Removed unused function

I checked all 5 cases for overflows when checking
for missed deadlines (there is current time, timeToWake
and lastWakeTime, with various combinations of overflows)

This should be the correct implementation now

action/ActionHelper.cpp

@@ -1,9 +1,9 @@
 #include <framework/action/ActionHelper.h>
 #include <framework/action/HasActionsIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
+
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
-		owner(setOwner), queueToUse(useThisQueue), ipcStore(
-				NULL) {
+		owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
 }
 
 ActionHelper::~ActionHelper() {
@@ -16,16 +16,18 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 				ActionMessage::getStoreId(command));
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		return CommandMessage::UNKNOW_COMMAND;
+		return CommandMessage::UNKNOWN_COMMAND;
 	}
 }
 
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
 	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore == NULL) {
+	if (ipcStore == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	setQueueToUse(queueToUse_);
+	if(queueToUse_ != nullptr) {
+		setQueueToUse(queueToUse_);
+	}
 
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -67,22 +69,23 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 	}
 }
 
-ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender) {
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+		ActionId_t replyId, SerializeIF* data, bool hideSender) {
 	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;

action/ActionHelper.h

@@ -35,10 +35,10 @@ public:
 	ReturnValue_t handleActionMessage(CommandMessage* command);
 	/**
 	 * Helper initialize function. Must be called before use of any other helper function
-	 * @param queueToUse_ Pointer to the messageQueue to be used
+	 * @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
 	 * @return Returns RETURN_OK if successful
 	 */
-	ReturnValue_t initialize(MessageQueueIF* queueToUse_);
+	ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
 	/**
 	 * Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
 	 *

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;

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>
@@ -7,27 +7,35 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 /**
- * \brief Interface for component which uses actions
+ * @brief
+ * Interface for component which uses actions
  *
- * 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.
+ * @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.
  *
- * 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
  */
 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);
@@ -39,12 +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. One "step failed" or completion report must
-	 * be issued!
+	 * 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, uint32_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_ */

container/ArrayList.h

@@ -72,11 +72,15 @@ public:
 			return tmp;
 		}
 
-		T operator*() {
+		T& operator*(){
 			return *value;
 		}
 
-		T *operator->() {
+		const T& operator*() const{
+			return *value;
+		}
+
+		T *operator->(){
 			return value;
 		}
 

container/FixedMap.h

@@ -1,5 +1,5 @@
-#ifndef FIXEDMAP_H_
-#define FIXEDMAP_H_
+#ifndef FRAMEWORK_CONTAINER_FIXEDMAP_H_
+#define FRAMEWORK_CONTAINER_FIXEDMAP_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
@@ -7,6 +7,10 @@
 
 /**
  * \ingroup container
+ *
+ *
+ *  \warning Iterators return a non-const key_t in the pair.
+ *  \warning A User is not allowed to change the key, otherwise the map is corrupted.
  */
 template<typename key_t, typename T>
 class FixedMap: public SerializeIF {
@@ -47,15 +51,6 @@ public:
 		Iterator(std::pair<key_t, T> *pair) :
 				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
 		}
-
-		T operator*() {
-			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
-		T *operator->() {
-			return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
 	};
 
 	Iterator begin() const {
@@ -70,7 +65,7 @@ public:
 		return _size;
 	}
 
-	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
+	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
 		if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
 			return KEY_ALREADY_EXISTS;
 		}
@@ -79,7 +74,7 @@ public:
 		}
 		theMap[_size].first = key;
 		theMap[_size].second = value;
-		if (storedValue != NULL) {
+		if (storedValue != nullptr) {
 			*storedValue = Iterator(&theMap[_size]);
 		}
 		++_size;
@@ -87,7 +82,7 @@ public:
 	}
 
 	ReturnValue_t insert(std::pair<key_t, T> pair) {
-		return insert(pair.fist, pair.second);
+		return insert(pair.first, pair.second);
 	}
 
 	ReturnValue_t exists(key_t key) const {
@@ -148,47 +143,47 @@ public:
 		return theMap.maxSize();
 	}
 
-	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,
-				buffer, size, max_size, bigEndian);
+	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, maxSize, streamEndianness);
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
-			result = SerializeAdapter<key_t>::serialize(&theMap[i].first, buffer,
-					size, max_size, bigEndian);
-			result = SerializeAdapter<T>::serialize(&theMap[i].second, buffer, size,
-					max_size, bigEndian);
+			result = SerializeAdapter::serialize(&theMap[i].first, buffer,
+					size, maxSize, streamEndianness);
+			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		uint32_t printSize = sizeof(_size);
 		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;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&this->_size,
-				buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
+				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<key_t>::deSerialize(&theMap[i].first, buffer,
-					size, bigEndian);
-			result = SerializeAdapter<T>::deSerialize(&theMap[i].second, buffer, size,
-					bigEndian);
+			result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
+					size, streamEndianness);
+			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
+					streamEndianness);
 			++i;
 		}
 		return result;

container/FixedOrderedMultimap.h

@@ -48,7 +48,7 @@ private:
 		if (_size <= position) {
 			return;
 		}
-		memmove(&theMap[position], &theMap[position + 1],
+		memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
 				(_size - position - 1) * sizeof(std::pair<key_t,T>));
 		--_size;
 	}
@@ -68,15 +68,6 @@ public:
 		Iterator(std::pair<key_t, T> *pair) :
 				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
 		}
-
-		T operator*() {
-			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
-		T *operator->() {
-			return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
 	};
 
 	Iterator begin() const {
@@ -91,17 +82,17 @@ public:
 		return _size;
 	}
 
-	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
+	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
 		if (_size == theMap.maxSize()) {
 			return MAP_FULL;
 		}
 		uint32_t position = findNicePlace(key);
-		memmove(&theMap[position + 1], &theMap[position],
+		memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
 				(_size - position) * sizeof(std::pair<key_t,T>));
 		theMap[position].first = key;
 		theMap[position].second = value;
 		++_size;
-		if (storedValue != NULL) {
+		if (storedValue != nullptr) {
 			*storedValue = Iterator(&theMap[position]);
 		}
 		return HasReturnvaluesIF::RETURN_OK;
@@ -145,12 +136,6 @@ public:
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	//This is potentially unsafe
-//	T *findValue(key_t key) const {
-//		return &theMap[findFirstIndex(key)].second;
-//	}
-
-
 	Iterator find(key_t key) const {
 		ReturnValue_t result = exists(key);
 		if (result != HasReturnvaluesIF::RETURN_OK) {

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>
@@ -8,34 +8,32 @@ 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) {
 
 	}
 
 	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;
 		}
@@ -44,17 +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;
@@ -66,11 +64,11 @@ public:
 		return tmp;
 	}
 
-	bool operator==(HybridIterator other) {
-		return value == other->value;
+	bool operator==(const HybridIterator& other) const {
+		return value == other.value;
 	}
 
-	bool operator!=(HybridIterator other) {
+	bool operator!=(const HybridIterator& other) const {
 		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_ */
+#endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */

container/IndexedRingMemoryArray.h

@@ -68,50 +68,50 @@ public:
 		return this->storedPackets;
 	}
 
-	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 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 = AutoSerializeAdapter::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 = AutoSerializeAdapter::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 = AutoSerializeAdapter::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 = AutoSerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::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 {
-		uint32_t size = AutoSerializeAdapter::getSerializedSize(&blockStartAddress);
+	size_t getSerializedSize() const {
+		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;
 	}
 
@@ -485,37 +485,37 @@ 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 = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness);
 		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,
-					max_size, bigEndian);
+			result = SerializeAdapter::serialize(&this->entries[i], buffer, size,
+					maxSize, streamEndianness);
 			++i;
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			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,maxSize,streamEndianness);
 		return result;
 	}
 
@@ -524,17 +524,17 @@ 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){
 			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;
 	}
 	/**
@@ -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 = AutoSerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -572,9 +572,9 @@ 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);
+					streamEndianness);
 			++i;
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){

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;

datapool/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 = ::dataPool.PIDToDataPoolId(address);
 	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
 	DataSet 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 = ::dataPool.PIDToDataPoolId(address);
 	uint8_t arrayIndex = ::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;
@@ -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);

datapool/DataPoolAdmin.h

@@ -29,12 +29,12 @@ 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,

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<Type>::serialize(&type, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&columns, buffer, size,
-			max_size, bigEndian);
+	result = SerializeAdapter::serialize(&columns, buffer, size,
+			maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::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;
 }
 

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);

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;
 		}

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;
 
 };
 

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);
 	}
 };
 

datapool/PoolEntry.cpp

@@ -1,13 +1,34 @@
 #include <framework/datapool/PoolEntry.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/arrayprinter.h>
+#include <cstring>
 
 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(std::initializer_list<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.size() == 0) {
+		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 {
+		std::copy(initValue.begin(), initValue.end(), this->address);
+	}
+}
+
+template <typename T>
+PoolEntry<T>::PoolEntry( T* initValue, uint8_t setLength, bool setValid ) :
+		length(setLength), valid(setValid) {
+	this->address = new T[this->length];
+	if (initValue != nullptr) {
+		std::memcpy(this->address, initValue, this->getByteSize() );
 	} else {
-		memset(this->address, 0, this->getByteSize() );
+		std::memset(this->address, 0, this->getByteSize() );
 	}
 }
 
@@ -34,21 +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;
+	arrayprinter::print(reinterpret_cast<uint8_t*>(address), length);
 	sif::debug << std::dec << std::endl;
 }
 

datapool/PoolEntry.h

@@ -1,81 +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.
+ * @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.
  *
- * \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.
+ * 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.
  *
- *	\ingroup data_pool
+ * 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! 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
+	 * @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.
+	 * @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( T* initValue = NULL, uint8_t set_length = 1, uint8_t set_valid = 0 );
+	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t setLength = 1,
+			bool setValid = false);
 	/**
-	 * \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	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 (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, 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.
 	 */
 	~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();
 

datapool/PoolEntryIF.h

@@ -1,62 +1,57 @@
-/**
- * \file	PoolEntryIF.h
- *
- * \brief	This file holds the class that defines the Interface for Pool Entry elements.
- *
- * \date	10/18/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLENTRYIF_H_
-#define POOLENTRYIF_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 
 #include <framework/globalfunctions/Type.h>
-#include <stdint.h>
-
-
+#include <cstdint>
 
 /**
- * \brief	This interface defines the access possibilities to a single data pool entry.
+ * @brief	This interface defines the access possibilities to a
+ * 			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
+ * return pointer.
  *
- * \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 return pointer.
- *
- *	\ingroup data_pool
+ * @author	Bastian Baetz
+ * @ingroup data_pool
  *
  */
 class PoolEntryIF {
 public:
 	/**
-	 * \brief	This is an empty virtual destructor, as it is proposed for C++ interfaces.
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is required for C++ interfaces.
 	 */
 	virtual ~PoolEntryIF() {
 	}
 	/**
-	 * \brief	getSize returns the array size of the entry. A single variable parameter has size 1.
+	 * @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
+	 * @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*.
+	 * @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.
+	 * @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.
+	 * @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.
+	 * @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;
 	/**

datapool/PoolRawAccess.cpp

@@ -2,12 +2,15 @@
 #include <framework/datapool/PoolEntryIF.h>
 #include <framework/datapool/PoolRawAccess.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/Endiness.h>
+#include <framework/serialize/EndianConverter.h>
+
+#include <cstring>
 
 PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
-		DataSetIF* data_set, ReadWriteMode_t setReadWriteMode) :
-		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(Type::UNKNOWN_TYPE), typeSize(
-				0), arraySize(0), sizeTillEnd(0), readWriteMode(setReadWriteMode) {
+		DataSetIF *data_set, ReadWriteMode_t setReadWriteMode) :
+		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(
+				Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), readWriteMode(
+				setReadWriteMode) {
 	memset(value, 0, sizeof(value));
 	if (data_set != NULL) {
 		data_set->registerVariable(this);
@@ -19,7 +22,7 @@ PoolRawAccess::~PoolRawAccess() {
 }
 
 ReturnValue_t PoolRawAccess::read() {
-	PoolEntryIF* read_out = ::dataPool.getRawData(dataPoolId);
+	PoolEntryIF *read_out = ::dataPool.getRawData(dataPoolId);
 	if (read_out != NULL) {
 		valid = read_out->getValid();
 		if (read_out->getSize() > arrayEntry) {
@@ -29,7 +32,7 @@ ReturnValue_t PoolRawAccess::read() {
 			if (typeSize <= sizeof(value)) {
 				uint16_t arrayPosition = arrayEntry * typeSize;
 				sizeTillEnd = read_out->getByteSize() - arrayPosition;
-				uint8_t* ptr =
+				uint8_t *ptr =
 						&((uint8_t*) read_out->getRawData())[arrayPosition];
 				memcpy(value, ptr, typeSize);
 				return HasReturnvaluesIF::RETURN_OK;
@@ -42,8 +45,8 @@ ReturnValue_t PoolRawAccess::read() {
 	} else {
 		//Error entry does not exist.
 	}
-	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
-			<< std::dec << " failed." << std::endl;
+	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex
+			<< dataPoolId << std::dec << " failed." << std::endl;
 	valid = INVALID;
 	typeSize = 0;
 	sizeTillEnd = 0;
@@ -52,11 +55,11 @@ ReturnValue_t PoolRawAccess::read() {
 }
 
 ReturnValue_t PoolRawAccess::commit() {
-	PoolEntryIF* write_back = ::dataPool.getRawData(dataPoolId);
+	PoolEntryIF *write_back = ::dataPool.getRawData(dataPoolId);
 	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
 		write_back->setValid(valid);
 		uint8_t array_position = arrayEntry * typeSize;
-		uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position];
+		uint8_t *ptr = &((uint8_t*) write_back->getRawData())[array_position];
 		memcpy(ptr, value, typeSize);
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
@@ -68,23 +71,17 @@ uint8_t* PoolRawAccess::getEntry() {
 	return value;
 }
 
-ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
-		uint32_t* writtenBytes, uint32_t max_size) {
-	uint8_t* data_ptr = getEntry();
+ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t *buffer,
+		size_t *writtenBytes, size_t maxSize) {
+	uint8_t *data_ptr = getEntry();
 //	debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
-	if (typeSize == 0)
+	if (typeSize == 0) {
 		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
+	if (typeSize > maxSize) {
+		return INCORRECT_SIZE;
+	}
+	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
 	*writtenBytes = typeSize;
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -93,11 +90,11 @@ 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;
 }
 
@@ -109,21 +106,14 @@ 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"
+		sif::error
+				<< "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
 				<< (uint32_t) typeSize << ", Requested: " << setSize
 				<< std::endl;
 		return INCORRECT_SIZE;
@@ -141,25 +131,24 @@ void PoolRawAccess::setValid(uint8_t valid) {
 	this->valid = valid;
 }
 
-uint16_t PoolRawAccess::getSizeTillEnd() const {
+size_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) {
-#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 {
+ReturnValue_t PoolRawAccess::serialize(uint8_t **buffer, size_t *size,
+		size_t maxSize, Endianness streamEndianness) const {
+	if (typeSize + *size <= maxSize) {
+		switch (streamEndianness) {
+		case (Endianness::BIG):
+			EndianConverter::convertBigEndian(*buffer, value, typeSize);
+			break;
+		case (Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(*buffer, value, typeSize);
+			break;
+		default:
+		case (Endianness::MACHINE):
 			memcpy(*buffer, value, typeSize);
+			break;
 		}
 		*size += typeSize;
 		(*buffer) += typeSize;
@@ -169,28 +158,27 @@ 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) {
-#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 {
+	if (*size >= typeSize) {
+		switch (streamEndianness) {
+		case (Endianness::BIG):
+			EndianConverter::convertBigEndian(value, *buffer, typeSize);
+			break;
+		case (Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(value, *buffer, typeSize);
+			break;
+		default:
+		case (Endianness::MACHINE):
 			memcpy(value, *buffer, typeSize);
+			break;
 		}
+		*size -= typeSize;
 		*buffer += typeSize;
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {

datapool/PoolRawAccess.h

@@ -32,15 +32,15 @@ private:
 	/**
 	 * \brief	This value contains the size of the data pool entry 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.
 	 */
@@ -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
@@ -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);
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
+			size_t maxSize);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
 	 * @param buffer	Pointer to the data to set
@@ -106,8 +106,8 @@ public:
 	 * @return	- \c RETURN_OK on success
 	 * 			- \c RETURN_FAILED on failure
 	 */
-	ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
-			uint32_t setSize);
+	ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
+			size_t setSize);
 	/**
 	 *  \brief This operation returns the type of the entry currently stored.
 	 */
@@ -115,12 +115,12 @@ 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.
 	 */
@@ -138,15 +138,15 @@ public:
 	/**
 	 * Getter for the remaining size.
 	 */
-	uint16_t getSizeTillEnd() const;
+	size_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_ */

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 maxSize, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize<T>(&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);
 	}
 };
 

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<T>::serialize(&(value[i]), buffer, size,
-					max_size, bigEndian);
+			result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+					maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
@@ -211,17 +211,17 @@ public:
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
-		return vector_size * SerializeAdapter<T>::getSerializedSize(value);
+	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<T>::deSerialize(&(value[i]), buffer, size,
-					bigEndian);
+			result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+					streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}

devicehandlers/ChildHandlerBase.cpp

@@ -2,15 +2,16 @@
 #include <framework/devicehandlers/ChildHandlerBase.h>
 #include <framework/subsystem/SubsystemBase.h>
 
-ChildHandlerBase::ChildHandlerBase(uint32_t ioBoardAddress,
-		object_id_t setObjectId, object_id_t deviceCommunication,
-		uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		uint32_t parent, FailureIsolationBase* customFdir, uint32_t cmdQueueSize) :
-		DeviceHandlerBase(ioBoardAddress, setObjectId, maxDeviceReplyLen,
-				setDeviceSwitch, deviceCommunication, thermalStatePoolId,
-				thermalRequestPoolId, (customFdir == NULL? &childHandlerFdir : customFdir), cmdQueueSize), parentId(
-				parent), childHandlerFdir(setObjectId) {
+ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
+		object_id_t deviceCommunication, CookieIF * comCookie,
+		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
+		uint32_t thermalRequestPoolId, uint32_t parent,
+		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
+		DeviceHandlerBase(setObjectId, deviceCommunication, comCookie,
+				setDeviceSwitch, thermalStatePoolId,thermalRequestPoolId,
+				(customFdir == nullptr? &childHandlerFdir : customFdir),
+				cmdQueueSize),
+		parentId(parent), childHandlerFdir(setObjectId) {
 }
 
 ChildHandlerBase::~ChildHandlerBase() {
@@ -34,7 +35,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 		parent->registerChild(getObjectId());
 	}
 
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 
 	modeHelper.setParentQueue(parentQueue);
 

devicehandlers/ChildHandlerBase.h

@@ -6,12 +6,12 @@
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
-	ChildHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
-			object_id_t deviceCommunication, uint32_t maxDeviceReplyLen,
+	ChildHandlerBase(object_id_t setObjectId,
+			object_id_t deviceCommunication, CookieIF * comCookie,
 			uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId, uint32_t parent,
-			FailureIsolationBase* customFdir = NULL,
-			uint32_t cmdQueueSize = 20);
+			FailureIsolationBase* customFdir = nullptr,
+			size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();

devicehandlers/Cookie.h

@@ -1,10 +0,0 @@
-#ifndef COOKIE_H_
-#define COOKIE_H_
-
-class Cookie{
-public:
-	virtual ~Cookie(){}
-};
-
-
-#endif /* COOKIE_H_ */

devicehandlers/CookieIF.h

@@ -0,0 +1,34 @@
+#ifndef COOKIE_H_
+#define COOKIE_H_
+#include <cstdint>
+
+/**
+ * @brief Physical address type
+ */
+typedef std::uint32_t address_t;
+
+/**
+ * @brief 	This datatype is used to identify different connection over a
+ * 			single interface (like RMAP or I2C)
+ * @details
+ * To use this class, implement a communication specific child cookie which
+ * inherits Cookie. Cookie instances are created in config/Factory.cpp by
+ * calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
+ * @endcode .
+ *
+ * [not implemented yet]
+ * This cookie is then passed to the child device handlers, which stores the
+ * pointer and passes it to the communication interface functions.
+ *
+ * The cookie can be used to store all kinds of information
+ * about the communication, like slave addresses, communication status,
+ * communication parameters etc.
+ *
+ * @ingroup comm
+ */
+class CookieIF {
+public:
+	virtual ~CookieIF() {};
+};
+
+#endif /* COOKIE_H_ */

devicehandlers/DeviceCommunicationIF.h

@@ -1,63 +1,131 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+/**
+ * @defgroup interfaces Interfaces
+ * @brief Interfaces for flight software objects
+ */
 
+/**
+ * @defgroup comm Communication
+ * @brief Communication software components.
+ */
+
+/**
+ * @brief This is an interface to decouple device communication from
+ * 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:
+ *
+ *   1. Send data to a device
+ *   2. Get acknowledgement for sending
+ *   3. Request reading data from a device
+ *   4. Read received data
+ *
+ *  To identify different connection over a single interface can return
+ *  so-called cookies to components.
+ *  The CommunicationMessage message type can be used to extend the
+ *  functionality of the ComIF if a separate polling task is required.
+ *  @ingroup interfaces
+ *  @ingroup comm
+ */
 class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x04);
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x05);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x06);
-	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x07);
+	//! Standard Error Codes
+	//! General protocol error. Define more concrete errors in child handler
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x01);
+	//! If cookie is a null pointer
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x03);
+	// is this needed if there is no open/close call?
+	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
+	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x06);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x07);
+	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x08);
 
-	virtual ~DeviceCommunicationIF() {
+	//! Can be used in readReceivedMessage() if no reply was received.
+	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
 
-	}
+	virtual ~DeviceCommunicationIF() {}
 
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
 
 	/**
-	 * Use an existing cookie to open a connection to a new DeviceCommunication.
-	 * The previous connection must not be closed.
-	 * If the returnvalue is not RETURN_OK, the cookie is unchanged and
-	 * can be used with the previous connection.
+	 * @brief Device specific initialization, using the cookie.
+	 * @details
+	 * The cookie is already prepared in the factory. If the communication
+	 * interface needs to be set up in some way and requires cookie information,
+	 * this can be performed in this function, which is called on device handler
+	 * initialization.
+	 * @param cookie
+	 * @return
+	 *  - @c RETURN_OK if initialization was successfull
+	 *  - Everything else triggers failure event with returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
+
+	/**
+	 * Called by DHB in the SEND_WRITE doSendWrite().
+	 * This function is used to send data to the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return
+	 *  - @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;
+
+	/**
+	 * Called by DHB in the GET_WRITE doGetWrite().
+	 * Get send confirmation that the data in sendMessage() was sent successfully.
+	 * @param cookie
+	 * @return - @c RETURN_OK if data was sent successfull
+	 * 		   - Everything else triggers falure event with
+	 * 		     returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
+
+	/**
+	 * Called by DHB in the SEND_WRITE doSendRead().
+	 * It is assumed that it is always possible to request a reply
+	 * from a device. If a requestLen of 0 is supplied, no reply was enabled
+	 * and communication specific action should be taken (e.g. read nothing
+	 * or read everything).
 	 *
 	 * @param cookie
-	 * @param address
-	 * @param maxReplyLen
-	 * @return
+	 * @param requestLen Size of data to read
+	 * @return - @c RETURN_OK to confirm the request for data has been sent.
+	 *         - Everything else triggers failure event with
+	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
-
-	virtual void close(Cookie *cookie) = 0;
-
-	//SHOULDDO can data be const?
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
-			uint32_t len) = 0;
-
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
-			uint32_t *size) = 0;
-
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address) = 0;
-
-	virtual uint32_t getAddress(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter) = 0;
-
-	virtual uint32_t getParameter(Cookie *cookie) = 0;
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+			size_t requestLen) = 0;
 
+	/**
+	 * Called by DHB in the GET_WRITE doGetRead().
+	 * This function is used to receive data from the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param buffer [out] Set reply here (by using *buffer = ...)
+	 * @param size [out] size pointer to set (by using *size = ...).
+	 * 	           Set to 0 if no reply was received
+	 * @return - @c RETURN_OK for successfull receive
+	 * 		   - @c NO_REPLY_RECEIVED if not reply was received. Setting size to
+	 * 		   	   0 has the same effect
+	 *         - Everything else triggers failure event with
+	 *           returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) = 0;
 };
 
 #endif /* DEVICECOMMUNICATIONIF_H_ */

devicehandlers/DeviceHandlerBase.cpp

@@ -1,52 +1,60 @@
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVector.h>
-#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 #include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/globalfunctions/CRC.h>
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/subsystem/SubsystemBase.h>
 #include <framework/thermal/ThermalComponentIF.h>
+#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+
+#include <framework/datapool/DataSet.h>
+#include <framework/datapool/PoolVariable.h>
+#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
+#include <framework/globalfunctions/CRC.h>
+#include <framework/subsystem/SubsystemBase.h>
 #include <framework/ipc/QueueFactory.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+#include <iomanip>
+
 object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
-DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
-		object_id_t setObjectId, uint32_t maxDeviceReplyLen,
-		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
-		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(
-				MODE_OFF), submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(
-				maxDeviceReplyLen), wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(
-				StorageManagerIF::INVALID_ADDRESS), requestedRawTraffic(0), powerSwitcher(
-		NULL), IPCStore(NULL), deviceCommunicationId(deviceCommunication), communicationInterface(
-		NULL), cookie(
-		NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(
-				thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
-				this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
-				0), fdirInstance(fdirInstance), hkSwitcher(this), defaultFDIRUsed(
-				fdirInstance == NULL), switchOffWasReported(false),executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(
-				ioBoardAddress), timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(
-				_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(
-				setDeviceSwitch) {
+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) :
+		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
+		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
+		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
+		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),
+		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);
-	if (this->fdirInstance == NULL) {
+	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;
+	}
+	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
 				defaultFDIRParentId);
 	}
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-	communicationInterface->close(cookie);
+	delete comCookie;
 	if (defaultFDIRUsed) {
 		delete fdirInstance;
 	}
@@ -56,7 +64,7 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
 
-	if (counter == 0) {
+	if (getComAction() == SEND_WRITE) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
 		doStateMachine();
@@ -64,11 +72,12 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
+		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
-	switch (getRmapAction()) {
+	switch (getComAction()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
 			buildInternalCommand();
@@ -91,13 +100,91 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	return RETURN_OK;
 }
 
+ReturnValue_t DeviceHandlerBase::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	communicationInterface = objectManager->get<DeviceCommunicationIF>(
+			deviceCommunicationId);
+	if (communicationInterface == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = communicationInterface->initializeInterface(comCookie);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (IPCStore == NULL) {
+		return RETURN_FAILED;
+	}
+
+	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+
+	if (rawReceiver == NULL) {
+		return RETURN_FAILED;
+	}
+
+	defaultRawReceiver = rawReceiver->getDeviceQueue();
+
+	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+	if (powerSwitcher == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = healthHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	result = modeHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = actionHelper.initialize(commandQueue);
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = fdirInstance->initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = parameterHelper.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = hkSwitcher.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	fillCommandAndReplyMap();
+
+	//Set temperature target state to NON_OP.
+	DataSet mySet;
+	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+			PoolVariableIF::VAR_WRITE);
+	mySet.read();
+	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+	mySet.commit(PoolVariableIF::VALID);
+
+	return RETURN_OK;
+
+}
+
 void DeviceHandlerBase::decrementDeviceReplyMap() {
 	for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
 		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);
@@ -149,7 +236,7 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	replyReturnvalueToCommand(CommandMessage::UNKNOW_COMMAND);
+	replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND);
 
 }
 
@@ -256,55 +343,49 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
-		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		uint8_t periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
-//No need to check, as we may try to insert multiple times.
+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) {
-		return insertInReplyMap(replyId, maxDelayCycles, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, uint8_t periodic) {
+		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
+	info.replyLen = replyLen;
 	info.command = deviceCommandMap.end();
-	std::pair<std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator, bool> returnValue;
-	returnValue = deviceReplyMap.insert(
-			std::pair<DeviceCommandId_t, DeviceReplyInfo>(replyId, info));
-	if (returnValue.second) {
+	auto resultPair = deviceReplyMap.emplace(replyId, info);
+	if (resultPair.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(
-		DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
 	info.sendReplyTo = NO_COMMANDER;
-	std::pair<std::map<DeviceCommandId_t, DeviceCommandInfo>::iterator, bool> returnValue;
-	returnValue = deviceCommandMap.insert(
-			std::pair<DeviceCommandId_t, DeviceCommandInfo>(deviceCommand,
-					info));
-	if (returnValue.second) {
+	auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
+	if (resultPair.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(
-		DeviceCommandId_t deviceReply, uint16_t delayCycles,
-		uint16_t maxDelayCycles, uint8_t periodic) {
+ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
+		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
 	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.find(deviceReply);
 	if (iter == deviceReplyMap.end()) {
@@ -429,7 +510,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
 void DeviceHandlerBase::doSendWrite() {
 	if (cookieInfo.state == COOKIE_WRITE_READY) {
 
-		ReturnValue_t result = communicationInterface->sendMessage(cookie,
+		ReturnValue_t result = communicationInterface->sendMessage(comCookie,
 				rawPacket, rawPacketLen);
 
 		if (result == RETURN_OK) {
@@ -450,12 +531,14 @@ void DeviceHandlerBase::doGetWrite() {
 		return;
 	}
 	cookieInfo.state = COOKIE_UNUSED;
-	ReturnValue_t result = communicationInterface->getSendSuccess(cookie);
+	ReturnValue_t result = communicationInterface->getSendSuccess(comCookie);
 	if (result == RETURN_OK) {
 		if (wiretappingMode == RAW) {
 			replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
 		}
-		//We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
+
+		//We need to distinguish here, because a raw command never expects a reply.
+		//(Could be done in eRIRM, but then child implementations need to be careful.
 		result = enableReplyInReplyMap(cookieInfo.pendingCommand);
 	} else {
 		//always generate a failure event, so that FDIR knows what's up
@@ -471,7 +554,17 @@ void DeviceHandlerBase::doGetWrite() {
 void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
 
-	result = communicationInterface->requestReceiveMessage(cookie);
+	size_t 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);
+
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
 	} else {
@@ -485,10 +578,10 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	uint32_t receivedDataLen;
+	size_t receivedDataLen;
 	uint8_t *receivedData;
 	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	uint32_t foundLen = 0;
+	size_t foundLen = 0;
 	ReturnValue_t result;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
@@ -498,8 +591,8 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(cookie, &receivedData,
-			&receivedDataLen);
+	result = communicationInterface->readReceivedMessage(comCookie,
+			&receivedData, &receivedDataLen);
 
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
@@ -508,7 +601,7 @@ void DeviceHandlerBase::doGetRead() {
 		return;
 	}
 
-	if (receivedDataLen == 0)
+	if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
 		return;
 
 	if (wiretappingMode == RAW) {
@@ -539,6 +632,8 @@ void DeviceHandlerBase::doGetRead() {
 				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);
@@ -560,8 +655,8 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 		uint8_t * *data, uint32_t * len) {
 	size_t lenTmp;
 
-	if (IPCStore == NULL) {
-		*data = NULL;
+	if (IPCStore == nullptr) {
+		*data = nullptr;
 		*len = 0;
 		return RETURN_FAILED;
 	}
@@ -572,90 +667,10 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 	} else {
 		triggerEvent(StorageManagerIF::GET_DATA_FAILED, result,
 				storageAddress.raw);
-		*data = NULL;
+		*data = nullptr;
 		*len = 0;
 		return result;
 	}
-
-}
-
-ReturnValue_t DeviceHandlerBase::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	communicationInterface = objectManager->get<DeviceCommunicationIF>(
-			deviceCommunicationId);
-	if (communicationInterface == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = communicationInterface->open(&cookie, ioBoardAddress,
-			maxDeviceReplyLen);
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
-		return RETURN_FAILED;
-	}
-
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
-
-	if (rawReceiver == NULL) {
-		return RETURN_FAILED;
-	}
-
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
-
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	if (powerSwitcher == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	result = modeHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = actionHelper.initialize(commandQueue);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = fdirInstance->initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = parameterHelper.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = hkSwitcher.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	fillCommandAndReplyMap();
-
-	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	mySet.read();
-	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
-	mySet.commit(PoolVariableIF::VALID);
-
-	return RETURN_OK;
-
 }
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
@@ -687,8 +702,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 }
 
 //Default child implementations
-
-DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
+DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
 	switch (pstStep) {
 	case 0:
 		return SEND_WRITE;
@@ -727,7 +741,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 
 	if (info->delayCycles != 0) {
 
-		if (info->periodic != 0) {
+		if (info->periodic) {
 			info->delayCycles = info->maxDelayCycles;
 		} else {
 			info->delayCycles = 0;
@@ -748,20 +762,20 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 	}
 }
 
-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;
-}
+//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);
@@ -1022,7 +1036,6 @@ void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
 
 ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		CommandMessage * message) {
-	ReturnValue_t result;
 	switch (message->getCommand()) {
 	case DeviceHandlerMessage::CMD_WIRETAPPING:
 		switch (DeviceHandlerMessage::getWiretappingMode(message)) {
@@ -1044,19 +1057,19 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
-		if (mode != MODE_OFF) {
-			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
-		} else {
-			result = switchCookieChannel(
-					DeviceHandlerMessage::getIoBoardObjectId(message));
-			if (result == RETURN_OK) {
-				replyReturnvalueToCommand(RETURN_OK);
-			} else {
-				replyReturnvalueToCommand(CANT_SWITCH_IOBOARD);
-			}
-		}
-		return RETURN_OK;
+//	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
+//		if (mode != MODE_OFF) {
+//			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
+//		} else {
+//			result = switchCookieChannel(
+//					DeviceHandlerMessage::getIoBoardObjectId(message));
+//			if (result == RETURN_OK) {
+//				replyReturnvalueToCommand(RETURN_OK);
+//			} else {
+//				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
+//			}
+//		}
+//		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_RAW:
 		if ((mode != MODE_RAW)) {
 			DeviceHandlerMessage::clear(message);
@@ -1072,7 +1085,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 
 void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 	modeHelper.setParentQueue(parentQueueId);
-	healthHelper.setParentQeueue(parentQueueId);
+	healthHelper.setParentQueue(parentQueueId);
 }
 
 bool DeviceHandlerBase::isAwaitingReply() {
@@ -1136,7 +1149,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 }
 
 ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
 	ReturnValue_t result = acceptExternalDeviceCommands();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -1270,3 +1283,9 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 			executingTask = task_;
 }
+
+// Default implementations empty.
+void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
+		object_id_t objectId, uint32_t parameter) {}
+
+void DeviceHandlerBase::performOperationHook() {}

devicehandlers/DeviceHandlerIF.h

@@ -8,7 +8,8 @@
 #include <framework/ipc/MessageQueueSenderIF.h>
 
 /**
- * This is the Interface used to communicate with a device handler.
+ * @brief 	This is the Interface used to communicate with a device handler.
+ * @details Includes all expected return values, events and modes.
  *
  */
 class DeviceHandlerIF {
@@ -22,93 +23,127 @@ public:
 	 *
 	 * @details The mode of the device handler must not be confused with the mode the device is in.
 	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
+	 * MODE_ON and MODE_OFF are included in hasModesIF.h
 	 */
-//		MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-//		MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-		static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
-		static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
-		static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
-		static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
-		static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
-		static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-		static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-		static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-		static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
-		static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
-		static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
-		static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
-		static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
 
-		static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
-		static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-		static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
-		static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
-		static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
-		static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
-		static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
-		static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
-		static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
-		static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
-		static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
-		static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
+	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+	//! The device is powered on and the device handler periodically sends
+	//! commands. The commands to be sent are selected by the handler
+	//! according to the submode.
+	static const Mode_t MODE_NORMAL = 2;
+	//! The device is powered on and ready to perform operations. In this mode,
+	//! raw commands can be sent. The device handler will send all replies
+	//! received from the command back to the commanding object.
+	static const Mode_t MODE_RAW = 3;
+	//! The device is shut down but the switch could not be turned off, so the
+	//! device still is powered. In this mode, only a mode change to @c MODE_OFF
+	//! can be commanded, which tries to switch off the device again.
+	static const Mode_t MODE_ERROR_ON = 4;
+	//! This is a transitional state which can not be commanded. The device
+	//! handler performs all commands to get the device in a state ready to
+	//! perform commands. When this is completed, the mode changes to @c MODE_ON.
+	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+	//! This is a transitional state which can not be commanded.
+	//! The device handler performs all actions and commands to get the device
+	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+	//! It is possible to set the mode to _MODE_TO_ON to use the to on
+	//! transition if available.
+	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+	//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+	//! transition if available.
+	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+	//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+	//! transition if available.
+	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+	//! This is a transitional state which can not be commanded.
+	//! The device is shut down and ready to be switched off.
+	//! After the command to set the switch off has been sent,
+	//! the mode changes to @c MODE_WAIT_OFF
+	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+	//! This is a transitional state which can not be commanded. The device
+	//! will be switched on in this state. After the command to set the switch
+	//! on has been sent, the mode changes to @c MODE_WAIT_ON.
+	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and the handler waits for it to be off.
+	//! When the switch is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+	//! This is a transitional state which can not be commanded. The switch
+	//! has been commanded on and the handler waits for it to be on.
+	//! When the switch is on, the mode changes to @c MODE_TO_ON.
+	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and is off now. This state is only to do an RMAP
+	//! cycle once more where the doSendRead() function will set the mode to
+	//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
-		static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
-		static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
-		static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
-		static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
-		static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-		static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
-		static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
-		static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
-		static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-		static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
-		static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
-		static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
+	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
+	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
+	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
+	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
+	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
+	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
+	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
+	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
+	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
+	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
+	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
 
-		//standard codes used in scan for reply
-	//	static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
-		static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
-		static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
-		static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
-		static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
+	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
-		//standard codes used in  interpret device reply
-		static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
-		static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
-		static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
-		static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
+	// 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 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);
+	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
+	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
+	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
+	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
+	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
-		//Standard codes used in buildCommandFromCommand
-		static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
-				0xD0);
-		static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
-				MAKE_RETURN_CODE(0xD1);
+	// Standard codes used in scanForReply
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
+
+	// Standard codes used in  interpretDeviceReply
+	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
+	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
+	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
+	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
+
+	// Standard codes used in buildCommandFromCommand
+	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
+	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
+
+	/**
+	 * Communication action that will be executed.
+	 *
+	 * This is used by the child class to tell the base class what to do.
+	 */
+	enum CommunicationAction_t: uint8_t {
+		SEND_WRITE,//!< Send write
+		GET_WRITE, //!< Get write
+		SEND_READ, //!< Send read
+		GET_READ,  //!< Get read
+		NOTHING    //!< Do nothing.
+	};
 
-		/**
-		 * RMAP Action that will be executed.
-		 *
-		 * This is used by the child class to tell the base class what to do.
-		 */
-		enum RmapAction_t {
-			SEND_WRITE,//!< RMAP send write
-			GET_WRITE, //!< RMAP get write
-			SEND_READ, //!< RMAP send read
-			GET_READ,  //!< RMAP get read
-			NOTHING    //!< Do nothing.
-		};
 	/**
 	 * Default Destructor
 	 */
-	virtual ~DeviceHandlerIF() {
-
-	}
+	virtual ~DeviceHandlerIF() {}
 
 	/**
 	 * This MessageQueue is used to command the device handler.
-	 *
-	 * To command a device handler, a DeviceHandlerCommandMessage can be sent to this Queue.
-	 * The handler replies with a DeviceHandlerCommandMessage containing the DeviceHandlerCommand_t reply.
-	 *
 	 * @return the id of the MessageQueue
 	 */
 	virtual MessageQueueId_t getCommandQueue() const = 0;

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 {
-	ReturnValue_t result = SerializeAdapter<object_id_t>::serialize(&objectId,
-			buffer, size, max_size, bigEndian);
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
+	ReturnValue_t result = SerializeAdapter::serialize(&objectId,
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<ActionId_t>::serialize(&actionId, buffer,
-			size, max_size, bigEndian);
+	result = SerializeAdapter::serialize(&actionId, buffer,
+			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) {
-	ReturnValue_t result = SerializeAdapter<object_id_t>::deSerialize(&objectId,
-			buffer, size, bigEndian);
+		size_t* size, Endianness streamEndianness) {
+	ReturnValue_t result = SerializeAdapter::deSerialize(&objectId,
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<ActionId_t>::deSerialize(&actionId, buffer,
-			size, bigEndian);
+	result = SerializeAdapter::deSerialize(&actionId, buffer,
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return data->deSerialize(buffer, size, bigEndian);
+	return data->deSerialize(buffer, size, streamEndianness);
 }

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;

devicehandlers/FixedSequenceSlot.cpp

@@ -16,6 +16,5 @@ FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 	handler->setTaskIF(executingTask);
 }
 
-FixedSequenceSlot::~FixedSequenceSlot() {
-}
+FixedSequenceSlot::~FixedSequenceSlot() {}
 

devicehandlers/FixedSequenceSlot.h

@@ -13,35 +13,47 @@
 class PeriodicTaskIF;
 
 /**
- * \brief	This class is the representation of a single polling sequence table entry.
+ * @brief	This class is the representation of a single polling sequence table entry.
  *
- * \details	The PollingSlot class is the representation of a single polling sequence table entry.
+ * @details	The PollingSlot class is the representation of a single polling
+ * 			sequence table entry.
  */
 class FixedSequenceSlot {
 public:
-			FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, int8_t setSequenceId, PeriodicTaskIF* executingTask );
+	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
+			int8_t setSequenceId, PeriodicTaskIF* executingTask );
 	virtual ~FixedSequenceSlot();
 
 	/**
-	 * \brief	\c handler identifies which device handler object is executed in this slot.
+	 * @brief	Handler identifies which device handler object is executed in this slot.
 	 */
 	ExecutableObjectIF*	handler;
 
 	/**
-	 * \brief	This attribute defines when a device handler object is executed.
+	 * @brief	This attribute defines when a device handler object is executed.
 	 *
-	 * \details	The pollingTime attribute identifies the time the handler is executed in ms. It must be
-	 * 			smaller than the period length of the polling sequence, what is ensured by automated calculation
-	 * 			from a database.
+	 * @details	The pollingTime attribute identifies the time the handler is executed in ms.
+	 * 			It must be smaller than the period length of the polling sequence.
 	 */
 	uint32_t	pollingTimeMs;
 
 	/**
-	 * \brief	This value defines the type of device communication.
+	 * @brief	This value defines the type of device communication.
 	 *
-	 * \details	The state of this value decides what communication routine is called in the PST executable or the device handler object.
+	 * @details	The state of this value decides what communication routine is
+	 * 			called in the PST executable or the device handler object.
 	 */
 	uint8_t			opcode;
+
+	/**
+	 * @brief 	Operator overload for the comparison operator to
+	 * 			allow sorting by polling time.
+	 * @param fixedSequenceSlot
+	 * @return
+	 */
+	bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const {
+		return pollingTimeMs < fixedSequenceSlot.pollingTimeMs;
+	}
 };
 
 

devicehandlers/FixedSlotSequence.cpp

@@ -7,17 +7,12 @@ FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
 }
 
 FixedSlotSequence::~FixedSlotSequence() {
-	std::list<FixedSequenceSlot*>::iterator slotIt;
-	//Iterate through slotList and delete all entries.
-	slotIt = this->slotList.begin();
-	while (slotIt != this->slotList.end()) {
-		delete (*slotIt);
-		slotIt++;
-	}
+	// Call the destructor on each list entry.
+	slotList.clear();
 }
 
 void FixedSlotSequence::executeAndAdvance() {
-	(*this->current)->handler->performOperation((*this->current)->opcode);
+	current->handler->performOperation(current->opcode);
 //	if (returnValue != RETURN_OK) {
 //		this->sendErrorMessage( returnValue );
 //	}
@@ -31,53 +26,50 @@ void FixedSlotSequence::executeAndAdvance() {
 
 uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
 	uint32_t oldTime;
-	std::list<FixedSequenceSlot*>::iterator it;
-	it = current;
+	SlotListIter slotListIter = current;
 	// Get the pollingTimeMs of the current slot object.
-	oldTime = (*it)->pollingTimeMs;
+	oldTime = slotListIter->pollingTimeMs;
 	// Advance to the next object.
-	it++;
+	slotListIter++;
 	// Find the next interval which is not 0.
-	while (it != slotList.end()) {
-		if (oldTime != (*it)->pollingTimeMs) {
-			return (*it)->pollingTimeMs - oldTime;
+	while (slotListIter != slotList.end()) {
+		if (oldTime != slotListIter->pollingTimeMs) {
+			return slotListIter->pollingTimeMs - oldTime;
 		} else {
-			it++;
+			slotListIter++;
 		}
 	}
 	// If the list end is reached (this is definitely an interval != 0),
 	// the interval is calculated by subtracting the remaining time of the PST
 	// and adding the start time of the first handler in the list.
-	it = slotList.begin();
-	return lengthMs - oldTime + (*it)->pollingTimeMs;
+	slotListIter = slotList.begin();
+	return lengthMs - oldTime + slotListIter->pollingTimeMs;
 }
 
 uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
 	uint32_t currentTime;
-	std::list<FixedSequenceSlot*>::iterator it;
-	it = current;
+	SlotListIter slotListIter = current;
 	// Get the pollingTimeMs of the current slot object.
-	currentTime = (*it)->pollingTimeMs;
+	currentTime = slotListIter->pollingTimeMs;
 
 	//if it is the first slot, calculate difference to last slot
-	if (it == slotList.begin()){
-		return lengthMs - (*(--slotList.end()))->pollingTimeMs + currentTime;
+	if (slotListIter == slotList.begin()){
+		return lengthMs - (--slotList.end())->pollingTimeMs + currentTime;
 	}
 	// get previous slot
-	it--;
+	slotListIter--;
 
-	return currentTime - (*it)->pollingTimeMs;
+	return currentTime - slotListIter->pollingTimeMs;
 }
 
 bool FixedSlotSequence::slotFollowsImmediately() {
-	uint32_t currentTime = (*current)->pollingTimeMs;
-	std::list<FixedSequenceSlot*>::iterator it;
-	it = this->current;
+	uint32_t currentTime = current->pollingTimeMs;
+	SlotListIter fixedSequenceIter = this->current;
 	// Get the pollingTimeMs of the current slot object.
-	if (it == slotList.begin())
+	if (fixedSequenceIter == slotList.begin())
 		return false;
-	it--;
-	if ((*it)->pollingTimeMs == currentTime) {
+	fixedSequenceIter--;
+	if (fixedSequenceIter->pollingTimeMs == currentTime) {
 		return true;
 	} else {
 		return false;
@@ -93,26 +85,30 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
 		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+
 	auto slotIt = slotList.begin();
 	uint32_t count = 0;
 	uint32_t time = 0;
 	while (slotIt != slotList.end()) {
-		if ((*slotIt)->handler == NULL) {
+		if (slotIt->handler == nullptr) {
 			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
 					<< std::endl;
 			count++;
-		} else if ((*slotIt)->pollingTimeMs < time) {
+		} else if (slotIt->pollingTimeMs < time) {
 			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< (*slotIt)->pollingTimeMs
+					<< slotIt->pollingTimeMs
 					<< " is smaller than previous with " << time << std::endl;
 			count++;
 		} else {
-			//All ok, print slot.
-//			(*slotIt)->print();
+			// All ok, print slot.
+			//info << "Current slot polling time: " << std::endl;
+			//info << std::dec << slotIt->pollingTimeMs << std::endl;
 		}
-		time = (*slotIt)->pollingTimeMs;
+		time = slotIt->pollingTimeMs;
 		slotIt++;
 	}
+	//info << "Number of elements in slot list: "
+	//	   << slotList.size() << std::endl;
 	if (count > 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -121,8 +117,7 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
 
 void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
 		int8_t executionStep, PeriodicTaskIF* executingTask) {
-	this->slotList.push_back(
-			new FixedSequenceSlot(componentId, slotTimeMs, executionStep,
-					executingTask));
+	this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
+			executingTask));
 	this->current = slotList.begin();
 }

devicehandlers/FixedSlotSequence.h

@@ -1,9 +1,9 @@
-#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 <list>
+#include <set>
 
 /**
  * @brief	This class is the representation of a Polling Sequence Table in software.
@@ -24,30 +24,39 @@
  */
 class FixedSlotSequence {
 public:
+	using SlotList = std::multiset<FixedSequenceSlot>;
+	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
 
 	/**
-	 * \brief	The constructor of the FixedSlotSequence object.
+	 * @brief	The constructor of the FixedSlotSequence object.
 	 *
-	 * \details	The constructor takes two arguments, the period length and the init function.
+	 * @details	The constructor takes two arguments, the period length and the init function.
 	 *
-	 * \param	setLength	The period length, expressed in ms.
+	 * @param	setLength	The period length, expressed in ms.
 	 */
 	FixedSlotSequence(uint32_t setLengthMs);
 
 	/**
-	 * \brief	The destructor of the FixedSlotSequence object.
+	 * @brief	The destructor of the FixedSlotSequence object.
 	 *
-	 * \details	The destructor frees all allocated memory by iterating through the slotList
+	 * @details	The destructor frees all allocated memory by iterating through the slotList
 	 *  		and deleting all allocated resources.
 	 */
 	virtual ~FixedSlotSequence();
 
 	/**
-	 * \brief	This is a method to add an PollingSlot object to slotList.
+	 * @brief	This is a method to add an PollingSlot object to slotList.
 	 *
-	 * \details	Here, a polling slot object is added to the slot list. It is appended
+	 * @details	Here, a polling slot object is added to the slot list. It is appended
 	 * 			to the end of the list. The list is currently NOT reordered.
 	 * 			Afterwards, the iterator current is set to the beginning of the list.
+	 * 	@param Object ID of the object to add
+	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
+	 * 				   will be called inside the slot period.
+	 * 	@param setSequenceId ID which can be used to distinguish
+	 * 	                     different task operations
+	 * 	@param
+	 * 	@param
 	 */
 	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
 			PeriodicTaskIF* executingTask);
@@ -61,47 +70,59 @@ public:
 	bool slotFollowsImmediately();
 
 	/**
-	 * \brief	This method returns the time until the next software component is invoked.
+	 * @brief	This method returns the time until the next software
+	 * 			component is invoked.
 	 *
-	 * \details	This method is vitally important for the operation of the PST. By fetching the polling time
-	 * 			of the current slot and that of the next one (or the first one, if the list end is reached)
-	 * 			it calculates and returns the interval in milliseconds within which the handler execution
-	 * 			shall take place. If the next slot has the same time as the current one, it is ignored until
-	 * 			a slot with different time or the end of the PST is found.
+	 * @details
+	 * This method is vitally important for the operation of the PST.
+	 * By fetching the polling time of the current slot and that of the
+	 * next one (or the first one, if the list end is reached)
+	 * it calculates and returns the interval in milliseconds within
+	 * which the handler execution shall take place.
+	 * If the next slot has the same time as the current one, it is ignored
+	 * until a slot with different time or the end of the PST is found.
 	 */
 	uint32_t getIntervalToNextSlotMs();
 
 	/**
-	 * \brief	This method returns the time difference between the current slot and the previous slot
+	 * @brief	This method returns the time difference between the current
+	 * 			slot and the previous slot
 	 *
-	 * \details	This method is vitally important for the operation of the PST. By fetching the polling time
-	 * 			of the current slot and that of the prevous one (or the last one, if the slot is the first one)
-	 * 			it calculates and returns the interval in milliseconds that the handler execution shall be delayed.
+	 * @details
+	 * This method is vitally important for the operation of the PST.
+	 * By fetching the polling time of the current slot and that of the previous
+	 * one (or the last one, if the slot is the first one) it calculates and
+	 * returns the interval in milliseconds that the handler execution shall
+	 * be delayed.
 	 */
 	uint32_t getIntervalToPreviousSlotMs();
 
 	/**
-	 * \brief	This method returns the length of this FixedSlotSequence instance.
+	 * @brief	This method returns the length of this FixedSlotSequence instance.
 	 */
 	uint32_t getLengthMs() const;
 
 	/**
-	 * \brief	The method to execute the device handler entered in the current OPUSPollingSlot object.
+	 * @brief	The method to execute the device handler entered in the current
+	 * 			PollingSlot object.
 	 *
-	 * \details	Within this method the device handler object to be executed is chosen by looking up the
-	 * 			handler address of the current slot in the handlerMap. Either the device handler's
-	 * 			talkToInterface or its listenToInterface method is invoked, depending on the isTalking flag
-	 * 			of the polling slot. After execution the iterator current is increased or, by reaching the
-	 * 			end of slotList, reset to the beginning.
+	 * @details
+	 * Within this method the device handler object to be executed is chosen by
+	 * looking up the handler address of the current slot in the handlerMap.
+	 * Either the device handler's talkToInterface or its listenToInterface
+	 * method is invoked, depending on the isTalking flag of the polling slot.
+	 * After execution the iterator current is increased or, by reaching the
+	 * end of slotList, reset to the beginning.
 	 */
 	void executeAndAdvance();
 
 	/**
-	 * \brief	An iterator that indicates the current polling slot to execute.
+	 * @brief	An iterator that indicates the current polling slot to execute.
 	 *
-	 * \details	This is an iterator for slotList and always points to the polling slot which is executed next.
+	 * @details	This is an iterator for slotList and always points to the
+	 * 			polling slot which is executed next.
 	 */
-	std::list<FixedSequenceSlot*>::iterator current;
+	SlotListIter current;
 
 	/**
 	 * Iterate through slotList and check successful creation.
@@ -109,18 +130,21 @@ public:
 	 * @return
 	 */
 	ReturnValue_t checkSequence() const;
+
 protected:
 
 	/**
-	 * \brief	This list contains all OPUSPollingSlot objects, defining order and execution time of the
-	 * 			device handler objects.
+	 * @brief	This list contains all PollingSlot objects, defining order and
+	 * 			execution time of the device handler objects.
 	 *
-	 * \details	The slot list is a std:list object that contains all created OPUSPollingSlot instances.
-	 * 			They are NOT ordered automatically, so by adding entries, the correct order needs to be ensured.
-	 * 			By iterating through this list the polling sequence is executed. Two entries with identical
-	 * 			polling times are executed immediately one after another.
+	 * @details
+	 * The slot list is a std:list object that contains all created
+	 * PollingSlot instances. They are NOT ordered automatically, so by
+	 * adding entries, the correct order needs to be ensured. By iterating
+	 * through this list the polling sequence is executed. Two entries with
+	 * identical polling times are executed immediately one after another.
 	 */
-	std::list<FixedSequenceSlot*> slotList;
+	SlotList slotList;
 
 	uint32_t lengthMs;
 };

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() {

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;

events/fwSubsystemIdRanges.h

@@ -18,6 +18,8 @@ enum {
 	SYSTEM_MANAGER = 74,
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
+	PUS_SERVICE_1 = 80,
+	FW_SUBSYSTEM_ID_RANGE
 };
 }
 

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)
@@ -12,7 +12,6 @@ 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)
@@ -26,14 +25,16 @@ 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 $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS_FSFW),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
+$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
@@ -54,3 +55,4 @@ 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)/pus/*.cpp)

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<uint8_t>::serialize(&ptc, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&ptc, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::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<uint8_t>::getSerializedSize(&dontcare);
+	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<uint8_t>::deSerialize(&ptc, buffer,
-			size, bigEndian);
+	ReturnValue_t result = SerializeAdapter::deSerialize(&ptc, buffer,
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::deSerialize(&pfc, buffer, size,
-			bigEndian);
+	result = SerializeAdapter::deSerialize(&pfc, buffer, size,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}

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;

globalfunctions/conversion.cpp

@@ -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
-}

globalfunctions/conversion.h

@@ -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_ */

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<uint8_t>::serialize(&count,
-				buffer, size, max_size, bigEndian);
+		ReturnValue_t result = SerializeAdapter::serialize(&count,
+				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;
 	}
 

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 maxSize,
+			SerializeIF::Endianness streamEndianness) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&lowerBound, buffer,
+				size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<T>::serialize(&upperBound, buffer, size, max_size, bigEndian);
+		result = SerializeAdapter::serialize(&upperBound, buffer, size,
+				maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<bool>::serialize(&inverted, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&inverted, buffer, size, maxSize,
+				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
+	size_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) {

health/HealthHelper.cpp

@@ -29,11 +29,11 @@ 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;
 }
 

health/HealthHelper.h

@@ -78,7 +78,7 @@ 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);
 
 	/**
 	 *

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<uint16_t>::serialize(&count,
-			&pointer, &size, maxSize, true);
+	ReturnValue_t result = SerializeAdapter::serialize(&count,
+			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
 	HealthMap::iterator iter;
 	for (iter = healthMap.begin();
 			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
 			++iter) {
-		result = SerializeAdapter<object_id_t>::serialize(&iter->first,
-				&pointer, &size, maxSize, true);
+		result = SerializeAdapter::serialize(&iter->first,
+				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
 		uint8_t health = iter->second;
-		result = SerializeAdapter<uint8_t>::serialize(&health, &pointer, &size,
-				maxSize, true);
+		result = SerializeAdapter::serialize(&health, &pointer, &size,
+				maxSize, SerializeIF::Endianness::BIG);
 	}
 	mutex->unlockMutex();
 }

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;

health/HealthTableIF.h

@@ -17,7 +17,7 @@ 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;

ipc/CommandMessage.cpp

@@ -111,7 +111,7 @@ 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,
@@ -120,3 +120,12 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 	setParameter(reason);
 	setParameter2(initialCommand);
 }
+
+ReturnValue_t CommandMessage::getReplyRejectedReason(
+        Command_t *initialCommand) const {
+    ReturnValue_t reason = getParameter();
+    if(initialCommand != nullptr) {
+        *initialCommand = getParameter2();
+    }
+    return reason;
+}

ipc/CommandMessage.h

@@ -20,7 +20,7 @@ typedef ReturnValue_t Command_t;
 class CommandMessage : public MessageQueueMessage {
 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 = MESSAGE_TYPE::COMMAND;
@@ -124,6 +124,9 @@ public:
 	 */
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
+	ReturnValue_t getReplyRejectedReason(
+	        Command_t *initialCommand = nullptr) const;
+
 	size_t getMinimumMessageSize() const;
 };
 

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, MessageQueueIF* useThisQueue) :
@@ -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;

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;
 	}

objectmanager/ObjectManagerIF.h

@@ -21,7 +21,8 @@ public:
 	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 CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
 protected:

osal/FreeRTOS/Clock.cpp

@@ -1,16 +1,18 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/globalfunctions/timevalOperations.h>
-#include <stdlib.h>
-#include "Timekeeper.h"
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
-#include <FreeRTOS.h>
-#include <task.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+#include <stdlib.h>
+#include <time.h>
 
 //TODO sanitize input?
 //TODO much of this code can be reused for tick-only systems
 
 uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
+MutexIF* Clock::timeMutex = nullptr;
 
 uint32_t Clock::getTicksPerSecond(void) {
 	return 1000;
@@ -56,7 +58,6 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 
 timeval Clock::getUptime() {
 	TickType_t ticksSinceStart = xTaskGetTickCount();
-
 	return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 
@@ -128,7 +129,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 
 ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
 	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
+	if (timeMutex == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -1,6 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "FixedTimeslotTask.h"
 
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
@@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
-	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -58,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
 	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		if(slotTimeMs == 0) {
-			// FreeRTOS throws a sanity error for zero values, so we set
-			// the time to one millisecond.
-			slotTimeMs = 1;
-		}
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -81,43 +80,78 @@ 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.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
+	FixedSlotSequence::SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = (*it)->pollingTimeMs;
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	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
-	vTaskDelayUntil(&xLastWakeTime, interval);
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
-		this->pst.executeAndAdvance();
-		if (pst.slotFollowsImmediately()) {
-			//Do nothing
-		} else {
-			// we need to wait before executing the current slot
-			//this gives us the time to wait:
-			intervalMs = this->pst.getIntervalToPreviousSlotMs();
-			interval = pdMS_TO_TICKS(intervalMs);
-			vTaskDelayUntil(&xLastWakeTime, interval);
-			//TODO deadline missed check
-		}
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        // Get the interval till execution of the next slot.
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
 
+	        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);
+	    }
 	}
 }
 
+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;
+    // 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();
+        }
+    }
+    /* 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();
+    }
+}
+
+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;
 }
-

osal/FreeRTOS/FixedTimeslotTask.h

@@ -1,24 +1,27 @@
-#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:
+
 	/**
-	 * @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 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,
@@ -26,16 +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();
 	/**
@@ -44,13 +49,14 @@ 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) override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
 protected:
 	bool started;
 	TaskHandle_t handle;
@@ -58,32 +64,35 @@ 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);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
-#endif /* POLLINGTASK_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */

osal/FreeRTOS/PeriodicTask.cpp

@@ -1,17 +1,19 @@
+#include "PeriodicTask.h"
+
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include "PeriodicTask.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-				setDeadlineMissedFunc) {
-
-	BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+		setDeadlineMissedFunc)
+{
+	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;
 	}
 
 }
@@ -21,16 +23,19 @@ 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 (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -59,31 +64,72 @@ void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const& object: objectList) {
+			object->performOperation();
 		}
-		//TODO deadline missed check
+
+		checkMissedDeadline(xLastWakeTime, xPeriod);
+
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implements ExecutableObjectIF!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	     newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 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;
+    // 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();
+        }
+    }
+    /* 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();
+    }
+}
+
+void PeriodicTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}

osal/FreeRTOS/PeriodicTask.h

@@ -1,48 +1,49 @@
-#ifndef MULTIOBJECTTASK_H_
-#define MULTIOBJECTTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 #include <vector>
 
 class ExecutableObjectIF;
 
 /**
- * @brief This class represents a specialized task for periodic activities of multiple objects.
- *
- * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
- * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
- * 			added prior to starting the task.
- *
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
  * @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 #addObject.
-	 * 			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 range from a low 0 to a high 99.
-	 * @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.
+	 * 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.
+	 * @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.
 	 */
-	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.
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
 	 */
 	virtual ~PeriodicTask(void);
 
@@ -53,58 +54,72 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
 	 * @param object Id of the object to add.
-	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	bool started;
 	TaskHandle_t handle;
 
-	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.
 	 */
 	ObjectList objectList;
 	/**
 	 * @brief	The period of the task.
-	 * @details	The period determines the frequency of the task's execution. It is expressed in clock ticks.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
 	 */
 	TaskPeriod period;
 	/**
 	 * @brief	The pointer to the deadline-missed function.
-	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
-	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
-	 * 			of the periodic task.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed so each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
 	 * @brief	This is the function executed in the new task's context.
-	 * @details	It converts the argument back to the thread object type and copies the class instance
-	 * 			to the task context. The taskFunctionality method is called afterwards.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
 	 * @param	A pointer to the task object itself is passed as argument.
 	 */
 
 	static void taskEntryPoint(void* argument);
 	/**
 	 * @brief	The function containing the actual functionality of the task.
-	 * @details	The method sets and starts
-	 * 			the task's period, then enters a loop that is repeated as long as the isRunning
-	 * 			attribute is true. Within the loop, all performOperation methods of the added
-	 * 			objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
-	 * 			until the next period.
-	 * 			On missing the deadline, the deadlineMissedFunction is executed.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* PERIODICTASK_H_ */

osal/FreeRTOS/Timekeeper.cpp

@@ -1,20 +1,19 @@
-#include "Timekeeper.h"
-#include <FreeRTOSConfig.h>
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
-Timekeeper::Timekeeper() :
-		offset( { 0, 0 }) {
-	// TODO Auto-generated constructor stub
+#include "FreeRTOSConfig.h"
 
-}
+Timekeeper * Timekeeper::myinstance = nullptr;
 
-Timekeeper * Timekeeper::myinstance = NULL;
+Timekeeper::Timekeeper() : offset( { 0, 0 } ) {}
+
+Timekeeper::~Timekeeper() {}
 
 const timeval& Timekeeper::getOffset() const {
 	return offset;
 }
 
 Timekeeper* Timekeeper::instance() {
-	if (myinstance == NULL) {
+	if (myinstance == nullptr) {
 		myinstance = new Timekeeper();
 	}
 	return myinstance;
@@ -24,10 +23,6 @@ void Timekeeper::setOffset(const timeval& offset) {
 	this->offset = offset;
 }
 
-Timekeeper::~Timekeeper() {
-	// TODO Auto-generated destructor stub
-}
-
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 	timeval uptime;
 	uptime.tv_sec = ticks / configTICK_RATE_HZ;
@@ -40,3 +35,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 
 	return uptime;
 }
+
+TickType_t Timekeeper::getTicks() {
+    return xTaskGetTickCount();
+}

osal/FreeRTOS/Timekeeper.h

@@ -3,7 +3,9 @@
 
 #include <framework/timemanager/Clock.h>
 
-#include <FreeRTOS.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
 
 /**
  * A Class to basically store the time difference between uptime and UTC
@@ -25,6 +27,11 @@ public:
 	virtual ~Timekeeper();
 
 	static timeval ticksToTimeval(TickType_t ticks);
+    /**
+     * Get elapsed time in system ticks.
+     * @return
+     */
+    static TickType_t getTicks();
 
 	const timeval& getOffset() const;
 	void setOffset(const timeval& offset);

osal/linux/Clock.cpp

@@ -1,10 +1,10 @@
-#include <sys/time.h>
-#include <time.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-
+#include <sys/time.h>
 #include <sys/sysinfo.h>
 #include <linux/sysinfo.h>
+#include <time.h>
 #include <unistd.h>
 
 //#include <fstream>
@@ -65,6 +65,15 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+timeval Clock::getUptime() {
+	timeval uptime;
+	auto result = getUptime(&uptime);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
+	}
+	return uptime;
+}
+
 ReturnValue_t Clock::getUptime(timeval* uptime) {
 	//TODO This is not posix compatible and delivers only seconds precision
 	struct sysinfo sysInfo;

osal/linux/PeriodicPosixTask.cpp

@@ -21,13 +21,16 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
+        bool addTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
+
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

osal/linux/PeriodicPosixTask.h

@@ -39,11 +39,12 @@ 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 addTaskIF = 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.

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 result = SerializeAdapter<float>::serialize(
-			&timeSinceLastReset, buffer, size, max_size, bigEndian);
+ReturnValue_t CpuUsage::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
+	ReturnValue_t result = SerializeAdapter::serialize(
+			&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 result = SerializeAdapter<float>::deSerialize(
-			&timeSinceLastReset, buffer, size, bigEndian);
+ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
+	ReturnValue_t result = SerializeAdapter::deSerialize(
+			&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 result = SerializeAdapter<uint32_t>::serialize(&id, buffer,
-			size, max_size, bigEndian);
+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, 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<float>::serialize(&timeRunning,
-			buffer, size, max_size, bigEndian);
+	result = SerializeAdapter::serialize(&timeRunning,
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<float>::serialize(&percentUsage,
-			buffer, size, max_size, bigEndian);
+	result = SerializeAdapter::serialize(&percentUsage,
+			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) {
-	ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&id, buffer,
-			size, bigEndian);
+		int32_t* size, Endianness streamEndianness) {
+	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -169,13 +169,13 @@ 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,
-			buffer, size, bigEndian);
+	result = SerializeAdapter::deSerialize(&timeRunning,
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<float>::deSerialize(&percentUsage,
-			buffer, size, bigEndian);
+	result = SerializeAdapter::deSerialize(&percentUsage,
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}

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_ */

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);

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<Type>::serialize(&type, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&columns, buffer, size,
-			max_size, bigEndian);
+	result = SerializeAdapter::serialize(&columns, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::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 = HasReturnvaluesIF::RETURN_OK;
 	uint16_t dataSize = columns * rows;
 	while (dataSize != 0) {
-		result = SerializeAdapter<T>::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<T>::deSerialize(
+			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 result = SerializeAdapter<Type>::deSerialize(&type, &stream,
-			&streamSize, true);
+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, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::deSerialize(&columns, &stream,
-			&streamSize, true);
+	result = SerializeAdapter::deSerialize(&columns, &stream, &streamSize,
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::deSerialize(&rows, &stream, &streamSize,
-			true);
+	result = SerializeAdapter::deSerialize(&rows, &stream, &streamSize,
+			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

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 {
@@ -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;
@@ -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,

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;
 		}

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);

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 result = SerializeAdapter<float>::serialize(&min, buffer,
-			size, max_size, bigEndian);
+ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
+	ReturnValue_t result = SerializeAdapter::serialize(&min, buffer,
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter<float>::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 result = SerializeAdapter<float>::deSerialize(&min, buffer,
-			size, bigEndian);
+ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
+Endianness streamEndianness) {
+	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter<float>::deSerialize(&max, buffer, size, bigEndian);
+	return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness);
 }
 
 ReturnValue_t PowerComponent::getParameter(uint8_t domainId,

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,

pus/CService200ModeCommanding.cpp

@@ -0,0 +1,119 @@
+#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) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
+            SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
+        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;
+}
+
+
+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;
+	}
+
+	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);
+}

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_ */

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();
+}

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_ */

pus/Service2DeviceAccess.cpp

@@ -0,0 +1,167 @@
+#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, 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:
+	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) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData,
+                &tcDataLen, SerializeIF::Endianness::BIG);
+
+	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
+	return result;
+}
+
+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();
+}
+

pus/Service2DeviceAccess.h

@@ -0,0 +1,92 @@
+#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 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
+ * CommandingServiceBase.
+ *
+ * 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, uint8_t numberOfParallelCommands = 4,
+	        uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service2DeviceAccess();
+
+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 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_ */

pus/Service5EventReporting.cpp

@@ -0,0 +1,91 @@
+#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();
+}

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_ */

pus/Service8FunctionManagement.cpp

@@ -0,0 +1,142 @@
+#include <framework/pus/Service8FunctionManagement.h>
+#include <framework/pus/servicepackets/Service8Packets.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) {
+	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+}
+
+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);
+
+	// store additional parameters into the IPC 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: {
+	    result = handleDataReply(reply, objectId, actionId);
+		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;
+}
+
+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;
+}

pus/Service8FunctionManagement.h

@@ -0,0 +1,67 @@
+#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+
+#include <framework/action/ActionMessage.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);
+	ReturnValue_t handleDataReply(const CommandMessage* reply,
+	        object_id_t objectId, ActionId_t actionId);
+};
+
+#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */

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_ */

pus/servicepackets/Service200Packets.h

@@ -0,0 +1,63 @@
+#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;
+	}
+
+	// Forbid copying, pointers are used.
+	ModePacket(const ModePacket&) = delete;
+	ModePacket& operator=(const ModePacket&) = delete;
+private:
+
+	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
+};
+
+/**
+ * @brief Subservice 7
+ * @ingroup spacepackets
+ */
+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_ */

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_ */

pus/servicepackets/Service5Packets.h

@@ -0,0 +1,76 @@
+#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
+ * 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:
+
+	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_ */

pus/servicepackets/Service8Packets.h

@@ -0,0 +1,121 @@
+#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:
+
+	DirectCommand(const uint8_t* tcData, size_t size) {
+		SerializeAdapter::deSerialize(&objectId, &tcData, &size,
+		        SerializeIF::Endianness::BIG);
+		SerializeAdapter::deSerialize(&actionId, &tcData, &size,
+		        SerializeIF::Endianness::BIG);
+		parameterBuffer = tcData;
+		parametersSize = size;
+	}
+
+	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
+ * 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:
+	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
+ * @details
+ * Not used yet. Telecommand Verification takes care of this.
+ * @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 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_ */

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 !
 
 };

returnvalues/HasReturnvaluesIF.h

@@ -1,27 +1,23 @@
-#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() {
-	}
+	virtual ~HasReturnvaluesIF() {}
 
+	static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
+	    return (interfaceId << 8) + number;
+	}
 };
 
-
-
-#endif /* HASRETURNVALUESIF_H_ */
+#endif /* FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ */

rmap/RMAPCookie.h

@@ -1,12 +1,12 @@
 #ifndef RMAPCOOKIE_H_
 #define RMAPCOOKIE_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/rmap/rmapStructs.h>
 
 class RMAPChannelIF;
 
-class RMAPCookie : public Cookie{
+class RMAPCookie : public CookieIF {
 public:
 	//To Uli: Sorry, I need an empty ctor to initialize an array of cookies.
 	RMAPCookie();

rmap/RmapDeviceCommunicationIF.cpp

@@ -5,43 +5,43 @@
 RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::sendMessage(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF* cookie,
 		uint8_t* data, uint32_t len) {
 	return RMAP::sendWriteCommand((RMAPCookie *) cookie, data, len);
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(Cookie* cookie) {
+ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) {
 	return RMAP::getWriteReply((RMAPCookie *) cookie);
 }
 
 ReturnValue_t RmapDeviceCommunicationIF::requestReceiveMessage(
-		Cookie* cookie) {
+		CookieIF* cookie) {
 	return RMAP::sendReadCommand((RMAPCookie *) cookie,
 				((RMAPCookie *) cookie)->getMaxReplyLen());
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(CookieIF* cookie,
 		uint8_t** buffer, uint32_t* size) {
 	return RMAP::getReadReply((RMAPCookie *) cookie, buffer, size);
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::setAddress(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::setAddress(CookieIF* cookie,
 		uint32_t address) {
 
 	((RMAPCookie *) cookie)->setAddress(address);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t RmapDeviceCommunicationIF::getAddress(Cookie* cookie) {
+uint32_t RmapDeviceCommunicationIF::getAddress(CookieIF* cookie) {
 	return ((RMAPCookie *) cookie)->getAddress();
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::setParameter(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::setParameter(CookieIF* cookie,
 		uint32_t parameter) {
 	//TODO Empty?
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-uint32_t RmapDeviceCommunicationIF::getParameter(Cookie* cookie) {
+uint32_t RmapDeviceCommunicationIF::getParameter(CookieIF* cookie) {
 	return 0;
 }

rmap/RmapDeviceCommunicationIF.h

@@ -25,7 +25,7 @@ public:
 	 * @param maxReplyLen Maximum length of expected reply
 	 * @return
 	 */
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
+	virtual ReturnValue_t open(CookieIF **cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 	/**
@@ -39,7 +39,7 @@ public:
 	 * @param maxReplyLen
 	 * @return
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+	virtual ReturnValue_t reOpen(CookieIF *cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 
@@ -47,7 +47,7 @@ public:
 	 * Closing call of connection and memory free of cookie. Mission dependent call
 	 * @param cookie
 	 */
-	virtual void close(Cookie *cookie) = 0;
+	virtual void close(CookieIF *cookie) = 0;
 
 	//SHOULDDO can data be const?
 	/**
@@ -58,23 +58,23 @@ public:
 	 * @param len Length of the data to be send
 	 * @return - Return codes of RMAP::sendWriteCommand()
 	 */
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, uint8_t *data,
 			uint32_t len);
 
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie);
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie);
 
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie);
 
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 			uint32_t *size);
 
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
+	virtual ReturnValue_t setAddress(CookieIF *cookie, uint32_t address);
 
-	virtual uint32_t getAddress(Cookie *cookie);
+	virtual uint32_t getAddress(CookieIF *cookie);
 
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
+	virtual ReturnValue_t setParameter(CookieIF *cookie, uint32_t parameter);
 
-	virtual uint32_t getParameter(Cookie *cookie);
+	virtual uint32_t getParameter(CookieIF *cookie);
 };
 
 #endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */

serialize/EndianConverter.h

@@ -0,0 +1,126 @@
+#ifndef ENDIANSWAPPER_H_
+#define ENDIANSWAPPER_H_
+
+#include <framework/osal/Endiness.h>
+#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:
+	/**
+	 * Convert a typed variable between big endian and machine endian.
+	 * Intended for plain old datatypes.
+	 */
+	template<typename T>
+	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;
+		for (size_t count = 0; count < sizeof(T); count++) {
+			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
+		}
+		return tmp;
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+		return in;
+#else
+#error Unknown Byte Order
+#endif
+	}
+
+	/**
+	 * convert a bytestream representing a single variable between big endian
+	 * and machine endian.
+	 */
+	static void convertBigEndian(uint8_t *out, const uint8_t *in,
+			size_t size) {
+#ifndef BYTE_ORDER_SYSTEM
+#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
+		for (size_t count = 0; count < size; count++) {
+			out[size - count - 1] = in[count];
+		}
+		return;
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+		memcpy(out, in, size);
+		return;
+#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
+	#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 (size_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
+	}
+	/**
+	 * convert a bytestream representing a single variable between little endian
+	 * and machine endian.
+	 */
+	static void convertLittleEndian(uint8_t *out, const uint8_t *in,
+			size_t size) {
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+			for (size_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
+	}
+};
+
+#endif /* ENDIANSWAPPER_H_ */

serialize/EndianSwapper.h

@@ -1,47 +0,0 @@
-#ifndef ENDIANSWAPPER_H_
-#define ENDIANSWAPPER_H_
-
-#include <framework/osal/Endiness.h>
-#include <cstring>
-#include <iostream>
-
-class EndianSwapper {
-private:
-	EndianSwapper() {
-	}
-	;
-public:
-	template<typename T>
-	static T swap(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;
-		for (uint8_t count = 0; count < sizeof(T); count++) {
-			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
-		}
-		return tmp;
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-		return in;
-#else
-#error Unknown Byte Order
-#endif
-	}
-	static void swap(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
-		for (uint8_t count = 0; count < size; count++) {
-			out[size - count - 1] = in[count];
-		}
-		return;
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-		memcpy(out, in, size);
-		return;
-#endif
-	}
-};
-
-#endif /* ENDIANSWAPPER_H_ */

serialize/SerialArrayListAdapter.h

@@ -1,18 +1,13 @@
-/**
- * @file	SerialArrayListAdapter.h
- * @brief	This file defines the SerialArrayListAdapter class.
- * @date	22.07.2014
- * @author	baetz
- */
-#ifndef SERIALARRAYLISTADAPTER_H_
-#define SERIALARRAYLISTADAPTER_H_
+#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
+#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/serialize/SerializeIF.h>
 #include <utility>
 
 /**
- * \ingroup serialize
+ * @ingroup serialize
+ * @author  baetz
  */
 template<typename T, typename count_t = uint8_t>
 class SerialArrayListAdapter : public SerializeIF {
@@ -20,25 +15,26 @@ 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) {
-		ReturnValue_t result = SerializeAdapter<count_t>::serialize(&list->size,
-				buffer, size, max_size, 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, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter<T>::serialize(&list->entries[i], buffer, size,
-					max_size, bigEndian);
+			result = SerializeAdapter::serialize(&list->entries[i], buffer,
+			        size, maxSize, streamEndianness);
 			++i;
 		}
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return getSerializedSize(adaptee);
 	}
 
@@ -47,31 +43,35 @@ 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;
 	}
 
-	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<count_t>::deSerialize(&tempSize,
-				buffer, size, bigEndian);
+		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
+				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return result;
+		}
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
 		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);
+					streamEndianness);
 			++i;
 		}
 		return result;
@@ -82,4 +82,4 @@ private:
 
 
 
-#endif /* SERIALARRAYLISTADAPTER_H_ */
+#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */