poolId),readWriteMode(setReadWriteMode) {
 	if(poolId == PoolVariableIF::NO_PARAMETER) {
@@ -33,8 +33,8 @@ inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
 		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
 				"NO_PARAMETER value!" << std::endl;
 	}
-	OwnsLocalDataPoolIF* hkOwner =
-			objectManager->get<OwnsLocalDataPoolIF>(poolOwner);
+	HasLocalDataPoolIF* hkOwner =
+			objectManager->get<HasLocalDataPoolIF>(poolOwner);
 	if(hkOwner == nullptr) {
 		sif::error << "LocalPoolVariable: The supplied pool owner did not implement"
 				"the correct interface HasHkPoolParametersIF!" << std::endl;
diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h
index f6532894..3083646f 100644
--- a/datapoollocal/LocalPoolVector.h
+++ b/datapoollocal/LocalPoolVector.h
@@ -46,7 +46,7 @@ public:
 	 * @param dataSet The data set in which the variable shall register itself.
 	 * If nullptr, the variable is not registered.
 	 */
-	LocalPoolVector(lp_id_t poolId, OwnsLocalDataPoolIF* hkOwner,
+	LocalPoolVector(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
 			DataSetIF* dataSet = nullptr);
 
diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp
index 872c49ec..b7f2fe19 100644
--- a/datapoollocal/LocalPoolVector.tpp
+++ b/datapoollocal/LocalPoolVector.tpp
@@ -7,7 +7,7 @@
 
 template<typename T, uint16_t vectorSize>
 inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
-		OwnsLocalDataPoolIF* hkOwner, pool_rwm_t setReadWriteMode,
+		HasLocalDataPoolIF* hkOwner, pool_rwm_t setReadWriteMode,
 		DataSetIF* dataSet) :
 		localPoolId(poolId), valid(false), readWriteMode(setReadWriteMode) {
 	if(poolId == PoolVariableIF::NO_PARAMETER) {
@@ -29,8 +29,8 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
 		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
 				"NO_PARAMETER value!" << std::endl;
 	}
-	OwnsLocalDataPoolIF* hkOwner =
-			objectManager->get<OwnsLocalDataPoolIF>(poolOwner);
+	HasLocalDataPoolIF* hkOwner =
+			objectManager->get<HasLocalDataPoolIF>(poolOwner);
 	if(hkOwner == nullptr) {
 		sif::error << "LocalPoolVariable: The supplied pool owner did not implement"
 				"the correct interface HasHkPoolParametersIF!" << std::endl;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 3fdab9ed..ce7f7b9f 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -17,10 +17,9 @@
 #include <framework/health/HealthHelper.h>
 #include <framework/parameters/ParameterHelper.h>
 #include <framework/datapool/HkSwitchHelper.h>
+#include <framework/datapoollocal/HasLocalDataPoolIF.h>
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
-#include <framework/datapoollocal/OwnsLocalDataPoolIF.h>
-
 #include <map>
 
 namespace Factory{
@@ -88,7 +87,7 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasHealthIF,
 		public HasActionsIF,
 		public ReceivesParameterMessagesIF,
-		public OwnsLocalDataPoolIF {
+		public HasLocalDataPoolIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**

From 6f50356964da86b311b9e96b08d33de6c2b76233 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 14:26:15 +0200
Subject: [PATCH 255/307] new shared ring buffer

---
 container/RingBufferBase.h           | 73 ++++++++++++++++------------
 container/SharedRingBuffer.cpp       | 32 ++++++++++++
 container/SharedRingBuffer.h         | 42 ++++++++++++++++
 container/SimpleRingBuffer.cpp       | 27 ++++++----
 container/SimpleRingBuffer.h         | 44 ++++++++++++-----
 devicehandlers/ChildHandlerBase.cpp  | 16 +++---
 devicehandlers/ChildHandlerBase.h    |  4 +-
 devicehandlers/DeviceHandlerBase.cpp | 38 ++++++++++-----
 devicehandlers/DeviceHandlerBase.h   | 19 ++++----
 globalfunctions/DleEncoder.cpp       |  3 +-
 timemanager/Clock.h                  |  4 +-
 11 files changed, 216 insertions(+), 86 deletions(-)
 create mode 100644 container/SharedRingBuffer.cpp
 create mode 100644 container/SharedRingBuffer.h

diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h
index 1beb51c2..86896b9e 100644
--- a/container/RingBufferBase.h
+++ b/container/RingBufferBase.h
@@ -7,29 +7,23 @@
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
 public:
-	RingBufferBase(uint32_t startAddress, const size_t size, bool overwriteOld) :
+	RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
 			start(startAddress), write(startAddress), size(size),
 			overwriteOld(overwriteOld) {
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = startAddress;
 		}
 	}
-	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
-		if (availableReadData(n) >= amount) {
-			incrementRead(amount, n);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
+
+	virtual ~RingBufferBase() {}
+
+	bool isFull(uint8_t n = 0) {
+		return (availableWriteSpace(n) == 0);
 	}
-	ReturnValue_t writeData(uint32_t amount) {
-		if (availableWriteSpace() >= amount || overwriteOld) {
-			incrementWrite(amount);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
+	bool isEmpty(uint8_t n = 0) {
+		return (availableReadData(n) == 0);
 	}
+
 	uint32_t availableReadData(uint8_t n = 0) const {
 		return ((write + size) - read[n]) % size;
 	}
@@ -37,54 +31,55 @@ public:
 		//One less to avoid ambiguous full/empty problem.
 		return (((read[n] + size) - write - 1) % size);
 	}
-	bool isFull(uint8_t n = 0) {
-		return (availableWriteSpace(n) == 0);
-	}
-	bool isEmpty(uint8_t n = 0) {
-		return (availableReadData(n) == 0);
-	}
-	virtual ~RingBufferBase() {
 
-	}
 	uint32_t getRead(uint8_t n = 0) const {
 		return read[n];
 	}
+
 	void setRead(uint32_t read, uint8_t n = 0) {
 		if (read >= start && read < (start+size)) {
 			this->read[n] = read;
 		}
 	}
+
 	uint32_t getWrite() const {
 		return write;
 	}
+
 	void setWrite(uint32_t write) {
 		this->write = write;
 	}
+
 	void clear() {
 		write = start;
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = start;
 		}
 	}
-	uint32_t writeTillWrap() {
+
+	size_t writeTillWrap() {
 		return (start + size) - write;
 	}
-	uint32_t readTillWrap(uint8_t n = 0) {
+
+	size_t readTillWrap(uint8_t n = 0) {
 		return (start + size) - read[n];
 	}
-	uint32_t getStart() const {
+
+	size_t getStart() const {
 		return start;
 	}
+
 	bool overwritesOld() const {
 		return overwriteOld;
 	}
-	uint32_t maxSize() const {
+
+	size_t maxSize() const {
 		return size - 1;
 	}
 protected:
-	const uint32_t start;
-	uint32_t write;
-	uint32_t read[N_READ_PTRS];
+	const size_t start;
+	size_t write;
+	size_t read[N_READ_PTRS];
 	const size_t size;
 	const bool overwriteOld;
 	void incrementWrite(uint32_t amount) {
@@ -93,6 +88,24 @@ protected:
 	void incrementRead(uint32_t amount, uint8_t n = 0) {
 		read[n] = ((read[n] + amount - start) % size) + start;
 	}
+
+	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
+		if (availableReadData(n) >= amount) {
+			incrementRead(amount, n);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+	ReturnValue_t writeData(uint32_t amount) {
+		if (availableWriteSpace() >= amount or overwriteOld) {
+			incrementWrite(amount);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
 };
 
 #endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */
diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
new file mode 100644
index 00000000..36315753
--- /dev/null
+++ b/container/SharedRingBuffer.cpp
@@ -0,0 +1,32 @@
+#include <framework/container/SharedRingBuffer.h>
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+
+SharedRingBuffer::SharedRingBuffer(const size_t size, bool overwriteOld):
+		SimpleRingBuffer(size, overwriteOld) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+SharedRingBuffer::SharedRingBuffer(uint8_t *buffer, const size_t size,
+		bool overwriteOld): SimpleRingBuffer(buffer, size, overwriteOld) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedRingBuffer::writeDataProtected(const uint8_t *data,
+		size_t amount, dur_millis_t timeout) {
+	MutexHelper(mutex, timeout);
+	return writeData(data,amount);
+}
+
+ReturnValue_t SharedRingBuffer::readDataProtected(uint8_t *data, size_t amount,
+		dur_millis_t timeout, bool incrementReadPtr, bool readRemaining,
+		size_t *trueAmount) {
+	MutexHelper(mutex, timeout);
+	return readData(data,amount, incrementReadPtr, readRemaining, trueAmount);
+}
+
+ReturnValue_t SharedRingBuffer::deleteDataProtected(size_t amount,
+		bool deleteRemaining, size_t *trueAmount, dur_millis_t timeout) {
+	MutexHelper(mutex, timeout);
+	return deleteData(amount, deleteRemaining, trueAmount);
+}
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
new file mode 100644
index 00000000..41186619
--- /dev/null
+++ b/container/SharedRingBuffer.h
@@ -0,0 +1,42 @@
+#ifndef FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+#define FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+#include <framework/container/SimpleRingBuffer.h>
+#include <framework/ipc/MutexIF.h>
+#include <framework/timemanager/Clock.h>
+
+class SharedRingBuffer: public SimpleRingBuffer {
+public:
+	/**
+	 * This constructor allocates a new internal buffer with the supplied size.
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(const size_t size, bool overwriteOld);
+
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+
+	ReturnValue_t writeDataProtected(const uint8_t* data, size_t amount,
+			dur_millis_t timeout = 10);
+	ReturnValue_t readDataProtected(uint8_t *data, size_t amount,
+			dur_millis_t timeout = 10, bool incrementReadPtr = false,
+			bool readRemaining = false, size_t *trueAmount = nullptr);
+	ReturnValue_t deleteDataProtected(size_t amount,
+			bool deleteRemaining = false, size_t* trueAmount = nullptr,
+			dur_millis_t timeout = 10);
+private:
+	MutexIF* mutex = nullptr;
+};
+
+
+
+#endif /* FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_ */
diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 731c9dc9..69d94143 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -16,12 +16,14 @@ SimpleRingBuffer::~SimpleRingBuffer() {
 }
 
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
-		uint32_t amount) {
+		size_t amount) {
 	if (availableWriteSpace() >= amount or overwriteOld) {
-		uint32_t amountTillWrap = writeTillWrap();
+		size_t amountTillWrap = writeTillWrap();
 		if (amountTillWrap >= amount) {
+			// remaining size in buffer is sufficient to fit full amount.
 			memcpy(&buffer[write], data, amount);
-		} else {
+		}
+		else {
 			memcpy(&buffer[write], data, amountTillWrap);
 			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
 		}
@@ -32,12 +34,13 @@ ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
 	}
 }
 
-ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
-		bool readRemaining, uint32_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
-	uint32_t amountTillWrap = readTillWrap(READ_PTR);
+ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
+		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
+	size_t availableData = availableReadData(READ_PTR);
+	size_t amountTillWrap = readTillWrap(READ_PTR);
 	if (availableData < amount) {
 		if (readRemaining) {
+			// more data available than amount specified.
 			amount = availableData;
 		} else {
 			return HasReturnvaluesIF::RETURN_FAILED;
@@ -52,12 +55,16 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
 		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
 		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
 	}
+
+	if(incrementReadPtr) {
+		deleteData(amount, readRemaining);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
-		bool deleteRemaining, uint32_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
+ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
+		bool deleteRemaining, size_t* trueAmount) {
+	size_t availableData = availableReadData(READ_PTR);
 	if (availableData < amount) {
 		if (deleteRemaining) {
 			amount = availableData;
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 30dd184c..cf78814f 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -18,6 +18,8 @@ public:
      * This constructor allocates a new internal buffer with the supplied size.
      * @param size
      * @param overwriteOld
+     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
      */
 	SimpleRingBuffer(const size_t size, bool overwriteOld);
 	/**
@@ -25,41 +27,59 @@ public:
 	 * @param buffer
 	 * @param size
 	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
 	 */
 	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
 
 	virtual ~SimpleRingBuffer();
 
 	/**
-	 * Write to circular buffer and increment write pointer by amount
+	 * Write to circular buffer and increment write pointer by amount.
 	 * @param data
 	 * @param amount
-	 * @return
+	 * @return -@c RETURN_OK if write operation was successfull
+	 * -@c RETURN_FAILED if
 	 */
-	ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
+	ReturnValue_t writeData(const uint8_t* data, size_t amount);
 
 	/**
-	 * Read from circular buffer at read pointer
+	 * Read from circular buffer at read pointer.
 	 * @param data
 	 * @param amount
+	 * @param incrementReadPtr
+	 * If this is set to true, the read pointer will be incremented.
+	 * If readRemaining is set to true, the read pointer will be incremented
+	 * accordingly.
 	 * @param readRemaining
-	 * @param trueAmount
+	 * If this is set to true, the data will be read even if the amount
+	 * specified exceeds the read data available.
+	 * @param trueAmount [out]
+	 * If readRemaining was set to true, the true amount read will be assigned
+	 * to the passed value.
 	 * @return
+	 * - @c RETURN_OK if data was read successfully
+	 * - @c RETURN_FAILED if not enough data was available and readRemaining
+	 *      was set to false.
 	 */
-	ReturnValue_t readData(uint8_t* data, uint32_t amount,
-	        bool readRemaining = false, uint32_t* trueAmount = nullptr);
+	ReturnValue_t readData(uint8_t* data, size_t amount,
+			bool incrementReadPtr = false, bool readRemaining = false,
+			size_t* trueAmount = nullptr);
 
 	/**
-	 * Delete data starting by incrementing read pointer
+	 * Delete data by incrementing read pointer.
 	 * @param amount
 	 * @param deleteRemaining
-	 * @param trueAmount
+	 * If the amount specified is larger than the remaing size to read and this
+	 * is set to true, the remaining amount will be deleted as well
+	 * @param trueAmount [out]
+	 * If deleteRemaining was set to true, the amount deleted will be assigned
+	 * to the passed value.
 	 * @return
 	 */
-	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false,
-	        uint32_t* trueAmount = nullptr);
+	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
+	        size_t* trueAmount = nullptr);
 private:
-//	static const uint8_t TEMP_READ_PTR = 1;
 	static const uint8_t READ_PTR = 0;
 	uint8_t* buffer = nullptr;
 };
diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index 3e5bcc60..9e5019b4 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -4,15 +4,19 @@
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
-		uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-		object_id_t hkDestination, uint32_t thermalStatePoolId,
-		uint32_t thermalRequestPoolId, uint32_t parent,
+		uint8_t setDeviceSwitch, object_id_t hkDestination,
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		object_id_t parent,
 		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
 		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
-		    hkDestination, setDeviceSwitch,  thermalStatePoolId,
-			thermalRequestPoolId, (customFdir == NULL? &childHandlerFdir : customFdir),
+			(customFdir == nullptr? &childHandlerFdir : customFdir),
 			cmdQueueSize),
 		parentId(parent), childHandlerFdir(setObjectId) {
+	this->setDeviceSwitch(setDeviceSwitch);
+	this->setHkDestination(hkDestination);
+	this->setThermalStateRequestPoolIds(thermalStatePoolId,
+			thermalRequestPoolId);
+
 }
 
 ChildHandlerBase::~ChildHandlerBase() {
@@ -26,7 +30,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 
 	MessageQueueId_t parentQueue = 0;
 
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
 		if (parent == NULL) {
 			return RETURN_FAILED;
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 10021631..5c216e86 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -7,9 +7,9 @@
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
 	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
+			CookieIF * cookie, uint8_t setDeviceSwitch,
 			object_id_t hkDestination, uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId, uint32_t parent,
+			uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
 			FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index fcb61ace..08d92130 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -18,43 +18,55 @@
 
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
-object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
+object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
-		uint8_t setDeviceSwitch, object_id_t hkDestination,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
+		FailureIsolationBase* fdirInstance,
+		size_t cmdQueueSize) :
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
 		actionHelper(this, nullptr), hkManager(this, nullptr),
-		deviceThermalStatePoolId(thermalStatePoolId),
-		deviceThermalRequestPoolId(thermalRequestPoolId),
 		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
 		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
 		switchOffWasReported(false), hkDestination(hkDestination),
 		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
-		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
+		transitionSourceSubMode(SUBMODE_NONE) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			MessageQueueMessage::MAX_MESSAGE_SIZE);
 	insertInCommandMap(RAW_COMMAND_ID);
 	cookieInfo.state = COOKIE_UNUSED;
 	cookieInfo.pendingCommand = deviceCommandMap.end();
 	if (comCookie == nullptr) {
-		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
-				std::setw(8) << std::setfill('0') << this->getObjectId() <<
-				std::dec << ": Do not pass nullptr as a cookie, consider "
-				<< std::setfill(' ') << "passing a dummy cookie instead!" <<
-				std::endl;
+		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex
+				<< std::setw(8) << std::setfill('0') << this->getObjectId()
+				<< std::dec << ": Do not pass nullptr as a cookie, consider "
+				<< std::setfill(' ') << "passing a dummy cookie instead!"
+				<< std::endl;
 	}
 	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
-				defaultFDIRParentId);
+				defaultFdirParentId);
 	}
 }
 
+void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
+	this->hkDestination = hkDestination;
+}
+
+void DeviceHandlerBase::setThermalStateRequestPoolIds(
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
+	this->deviceThermalRequestPoolId = thermalStatePoolId;
+	this->deviceThermalRequestPoolId = thermalRequestPoolId;
+}
+
+
+void DeviceHandlerBase::setDeviceSwitch(uint8_t deviceSwitch) {
+	this->deviceSwitch = deviceSwitch;
+}
+
 DeviceHandlerBase::~DeviceHandlerBase() {
 	delete comCookie;
 	if (defaultFDIRUsed) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 3fdab9ed..2adaa80e 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -106,13 +106,14 @@ public:
 	 * @param cmdQueueSize
 	 */
 	DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * comCookie, uint8_t setDeviceSwitch,
-			object_id_t hkDestination = objects::NO_OBJECT,
-			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
-			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
-			FailureIsolationBase* fdirInstance = nullptr,
+			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
+	void setDeviceSwitch(uint8_t deviceSwitch);
+	void setHkDestination(object_id_t hkDestination);
+	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
+			uint32_t thermalRequestPoolId);
+
 	/**
 	 * @brief 	This function is the device handler base core component and is
 	 * 			called periodically.
@@ -691,14 +692,14 @@ protected:
 	 *
 	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
 	 */
-	uint32_t deviceThermalStatePoolId;
+	uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
 
 	/**
 	 * this is the datapool variable with the thermal request of the device
 	 *
 	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
 	 */
-	uint32_t deviceThermalRequestPoolId;
+	uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
 
 	/**
 	 * Optional Error code
@@ -724,7 +725,7 @@ protected:
 
 	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
 
-	static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
+	static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
 	/**
 	 * Helper function to report a missed reply
 	 *
@@ -1082,7 +1083,7 @@ private:
 	 *
 	 * for devices using two switches override getSwitches()
 	 */
-	const uint8_t deviceSwitch;
+	uint8_t deviceSwitch;
 
 	/**
 	 * read the command queue
diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index c8f78872..f4bd765d 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -81,8 +81,7 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 
 	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
 			&& (sourceStream[encodedIndex] != ETX)
-			&& (sourceStream[encodedIndex] != STX))
-	{
+			&& (sourceStream[encodedIndex] != STX)) {
 		if (sourceStream[encodedIndex] == DLE) {
 			nextByte = sourceStream[encodedIndex + 1];
 			// The next byte is a DLE character that was escaped by another
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 121c63df..65e152bf 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -9,8 +9,8 @@
 #include <sys/time.h>
 
 //! Don't use these for time points, type is not large enough for UNIX epoch.
-typedef uint32_t dur_millis_t;
-typedef double dur_seconds_t;
+using dur_millis_t = uint32_t;
+using dur_seconds_t = double;
 
 class Clock {
 public:

From ecd740a1015f47d60ec73b48d54f632dc6aa38bd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 15:47:50 +0200
Subject: [PATCH 256/307] ring buffer base calls made protected

---
 container/RingBufferBase.h     | 48 ++++++++++++++++++----------------
 container/SharedRingBuffer.cpp | 36 ++++++++++++++++---------
 container/SharedRingBuffer.h   | 28 ++++++++++++++------
 3 files changed, 68 insertions(+), 44 deletions(-)

diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h
index 86896b9e..f42a4288 100644
--- a/container/RingBufferBase.h
+++ b/container/RingBufferBase.h
@@ -24,30 +24,20 @@ public:
 		return (availableReadData(n) == 0);
 	}
 
-	uint32_t availableReadData(uint8_t n = 0) const {
+	size_t availableReadData(uint8_t n = 0) const {
 		return ((write + size) - read[n]) % size;
 	}
-	uint32_t availableWriteSpace(uint8_t n = 0) const  {
+	size_t availableWriteSpace(uint8_t n = 0) const  {
 		//One less to avoid ambiguous full/empty problem.
 		return (((read[n] + size) - write - 1) % size);
 	}
 
-	uint32_t getRead(uint8_t n = 0) const {
-		return read[n];
+	bool overwritesOld() const {
+		return overwriteOld;
 	}
 
-	void setRead(uint32_t read, uint8_t n = 0) {
-		if (read >= start && read < (start+size)) {
-			this->read[n] = read;
-		}
-	}
-
-	uint32_t getWrite() const {
-		return write;
-	}
-
-	void setWrite(uint32_t write) {
-		this->write = write;
+	size_t maxSize() const {
+		return size - 1;
 	}
 
 	void clear() {
@@ -69,13 +59,6 @@ public:
 		return start;
 	}
 
-	bool overwritesOld() const {
-		return overwriteOld;
-	}
-
-	size_t maxSize() const {
-		return size - 1;
-	}
 protected:
 	const size_t start;
 	size_t write;
@@ -106,6 +89,25 @@ protected:
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
+
+
+	size_t getRead(uint8_t n = 0) const {
+		return read[n];
+	}
+
+	void setRead(uint32_t read, uint8_t n = 0) {
+		if (read >= start && read < (start+size)) {
+			this->read[n] = read;
+		}
+	}
+
+	uint32_t getWrite() const {
+		return write;
+	}
+
+	void setWrite(uint32_t write) {
+		this->write = write;
+	}
 };
 
 #endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */
diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
index 36315753..64cbc669 100644
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@@ -2,31 +2,41 @@
 #include <framework/ipc/MutexFactory.h>
 #include <framework/ipc/MutexHelper.h>
 
-SharedRingBuffer::SharedRingBuffer(const size_t size, bool overwriteOld):
-		SimpleRingBuffer(size, overwriteOld) {
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
+		bool overwriteOld, dur_millis_t mutexTimeout):
+		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld),
+		mutexTimeout(mutexTimeout) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
-SharedRingBuffer::SharedRingBuffer(uint8_t *buffer, const size_t size,
-		bool overwriteOld): SimpleRingBuffer(buffer, size, overwriteOld) {
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
+		const size_t size, bool overwriteOld, dur_millis_t mutexTimeout):
+		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld),
+		mutexTimeout(mutexTimeout) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
 ReturnValue_t SharedRingBuffer::writeDataProtected(const uint8_t *data,
-		size_t amount, dur_millis_t timeout) {
-	MutexHelper(mutex, timeout);
-	return writeData(data,amount);
+		size_t amount) {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::writeData(data,amount);
 }
 
 ReturnValue_t SharedRingBuffer::readDataProtected(uint8_t *data, size_t amount,
-		dur_millis_t timeout, bool incrementReadPtr, bool readRemaining,
+		bool incrementReadPtr, bool readRemaining,
 		size_t *trueAmount) {
-	MutexHelper(mutex, timeout);
-	return readData(data,amount, incrementReadPtr, readRemaining, trueAmount);
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::readData(data,amount, incrementReadPtr,
+			readRemaining, trueAmount);
 }
 
 ReturnValue_t SharedRingBuffer::deleteDataProtected(size_t amount,
-		bool deleteRemaining, size_t *trueAmount, dur_millis_t timeout) {
-	MutexHelper(mutex, timeout);
-	return deleteData(amount, deleteRemaining, trueAmount);
+		bool deleteRemaining, size_t *trueAmount) {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::deleteData(amount, deleteRemaining, trueAmount);
+}
+
+size_t SharedRingBuffer::getAvailableReadDataProtected(uint8_t n) const {
+	MutexHelper(mutex, mutexTimeout);
+	return ((write + size) - read[n]) % size;
 }
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index 41186619..e045b72a 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -2,9 +2,11 @@
 #define FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
 #include <framework/container/SimpleRingBuffer.h>
 #include <framework/ipc/MutexIF.h>
+#include <framework/objectmanager/SystemObject.h>
 #include <framework/timemanager/Clock.h>
 
-class SharedRingBuffer: public SimpleRingBuffer {
+class SharedRingBuffer: public SystemObject,
+		public SimpleRingBuffer {
 public:
 	/**
 	 * This constructor allocates a new internal buffer with the supplied size.
@@ -13,7 +15,8 @@ public:
 	 * If the ring buffer is overflowing at a write operartion, the oldest data
 	 * will be overwritten.
 	 */
-	SharedRingBuffer(const size_t size, bool overwriteOld);
+	SharedRingBuffer(object_id_t objectId, const size_t size,
+			bool overwriteOld, dur_millis_t mutexTimeout = 10);
 
 	/**
 	 * This constructor takes an external buffer with the specified size.
@@ -23,17 +26,26 @@ public:
 	 * If the ring buffer is overflowing at a write operartion, the oldest data
 	 * will be overwritten.
 	 */
-	SharedRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+	SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
+			bool overwriteOld, dur_millis_t mutexTimeout = 10);
 
-	ReturnValue_t writeDataProtected(const uint8_t* data, size_t amount,
-			dur_millis_t timeout = 10);
+	void setMutexTimeout(dur_millis_t newTimeout);
+
+	/** Performs mutex protected SimpleRingBuffer::writeData call */
+	ReturnValue_t writeDataProtected(const uint8_t* data, size_t amount);
+
+	/** Performs mutex protected SimpleRingBuffer::readData call */
 	ReturnValue_t readDataProtected(uint8_t *data, size_t amount,
-			dur_millis_t timeout = 10, bool incrementReadPtr = false,
+			bool incrementReadPtr = false,
 			bool readRemaining = false, size_t *trueAmount = nullptr);
+
+	/** Performs mutex protected SimpleRingBuffer::deleteData call */
 	ReturnValue_t deleteDataProtected(size_t amount,
-			bool deleteRemaining = false, size_t* trueAmount = nullptr,
-			dur_millis_t timeout = 10);
+			bool deleteRemaining = false, size_t* trueAmount = nullptr);
+
+	size_t getAvailableReadDataProtected (uint8_t n = 0) const;
 private:
+	dur_millis_t mutexTimeout;
 	MutexIF* mutex = nullptr;
 };
 

From 32ef807341f2b868af94a11507db532990a4c771 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 15:49:52 +0200
Subject: [PATCH 257/307] newline

---
 container/SharedRingBuffer.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index e045b72a..f7d3bc3c 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -1,5 +1,6 @@
 #ifndef FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
 #define FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+
 #include <framework/container/SimpleRingBuffer.h>
 #include <framework/ipc/MutexIF.h>
 #include <framework/objectmanager/SystemObject.h>

From 5a351474d2de7e2b38c2ccf232f1a9ba6241bf10 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 16:31:33 +0200
Subject: [PATCH 258/307] DHB ctor simplified

---
 datapoollocal/LocalDataPoolManager.h |  1 +
 devicehandlers/DeviceHandlerBase.cpp | 12 ++++++++----
 devicehandlers/DeviceHandlerBase.h   |  1 +
 fdir/FailureIsolationBase.cpp        | 11 ++++++++---
 fdir/FailureIsolationBase.h          |  7 +++++--
 tcdistribution/PUSDistributor.cpp    |  2 +-
 6 files changed, 24 insertions(+), 10 deletions(-)

diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index 3841b99c..d5cfb1a3 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -67,6 +67,7 @@ public:
 	 */
 	ReturnValue_t initialize(MessageQueueIF* queueToUse,
 	        object_id_t hkDestination);
+
 	/**
 	 * This function is used to set the default HK packet destination.
 	 * This destination will usually only be set once.
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 08d92130..48d366b6 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -19,11 +19,11 @@
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
+object_id_t DeviceHandlerBase::defaultHkDestination = objects::NO_OBJECT;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
-		FailureIsolationBase* fdirInstance,
-		size_t cmdQueueSize) :
+		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
@@ -31,8 +31,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		actionHelper(this, nullptr), hkManager(this, nullptr),
 		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
 		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-		switchOffWasReported(false), hkDestination(hkDestination),
-		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
+		switchOffWasReported(false), childTransitionDelay(5000),
+		transitionSourceMode(_MODE_POWER_DOWN),
 		transitionSourceSubMode(SUBMODE_NONE) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			MessageQueueMessage::MAX_MESSAGE_SIZE);
@@ -189,6 +189,10 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
+	if(hkDestination == objects::NO_OBJECT) {
+		hkDestination = defaultHkDestination;
+	}
+
 	result = hkManager.initialize(commandQueue, hkDestination);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 2adaa80e..52349656 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1048,6 +1048,7 @@ private:
 	PowerSwitchIF *powerSwitcher = nullptr;
 
 	/** Cached for initialize() */
+	static object_id_t defaultHkDestination;
 	object_id_t hkDestination = objects::NO_OBJECT;
 
 	/**
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index a2fc9ea1..8bc88002 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -29,7 +29,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	if (ownerId != 0) {
+	if (faultTreeParent != objects::NO_OBJECT) {
 		result = manager->subscribeToAllEventsFrom(eventQueue->getId(), ownerId);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
@@ -41,10 +41,15 @@ ReturnValue_t FailureIsolationBase::initialize() {
 			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 	}
-	if (faultTreeParent != 0) {
+	if (faultTreeParent != objects::NO_OBJECT) {
 		ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
 				faultTreeParent);
-		if (parentIF == NULL) {
+		if (parentIF == nullptr) {
+			sif::error << "FailureIsolationBase::intialize: Parent object"
+					<< "invalid." << std::endl;
+			sif::error << "Make sure it implements ConfirmsFailuresIF."
+					<< std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
 			return RETURN_FAILED;
 		}
 		eventQueue->setDefaultDestination(parentIF->getEventReceptionQueue());
diff --git a/fdir/FailureIsolationBase.h b/fdir/FailureIsolationBase.h
index 894f6356..dea149bd 100644
--- a/fdir/FailureIsolationBase.h
+++ b/fdir/FailureIsolationBase.h
@@ -17,8 +17,11 @@ public:
 	static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
 	static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, SEVERITY::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
 	static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, SEVERITY::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
-	FailureIsolationBase(object_id_t owner, object_id_t parent = 0,
+
+	FailureIsolationBase(object_id_t owner,
+			object_id_t parent = objects::NO_OBJECT,
 			uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
+
 	virtual ~FailureIsolationBase();
 	virtual ReturnValue_t initialize();
 
@@ -26,7 +29,7 @@ public:
 	 * This is called by the DHB in performOperation()
 	 */
 	void checkForFailures();
-	MessageQueueId_t getEventReceptionQueue();
+	MessageQueueId_t getEventReceptionQueue() override;
 	virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0);
 protected:
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index 969380d6..5eb50103 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -50,7 +50,7 @@ ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
 	if (not returnPair.second) {
 		//TODO Return Code
 		sif::error << "PUSDistributor::registerService: Service ID already"
-				"exists in map." << std::endl;
+				" exists in map." << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;

From a5d3d9ea8030d5f14a7c584641b68a5bf4f21d58 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 16:46:57 +0200
Subject: [PATCH 259/307] improved init function

---
 devicehandlers/DeviceHandlerBase.cpp | 38 ++++++++++++++++++----------
 1 file changed, 24 insertions(+), 14 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 48d366b6..b47c58fc 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -122,8 +122,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	communicationInterface = objectManager->get<DeviceCommunicationIF>(
 			deviceCommunicationId);
-	if (communicationInterface == NULL) {
-		return RETURN_FAILED;
+	if (communicationInterface == nullptr) {
+		sif::error << "DeviceHandlerBase::initialize: Communication interface "
+				"invalid." << std::endl;
+		sif::error << "Make sure it is set up properly and implements"
+				" DeviceCommunicationIF" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	result = communicationInterface->initializeInterface(comCookie);
@@ -132,8 +136,10 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
-		return RETURN_FAILED;
+	if (IPCStore == nullptr) {
+		sif::error << "DeviceHandlerBase::initialize: IPC store not set up in "
+				"factory." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	if(rawDataReceiverId != objects::NO_OBJECT) {
@@ -152,8 +158,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	if(powerSwitcherId != objects::NO_OBJECT) {
 		powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-		if (powerSwitcher == NULL) {
-			return RETURN_FAILED;
+		if (powerSwitcher == nullptr) {
+			sif::error << "DeviceHandlerBase::initialize: Power switcher "
+					<< "object ID set but no valid object found." << std::endl;
+			sif::error << "Make sure the raw receiver object is set up properly"
+					<< " and implements PowerSwitchIF" << std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 	}
 
@@ -189,14 +199,14 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
-	if(hkDestination == objects::NO_OBJECT) {
-		hkDestination = defaultHkDestination;
-	}
-
-	result = hkManager.initialize(commandQueue, hkDestination);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+//	if(hkDestination == objects::NO_OBJECT) {
+//		hkDestination = defaultHkDestination;
+//	}
+//
+//	result = hkManager.initialize(commandQueue, hkDestination);
+//	if (result != HasReturnvaluesIF::RETURN_OK) {
+//		return result;
+//	}
 
 	fillCommandAndReplyMap();
 

From da30680d04bffca3ebd17a446fc7cad765a6770f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 16:54:18 +0200
Subject: [PATCH 260/307] readability improvement

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index b47c58fc..4358503e 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -228,7 +228,7 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
 		if (iter->second.delayCycles != 0) {
 			iter->second.delayCycles--;
 			if (iter->second.delayCycles == 0) {
-				if (iter->second.periodic != 0) {
+				if (iter->second.periodic) {
 					iter->second.delayCycles = iter->second.maxDelayCycles;
 				}
 				replyToReply(iter, TIMEOUT);

From ceb61979048feb501a31530ac363aaf53c6b5e43 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 17:01:12 +0200
Subject: [PATCH 261/307] some minor improvements

---
 devicehandlers/DeviceHandlerBase.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index b60acd52..3c5edf55 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -386,7 +386,7 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = 0,
+			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
 	/**
@@ -400,7 +400,7 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = 0);
+			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false);
 
 	/**
 	 * @brief 	A simple command to add a command to the commandList.
@@ -426,7 +426,7 @@ protected:
 	 */
 	ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
 			uint16_t delayCycles, uint16_t maxDelayCycles,
-			bool periodic = 0);
+			bool periodic = false);
 
 	/**
 	 * @brief   Can be implemented by child handler to
@@ -1214,5 +1214,5 @@ private:
 	            size_t receivedDataLen);
 };
 
-#endif /* DEVICEHANDLERBASE_H_ */
+#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
 

From ad049cc634b1c0aa9b0505bc4de42cb6a89a6679 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 19:41:52 +0200
Subject: [PATCH 262/307] tmtc bridge formatting improvements

---
 tmtcservices/TmTcBridge.cpp | 27 +++++++++++++++------------
 tmtcservices/TmTcBridge.h   | 11 +++++++----
 2 files changed, 22 insertions(+), 16 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 8c44f7de..b55803cb 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -24,8 +24,9 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		return RETURN_OK;
 	}
 	else {
-	    sif::warning << "TmTcBridge: Number of packets sent per cycle "
-	               "exceeds limits. Keeping default value." << std::endl;
+	    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
+	             << "packets sent per cycle exceeds limits. "
+	             << "Keeping default value." << std::endl;
 		return RETURN_FAILED;
 	}
 }
@@ -37,8 +38,9 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
         return RETURN_OK;
     }
     else {
-        sif::warning << "TmTcBridge: Number of packets stored "
-                   "exceeds limits. Keeping default value." << std::endl;
+        sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
+                << "packets stored exceeds limits. "
+                << "Keeping default value." << std::endl;
         return RETURN_FAILED;
     }
 }
@@ -72,11 +74,13 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 	ReturnValue_t result;
 	result = handleTc();
 	if(result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
+		sif::debug << "TmTcBridge::performOperation: "
+		        << "Error handling TCs" << std::endl;
 	}
 	result = handleTm();
 	if (result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
+	    sif::debug << "TmTcBridge::performOperation: "
+	                    << "Error handling TMs" << std::endl;
 	}
 	return result;
 }
@@ -88,7 +92,7 @@ ReturnValue_t TmTcBridge::handleTc() {
 ReturnValue_t TmTcBridge::handleTm() {
 	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
+		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
 		return RETURN_FAILED;
 	}
 
@@ -118,7 +122,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 
 		result = sendTm(data, size);
 		if (result != RETURN_OK) {
-			sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl;
+			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
 			tmStore->deleteData(message.getStorageId());
 			return result;
 
@@ -129,13 +133,12 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 }
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
-	//debug << "TMTC Bridge: Comm Link down. "
-	//		 "Saving packet ID to be sent later\r\n" << std::flush;
 	store_address_t storeId = 0;
 
 	if(tmFifo.full()) {
-		sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
-				 "reached! Overwriting old data" << std::endl;
+		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+		        << "of stored packet IDs reached! "
+		        << "Overwriting old data" << std::endl;
 		tmFifo.retrieve(&storeId);
 		tmStore->deleteData(storeId);
 	}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 3e3d1b71..993cd5b9 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -76,13 +76,14 @@ protected:
 	object_id_t tcDestination = objects::NO_OBJECT;
 
 	//! Used to send and receive TMTC messages.
-	//! TmTcMessage is used to transport messages between tasks.
+	//! The TmTcMessage class is used to transport messages between tasks.
 	MessageQueueIF* tmTcReceptionQueue = nullptr;
 
 	StorageManagerIF* tmStore = nullptr;
 	StorageManagerIF* tcStore = nullptr;
 
-	//! Used to specify whether communication link is up by default.
+	//! Used to specify whether communication link is up. Will be true
+	//! by default, so telemetry will be handled immediately.
 	bool communicationLinkUp = true;
 	bool tmStored = false;
 
@@ -103,7 +104,8 @@ protected:
 	virtual ReturnValue_t handleTm();
 
 	/**
-	 * Read the TM Queue and send TM if necessary. Default implementation provided
+	 * Read the TM Queue and send TM if necessary.
+	 * Default implementation provided
 	 * @return
 	 */
 	virtual ReturnValue_t handleTmQueue();
@@ -116,7 +118,8 @@ protected:
 
 	/**
 	 * Implemented by child class. Perform sending of Telemetry by implementing
-	 * communication drivers or wrappers, e.g. UART communication or lwIP stack.
+	 * communication drivers or wrappers, e.g. serial communication or a socket
+	 * call.
 	 * @param data
 	 * @param dataLen
 	 * @return

From 57418eb877888bed655eb8f3fee2d58b6f4cbe82 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 20:04:49 +0200
Subject: [PATCH 263/307] distrinction between default settings

and individual settings for service
---
 devicehandlers/DeviceHandlerBase.h     |  1 +
 tmtcservices/CommandingServiceBase.cpp | 12 ++++++++++--
 tmtcservices/CommandingServiceBase.h   |  6 ++++--
 3 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 3c5edf55..61fb701d 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1048,6 +1048,7 @@ private:
 
 	/** Cached for initialize() */
 	static object_id_t defaultHkDestination;
+	/** HK destination can also be set individually */
 	object_id_t hkDestination = objects::NO_OBJECT;
 
 	/**
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 63a3d943..4c9b5375 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -8,8 +8,8 @@
 #include <framework/tmtcpacket/pus/TcPacketStored.h>
 #include <framework/tmtcpacket/pus/TmPacketStored.h>
 
-object_id_t CommandingServiceBase::packetSource = objects::NO_OBJECT;
-object_id_t CommandingServiceBase::packetDestination = objects::NO_OBJECT;
+object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
+object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
 
 CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
@@ -62,10 +62,18 @@ ReturnValue_t CommandingServiceBase::initialize() {
 		return result;
 	}
 
+	if(packetDestination == objects::NO_OBJECT) {
+	    packetDestination = defaultPacketDestination;
+	}
 	AcceptsTelemetryIF* packetForwarding =
 			objectManager->get<AcceptsTelemetryIF>(packetDestination);
+
+	if(packetSource == objects::NO_OBJECT) {
+	    packetSource = defaultPacketSource;
+	}
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
+
 	if (packetForwarding == nullptr or distributor == nullptr) {
 	    sif::error << "CommandingServiceBase::intialize: Packet source or "
 	            "packet destination invalid!" << std::endl;
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index e9b5f047..ec38bdee 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -248,8 +248,10 @@ protected:
 	uint32_t failureParameter1 = 0;
 	uint32_t failureParameter2 = 0;
 
-	static object_id_t packetSource;
-	static object_id_t packetDestination;
+	static object_id_t defaultPacketSource;
+	object_id_t packetSource = objects::NO_OBJECT;
+	static object_id_t defaultPacketDestination;
+	object_id_t packetDestination = objects::NO_OBJECT;
 
 	/**
 	 * Pointer to the task which executes this component,

From cdd877032fe211cd6e9e56940352f608b7e90efb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 23:20:48 +0200
Subject: [PATCH 264/307] doc for system object IF improved

---
 objectmanager/SystemObjectIF.h | 56 ++++++++++++++++------------------
 1 file changed, 27 insertions(+), 29 deletions(-)

diff --git a/objectmanager/SystemObjectIF.h b/objectmanager/SystemObjectIF.h
index 7540f80f..b7590509 100644
--- a/objectmanager/SystemObjectIF.h
+++ b/objectmanager/SystemObjectIF.h
@@ -1,26 +1,19 @@
-/**
- * @file	SystemObjectIF.h
- * @brief	This file contains the definition of the SystemObjectIF interface.
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef SYSTEMOBJECTIF_H_
-#define SYSTEMOBJECTIF_H_
+#ifndef FRAMEWORK_OBJECTMANAGER_SYSTEMOBJECTIF_H_
+#define FRAMEWORK_OBJECTMANAGER_SYSTEMOBJECTIF_H_
 
 #include <framework/events/EventReportingProxyIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <stdint.h>
+#include <cstdint>
 /**
- * \defgroup system_objects Software System Object Management
- * The classes to create System Objects and classes to manage these are contained in this group.
- * System Objects are software elements that can be controlled externally. They all have a unique
- * object identifier.
+ * @defgroup system_objects Software System Object Management
+ * The classes to create System Objects and classes to manage these are
+ * contained in this group. System Objects are software elements that can be
+ * controlled externally. They all have a unique object identifier.
  */
 
 /**
  * This is the typedef for object identifiers.
- * \ingroup system_objects
+ * @ingroup system_objects
  */
 typedef uint32_t object_id_t;
 
@@ -29,7 +22,8 @@ typedef uint32_t object_id_t;
  * list.
  * It does not provide any method definitions, still it is required to
  * perform a type check with dynamic_cast.
- * \ingroup system_objects
+ * @author  Bastian Baetz
+ * @ingroup system_objects
  */
 class SystemObjectIF : public EventReportingProxyIF {
 public:
@@ -41,24 +35,28 @@ public:
 	/**
 	 * The empty virtual destructor as required for C++ interfaces.
 	 */
-	virtual ~SystemObjectIF() {
-	}
+	virtual ~SystemObjectIF() {}
 	/**
-	 * Initializes all inter-object dependencies.
-	 * This is necessary to avoid circular dependencies of not-fully
-	 * initialized objects on start up.
-	 * @return	- \c RETURN_OK in case the initialization was successful
-	 * 			- \c RETURN_FAILED otherwise
+	 * @brief   Initializes the object.
+	 * There are initialization steps which can also be done in the constructor.
+	 * However, there is no clean way to get a returnvalue from a constructor.
+	 * Furthermore some components require other system object to be created
+	 * which might not have been built yet.
+	 * Therefore, a two-step initialization resolves this problem and prevents
+	 * circular dependencies of not-fully initialized objects on start up.
+	 * @return	- @c RETURN_OK in case the initialization was successful
+	 * 			- @c RETURN_FAILED otherwise
 	 */
 	virtual ReturnValue_t initialize() = 0;
 	/**
-	 * Checks, if all object-object interconnections are satisfying for operation.
-	 * Some objects need certain other objects (or a certain number), to be registered as children.
-	 * These checks can be done in this method.
-	 * @return	- \c RETURN_OK in case the check was successful
-	 * 			- \c any other code otherwise
+	 * @brief   Checks if all object-object interconnections are satisfying
+	 *          for operation.
+	 * Some objects need certain other objects (or a certain number), to be
+	 * registered as children. These checks can be done in this method.
+	 * @return	- @c RETURN_OK in case the check was successful
+	 * 			- @c any other code otherwise
 	 */
 	virtual ReturnValue_t checkObjectConnections() = 0;
 };
 
-#endif /* SYSTEMOBJECTIF_H_ */
+#endif /* FRAMEWORK_OBJECTMANAGER_SYSTEMOBJECTIF_H_ */

From 1fde3c2c992f3fd96cd0098bfb23c5ab6fa51589 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 00:19:25 +0200
Subject: [PATCH 265/307] added srv200, CSB doc

---
 pus/CService200ModeCommanding.cpp      | 133 +++++++++++++++++++++++++
 pus/CService200ModeCommanding.h        |  85 ++++++++++++++++
 pus/servicepackets/Service200Packets.h |  56 +++++++++++
 tmtcpacket/pus/TmPacketStored.cpp      |   1 +
 tmtcservices/CommandingServiceBase.h   |  23 +++--
 5 files changed, 290 insertions(+), 8 deletions(-)
 create mode 100644 pus/CService200ModeCommanding.cpp
 create mode 100644 pus/CService200ModeCommanding.h
 create mode 100644 pus/servicepackets/Service200Packets.h

diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
new file mode 100644
index 00000000..753ec38b
--- /dev/null
+++ b/pus/CService200ModeCommanding.cpp
@@ -0,0 +1,133 @@
+#include <framework/pus/CService200ModeCommanding.h>
+#include <framework/pus/servicepackets/Service200Packets.h>
+
+#include <framework/modes/HasModesIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/modes/ModeMessage.h>
+
+CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+        CommandingServiceBase(objectId, apid, serviceId,
+	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
+
+CService200ModeCommanding::~CService200ModeCommanding() {}
+
+ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
+	switch(subservice) {
+	case(Subservice::COMMAND_MODE_COMMAND):
+	case(Subservice::COMMAND_MODE_READ):
+	case(Subservice::COMMAND_MODE_ANNCOUNCE):
+		return RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+
+ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+		MessageQueueId_t *id, object_id_t *objectId)
+{
+	ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = checkInterfaceAndAcquireMessageQueue(id,objectId);
+	return result;
+}
+
+ReturnValue_t CService200ModeCommanding::checkAndAcquireTargetID(
+		object_id_t* objectIdToSet, const uint8_t* tcData, uint32_t tcDataLen) {
+	size_t size = tcDataLen;
+	if (SerializeAdapter::deSerialize(objectIdToSet, &tcData, &size,
+	        SerializeIF::Endianness::BIG)
+			!= HasReturnvaluesIF::RETURN_OK)
+		return CommandingServiceBase::INVALID_TC;
+	else
+		return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t* MessageQueueToSet, object_id_t* objectId) {
+	HasModesIF * possibleTarget = objectManager->get<HasModesIF>(*objectId);
+	if(possibleTarget!=NULL){
+		*MessageQueueToSet = possibleTarget->getCommandQueue();
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+}
+
+
+ReturnValue_t CService200ModeCommanding::prepareCommand(
+		CommandMessage* message,uint8_t subservice, const uint8_t *tcData,
+		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
+	ModePacket modeCommandPacket;
+	ReturnValue_t result = modeCommandPacket.deSerialize(&tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+	if (result != RETURN_OK) {
+		return result;
+	}
+	else {
+		ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
+				ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+				modeCommandPacket.getSubmode());
+		return result;
+	}
+}
+
+
+ReturnValue_t CService200ModeCommanding::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t *state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool *isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	switch(replyId) {
+	case(ModeMessage::REPLY_MODE_REPLY): {
+		result = prepareModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_WRONG_MODE_REPLY): {
+		result = prepareWrongModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_CANT_REACH_MODE): {
+		result = prepareCantReachModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_MODE_INFO):
+		result = INVALID_REPLY;
+		break;
+	default:
+		result = RETURN_FAILED;
+	}
+	return result;
+}
+
+ReturnValue_t CService200ModeCommanding::prepareModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket modeReplyPacket(objectId,
+			ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	CantReachModePacket cantReachModePacket(objectId,
+	        ModeMessage::getCantReachModeReason(reply));
+	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
+	        &cantReachModePacket);
+}
+
+
+
diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h
new file mode 100644
index 00000000..ede61a84
--- /dev/null
+++ b/pus/CService200ModeCommanding.h
@@ -0,0 +1,85 @@
+#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief Custom PUS service to set mode of all objects implementing HasModesIF
+ *
+ * Examples: Device Handlers, Assemblies or Subsystems.
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * @ingroup pus_services
+ */
+class CService200ModeCommanding: public CommandingServiceBase {
+public:
+	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
+	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
+
+	CService200ModeCommanding(object_id_t objectId,
+	        uint16_t apid, uint8_t serviceId);
+	virtual~ CService200ModeCommanding();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+			uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
+			bool *isStep) override;
+
+private:
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+			const uint8_t* tcData, uint32_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+
+	enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
+		//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
+		COMMAND_MODE_COMMAND = 1,
+		//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
+		//! regardless of external control flag
+		COMMAND_MODE_COMMAND_FORCED = 2,
+		//!< [EXPORT] : [COMMAND] Read the current mode and
+		//! reply with a REPLY_MODE_REPLY
+		COMMAND_MODE_READ = 3,
+		//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
+		//! This command does NOT have a reply
+		COMMAND_MODE_ANNCOUNCE = 4,
+		//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
+		//! command to every child. This command does NOT have a reply.
+		COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
+		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+		REPLY_MODE_REPLY = 6,
+		//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
+		REPLY_CANT_REACH_MODE = 7,
+		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a
+		//! mode was commanded and a transition started but was aborted,
+		//! the parameters contain the mode that was reached
+		REPLY_WRONG_MODE_REPLY = 8
+	};
+
+	enum modeParameters {
+		MODE_OFF = 0,
+		MODE_ON = 1,
+		MODE_NORMAL = 2,
+		MODE_RAW = 3
+	};
+};
+
+#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h
new file mode 100644
index 00000000..fb153e21
--- /dev/null
+++ b/pus/servicepackets/Service200Packets.h
@@ -0,0 +1,56 @@
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/modes/ModeMessage.h>
+#include <framework/serialize/SerializeIF.h>
+
+/**
+ * @brief Subservice 1, 2, 3, 4, 5
+ * @ingroup spacepackets
+ */
+class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
+public:
+	ModePacket() {
+		setLinks();
+	}
+
+	ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) :
+	        objectId(objectId), mode(mode), submode(submode) {
+		setLinks();
+	}
+
+	Mode_t getMode() {
+		return mode.entry;
+	}
+
+	Submode_t getSubmode() {
+		return submode.entry;
+	}
+
+private:
+	// Forbid copying because of next pointer to member
+	ModePacket(const ModePacket &command);
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&mode);
+		mode.setNext(&submode);
+	}
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Target or source object
+	SerializeElement<Mode_t> mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW
+	SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
+};
+
+class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
+public:
+    CantReachModePacket(object_id_t objectId, ReturnValue_t reason):
+            objectId(objectId), reason(reason) {
+        setStart(&this->objectId);
+        this->objectId.setNext(&this->reason);
+    }
+
+    SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Reply source object
+	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index d6a4a69f..6eb852f0 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -34,6 +34,7 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 			size + headerSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
 }
 
+// todo: Endianness flags as optional parameter?
 TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 		uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
 		SerializeIF *header) :
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index ec38bdee..1bd18571 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -114,16 +114,17 @@ public:
 	 * 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
+	 * @param task Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_);
+	virtual void setTaskIF(PeriodicTaskIF* task);
 
 protected:
 	/**
 	 * Check the target subservice
 	 * @param subservice[in]
-	 * @return -@c RETURN_OK on success
-     *         -@c INVALID_SUBSERVICE if service is not known
+	 * @return
+	 * -@c RETURN_OK Subservice valid, continue message handling
+     * -@c INVALID_SUBSERVICE if service is not known, rejects packet.
 	 */
 	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
 
@@ -136,9 +137,10 @@ protected:
 	 * @param tcDataLen
 	 * @param id MessageQueue ID is stored here
 	 * @param objectId Object ID is extracted and stored here
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED
-	 *         - @c CSB or implementation specific return codes
+	 * @return
+	 * - @c RETURN_OK Cotinue message handling
+	 * - @c RETURN_FAILED Reject the packet and generates a start failure
+	 *      verification
 	 */
 	virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
 			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
@@ -157,6 +159,11 @@ protected:
 	 * communication
 	 * @param objectId Target object ID
 	 * @return
+	 * - @c RETURN_OK to generate a verification start message
+	 * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
+	 *      verification message.
+	 * - @c Anything else rejects the packets and generates a start failure
+	 *      verification.
 	 */
 	virtual ReturnValue_t prepareCommand(CommandMessage* message,
 			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
@@ -181,7 +188,7 @@ protected:
 	 * @return
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
-	 * - @c INVALID_REPLY calls handleUnrequestedReply
+	 * - @c INVALID_REPLY Calls handleUnrequestedReply
 	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
 	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
 	 *   a failure verification message with the reason as the error parameter

From 7a4cc1a6b692b39c596bb88e67051af69b97f928 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 01:22:23 +0200
Subject: [PATCH 266/307] hk manager initialized now

---
 devicehandlers/DeviceHandlerBase.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 4358503e..c696e4e3 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -199,14 +199,14 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
-//	if(hkDestination == objects::NO_OBJECT) {
-//		hkDestination = defaultHkDestination;
-//	}
-//
-//	result = hkManager.initialize(commandQueue, hkDestination);
-//	if (result != HasReturnvaluesIF::RETURN_OK) {
-//		return result;
-//	}
+	if(hkDestination == objects::NO_OBJECT) {
+		hkDestination = defaultHkDestination;
+	}
+
+	result = hkManager.initialize(commandQueue, hkDestination);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
 
 	fillCommandAndReplyMap();
 

From f3739fd213acd0849399fa4b755ffa7a126da6ab Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 02:44:58 +0200
Subject: [PATCH 267/307] bugfix failure isolation base

---
 fdir/FailureIsolationBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index 8bc88002..083f5af0 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -29,7 +29,7 @@ ReturnValue_t FailureIsolationBase::initialize() {
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	if (faultTreeParent != objects::NO_OBJECT) {
+	if (ownerId != objects::NO_OBJECT) {
 		result = manager->subscribeToAllEventsFrom(eventQueue->getId(), ownerId);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;

From 3551a767a71635c47af18df4b5afbc393416838e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 03:06:18 +0200
Subject: [PATCH 268/307] removed old code

---
 devicehandlers/DeviceHandlerBase.cpp | 17 +----------------
 1 file changed, 1 insertion(+), 16 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index c696e4e3..06fb84cc 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -348,7 +348,7 @@ void DeviceHandlerBase::doStateMachine() {
 
 		if(powerSwitcher == nullptr) {
 		    setMode(MODE_OFF);
-		    return;
+		    break;
 		}
 
 		if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
@@ -832,21 +832,6 @@ MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
 	return commandQueue->getId();
 }
 
-//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
-//	DeviceCommunicationIF *newCommunication = objectManager->get<
-//			DeviceCommunicationIF>(newChannelId);
-//
-//	if (newCommunication != NULL) {
-//		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
-//				maxDeviceReplyLen);
-//		if (result != RETURN_OK) {
-//			return result;
-//		}
-//		return RETURN_OK;
-//	}
-//	return RETURN_FAILED;
-//}
-
 void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 	storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
 	ReturnValue_t result = getStorageData(storedRawData, &rawPacket,

From bdc6e881986e9048eac100561ac0e0159b1b0eca Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 03:09:32 +0200
Subject: [PATCH 269/307] reordered includes

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 06fb84cc..af98ba44 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1,10 +1,10 @@
-#include <framework/datapoolglob/GlobalDataSet.h>
 #include <framework/devicehandlers/DeviceHandlerBase.h>
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/thermal/ThermalComponentIF.h>
 #include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 
+#include <framework/datapoolglob/GlobalDataSet.h>
 #include <framework/datapoolglob/GlobalPoolVariable.h>
 #include <framework/devicehandlers/DeviceTmReportingWrapper.h>
 #include <framework/globalfunctions/CRC.h>

From 9cbc1a18b8c305c095f1c70ada691541e1df6bd1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 03:16:08 +0200
Subject: [PATCH 270/307] csrv200 improvements

---
 pus/CService200ModeCommanding.cpp | 56 ++++++++++++-------------------
 storagemanager/StorageAccessor.h  |  5 +++
 2 files changed, 26 insertions(+), 35 deletions(-)

diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
index 753ec38b..fd6da67e 100644
--- a/pus/CService200ModeCommanding.cpp
+++ b/pus/CService200ModeCommanding.cpp
@@ -27,36 +27,26 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
 
 ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
 		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
-		MessageQueueId_t *id, object_id_t *objectId)
-{
-	ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = checkInterfaceAndAcquireMessageQueue(id,objectId);
-	return result;
-}
+		MessageQueueId_t *id, object_id_t *objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
+            SerializeIF::Endianness::BIG);
 
-ReturnValue_t CService200ModeCommanding::checkAndAcquireTargetID(
-		object_id_t* objectIdToSet, const uint8_t* tcData, uint32_t tcDataLen) {
-	size_t size = tcDataLen;
-	if (SerializeAdapter::deSerialize(objectIdToSet, &tcData, &size,
-	        SerializeIF::Endianness::BIG)
-			!= HasReturnvaluesIF::RETURN_OK)
-		return CommandingServiceBase::INVALID_TC;
-	else
-		return HasReturnvaluesIF::RETURN_OK;
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
 }
 
 ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
-		MessageQueueId_t* MessageQueueToSet, object_id_t* objectId) {
-	HasModesIF * possibleTarget = objectManager->get<HasModesIF>(*objectId);
-	if(possibleTarget!=NULL){
-		*MessageQueueToSet = possibleTarget->getCommandQueue();
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return CommandingServiceBase::INVALID_OBJECT;
-	}
+        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+    HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
+    if(destination == nullptr) {
+        return CommandingServiceBase::INVALID_OBJECT;
+
+    }
+
+    *messageQueueToSet = destination->getCommandQueue();
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 
@@ -69,12 +59,11 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(
 	if (result != RETURN_OK) {
 		return result;
 	}
-	else {
-		ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
-				ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-				modeCommandPacket.getSubmode());
-		return result;
-	}
+
+	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
+	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+	        modeCommandPacket.getSubmode());
+	return result;
 }
 
 
@@ -128,6 +117,3 @@ ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
 	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
 	        &cantReachModePacket);
 }
-
-
-
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index c5e38306..4b3f1ea9 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -25,8 +25,13 @@ public:
 	 * @param
 	 * @return
 	 */
+<<<<<<< Updated upstream
 	StorageAccessor& operator= (StorageAccessor&&);
 	StorageAccessor (StorageAccessor&&);
+=======
+	StorageAccessor& operator=(StorageAccessor&&);
+	StorageAccessor(StorageAccessor&&);
+>>>>>>> Stashed changes
 
 	ReturnValue_t write(uint8_t *data, size_t size,
 		uint16_t offset = 0);

From be8913efeaada850906e19f2d40b6e503b7ec270 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 03:30:52 +0200
Subject: [PATCH 271/307] srv8 improvements

---
 pus/Service5EventReporting.cpp     |  3 +--
 pus/Service8FunctionManagement.cpp | 42 +++++++++++++++++-------------
 pus/Service8FunctionManagement.h   |  3 +++
 storagemanager/StorageAccessor.h   | 12 +++------
 4 files changed, 32 insertions(+), 28 deletions(-)

diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
index fe55059c..1dfbe229 100644
--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@@ -59,8 +59,7 @@ ReturnValue_t Service5EventReporting::generateEventReport(
 }
 
 ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
-	switch(subservice)
-	{
+	switch(subservice) {
 	case Subservice::ENABLE: {
 		enableEventReport = true;
 		return HasReturnvaluesIF::RETURN_OK;
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 24338464..812398b9 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -1,7 +1,6 @@
 #include <framework/pus/Service8FunctionManagement.h>
 #include <framework/pus/servicepackets/Service8Packets.h>
 
-#include <framework/action/ActionMessage.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/action/HasActionsIF.h>
 #include <framework/devicehandlers/DeviceHandlerIF.h>
@@ -54,12 +53,8 @@ ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t Service8FunctionManagement::prepareCommand(
 		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
 		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	if(subservice == static_cast<uint8_t>(Subservice::DIRECT_COMMANDING)) {
-		result = prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
 				tcData, tcDataLen);
-	}
-	return result;
 }
 
 ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
@@ -100,18 +95,7 @@ ReturnValue_t Service8FunctionManagement::handleReply(
 		break;
 	}
 	case ActionMessage::DATA_REPLY: {
-		store_address_t storeId = ActionMessage::getStoreId(reply);
-		size_t size = 0;
-		const uint8_t * buffer = nullptr;
-		result = IPCStore->getData(storeId, &buffer, &size);
-		if(result != RETURN_OK) {
-			sif::error << "Service 8: Could not retrieve data for data reply";
-			return result;
-		}
-		DataReply dataReply(objectId,actionId,buffer,size);
-		sendTmPacket(static_cast<uint8_t>(
-				Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
-		result = IPCStore ->deleteData(storeId);
+	    result = handleDataReply(reply, objectId, actionId);
 		break;
 	}
 	case ActionMessage::STEP_FAILED:
@@ -126,4 +110,26 @@ ReturnValue_t Service8FunctionManagement::handleReply(
 	return result;
 }
 
+ReturnValue_t Service8FunctionManagement::handleDataReply(
+        const CommandMessage* reply, object_id_t objectId,
+        ActionId_t actionId) {
+    store_address_t storeId = ActionMessage::getStoreId(reply);
+    size_t size = 0;
+    const uint8_t * buffer = nullptr;
+    ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
+    if(result != RETURN_OK) {
+        sif::error << "Service 8: Could not retrieve data for data reply"
+                << std::endl;
+        return result;
+    }
+    DataReply dataReply(objectId, actionId, buffer, size);
+    result = sendTmPacket(static_cast<uint8_t>(
+            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
 
+    auto deletionResult = IPCStore->deleteData(storeId);
+    if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Service8FunctionManagement::handleReply: Deletion"
+                << " of data in pool failed." << std::endl;
+    }
+    return result;
+}
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
index 54c98b97..e2c7a84f 100644
--- a/pus/Service8FunctionManagement.h
+++ b/pus/Service8FunctionManagement.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
 #define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
 
+#include <framework/action/ActionMessage.h>
 #include <framework/tmtcservices/CommandingServiceBase.h>
 
 /**
@@ -59,6 +60,8 @@ private:
 	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
 	ReturnValue_t prepareDirectCommand(CommandMessage* message,
 			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t handleDataReply(const CommandMessage* reply,
+	        object_id_t objectId, ActionId_t actionId);
 };
 
 #endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index 4b3f1ea9..d75e06ac 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -17,21 +17,17 @@ class StorageAccessor: public ConstStorageAccessor {
 public:
 	StorageAccessor(store_address_t storeId);
 	StorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
 	/**
 	 * @brief	Move ctor and move assignment allow returning accessors as
-	 * 			a returnvalue. They prevent resource being free prematurely.
-	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
-	 * 			 move-constructors-and-move-assignment-operators-cpp.md
+	 * 			a returnvalue. They prevent resource being freed prematurely.
+	 * See: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * 		move-constructors-and-move-assignment-operators-cpp.md
 	 * @param
 	 * @return
 	 */
-<<<<<<< Updated upstream
-	StorageAccessor& operator= (StorageAccessor&&);
-	StorageAccessor (StorageAccessor&&);
-=======
 	StorageAccessor& operator=(StorageAccessor&&);
 	StorageAccessor(StorageAccessor&&);
->>>>>>> Stashed changes
 
 	ReturnValue_t write(uint8_t *data, size_t size,
 		uint16_t offset = 0);

From a7d68f8c52886f39d116a9ad0553f26463c753b8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 13:31:45 +0200
Subject: [PATCH 272/307] deleted copy ctor

---
 pus/servicepackets/Service200Packets.h | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h
index fb153e21..1b5bf236 100644
--- a/pus/servicepackets/Service200Packets.h
+++ b/pus/servicepackets/Service200Packets.h
@@ -11,6 +11,7 @@
  */
 class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
 public:
+
 	ModePacket() {
 		setLinks();
 	}
@@ -28,9 +29,11 @@ public:
 		return submode.entry;
 	}
 
+	// Forbid copying, pointers are used.
+	ModePacket(const ModePacket&) = delete;
+	ModePacket& operator=(const ModePacket&) = delete;
 private:
-	// Forbid copying because of next pointer to member
-	ModePacket(const ModePacket &command);
+
 	void setLinks() {
 		setStart(&objectId);
 		objectId.setNext(&mode);
@@ -41,6 +44,10 @@ private:
 	SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
 };
 
+/**
+ * @brief Subservice 7
+ * @ingroup spacepackets
+ */
 class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
 public:
     CantReachModePacket(object_id_t objectId, ReturnValue_t reason):

From e29226c9bba6587460d5db87e3ad3b3d7eab2357 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 14:28:36 +0200
Subject: [PATCH 273/307] srv8 improved

---
 pus/Service8FunctionManagement.cpp   |  9 +++++-
 pus/servicepackets/Service8Packets.h | 41 ++++++++++++++--------------
 2 files changed, 29 insertions(+), 21 deletions(-)

diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 812398b9..50102b04 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -59,8 +59,15 @@ ReturnValue_t Service8FunctionManagement::prepareCommand(
 
 ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
 		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+    if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
+        sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
+                << " TC size smaller thant minimum size of direct command."
+                << std::endl;
+        return CommandingServiceBase::INVALID_TC;
+    }
+
 	// Create direct command instance by extracting data from Telecommand
-	DirectCommand command(tcData,tcDataLen);
+	DirectCommand command(tcData, tcDataLen);
 
 	// store additional parameters into the IPC Store
 	store_address_t parameterAddress;
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 5ef91280..86681c14 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -8,10 +8,7 @@
  *   3. Return Code
  *   4. Optional step number for step replies
  *
- * Data reply (subservice 132) consists of
- *   1. Target Object ID
- *   2. Action ID
- *   3. Data
+
  *
  *  \date 01.07.2019
  *  \author R. Mueller
@@ -29,23 +26,21 @@
 
 
 /**
- * \brief Subservice 128
- * \ingroup spacepackets
+ * @brief Subservice 128
+ * @ingroup spacepackets
  */
 class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
 public:
-	//typedef uint16_t typeOfMaxData;
-	//static const typeOfMaxData MAX_DATA = 256;
-	DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) {
-		size_t size = sizeof(objectId);
-		SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size,
+
+	DirectCommand(const uint8_t* tcData, size_t size) {
+		SerializeAdapter::deSerialize(&objectId, &tcData, &size,
 		        SerializeIF::Endianness::BIG);
-		size = sizeof(actionId);
-		SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size,
+		SerializeAdapter::deSerialize(&actionId, &tcData, &size,
 		        SerializeIF::Endianness::BIG);
-		parameterBuffer = dataBuffer_;
-		parametersSize = size_ - sizeof(objectId) - sizeof(actionId);
+		parameterBuffer = tcData;
+		parametersSize = size;
 	}
+
 	ActionId_t getActionId() const {
 		return actionId;
 	}
@@ -73,8 +68,12 @@ private:
 
 
 /**
- * \brief Subservice 130
- * \ingroup spacepackets
+ * @brief Subservice 130
+ * Data reply (subservice 130) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ * @ingroup spacepackets
  */
 class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
 public:
@@ -100,8 +99,10 @@ private:
 
 
 /**
- * \brief Subservice 132
- * \ingroup spacepackets
+ * @brief Subservice 132
+ * @details
+ * Not used yet. Telecommand Verification takes care of this.
+ * @ingroup spacepackets
  */
 class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
 public:
@@ -124,7 +125,7 @@ private:
 			returnCode.setNext(&step);
 		}
 	}
-	bool isDataReply; //!< [EXPORT] : [IGNORE]
+
 	bool isStep; //!< [EXPORT] : [IGNORE]
 	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
 	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]

From 36a7f2f9ee86b00370bee48721f470d9392bf93c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 14:32:25 +0200
Subject: [PATCH 274/307] removed file header comment

---
 pus/servicepackets/Service8Packets.h | 16 ----------------
 1 file changed, 16 deletions(-)

diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 86681c14..8ea0d108 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -1,19 +1,3 @@
-/**
- * \file Service8Packets.h
- *
- * \brief Structure of a Direct Command.
- * Normal reply (subservice 130) consists of
- *   1. Target object ID
- *   2. Action ID (taget device has specified functions with action IDs)
- *   3. Return Code
- *   4. Optional step number for step replies
- *
-
- *
- *  \date 01.07.2019
- *  \author R. Mueller
- */
-
 #ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
 #define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
 

From 31450362106ebec643d99dd60d963e822516b0a5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 19:34:18 +0200
Subject: [PATCH 275/307] getter functions for task handle

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 3 +++
 osal/FreeRTOS/FixedTimeslotTask.h   | 2 ++
 osal/FreeRTOS/PeriodicTask.cpp      | 4 ++++
 osal/FreeRTOS/PeriodicTask.h        | 2 ++
 osal/FreeRTOS/TaskManagement.cpp    | 5 +++--
 osal/FreeRTOS/TaskManagement.h      | 3 ++-
 6 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 57c927f9..3bd2aafb 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -157,3 +157,6 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+TaskHandle_t FixedTimeslotTask::getTaskHandle() const {
+    return handle;
+}
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 27d08190..985b4f90 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -57,6 +57,8 @@ public:
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 
+	TaskHandle_t getTaskHandle() const;
+
 protected:
 	bool started;
 	TaskHandle_t handle;
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 2ebfebf4..6d013a5b 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -126,6 +126,10 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     }
 }
 
+TaskHandle_t PeriodicTask::getTaskHandle() const {
+    return handle;
+}
+
 void PeriodicTask::handleMissedDeadline() {
 #ifdef DEBUG
     sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 09aa6bc7..679686f6 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -69,6 +69,8 @@ public:
 	uint32_t getPeriodMs() const override;
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() const;
 protected:
 	bool started;
 	TaskHandle_t handle;
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 7871ab2e..9a1e4447 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -18,6 +18,7 @@ TaskHandle_t TaskManagement::getCurrentTaskHandle() {
 	return xTaskGetCurrentTaskHandle();
 }
 
-configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark() {
-	return uxTaskGetStackHighWaterMark(TaskManagement::getCurrentTaskHandle());
+configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task);
 }
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 39c24377..cbde510c 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -57,7 +57,8 @@ public:
 	 * @return Smallest value of stack remaining since the task was started in
 	 * 		   words.
 	 */
-	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark();
+	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

From 444ee80f356a8e6b8e639c1cb847da320a21713b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 20:31:10 +0200
Subject: [PATCH 276/307] removed unnecessary case and added more size checks

---
 pus/Service2DeviceAccess.cpp |  6 ++----
 tmtcservices/PusParser.cpp   | 29 ++++++++++++++---------------
 2 files changed, 16 insertions(+), 19 deletions(-)

diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index 1d5f21eb..84d6693d 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -60,13 +60,11 @@ ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
 		uint32_t* state, object_id_t objectId) {
 	switch(static_cast<Subservice>(subservice)){
 	case Subservice::RAW_COMMANDING: {
-		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
+		return prepareRawCommand(message, tcData, tcDataLen);
 	}
 	break;
 	case Subservice::TOGGLE_WIRETAPPING: {
-		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
+		return prepareWiretappingCommand(message, tcData, tcDataLen);
 	}
 	break;
 	default:
diff --git a/tmtcservices/PusParser.cpp b/tmtcservices/PusParser.cpp
index 4198e36e..3dd34a84 100644
--- a/tmtcservices/PusParser.cpp
+++ b/tmtcservices/PusParser.cpp
@@ -7,9 +7,8 @@ PusParser::PusParser(uint16_t maxExpectedPusPackets,
 
 ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 		size_t frameSize) {
-	if(frame == nullptr) {
-		sif::error << "PusParser::parsePusPackets: Frame pointers in invalid!"
-				<< std::endl;
+	if(frame == nullptr or frameSize < 5) {
+		sif::error << "PusParser::parsePusPackets: Frame invalid!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
@@ -25,15 +24,13 @@ ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 	}
 
 	size_t packetSize = lengthField + 7;
+	// sif::debug << frameSize << std::endl;
 	// Size of a pus packet is the value in the packet length field plus 7.
-	if(packetSize > frameSize)
-	{
-		if(storeSplitPackets)
-		{
+	if(packetSize > frameSize) {
+		if(storeSplitPackets) {
 			indexSizePairFIFO.insert(indexSizePair(0, frameSize));
 		}
-		else
-		{
+		else {
 			sif::debug << "TcSerialPollingTask::readNextPacket: Next packet "
 					"larger than remaining frame," << std::endl;
 			sif::debug << "Throwing away packet. Detected packet size: "
@@ -41,8 +38,7 @@ ReturnValue_t PusParser::parsePusPackets(const uint8_t *frame,
 		}
 		return SPLIT_PACKET;
 	}
-	else
-	{
+	else {
 		indexSizePairFIFO.insert(indexSizePair(0, packetSize));
 		if(packetSize == frameSize) {
 			return HasReturnvaluesIF::RETURN_OK;
@@ -77,6 +73,11 @@ PusParser::indexSizePair PusParser::getNextFifoPair() {
 ReturnValue_t PusParser::readNextPacket(const uint8_t *frame,
 		size_t frameSize, size_t& currentIndex) {
 	// sif::debug << startIndex << std::endl;
+    if(currentIndex + 5 > frameSize) {
+        currentIndex = frameSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
 	uint16_t lengthField = frame[currentIndex + 4] << 8 |
 			frame[currentIndex + 5];
 	if(lengthField == 0) {
@@ -88,12 +89,10 @@ ReturnValue_t PusParser::readNextPacket(const uint8_t *frame,
 	size_t remainingSize = frameSize - currentIndex;
 	if(nextPacketSize > remainingSize)
 	{
-		if(storeSplitPackets)
-		{
+		if(storeSplitPackets) {
 			indexSizePairFIFO.insert(indexSizePair(currentIndex, remainingSize));
 		}
-		else
-		{
+		else {
 			sif::debug << "TcSerialPollingTask::readNextPacket: Next packet "
 					"larger than remaining frame," << std::endl;
 			sif::debug << "Throwing away packet. Detected packet size: "

From 6a6395313f8dce6ec9693acddb6b93d3cda9549a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 11 Jul 2020 01:06:01 +0200
Subject: [PATCH 277/307] added copy ctor and assignment for FIFObase

---
 container/DynamicFIFO.h |  2 +-
 container/FIFOBase.h    | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
index 3a5242c7..fca4c8e8 100644
--- a/container/DynamicFIFO.h
+++ b/container/DynamicFIFO.h
@@ -18,7 +18,7 @@ template<typename T>
 class DynamicFIFO: public FIFOBase<T> {
 public:
 	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
-			values(maxCapacity) {};
+			values(maxCapacity)  {};
 
 private:
 	std::vector<T> values;
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index 8bdb333f..082c596a 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -3,6 +3,7 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <cstddef>
+#include <cstring>
 
 template <typename T>
 class FIFOBase {
@@ -43,6 +44,23 @@ public:
 	bool full();
 	size_t size();
 
+	FIFOBase(const FIFOBase& other): readIndex(other.readIndex),
+			writeIndex(other.writeIndex), currentSize(other.currentSize),
+			maxCapacity(other.maxCapacity) {
+		std::memcpy(values, other.values, sizeof(T) * currentSize);
+	}
+
+	FIFOBase& operator=(const FIFOBase& other) {
+		if(&other == this)
+			return *this;
+		maxCapacity = other.maxCapacity;
+		readIndex = other.readIndex;
+		writeIndex = other.writeIndex;
+		currentSize = other.currentSize;
+		std::memcpy(values, other.values, sizeof(T) * currentSize);
+		return *this;
+	}
+
 	size_t getMaxCapacity() const;
 
 private:

From 35d4267b400a950847447d2adc24e53096e4ef86 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 11 Jul 2020 02:36:04 +0200
Subject: [PATCH 278/307] dynamic fifo bug fixed

---
 container/DynamicFIFO.h  | 21 ++++++++++++++++++---
 container/FIFO.h         | 12 ++++++++++--
 container/FIFOBase.h     | 22 ++++------------------
 container/FIFOBase.tpp   |  8 +++++++-
 tmtcservices/PusParser.h |  9 +++++----
 5 files changed, 44 insertions(+), 28 deletions(-)

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
index fca4c8e8..59adfb3a 100644
--- a/container/DynamicFIFO.h
+++ b/container/DynamicFIFO.h
@@ -17,11 +17,26 @@
 template<typename T>
 class DynamicFIFO: public FIFOBase<T> {
 public:
-	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
-			values(maxCapacity)  {};
+	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
+			fifoVector(maxCapacity)  {
+		// trying to pass the pointer of the uninitialized vector
+		// to the FIFOBase constructor directly lead to a super evil bug.
+		// So we do it like this now.
+		this->setData(fifoVector.data());
+	};
+
+	/**
+	 * @brief	Custom copy constructor which prevents setting the
+	 * 	        underlying pointer wrong.
+	 */
+	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
+			fifoVector(other.maxCapacity) {
+		this->setData(fifoVector.data());
+	}
+
 
 private:
-	std::vector<T> values;
+	std::vector<T> fifoVector;
 };
 
 #endif /* FRAMEWORK_CONTAINER_DYNAMICFIFO_H_ */
diff --git a/container/FIFO.h b/container/FIFO.h
index ecb218fd..2e332dc2 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -17,10 +17,18 @@
 template<typename T, size_t capacity>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(): FIFOBase<T>(values.data(), capacity) {};
+	FIFO(): FIFOBase<T>(fifoArray.data(), capacity) {};
+
+	/**
+	 * @brief 	Custom copy constructor to set pointer correctly.
+	 * @param other
+	 */
+	FIFO(const FIFO& other): FIFOBase<T>(other) {
+		this->setData(fifoArray.data());
+	}
 
 private:
-	std::array<T, capacity> values;
+	std::array<T, capacity> fifoArray;
 };
 
 #endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index 082c596a..7f8bde96 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -44,29 +44,15 @@ public:
 	bool full();
 	size_t size();
 
-	FIFOBase(const FIFOBase& other): readIndex(other.readIndex),
-			writeIndex(other.writeIndex), currentSize(other.currentSize),
-			maxCapacity(other.maxCapacity) {
-		std::memcpy(values, other.values, sizeof(T) * currentSize);
-	}
-
-	FIFOBase& operator=(const FIFOBase& other) {
-		if(&other == this)
-			return *this;
-		maxCapacity = other.maxCapacity;
-		readIndex = other.readIndex;
-		writeIndex = other.writeIndex;
-		currentSize = other.currentSize;
-		std::memcpy(values, other.values, sizeof(T) * currentSize);
-		return *this;
-	}
 
 	size_t getMaxCapacity() const;
 
-private:
-	T* values;
+protected:
+	void setData(T* data);
 	size_t maxCapacity = 0;
 
+	T* values;
+
 	size_t readIndex = 0;
 	size_t writeIndex = 0;
 	size_t currentSize = 0;
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
index 48a060ff..c73e9d59 100644
--- a/container/FIFOBase.tpp
+++ b/container/FIFOBase.tpp
@@ -7,7 +7,7 @@
 
 template<typename T>
 inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
-		values(values), maxCapacity(maxCapacity) {};
+		maxCapacity(maxCapacity), values(values){};
 
 template<typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
@@ -78,4 +78,10 @@ inline size_t FIFOBase<T>::getMaxCapacity() const {
 	return maxCapacity;
 }
 
+
+template<typename T>
+inline void FIFOBase<T>::setData(T *data) {
+	this->values = data;
+}
+
 #endif
diff --git a/tmtcservices/PusParser.h b/tmtcservices/PusParser.h
index 88570bb2..d59673f6 100644
--- a/tmtcservices/PusParser.h
+++ b/tmtcservices/PusParser.h
@@ -63,11 +63,12 @@ public:
 	 * @return
 	 */
 	indexSizePair getNextFifoPair();
-private:
 
-	//! A FIFO is used to store information about multiple PUS packets
-	//! inside the receive buffer. The maximum number of entries is defined
-	//! by the first constructor argument.
+private:
+	/** A FIFO is used to store information about multiple PUS packets
+	 * inside the receive buffer. The maximum number of entries is defined
+	 * by the first constructor argument.
+	 */
 	DynamicFIFO<indexSizePair> indexSizePairFIFO;
 
 	bool storeSplitPackets = false;

From 69946d5276549dce7624540df1de75c94ffc5004 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 11 Jul 2020 11:52:01 +0200
Subject: [PATCH 279/307] FIFO hotfix

---
 container/DynamicFIFO.h | 21 ++++++++++++++++++---
 container/FIFO.h        | 12 ++++++++++--
 container/FIFOBase.h    |  8 ++++++--
 container/FIFOBase.tpp  |  8 +++++++-
 4 files changed, 41 insertions(+), 8 deletions(-)

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
index 3a5242c7..59adfb3a 100644
--- a/container/DynamicFIFO.h
+++ b/container/DynamicFIFO.h
@@ -17,11 +17,26 @@
 template<typename T>
 class DynamicFIFO: public FIFOBase<T> {
 public:
-	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
-			values(maxCapacity) {};
+	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
+			fifoVector(maxCapacity)  {
+		// trying to pass the pointer of the uninitialized vector
+		// to the FIFOBase constructor directly lead to a super evil bug.
+		// So we do it like this now.
+		this->setData(fifoVector.data());
+	};
+
+	/**
+	 * @brief	Custom copy constructor which prevents setting the
+	 * 	        underlying pointer wrong.
+	 */
+	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
+			fifoVector(other.maxCapacity) {
+		this->setData(fifoVector.data());
+	}
+
 
 private:
-	std::vector<T> values;
+	std::vector<T> fifoVector;
 };
 
 #endif /* FRAMEWORK_CONTAINER_DYNAMICFIFO_H_ */
diff --git a/container/FIFO.h b/container/FIFO.h
index ecb218fd..2e332dc2 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -17,10 +17,18 @@
 template<typename T, size_t capacity>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(): FIFOBase<T>(values.data(), capacity) {};
+	FIFO(): FIFOBase<T>(fifoArray.data(), capacity) {};
+
+	/**
+	 * @brief 	Custom copy constructor to set pointer correctly.
+	 * @param other
+	 */
+	FIFO(const FIFO& other): FIFOBase<T>(other) {
+		this->setData(fifoArray.data());
+	}
 
 private:
-	std::array<T, capacity> values;
+	std::array<T, capacity> fifoArray;
 };
 
 #endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index 8bdb333f..7f8bde96 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -3,6 +3,7 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <cstddef>
+#include <cstring>
 
 template <typename T>
 class FIFOBase {
@@ -43,12 +44,15 @@ public:
 	bool full();
 	size_t size();
 
+
 	size_t getMaxCapacity() const;
 
-private:
-	T* values;
+protected:
+	void setData(T* data);
 	size_t maxCapacity = 0;
 
+	T* values;
+
 	size_t readIndex = 0;
 	size_t writeIndex = 0;
 	size_t currentSize = 0;
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
index 48a060ff..c73e9d59 100644
--- a/container/FIFOBase.tpp
+++ b/container/FIFOBase.tpp
@@ -7,7 +7,7 @@
 
 template<typename T>
 inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
-		values(values), maxCapacity(maxCapacity) {};
+		maxCapacity(maxCapacity), values(values){};
 
 template<typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
@@ -78,4 +78,10 @@ inline size_t FIFOBase<T>::getMaxCapacity() const {
 	return maxCapacity;
 }
 
+
+template<typename T>
+inline void FIFOBase<T>::setData(T *data) {
+	this->values = data;
+}
+
 #endif

From e4f795d209f36bbfaa39a1d03e46c759d4a86acd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 11 Jul 2020 13:38:14 +0200
Subject: [PATCH 280/307] stack high watermark in bytes now

---
 osal/FreeRTOS/TaskManagement.cpp | 4 ++--
 osal/FreeRTOS/TaskManagement.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 9a1e4447..704f9d34 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -18,7 +18,7 @@ TaskHandle_t TaskManagement::getCurrentTaskHandle() {
 	return xTaskGetCurrentTaskHandle();
 }
 
-configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark(
+size_t TaskManagement::getTaskStackHighWatermark(
         TaskHandle_t task) {
-	return uxTaskGetStackHighWaterMark(task);
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
 }
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index cbde510c..ea363359 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -57,7 +57,7 @@ public:
 	 * @return Smallest value of stack remaining since the task was started in
 	 * 		   words.
 	 */
-	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark(
+	static size_t getTaskStackHighWatermark(
 	        TaskHandle_t task = nullptr);
 };
 

From 799846d89fecc4c17dc6305d17b903217b0687ba Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 11 Jul 2020 14:29:30 +0200
Subject: [PATCH 281/307] little formatting changes

---
 action/HasActionsIF.h |  2 +-
 events/Event.h        | 11 ++++++-----
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index 9c2a9c01..008d9eaf 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -35,7 +35,7 @@
 class HasActionsIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
-	static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);//!<
+	static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
 	static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
diff --git a/events/Event.h b/events/Event.h
index 96800f34..0a1cfcf2 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -1,10 +1,10 @@
-#ifndef EVENTOBJECT_EVENT_H_
-#define EVENTOBJECT_EVENT_H_
+#ifndef FRAMEWORK_EVENTS_EVENT_H_
+#define FRAMEWORK_EVENTS_EVENT_H_
 
-#include <stdint.h>
+#include <cstdint>
 #include <framework/events/fwSubsystemIdRanges.h>
 //could be move to more suitable location
-#include <config/tmtc/subsystemIdRanges.h>
+#include <subsystemIdRanges.h>
 
 typedef uint16_t EventId_t;
 typedef uint8_t EventSeverity_t;
@@ -21,6 +21,7 @@ EventSeverity_t getSeverity(Event event);
 Event makeEvent(EventId_t eventId, EventSeverity_t eventSeverity);
 
 }
+
 namespace SEVERITY {
 	static const EventSeverity_t INFO = 1;
 	static const EventSeverity_t LOW = 2;
@@ -41,4 +42,4 @@ namespace SEVERITY {
 //	static const EventSeverity_t HIGH = 4;
 //};
 
-#endif /* EVENTOBJECT_EVENT_H_ */
+#endif /* FRAMEWORK_EVENTS_EVENT_H_ */

From 7d794c76235c8247602b6327034f604d962b71c5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 11 Jul 2020 18:24:09 +0200
Subject: [PATCH 282/307] task management functions have freertos syntax now

---
 osal/FreeRTOS/TaskManagement.cpp | 6 +++---
 osal/FreeRTOS/TaskManagement.h   | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 704f9d34..ff552adb 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,6 +1,6 @@
 #include <framework/osal/FreeRTOS/TaskManagement.h>
 
-void TaskManagement::requestContextSwitchFromTask() {
+void TaskManagement::vRequestContextSwitchFromTask() {
 	vTaskDelay(0);
 }
 
@@ -8,9 +8,9 @@ void TaskManagement::requestContextSwitch(
 		CallContext callContext = CallContext::TASK) {
 	if(callContext == CallContext::ISR) {
 		// This function depends on the partmacro.h definition for the specific device
-		requestContextSwitchFromISR();
+		vRequestContextSwitchFromISR();
 	} else {
-		requestContextSwitchFromTask();
+		vRequestContextSwitchFromTask();
 	}
 }
 
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index ea363359..0ae8a6e9 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -13,7 +13,7 @@ extern "C" {
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void requestContextSwitchFromISR();
+extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
@@ -41,7 +41,7 @@ public:
 	 * If task preemption in FreeRTOS is disabled, a context switch
 	 * can be requested manually by calling this function.
 	 */
-	static void requestContextSwitchFromTask(void);
+	static void vRequestContextSwitchFromTask(void);
 
 	/**
 	 * @return The current task handle

From 99aef0cf287fcdf23f9336927c171762e8bf4f7c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 12 Jul 2020 01:16:32 +0200
Subject: [PATCH 283/307] C++ linkage for yield from ISR function

---
 osal/FreeRTOS/TaskManagement.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 0ae8a6e9..62c68331 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -13,7 +13,7 @@ extern "C" {
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void vRequestContextSwitchFromISR();
+extern void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from

From b4f292f3d7fc4f606bf1b6d48618bd0cf1878e26 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 12 Jul 2020 18:01:09 +0200
Subject: [PATCH 284/307] new generic freertos task interface

---
 osal/FreeRTOS/FixedTimeslotTask.cpp |  2 +-
 osal/FreeRTOS/FixedTimeslotTask.h   |  5 +++--
 osal/FreeRTOS/FreeRTOSTaskIF.h      | 13 +++++++++++++
 osal/FreeRTOS/PeriodicTask.cpp      |  2 +-
 osal/FreeRTOS/PeriodicTask.h        |  6 ++++--
 returnvalues/HasReturnvaluesIF.h    | 10 +++++++++-
 6 files changed, 31 insertions(+), 7 deletions(-)
 create mode 100644 osal/FreeRTOS/FreeRTOSTaskIF.h

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 3bd2aafb..630952d2 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -157,6 +157,6 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-TaskHandle_t FixedTimeslotTask::getTaskHandle() const {
+TaskHandle_t FixedTimeslotTask::getTaskHandle() {
     return handle;
 }
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 985b4f90..b63cb775 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
+#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
 #include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
@@ -8,7 +9,7 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
-class FixedTimeslotTask: public FixedTimeslotTaskIF {
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
 public:
 
 	/**
@@ -57,7 +58,7 @@ public:
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 
-	TaskHandle_t getTaskHandle() const;
+	TaskHandle_t getTaskHandle() override;
 
 protected:
 	bool started;
diff --git a/osal/FreeRTOS/FreeRTOSTaskIF.h b/osal/FreeRTOS/FreeRTOSTaskIF.h
new file mode 100644
index 00000000..06fda282
--- /dev/null
+++ b/osal/FreeRTOS/FreeRTOSTaskIF.h
@@ -0,0 +1,13 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+class FreeRTOSTaskIF {
+public:
+	virtual~ FreeRTOSTaskIF() {}
+	virtual TaskHandle_t getTaskHandle() = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 6d013a5b..f960d8bb 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -126,7 +126,7 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     }
 }
 
-TaskHandle_t PeriodicTask::getTaskHandle() const {
+TaskHandle_t PeriodicTask::getTaskHandle() {
     return handle;
 }
 
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 679686f6..ca2c5324 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,10 +1,12 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
+#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
+
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
@@ -17,7 +19,7 @@ class ExecutableObjectIF;
  * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
-class PeriodicTask: public PeriodicTaskIF {
+class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
 public:
 	/**
 	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
@@ -70,7 +72,7 @@ public:
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 
-	TaskHandle_t getTaskHandle() const;
+	TaskHandle_t getTaskHandle() override;
 protected:
 	bool started;
 	TaskHandle_t handle;
diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index d231f4ee..9b9086d9 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -15,7 +15,15 @@ public:
 	static const ReturnValue_t RETURN_FAILED = 1;
 	virtual ~HasReturnvaluesIF() {}
 
-	static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
+	/**
+	 * It is discouraged to use the input parameters 0,0 and 0,1 as this
+	 * will generate the RETURN_OK and RETURN_FAILED returnvalues.
+	 * @param interfaceId
+	 * @param number
+	 * @return
+	 */
+	static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
+			uint8_t number) {
 	    return (interfaceId << 8) + number;
 	}
 };

From 6d99ab3df3e105901cf6af955a034968b7f8364d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 19:37:33 +0200
Subject: [PATCH 285/307] ncreased readability of DHB function

---
 devicehandlers/DeviceHandlerBase.cpp | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index af98ba44..cc97cd42 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1264,18 +1264,23 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 	if (mode == MODE_NORMAL) {
 		result = buildNormalDeviceCommand(&deviceCommandId);
 		if (result == BUSY) {
+		    //so we can track misconfigurations
 			sif::debug << std::hex << getObjectId()
-					<< ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations
+					<< ": DHB::buildInternalCommand: Busy" << std::endl;
 			result = NOTHING_TO_SEND; //no need to report this
 		}
-	} else if (mode == MODE_RAW) {
+	}
+	else if (mode == MODE_RAW) {
 		result = buildChildRawCommand();
 		deviceCommandId = RAW_COMMAND_ID;
-	} else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
+	}
+	else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
 		result = buildTransitionDeviceCommand(&deviceCommandId);
-	} else {
+	}
+	else {
 		return;
 	}
+
 	if (result == NOTHING_TO_SEND) {
 		return;
 	}

From 15052cb33304f18d3e5ce95a4b547a2ff0826c99 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 19:54:38 +0200
Subject: [PATCH 286/307] singly linked list update

---
 container/SinglyLinkedList.h | 61 ++++++++++++++++++++++++------------
 1 file changed, 41 insertions(+), 20 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 85a92e6a..7d5fc4a9 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -16,13 +16,8 @@ public:
 	class Iterator {
 	public:
 		LinkedElement<T> *value = nullptr;
-		//! Creates an uninitialized iterator which points to nullptr.
 		Iterator() {}
 
-		/**
-		 * Initialize iterator at specified linked element.
-		 * @param element
-		 */
 		Iterator(LinkedElement<T> *element) :
 				value(element) {
 		}
@@ -77,11 +72,6 @@ private:
 	LinkedElement *next;
 };
 
-/**
- * @brief 	SinglyLinkedList data structure which keeps a pointer to its
- * 			first element to perform all operations.
- * @tparam T
- */
 template<typename T>
 class SinglyLinkedList {
 public:
@@ -99,12 +89,21 @@ public:
 		return ElementIterator::Iterator(start);
 	}
 
+	/** Returns iterator to nulltr */
 	ElementIterator end() const {
-		LinkedElement<T> *element = start;
-		while (element != nullptr) {
-			element = element->getNext();
-		}
-		return ElementIterator::Iterator(element);
+		return ElementIterator::Iterator();
+	}
+
+	/**
+	 * Returns last element in singly linked list.
+	 * @return
+	 */
+	ElementIterator back() const {
+	    LinkedElement<T> *element = start;
+	    while (element != nullptr) {
+	        element = element->getNext();
+	    }
+	    return ElementIterator::Iterator(element);
 	}
 
 	size_t getSize() const {
@@ -116,15 +115,37 @@ public:
 		}
 		return size;
 	}
-	void setStart(LinkedElement<T>* setStart) {
-		start = setStart;
+	void setStart(LinkedElement<T>* firstElement) {
+		start = firstElement;
 	}
 
-    void setEnd(LinkedElement<T>* setEnd) {
-        setEnd->setEnd();
+	void setNext(LinkedElement<T>* currentElement,
+	        LinkedElement<T>* nextElement) {
+	    currentElement->setNext(nextElement);
+	}
+
+    void setLast(LinkedElement<T>* lastElement) {
+        lastElement->setEnd();
     }
 
-    // SHOULDDO: Insertion operation ?
+    void insertElement(LinkedElement<T>* element, size_t position) {
+        LinkedElement<T> *currentElement = start;
+        for(size_t count = 0; count < position; count++) {
+            if(currentElement == nullptr) {
+                return;
+            }
+            currentElement = currentElement->getNext();
+        }
+        LinkedElement<T>* elementAfterCurrent = currentElement->next;
+        currentElement->setNext(element);
+        if(elementAfterCurrent != nullptr) {
+            element->setNext(elementAfterCurrent);
+        }
+    }
+
+    void insertBack(LinkedElement<T>* lastElement) {
+        back().value->setNext(lastElement);
+    }
 
 protected:
 	LinkedElement<T> *start = nullptr;

From e7b6999c5ea11e776848cb63a11f1e9673af0efa Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 22:13:19 +0200
Subject: [PATCH 287/307] added back inttypes.h for cleaner code

---
 timemanager/CCSDSTime.cpp | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 47cab911..71b2539d 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -205,9 +205,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	uint8_t hour;
 	uint8_t minute;
 	float second;
-	//try Code A (yyyy-mm-dd)
-	int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
-				&month, &day, &hour, &minute, &second);
+    //try Code A (yyyy-mm-dd)
+    int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16
+            "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day,
+            &hour, &minute, &second);
 	if (count == 6) {
 		to->year = year;
 		to->month = month;
@@ -219,9 +220,9 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		return RETURN_OK;
 	}
 
-	//try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
-			&hour, &minute, &second);
+    //try Code B (yyyy-ddd)
+    count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8
+            ":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,

From 47b3a428c68ff74a6019eb2c36c9fb253cc427fd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 12:33:03 +0200
Subject: [PATCH 288/307] removed device switch, not necessary anymore

---
 devicehandlers/ChildHandlerBase.cpp  | 5 ++---
 devicehandlers/ChildHandlerBase.h    | 6 +++---
 devicehandlers/DeviceHandlerBase.cpp | 4 ----
 devicehandlers/DeviceHandlerBase.h   | 8 --------
 4 files changed, 5 insertions(+), 18 deletions(-)

diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index 9e5019b4..bdc5fa65 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -4,15 +4,14 @@
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
-		uint8_t setDeviceSwitch, object_id_t hkDestination,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		object_id_t hkDestination, uint32_t thermalStatePoolId,
+		uint32_t thermalRequestPoolId,
 		object_id_t parent,
 		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
 		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
 			(customFdir == nullptr? &childHandlerFdir : customFdir),
 			cmdQueueSize),
 		parentId(parent), childHandlerFdir(setObjectId) {
-	this->setDeviceSwitch(setDeviceSwitch);
 	this->setHkDestination(hkDestination);
 	this->setThermalStateRequestPoolIds(thermalStatePoolId,
 			thermalRequestPoolId);
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 5c216e86..c8ac9541 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -7,9 +7,9 @@
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
 	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, uint8_t setDeviceSwitch,
-			object_id_t hkDestination, uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
+			CookieIF * cookie, object_id_t hkDestination,
+			uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+			object_id_t parent = objects::NO_OBJECT,
 			FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index cc97cd42..c13611b3 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -63,10 +63,6 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(
 }
 
 
-void DeviceHandlerBase::setDeviceSwitch(uint8_t deviceSwitch) {
-	this->deviceSwitch = deviceSwitch;
-}
-
 DeviceHandlerBase::~DeviceHandlerBase() {
 	delete comCookie;
 	if (defaultFDIRUsed) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 61fb701d..034653dc 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -108,7 +108,6 @@ public:
 			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
-	void setDeviceSwitch(uint8_t deviceSwitch);
 	void setHkDestination(object_id_t hkDestination);
 	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId);
@@ -1079,13 +1078,6 @@ private:
 	 */
 	Submode_t transitionSourceSubMode;
 
-	/**
-	 * the switch of the device
-	 *
-	 * for devices using two switches override getSwitches()
-	 */
-	uint8_t deviceSwitch;
-
 	/**
 	 * read the command queue
 	 */

From aaafed7b28bc7110321f0a092a81beb8002990bb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 12:38:21 +0200
Subject: [PATCH 289/307] health table init now mandatory, better

diagnostic output for uninit health table or invalid health helper owner
---
 devicehandlers/DeviceHandlerBase.cpp | 39 +++++++---------------------
 devicehandlers/DeviceHandlerBase.h   |  1 -
 health/HealthHelper.cpp              | 15 ++++++++---
 3 files changed, 21 insertions(+), 34 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index c13611b3..b4ad0fda 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -164,12 +164,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	}
 
 	result = healthHelper.initialize();
-	if (result == RETURN_OK) {
-		healthHelperActive = true;
-	}
-	else {
-		sif::warning << "DeviceHandlerBase::initialize: Health Helper "
-				"initialization failure." << std::endl;
+	if (result != RETURN_OK) {
+	    return result;
 	}
 
 	result = modeHelper.initialize();
@@ -246,11 +242,9 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	if(healthHelperActive) {
-		result = healthHelper.handleHealthCommand(&command);
-		if (result == RETURN_OK) {
-			return;
-		}
+	result = healthHelper.handleHealthCommand(&command);
+	if (result == RETURN_OK) {
+	    return;
 	}
 
 	result = modeHelper.handleModeCommand(&command);
@@ -1028,9 +1022,7 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
 }
 
 void DeviceHandlerBase::setToExternalControl() {
-	if(healthHelperActive) {
-		healthHelper.setHealth(EXTERNAL_CONTROL);
-	}
+	healthHelper.setHealth(EXTERNAL_CONTROL);
 }
 
 void DeviceHandlerBase::announceMode(bool recursive) {
@@ -1050,25 +1042,12 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
 }
 
 HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
-	if(healthHelperActive) {
-		return healthHelper.getHealth();
-	}
-	else {
-		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
-				<< std::endl;
-		return HasHealthIF::HEALTHY;
-	}
+	return healthHelper.getHealth();
 }
 
 ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
-	if(healthHelperActive) {
-		healthHelper.setHealth(health);
-	}
-	else {
-		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
-				<< std::endl;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    healthHelper.setHealth(health);
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void DeviceHandlerBase::checkSwitchState() {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 034653dc..a2906368 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -609,7 +609,6 @@ protected:
 
 	/** Health helper for HasHealthIF */
 	HealthHelper healthHelper;
-	bool healthHelperActive = false;
 	/** Mode helper for HasModesIF */
 	ModeHelper modeHelper;
 	/** Parameter helper for ReceivesParameterMessagesIF */
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index e01e6fbb..a39305a3 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -39,10 +39,19 @@ void HealthHelper::setParentQeueue(MessageQueueId_t parentQueue) {
 ReturnValue_t HealthHelper::initialize() {
 	healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
 	eventSender = objectManager->get<EventReportingProxyIF>(objectId);
-	// TODO: Better returnvalues
-	if ((healthTable == NULL) || eventSender == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
+
+	if (healthTable == nullptr) {
+	    sif::error << "HealthHelper::initialize: Health table object needs"
+	            "to be created in factory." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
+
+	if(eventSender == nullptr) {
+	    sif::error << "HealthHelper::initialize: Owner has to implement "
+	            "ReportingProxyIF." << std::endl;
+	    return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
 	ReturnValue_t result = healthTable->registerObject(objectId,
 			HasHealthIF::HEALTHY);
 	if (result != HasReturnvaluesIF::RETURN_OK) {

From b4d6d970bc9890c24b4abb3c671dad2104aac383 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 12:41:05 +0200
Subject: [PATCH 290/307] removed HK manager virtual functions

---
 devicehandlers/DeviceHandlerBase.cpp | 12 ------------
 devicehandlers/DeviceHandlerBase.h   |  5 -----
 2 files changed, 17 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index b4ad0fda..282f20b2 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1366,18 +1366,6 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
 	return &hkManager;
 }
 
-ReturnValue_t DeviceHandlerBase::addDataSet(sid_t sid) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t DeviceHandlerBase::removeDataSet(sid_t sid) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
-        dur_seconds_t newInterval) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
 
 ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
     // In this function, the task handle should be valid if the task
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index a2906368..ddbf6041 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -486,11 +486,6 @@ protected:
 	/** Get the HK manager object handle */
 	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
-	virtual ReturnValue_t addDataSet(sid_t sid) override;
-	virtual ReturnValue_t removeDataSet(sid_t sid) override;
-	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
-	        dur_seconds_t newInterval) override;
-
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.

From e179288c00ffedf8e160b399db15a0ec26395ea2 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 25 Jun 2020 18:09:32 +0200
Subject: [PATCH 291/307] Fixed spelling mistake in HealthHelper

---
 devicehandlers/ChildHandlerBase.cpp  | 2 +-
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 devicehandlers/HealthDevice.cpp      | 2 +-
 health/HealthHelper.cpp              | 4 ++--
 health/HealthHelper.h                | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index bdc5fa65..2e4428e5 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -39,7 +39,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 		parent->registerChild(getObjectId());
 	}
 
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 
 	modeHelper.setParentQueue(parentQueue);
 
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 282f20b2..9f4c7baf 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1134,7 +1134,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 
 void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 	modeHelper.setParentQueue(parentQueueId);
-	healthHelper.setParentQeueue(parentQueueId);
+	healthHelper.setParentQueue(parentQueueId);
 }
 
 bool DeviceHandlerBase::isAwaitingReply() {
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index 0bce34ec..8367a6bc 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -38,7 +38,7 @@ MessageQueueId_t HealthDevice::getCommandQueue() const {
 }
 
 void HealthDevice::setParentQueue(MessageQueueId_t parentQueue) {
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 }
 
 bool HealthDevice::hasHealthChanged() {
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index a39305a3..ba8504c2 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -28,11 +28,11 @@ HasHealthIF::HealthState HealthHelper::getHealth() {
 }
 
 ReturnValue_t HealthHelper::initialize(MessageQueueId_t parentQueue) {
-	setParentQeueue(parentQueue);
+	setParentQueue(parentQueue);
 	return initialize();
 }
 
-void HealthHelper::setParentQeueue(MessageQueueId_t parentQueue) {
+void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 	this->parentQueue = parentQueue;
 }
 
diff --git a/health/HealthHelper.h b/health/HealthHelper.h
index a17a69f3..e112ad2c 100644
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@@ -79,7 +79,7 @@ public:
 	/**
 	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
 	 */
-	void setParentQeueue(MessageQueueId_t parentQueue);
+	void setParentQueue(MessageQueueId_t parentQueue);
 
 	/**
 	 *

From 6425c0dd4c43ba0fa0711d5d894ae76a1858782f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 26 Jul 2020 03:12:04 +0200
Subject: [PATCH 292/307] better init error output

---
 osal/FreeRTOS/Mutex.cpp | 2 +-
 osal/FreeRTOS/Mutex.h   | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 6d90c3f6..8a5c444d 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -8,7 +8,7 @@ const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
 	if(handle == nullptr) {
-		sif::error << "Mutex: Creation failure" << std::endl;
+		sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
 	}
 }
 
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index d6e0aab9..37f1791c 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -20,6 +20,7 @@ public:
 	~Mutex();
 	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
 	ReturnValue_t unlockMutex() override;
+
 private:
 	SemaphoreHandle_t handle;
 };

From afc16ef2d72dd6662ecb19c4a08a9aedc2119aab Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 12:49:18 +0200
Subject: [PATCH 293/307] new servicei nterface buffer /stream

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 12 ++++++------
 serviceinterface/ServiceInterfaceBuffer.h   |  2 +-
 serviceinterface/ServiceInterfaceStream.cpp |  2 +-
 serviceinterface/ServiceInterfaceStream.h   |  2 +-
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 5c80862c..8c510eac 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -78,9 +78,9 @@ int ServiceInterfaceBuffer::sync(void) {
 	}
 
 	size_t preambleSize  = 0;
-	auto preamble = getPreamble(&preambleSize);
+	std::string* preamble = getPreamble(&preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.data(), preamble.data() + preambleSize);
+	this->putChars(preamble->data(), preamble->data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -92,7 +92,7 @@ bool ServiceInterfaceBuffer::isBuffered() const {
 	return buffered;
 }
 
-std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
+std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
 	size_t currentSize = 0;
@@ -110,18 +110,18 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 					loggerTime.usecond /1000);
 	if(charCount < 0) {
 		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
-		return "";
+		return &preamble;
 	}
 	if(charCount > MAX_PREAMBLE_SIZE) {
 		printf("ServiceInterfaceBuffer: Char count too large for maximum "
 				"preamble size");
-		return "";
+		return &preamble;
 	}
 	currentSize += charCount;
 	if(preambleSize != nullptr) {
 		*preambleSize = currentSize;
 	}
-	return preamble;
+	return &preamble;
 }
 
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 39ea25c2..7a2ce2ee 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -60,7 +60,7 @@ private:
 	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
-	std::string getPreamble(size_t * preambleSize = nullptr);
+	std::string* getPreamble(size_t * preambleSize = nullptr);
 };
 
 #endif
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 76481ed1..31bc7c73 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -9,7 +9,7 @@ void ServiceInterfaceStream::setActive( bool myActive) {
 	this->streambuf.isActive = myActive;
 }
 
-std::string ServiceInterfaceStream::getPreamble() {
+std::string* ServiceInterfaceStream::getPreamble() {
 	return streambuf.getPreamble();
 }
 
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 9e19c228..dc111459 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -33,7 +33,7 @@ public:
 	 * the unbuffered mode.
 	 * @return Preamle consisting of log message and timestamp.
 	 */
-	std::string getPreamble();
+	std::string* getPreamble();
 
 	/**
 	 * This prints an error with a preamble. Useful if using the unbuffered

From 69f9ff02f047917c2c6a622bcb6fc6244d60564f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 17:00:51 +0200
Subject: [PATCH 294/307] better returnvalue for failed  comIF init

---
 devicehandlers/DeviceHandlerBase.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 9f4c7baf..1e7ebf04 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -128,7 +128,9 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	result = communicationInterface->initializeInterface(comCookie);
 	if (result != RETURN_OK) {
-		return result;
+	    sif::error << "DeviceHandlerBase::initialize: Initializing "
+	            "communication interface failed!" << std::endl;
+	    return result;
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);

From 9acf82cf510be6dfd0f7e94601cdf4795213e5f4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 18:12:10 +0200
Subject: [PATCH 295/307] doc improved

---
 devicehandlers/DeviceHandlerBase.h | 2 ++
 devicehandlers/DeviceHandlerIF.h   | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index ddbf6041..632db5e0 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -379,6 +379,8 @@ protected:
 	 * @param deviceCommand	Identifier of the command to add.
 	 * @param maxDelayCycles The maximum number of delay cycles the command
 	 * waits until it times out.
+	 * @param replyLen Will be supplied to the requestReceiveMessage call of
+	 * the communication interface.
 	 * @param periodic	Indicates if the command is periodic (i.e. it is sent
 	 * by the device repeatedly without request) or not. Default is aperiodic (0)
 	 * @return	- @c RETURN_OK when the command was successfully inserted,
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index cb190344..59302080 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -98,7 +98,7 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
 	// Standard codes used when building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
 	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);

From 9fa9421ba58d4c6793aa19886ce6ee17e7f85d71 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 20:57:05 +0200
Subject: [PATCH 296/307] important bugfix

---
 fdir/FailureIsolationBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index 083f5af0..4df56dcd 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -104,9 +104,9 @@ MessageQueueId_t FailureIsolationBase::getEventReceptionQueue() {
 ReturnValue_t FailureIsolationBase::sendConfirmationRequest(EventMessage* event,
 		MessageQueueId_t destination) {
 	event->setMessageId(EventMessage::CONFIRMATION_REQUEST);
-	if (destination != 0) {
+	if (destination != MessageQueueIF::NO_QUEUE) {
 		return eventQueue->sendMessage(destination, event);
-	} else if (faultTreeParent != 0) {
+	} else if (faultTreeParent != objects::NO_OBJECT) {
 		return eventQueue->sendToDefault(event);
 	}
 	return RETURN_FAILED;

From c64aa9f7f55e4afbc5f21cf149bfc71a889a06e5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 21:00:11 +0200
Subject: [PATCH 297/307] another important bugfix

---
 fdir/FailureIsolationBase.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fdir/FailureIsolationBase.h b/fdir/FailureIsolationBase.h
index dea149bd..6010baca 100644
--- a/fdir/FailureIsolationBase.h
+++ b/fdir/FailureIsolationBase.h
@@ -45,7 +45,7 @@ protected:
 	virtual ReturnValue_t confirmFault(EventMessage* event);
 	virtual void decrementFaultCounters() = 0;
 	ReturnValue_t sendConfirmationRequest(EventMessage* event,
-			MessageQueueId_t destination = 0);
+			MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
 	void throwFdirEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0);
 private:

From 276c3b172e18df8b7f457e23fb43c22e9c332553 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 29 Jul 2020 15:32:36 +0200
Subject: [PATCH 298/307] better diagnostic warning for DHB

---
 devicehandlers/DeviceHandlerBase.cpp | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 1e7ebf04..a4346afb 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -680,16 +680,24 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		switch (result) {
 		case RETURN_OK:
 			handleReply(receivedData, foundId, foundLen);
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
+			}
 			break;
 		case APERIODIC_REPLY: {
 			result = interpretDeviceReply(foundId, receivedData);
 			if (result != RETURN_OK) {
-				replyRawReplyIfnotWiretapped(receivedData, foundLen);
-				triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
-						foundId);
+			    replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			    triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
+			            foundId);
 			}
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
+			}
+			break;
 		}
-		break;
 		case IGNORE_REPLY_DATA:
 			break;
 		case IGNORE_FULL_PACKET:

From 18899a4c828262258699d9c80beab12cd251b506 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 29 Jul 2020 20:07:24 +0200
Subject: [PATCH 299/307] hotfix for deadline checking

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 19 +++++++++----------
 osal/FreeRTOS/PeriodicTask.cpp      | 19 +++++++++----------
 2 files changed, 18 insertions(+), 20 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 630952d2..1dc45b1d 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -125,19 +125,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
-    if(currentTickCount < xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
-        // is larger than the time to wake, a deadline was missed.
-        if(timeToWake < xLastWakeTime and
-                currentTickCount > timeToWake) {
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
-    // and the current tick count is larger than the time to wake,
-    // a deadline was missed.
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
 }
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index f960d8bb..817cb06f 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -109,19 +109,18 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
-    if(currentTickCount < xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
-        // is larger than the time to wake, a deadline was missed.
-        if(timeToWake < xLastWakeTime and
-                currentTickCount > timeToWake) {
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
-    // and the current tick count is larger than the time to wake,
-    // a deadline was missed.
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
 }

From 58a4f4f8a1d9608b671cd6fab087afea5d086dc1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 1 Aug 2020 16:39:17 +0200
Subject: [PATCH 300/307] command message bugfix, CSB improvement

parameter helper diagnostic message
---
 ipc/CommandMessage.cpp                 | 1 +
 parameters/ParameterHelper.cpp         | 7 ++++---
 parameters/ParameterHelper.h           | 6 ++++++
 tmtcservices/CommandingServiceBase.cpp | 8 ++++----
 4 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 8c296abd..cc1185c7 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -88,6 +88,7 @@ void CommandMessage::setToUnknownCommand() {
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
         Command_t initialCommand) {
+	setCommand(REPLY_REJECTED);
     setParameter(reason);
     setParameter2(initialCommand);
 }
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index e40ed675..53f1229f 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -26,7 +26,6 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 	}
 		break;
 	case ParameterMessage::CMD_PARAMETER_LOAD: {
-
 		uint8_t domain = HasParametersIF::getDomain(
 				ParameterMessage::getParameterId(message));
 		uint16_t parameterId = HasParametersIF::getMatrixId(
@@ -34,12 +33,14 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 		uint8_t index = HasParametersIF::getIndex(
 				ParameterMessage::getParameterId(message));
 
-		const uint8_t *storedStream;
-		size_t storedStreamSize;
+		const uint8_t *storedStream = nullptr;
+		size_t storedStreamSize = 0;
 		result = storage->getData(
 				ParameterMessage::getStoreId(message), &storedStream,
 				&storedStreamSize);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
+			sif::error << "ParameterHelper::handleParameterMessage: Getting"
+					" store data failed for load command." << std::endl;
 			break;
 		}
 
diff --git a/parameters/ParameterHelper.h b/parameters/ParameterHelper.h
index 352cf0a9..538aaac6 100644
--- a/parameters/ParameterHelper.h
+++ b/parameters/ParameterHelper.h
@@ -5,6 +5,12 @@
 #include <framework/parameters/ParameterMessage.h>
 #include <framework/parameters/ReceivesParameterMessagesIF.h>
 
+/**
+ * @brief	Helper class to handle parameter messages
+ * @details
+ * This class simplfiies handling of parameter messages, which are sent
+ * to a class which implements ReceivesParameterMessagesIF.
+ */
 class ParameterHelper {
 public:
 	ParameterHelper(ReceivesParameterMessagesIF *owner);
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 4c9b5375..80a28093 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -126,11 +126,11 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 			&nextCommand, iter->objectId, &isStep);
 
 	/* If the child implementation does not implement special handling for
-	 * rejected replies (RETURN_FAILED is returned), a failure verification
-	 * will be generated with the reason as the return code and the initial
-	 * command as failure parameter 1 */
+	 * rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
+	 * failure verification will be generated with the reason as the
+	 * return code and the initial command as failure parameter 1 */
 	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
-			result == RETURN_FAILED) {
+			(result == RETURN_FAILED or result == INVALID_REPLY)) {
 	    result = reply->getReplyRejectedReason();
 	    failureParameter1 = iter->command;
 	}

From 66eac57e3bb77c73a4030d1320a64b42e5841641 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 1 Aug 2020 16:54:54 +0200
Subject: [PATCH 301/307] csb update

---
 tmtcservices/CommandingServiceBase.cpp |  6 +++---
 tmtcservices/CommandingServiceBase.h   | 17 ++++++++---------
 2 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 80a28093..330fd00f 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -129,7 +129,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	 * rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
 	 * failure verification will be generated with the reason as the
 	 * return code and the initial command as failure parameter 1 */
-	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
+	if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
 			(result == RETURN_FAILED or result == INVALID_REPLY)) {
 	    result = reply->getReplyRejectedReason();
 	    failureParameter1 = iter->command;
@@ -230,8 +230,8 @@ void CommandingServiceBase::handleRequestQueue() {
 		address = message.getStorageId();
 		packet.setStoreAddress(address);
 
-		if (packet.getSubService() == 0
-				or isValidSubservice(packet.getSubService()) != RETURN_OK) {
+		if ((packet.getSubService() == 0)
+				or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 1bd18571..b3a15985 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -87,7 +87,7 @@ public:
 	 * @param opCode is unused here at the moment
 	 * @return RETURN_OK
 	 */
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
 	virtual uint16_t getIdentifier();
 
@@ -116,7 +116,7 @@ public:
 	 * Used to setup the reference of the task, that executes this component
 	 * @param task Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task);
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
 
 protected:
 	/**
@@ -173,9 +173,7 @@ protected:
 	 * This function is implemented by child services to specify how replies
 	 * to a command from another software component are handled.
 	 * @param reply
-	 * This is the reply which can be accessed via the command message
-	 * interface. The internal message pointer can be passed to different
-	 * command message implementations (see CommandMessageIF)
+	 * This is the reply in form of a generic read-only command message.
 	 * @param previousCommand
 	 * Command_t of related command
 	 * @param state [out/in]
@@ -189,10 +187,11 @@ protected:
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
 	 * - @c INVALID_REPLY Calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
-	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
-	 *   a failure verification message with the reason as the error parameter
-	 *   and the initial command as failure parameter 1.
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED or
+	 * 	 INVALID_REPLY is returned and the command ID is
+	 * 	 CommandMessage::REPLY_REJECTED, a failure verification message with
+	 * 	 the reason as the error parameter and the initial command as
+	 * 	 failure parameter 1 is generated.
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,

From ebf5d41a7880f4c866fa1eb29113ecc960bd0efc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 1 Aug 2020 19:03:03 +0200
Subject: [PATCH 302/307] parameters IF doc and improvement

---
 parameters/HasParametersIF.h    | 19 +++++--
 parameters/ParameterWrapper.cpp | 24 ++++-----
 parameters/ParameterWrapper.h   | 91 +++++++++++++++++++++------------
 3 files changed, 84 insertions(+), 50 deletions(-)

diff --git a/parameters/HasParametersIF.h b/parameters/HasParametersIF.h
index fbb69445..02f36318 100644
--- a/parameters/HasParametersIF.h
+++ b/parameters/HasParametersIF.h
@@ -5,8 +5,23 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <stdint.h>
 
+/** Each parameter is identified with a unique parameter ID */
 typedef uint32_t ParameterId_t;
 
+/**
+ * @brief	This interface is used by components which have modifiable
+ * 			parameters, e.g. atittude controllers
+ * @details
+ * Each parameter has a unique parameter ID. The first byte of the parameter
+ * ID is the domain ID which can be used to identify unqiue spacecraft domains
+ * (e.g. control and sensor domain in the AOCS controller).
+ *
+ * The second and third byte represent the matrix ID, which can represent
+ * a 8-bit row and column number and the last byte...
+ *
+ * Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
+ * of a 8 bit number now?
+ */
 class HasParametersIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
@@ -32,13 +47,11 @@ public:
 		return (domainId << 24) + (parameterId << 8) + index;
 	}
 
-	virtual ~HasParametersIF() {
-	}
+	virtual ~HasParametersIF() {}
 
 	/**
 	 * Always set parameter before checking newValues!
 	 *
-	 *
 	 * @param domainId
 	 * @param parameterId
 	 * @param parameterWrapper
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 7daf738c..521a6644 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -1,20 +1,19 @@
 #include <framework/parameters/ParameterWrapper.h>
 
 ParameterWrapper::ParameterWrapper() :
-		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
-		NULL), readonlyData(NULL) {
+		pointsToStream(false), type(Type::UNKNOWN_TYPE) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
 		void *data) :
-		pointsToStream(false), type(type), rows(rows), columns(columns), data(
-				data), readonlyData(data) {
+		pointsToStream(false), type(type), rows(rows), columns(columns),
+		data(data), readonlyData(data) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
 		const void *data) :
-		pointsToStream(false), type(type), rows(rows), columns(columns), data(
-		NULL), readonlyData(data) {
+		pointsToStream(false), type(type), rows(rows), columns(columns),
+		data(nullptr), readonlyData(data) {
 }
 
 ParameterWrapper::~ParameterWrapper() {
@@ -266,15 +265,14 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 			result = UNKNOW_DATATYPE;
 			break;
 		}
-	} else {
+	}
+	else {
 		//need a type to do arithmetic
-		uint8_t *toDataWithType = (uint8_t*) data;
+		uint8_t* typedData = static_cast<uint8_t*>(data);
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
-			memcpy(
-					toDataWithType
-							+ (((startingRow + fromRow) * columns)
-									+ startingColumn) * typeSize,
-					from->readonlyData, typeSize * from->columns);
+			uint8_t offset = (((startingRow + fromRow) * columns) + startingColumn) * typeSize;
+			std::memcpy(typedData +  offset, from->readonlyData,
+					typeSize * from->columns);
 		}
 	}
 
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index a00c997c..eec101f2 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -1,5 +1,5 @@
-#ifndef PARAMETERWRAPPER_H_
-#define PARAMETERWRAPPER_H_
+#ifndef FRAMEWORK_PARAMETERS_PARAMETERWRAPPER_H_
+#define FRAMEWORK_PARAMETERS_PARAMETERWRAPPER_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/serialize/SerializeAdapter.h>
@@ -7,6 +7,10 @@
 #include <stddef.h>
 #include <framework/globalfunctions/Type.h>
 
+/**
+ * @brief
+ * @details
+ */
 class ParameterWrapper: public SerializeIF {
 	friend class DataPoolParameterWrapper;
 public:
@@ -36,32 +40,21 @@ public:
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
 
+	/**
+	 * Get a specific parameter value by supplying the row and the column.
+	 * @tparam T Type of target data
+	 * @param value [out] Pointer to storage location
+	 * @param row
+	 * @param column
+	 * @return
+	 * -@c RETURN_OK if element was retrieved successfully
+	 * -@c NOT_SET data has not been set yet
+	 * -@c DATATYPE_MISSMATCH Invalid supplied type
+	 * -@c OUT_OF_BOUNDS Invalid row and/or column.
+	 */
 	template<typename T>
-	ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
-		if (readonlyData == NULL){
-			return NOT_SET;
-		}
-
-		if (PodTypeConversion<T>::type != type) {
-			return DATATYPE_MISSMATCH;
-		}
-
-		if ((row >= rows) || (column >= columns)) {
-			return OUT_OF_BOUNDS;
-		}
-
-		if (pointsToStream) {
-			const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
-			streamWithtype += (row * columns + column) * type.getSize();
-			int32_t size = type.getSize();
-			return SerializeAdapter::deSerialize(value, &streamWithtype,
-					&size, true);
-		} else {
-			const T *dataWithType = (const T *) readonlyData;
-			*value = dataWithType[row * columns + column];
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
+	ReturnValue_t getElement(T *value, uint8_t row = 0,
+			uint8_t column = 0) const;
 
 	template<typename T>
 	void set(T *data, uint8_t rows, uint8_t columns) {
@@ -111,21 +104,22 @@ public:
 	void setMatrix(const T& member) {
 		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
 	}
+
 	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
-			const uint8_t **remainingStream = NULL, size_t *remainingSize =
-					NULL);
+			const uint8_t **remainingStream = nullptr,
+			size_t *remainingSize = nullptr);
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
 			uint16_t startWritingAtIndex);
 
 private:
-	bool pointsToStream;
+	bool pointsToStream = false;
 
 	Type type;
-	uint8_t rows;
-	uint8_t columns;
-	void *data;
-	const void *readonlyData;
+	uint8_t rows = 0;
+	uint8_t columns = 0;
+	void *data = nullptr;
+	const void *readonlyData = nullptr;
 
 	template<typename T>
 	ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
@@ -136,4 +130,33 @@ private:
 			const void *from, uint8_t fromRows, uint8_t fromColumns);
 };
 
+template <typename T>
+inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
+		uint8_t column) const {
+	if (readonlyData == nullptr){
+		return NOT_SET;
+	}
+
+	if (PodTypeConversion<T>::type != type) {
+		return DATATYPE_MISSMATCH;
+	}
+
+	if ((row >= rows) or (column >= columns)) {
+		return OUT_OF_BOUNDS;
+	}
+
+	if (pointsToStream) {
+		const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
+		streamWithType += (row * columns + column) * type.getSize();
+		int32_t size = type.getSize();
+		return SerializeAdapter::deSerialize(value, &streamWithType,
+				&size, true);
+	}
+	else {
+		const T *dataWithType = static_cast<const T*>(readonlyData);
+		*value = dataWithType[row * columns + column];
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+}
+
 #endif /* PARAMETERWRAPPER_H_ */

From f240827bbdd9ad7542e21ca5810235e6acb20c96 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 00:59:19 +0200
Subject: [PATCH 303/307] added getFreeElement

---
 container/SimpleRingBuffer.h | 33 ++++++++++++++++++++++++++++-----
 1 file changed, 28 insertions(+), 5 deletions(-)

diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index cf78814f..9a548815 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -16,12 +16,17 @@ class SimpleRingBuffer: public RingBufferBase<> {
 public:
     /**
      * This constructor allocates a new internal buffer with the supplied size.
+     *
      * @param size
-     * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
-     * will be overwritten.
+     * @param overwriteOld If the ring buffer is overflowing at a write
+     * operation, the oldest data will be overwritten.
+     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * to the specified size to accomodate contiguous write operations
+     * with getFreeElement.
+     *
      */
-	SimpleRingBuffer(const size_t size, bool overwriteOld);
+	SimpleRingBuffer(const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
 	/**
 	 * This constructor takes an external buffer with the specified size.
 	 * @param buffer
@@ -29,8 +34,13 @@ public:
 	 * @param overwriteOld
 	 * If the ring buffer is overflowing at a write operartion, the oldest data
      * will be overwritten.
+	 * @param maxExcessBytes
+	 * If the buffer can accomodate additional bytes for contigous write
+	 * operations with getFreeElement, this is the maximum allowed additional
+	 * size
 	 */
-	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
 
 	virtual ~SimpleRingBuffer();
 
@@ -43,6 +53,17 @@ public:
 	 */
 	ReturnValue_t writeData(const uint8_t* data, size_t amount);
 
+	/**
+	 * Returns a pointer to a free element. If the remaining buffer is
+	 * not large enough, the data will be written past the actual size
+	 * and the amount of excess bytes will be cached.
+	 * @param writePointer Pointer to a pointer which can be used to write
+	 * contiguous blocks into the ring buffer
+	 * @param amount
+	 * @return
+	 */
+	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
+
 	/**
 	 * Read from circular buffer at read pointer.
 	 * @param data
@@ -82,6 +103,8 @@ public:
 private:
 	static const uint8_t READ_PTR = 0;
 	uint8_t* buffer = nullptr;
+	const size_t maxExcessBytes;
+	size_t excessBytes = 0;
 };
 
 #endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */

From 0ead44bea976bba70676fc40ed9716f2ae6b84d8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 01:07:59 +0200
Subject: [PATCH 304/307] getFreeElement implemented

---
 container/SimpleRingBuffer.cpp | 44 ++++++++++++++++++++++++++++++----
 container/SimpleRingBuffer.h   |  8 +++++++
 2 files changed, 47 insertions(+), 5 deletions(-)

diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 69d94143..3cc1ffdf 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -1,20 +1,43 @@
 #include <framework/container/SimpleRingBuffer.h>
 #include <cstring>
 
-SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
-		RingBufferBase<>(0, size, overwriteOld) {
-	buffer = new uint8_t[size];
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
+        size_t maxExcessBytes) :
+		RingBufferBase<>(0, size, overwriteOld),
+		maxExcessBytes(maxExcessBytes) {
+	buffer = new uint8_t[size + maxExcessBytes];
 }
 
 SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
-        bool overwriteOld):
-        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
+        bool overwriteOld, size_t maxExcessBytes):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer),
+        maxExcessBytes(maxExcessBytes) {}
 
 
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
 
+
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
+        size_t amount) {
+    if (availableWriteSpace() >= amount or overwriteOld) {
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap < amount) {
+            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            excessBytes += amount - amountTillWrap;
+        }
+        *writePointer = &buffer[write];
+        incrementWrite(amount);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
 		size_t amount) {
 	if (availableWriteSpace() >= amount or overwriteOld) {
@@ -62,6 +85,17 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+size_t SimpleRingBuffer::getExcessBytes() const {
+    return excessBytes;
+}
+
+void SimpleRingBuffer::moveExcessBytesToStart() {
+    if(excessBytes > 0) {
+        std::memcpy(buffer, &buffer[size], excessBytes);
+        excessBytes = 0;
+    }
+}
+
 ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
 		bool deleteRemaining, size_t* trueAmount) {
 	size_t availableData = availableReadData(READ_PTR);
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 9a548815..4bb3a4e8 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -64,6 +64,14 @@ public:
 	 */
 	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
 
+	size_t getExcessBytes() const;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	void moveExcessBytesToStart();
+
 	/**
 	 * Read from circular buffer at read pointer.
 	 * @param data

From 4e9e465360b2b4757699e79b265c12358ac5e8db Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 02:00:00 +0200
Subject: [PATCH 305/307] shared ring buffer continued

---
 container/SimpleRingBuffer.cpp | 20 ++++++++++++++++----
 container/SimpleRingBuffer.h   |  2 +-
 2 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 3cc1ffdf..cad1a48e 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -2,16 +2,28 @@
 #include <cstring>
 
 SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
-        size_t maxExcessBytes) :
+		size_t maxExcessBytes) :
 		RingBufferBase<>(0, size, overwriteOld),
 		maxExcessBytes(maxExcessBytes) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
 	buffer = new uint8_t[size + maxExcessBytes];
 }
 
 SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
-        bool overwriteOld, size_t maxExcessBytes):
-        RingBufferBase<>(0, size, overwriteOld), buffer(buffer),
-        maxExcessBytes(maxExcessBytes) {}
+		bool overwriteOld, size_t maxExcessBytes):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
 
 
 SimpleRingBuffer::~SimpleRingBuffer() {
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 4bb3a4e8..2627541f 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -111,7 +111,7 @@ public:
 private:
 	static const uint8_t READ_PTR = 0;
 	uint8_t* buffer = nullptr;
-	const size_t maxExcessBytes;
+	size_t maxExcessBytes;
 	size_t excessBytes = 0;
 };
 

From 6b475792a4a7c57a5006a010c554dda8b31d41b7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 02:25:10 +0200
Subject: [PATCH 306/307] shared ring buffer continued

---
 container/SharedRingBuffer.cpp | 19 +++++++++++++------
 container/SharedRingBuffer.h   |  9 +++++++--
 2 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
index 64cbc669..86277a80 100644
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@@ -3,19 +3,26 @@
 #include <framework/ipc/MutexHelper.h>
 
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
-		bool overwriteOld, dur_millis_t mutexTimeout):
-		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld),
-		mutexTimeout(mutexTimeout) {
+		bool overwriteOld, size_t maxExcessBytes, dur_millis_t mutexTimeout):
+		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
+		maxExcessBytes), mutexTimeout(mutexTimeout) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
-		const size_t size, bool overwriteOld, dur_millis_t mutexTimeout):
-		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld),
-		mutexTimeout(mutexTimeout) {
+		const size_t size, bool overwriteOld, size_t maxExcessBytes,
+		dur_millis_t mutexTimeout):
+		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
+		maxExcessBytes), mutexTimeout(mutexTimeout) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
+ReturnValue_t SharedRingBuffer::getFreeElementProtected(uint8_t** writePtr,
+		size_t amount) {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::getFreeElement(writePtr,amount);
+}
+
 ReturnValue_t SharedRingBuffer::writeDataProtected(const uint8_t *data,
 		size_t amount) {
 	MutexHelper(mutex, mutexTimeout);
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index f7d3bc3c..7fed7b22 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -17,7 +17,8 @@ public:
 	 * will be overwritten.
 	 */
 	SharedRingBuffer(object_id_t objectId, const size_t size,
-			bool overwriteOld, dur_millis_t mutexTimeout = 10);
+			bool overwriteOld, size_t maxExcessBytes,
+			dur_millis_t mutexTimeout = 10);
 
 	/**
 	 * This constructor takes an external buffer with the specified size.
@@ -28,10 +29,14 @@ public:
 	 * will be overwritten.
 	 */
 	SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
-			bool overwriteOld, dur_millis_t mutexTimeout = 10);
+			bool overwriteOld, size_t maxExcessBytes,
+			dur_millis_t mutexTimeout = 10);
 
 	void setMutexTimeout(dur_millis_t newTimeout);
 
+	/** Performs mutex protected SimpleRingBuffer::getFreeElement call */
+	ReturnValue_t getFreeElementProtected(uint8_t** writePtr, size_t amount);
+
 	/** Performs mutex protected SimpleRingBuffer::writeData call */
 	ReturnValue_t writeDataProtected(const uint8_t* data, size_t amount);
 

From 4dcfa5125edf80f2bc6bde7861e1da394b4d7a4e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 11:47:47 +0200
Subject: [PATCH 307/307] added additional calls

---
 container/SharedRingBuffer.cpp | 10 ++++++++++
 container/SharedRingBuffer.h   |  8 ++++++++
 container/SimpleRingBuffer.cpp |  2 +-
 container/SimpleRingBuffer.h   |  4 ++--
 4 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
index 86277a80..2fde2851 100644
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@@ -43,6 +43,16 @@ ReturnValue_t SharedRingBuffer::deleteDataProtected(size_t amount,
 	return SimpleRingBuffer::deleteData(amount, deleteRemaining, trueAmount);
 }
 
+size_t SharedRingBuffer::getExcessBytes() const {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::getExcessBytes();
+}
+
+void SharedRingBuffer::moveExcessBytesToStart() {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::moveExcessBytesToStart();
+}
+
 size_t SharedRingBuffer::getAvailableReadDataProtected(uint8_t n) const {
 	MutexHelper(mutex, mutexTimeout);
 	return ((write + size) - read[n]) % size;
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index 7fed7b22..8d68b967 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -34,6 +34,14 @@ public:
 
 	void setMutexTimeout(dur_millis_t newTimeout);
 
+	virtual size_t getExcessBytes() const override;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart() override;
+
 	/** Performs mutex protected SimpleRingBuffer::getFreeElement call */
 	ReturnValue_t getFreeElementProtected(uint8_t** writePtr, size_t amount);
 
diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index cad1a48e..36880813 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -39,7 +39,7 @@ ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
             if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
                 return HasReturnvaluesIF::RETURN_FAILED;
             }
-            excessBytes += amount - amountTillWrap;
+            excessBytes = amount - amountTillWrap;
         }
         *writePointer = &buffer[write];
         incrementWrite(amount);
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 2627541f..0784e415 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -64,13 +64,13 @@ public:
 	 */
 	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
 
-	size_t getExcessBytes() const;
+	virtual size_t getExcessBytes() const;
 	/**
 	 * Helper functions which moves any excess bytes to the start
 	 * of the ring buffer.
 	 * @return
 	 */
-	void moveExcessBytesToStart();
+	virtual void moveExcessBytesToStart();
 
 	/**
 	 * Read from circular buffer at read pointer.