added pus1 to fw subsystem ID

.clang-format

@@ -1,7 +0,0 @@
----
-BasedOnStyle: Google
-IndentWidth: 2
----
-Language: Cpp
-ColumnLimit: 100
----

.gitignore

@@ -2,5 +2,3 @@
 .project
 .settings
 .metadata
-
-/build*

CHANGELOG

@@ -1,175 +0,0 @@
-# Changed from ASTP 1.1.0 to 1.2.0
-
-## API Changes
-
-### FSFW Architecture
-
-- New src folder which contains all source files except the HAL, contributed code and test code
-- External and internal API mostly stayed the same
-- Folder names are now all smaller case: internalError was renamed to internalerror and
-  FreeRTOS was renamed to freertos
-- Warning if optional headers are used but the modules was not added to the source files to compile
-
-### HAL
-
-- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
-  made using it more complicated than necessary
-
-## Bugfixes
-
-### FreeRTOS QueueMapManager
-
-- Fixed a bug which causes the first generated Queue ID to be invalid
-
-## Enhancements
-
-### FSFW Architecture
-
-- See API changes chapter. This change will keep the internal API consistent in the future
-
-# Changes from ASTP 1.0.0 to 1.1.0
-
-## API Changes
-
-### PUS
-
-- Added PUS C support
-- SUBSYSTEM_IDs added for PUS Services
-- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
-
-### ObjectManager
-
- - ObjectManager is now a singelton
-
-
-### Configuration
-
-- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
-  need to be specified in FSFWConfig.h
-
-### CMake
-
-- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
-
-## Bugfixes 
-
-- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
-- TCP server fixes
-
-## Enhancements
-
-### FreeRTOS Queue Handles
-
-- Fixed an internal issue how FreeRTOS MessageQueues were handled
-
-### Linux OSAL
-
-- Better printf error messages
-
-### CMake
-
-- Check for C++11 as mininimum required Version
-
-### Debug Output
-
-- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
-
-
-# Changes from ASTP 0.0.1 to 1.0.0
-
-### Host OSAL
-
-- Bugfix in MessageQueue, which caused the sender not to be set properly
-
-### FreeRTOS OSAL
-
-- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
-a C file without issues
-
-### PUS Services
-
-- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
-- The same is possible for the event reporting service (PUS5)
-- PUS Health Service added, which allows to command and retrieve health via PUS packets
-
-
-### EnhancedControllerBase
-
-- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
-
-### Local Pool
-
-- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
-bucket number of the pools per page and the number of pages are passed to the ctor instead of
-two ctor arguments and a template parameter
-
-### Parameter Service
-
-- The API of the parameter service has been changed to prevent inconsistencies
-between documentation and actual code and to clarify usage.
-- The parameter ID now consists of:
-	1. Domain ID (1 byte)
-	2. Unique Identifier (1 byte)
-	3. Linear Index (2 bytes)
-The linear index can be used for arrays as well as matrices.
-The parameter load command now explicitely expects the ECSS PTC and PFC
-information as well as  the rows and column number. Rows and column will
-default to one, which is equivalent to one scalar parameter (the most
-important use-case)
-   
-### File System Interface
-
-- A new interfaces specifies the functions for a software object which exposes the file system of
-a given hardware to use message based file handling (e.g. PUS commanding)
-
-### Internal Error Reporter
-
-- The new internal error reporter uses the local data pools. The pool IDs for
-the exisiting three error values and the new error set will be hardcoded for
-now, the the constructor for the internal error reporter just takes an object
-ID for now.
-
-### Device Handler Base
-
-- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
-that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
-a clear distinction between operation and communication steps
-- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
-- getTransitionDelayMs is now an abstract method
-
-### DeviceHandlerIF
-
-- Typo for UNKNOWN_DEVICE_REPLY 
-
-### Events
-
-- makeEvent function: Now takes three input parameters instead of two and
-allows setting a unique ID. Event.cpp source file removed, functions now
-defined in header directly. Namespaces renamed. Functions declared `constexpr`
-now
-
-### Commanding Service Base
-
-- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
-CSB instance. This variable has to be set in the FSFWConfig.h file
-
-### Service Interface
-
-- Proper printf support contained in ServiceInterfacePrinter.h
-- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
-- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. 
-  Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
-- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. 
-  For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
-  For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
-  If this is not the case, everything should work as usual.
-
-### ActionHelper and ActionMessage
-
-- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
-information whether to report a success or failure message instead of deriving it implicitely 
-from returnvalue
-
-### PUS Parameter Service 20
-
-Added PUS parameter service 20 (only custom subservices available).

CMakeLists.txt

@@ -1,351 +0,0 @@
-cmake_minimum_required(VERSION 3.13)
-
-set(FSFW_VERSION 2)
-set(FSFW_SUBVERSION 0)
-set(FSFW_REVISION 0)
-
-# Add the cmake folder so the FindSphinx module is found
-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
-
-option(FSFW_GENERATE_SECTIONS
-    "Generate function and data sections. Required to remove unused code" ON
-)
-if(FSFW_GENERATE_SECTIONS)
-    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
-endif()
-
-option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
-option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_UNITTESTS)
-    option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
-endif()
-
-option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
-# Options to exclude parts of the FSFW from compilation.
-option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
-option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
-option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
-
-# Optional sources
-option(FSFW_ADD_PUS "Compile with PUS sources" ON)
-option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
-
-option(FSFW_ADD_RMAP "Compile with RMAP" OFF)
-option(FSFW_ADD_DATALINKLAYER "Compile with Data Link Layer" OFF)
-option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
-option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
-
-# Contrib sources
-option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
-
-set(LIB_FSFW_NAME fsfw)
-set(FSFW_TEST_TGT fsfw-tests)
-set(FSFW_DUMMY_TGT fsfw-dummy)
-
-project(${LIB_FSFW_NAME})
-add_library(${LIB_FSFW_NAME})
-
-if(FSFW_BUILD_UNITTESTS)
-    message(STATUS "Building the FSFW unittests in addition to the static library")
-    # Check whether the user has already installed Catch2 first
-    find_package(Catch2 3)
-    # Not installed, so use FetchContent to download and provide Catch2
-    if(NOT Catch2_FOUND)
-        include(FetchContent)
-
-        FetchContent_Declare(
-            Catch2
-            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        v3.0.0-preview3
-        )
-
-        FetchContent_MakeAvailable(Catch2)
-    endif()
-
-    set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
-
-    project(${FSFW_TEST_TGT} CXX C)
-    add_executable(${FSFW_TEST_TGT})
-
-    if(FSFW_TESTS_GEN_COV)
-        message(STATUS "Generating coverage data for the library")
-        message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
-            "will be compiled with coverage data as well"
-        )
-        include(FetchContent)
-        FetchContent_Declare(
-            cmake-modules
-            GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
-        )
-        FetchContent_MakeAvailable(cmake-modules)
-        set(CMAKE_BUILD_TYPE "Debug")
-        list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
-        include(CodeCoverage)
-    endif()
-endif()
-
-set(FSFW_CORE_INC_PATH "inc")
-
-set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
-
-# Configure Files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-
-if(NOT CMAKE_CXX_STANDARD)
-    set(CMAKE_CXX_STANDARD 11)
-    set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 11)
-    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
-endif()
-
-# Backwards comptability
-if(OS_FSFW AND NOT FSFW_OSAL)
-    message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
-    set(FSFW_OSAL OS_FSFW)
-endif()
-
-if(NOT FSFW_OSAL)
-	message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
-	# Assume host OS and autodetermine from OS_FSFW
-	if(UNIX)
-		set(FSFW_OSAL  "linux" 
-			CACHE STRING 
-			"OS abstraction layer used in the FSFW"
-		)
-	elseif(WIN32)
-		set(FSFW_OSAL  "host" 
-			CACHE STRING "OS abstraction layer used in the FSFW"
-		)
-	endif()
-
-endif()
-
-set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
-
-if(FSFW_OSAL MATCHES host)
-    set(FSFW_OS_NAME "Host")
-    set(FSFW_OSAL_HOST ON)
-elseif(FSFW_OSAL MATCHES linux)
-    set(FSFW_OS_NAME "Linux")
-    set(FSFW_OSAL_LINUX ON)
-elseif(FSFW_OSAL MATCHES freertos)
-    set(FSFW_OS_NAME "FreeRTOS")
-    set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        ${LIB_OS_NAME}
-    )
-elseif(FSFW_OSAL STREQUAL rtems)
-    set(FSFW_OS_NAME "RTEMS")
-    set(FSFW_OSAL_RTEMS ON)
-else()
-    message(WARNING
-        "Invalid operating system for FSFW specified! Setting to host.."
-    )
-    set(FSFW_OS_NAME "Host")
-    set(OS_FSFW "host")
-endif()
-
-if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS)
-    configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
-    configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
-else()
-    configure_file(src/fsfw/FSFW.h.in FSFW.h)
-    configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
-endif()
-
-message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
-
-add_subdirectory(src)
-add_subdirectory(tests)
-if(FSFW_ADD_HAL)
-    add_subdirectory(hal)
-endif()
-add_subdirectory(contrib)
-if(FSFW_BUILD_DOCS)
-    add_subdirectory(docs)
-endif()
-
-if(FSFW_BUILD_UNITTESTS)
-    if(FSFW_TESTS_GEN_COV)
-        if(CMAKE_COMPILER_IS_GNUCXX)
-            include(CodeCoverage)
-
-            # Remove quotes.
-            separate_arguments(COVERAGE_COMPILER_FLAGS
-                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
-            )
-
-            # Add compile options manually, we don't want coverage for Catch2
-            target_compile_options(${FSFW_TEST_TGT} PRIVATE
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
-            target_compile_options(${LIB_FSFW_NAME} PRIVATE
-                "${COVERAGE_COMPILER_FLAGS}"
-            )
-
-            # Exclude directories here
-            if(WIN32)
-                set(GCOVR_ADDITIONAL_ARGS
-                    "--exclude-throw-branches"
-                    "--exclude-unreachable-branches"
-                )
-                set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*"
-                )
-            elseif(UNIX)
-                set(COVERAGE_EXCLUDES
-                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
-                    "/usr/local/include/*" "*/fsfw_tests/*"
-                    "*/catch2-src/*"
-                )
-            endif()
-
-            target_link_options(${FSFW_TEST_TGT} PRIVATE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-            target_link_options(${LIB_FSFW_NAME} PRIVATE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-            # Need to specify this as an interface, otherwise there will the compile issues
-            target_link_options(${LIB_FSFW_NAME} INTERFACE
-                -fprofile-arcs
-                -ftest-coverage
-            )
-
-            if(WIN32)
-                setup_target_for_coverage_gcovr_html(
-                    NAME ${FSFW_TEST_TGT}_coverage
-                    EXECUTABLE ${FSFW_TEST_TGT}
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
-            else()
-                setup_target_for_coverage_lcov(
-                    NAME ${FSFW_TEST_TGT}_coverage
-                    EXECUTABLE ${FSFW_TEST_TGT}
-                    DEPENDENCIES ${FSFW_TEST_TGT}
-                )
-            endif()
-        endif()
-    endif()
-    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
-endif()
-
-# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
-# If this is not given, we include the default configuration and emit a warning.
-if(NOT FSFW_CONFIG_PATH)
-    set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
-    if(NOT FSFW_BUILD_DOCS)
-        message(WARNING "Flight Software Framework configuration path not set!")
-        message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
-    endif()
-    add_subdirectory(${DEF_CONF_PATH})
-    set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
-endif()
-
-# FSFW might be part of a possibly complicated folder structure, so we 
-# extract the absolute path of the fsfwconfig folder.
-if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
-	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
-else()
-	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
-		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
-	)
-endif()
-
-foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
-    if(IS_ABSOLUTE ${INCLUDE_PATH})
-        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-    else()
-        get_filename_component(CURR_ABS_INC_PATH
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
-    endif()
-
-    if(CMAKE_VERBOSE)
-        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-    endif()
-
-    list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
-endforeach()
-
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    if(NOT DEFINED FSFW_WARNING_FLAGS)
-	   set(FSFW_WARNING_FLAGS
-		  -Wall
-		  -Wextra
-		  -Wimplicit-fallthrough=1
-		  -Wno-unused-parameter
-		  -Wno-psabi
-        )
-    endif()
-
-    if(FSFW_GENERATE_SECTIONS)
-        target_compile_options(${LIB_FSFW_NAME} PRIVATE
-            "-ffunction-sections"
-            "-fdata-sections"
-        )
-    endif()
-
-    if(FSFW_REMOVE_UNUSED_CODE)
-        target_link_options(${LIB_FSFW_NAME} PRIVATE
-            "Wl,--gc-sections"
-        )
-    endif()
-  
-    if(FSFW_WARNING_SHADOW_LOCAL_GCC)
-        list(APPEND WARNING_FLAGS "-Wshadow=local")
-    endif()
-	
-endif()
-
-if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-	set(COMPILER_FLAGS "/permissive-")
-endif()
-
-# Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} INTERFACE 
-	${CMAKE_SOURCE_DIR}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
-
-# Includes path required to compile FSFW itself as well
-# We assume that the fsfwconfig folder uses include relative to the project
-# root here!
-target_include_directories(${LIB_FSFW_NAME} PRIVATE 
-	${CMAKE_SOURCE_DIR}
-	${FSFW_CONFIG_PATH_ABSOLUTE}
-	${FSFW_CORE_INC_PATH}
-	${FSFW_ADD_INC_PATHS_ABS}
-)
-
-target_compile_options(${LIB_FSFW_NAME} PRIVATE 
-	${FSFW_WARNING_FLAGS}
-	${COMPILER_FLAGS}
-)
-
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_ADDITIONAL_LINK_LIBS}
-)
-
-string(CONCAT POST_BUILD_COMMENT
-    "######################################################################\n"
-    "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
-    "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n"
-)
-
-add_custom_command(
-   TARGET ${LIB_FSFW_NAME}
-   POST_BUILD
-   COMMENT ${POST_BUILD_COMMENT}
-)

NOTICE

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

README.md

@@ -1,128 +0,0 @@
-![FSFW Logo](misc/logo/FSFW_Logo_V3_bw.png)
-
-# Flight Software Framework (FSFW)
-
-The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
-automated systems like Satellites. 
-
-The initial version of the Flight Software Framework was developed during
-the Flying Laptop Project by the University of Stuttgart in cooperation
-with Airbus Defence and Space GmbH.
-
-## Quick facts
-
-The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
-
-The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface.
-
-Currently, the FSFW provides the following OSALs:
-
-- Linux
-- Host 
-- FreeRTOS
-- RTEMS
-
-The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
-memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
-ISISPACE IOBC or a Zynq-7020 SoC. The `fsfw` was also successfully run on the
-STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
-satellite mission Flying Laptop.
-
-## Getting started
-
-The [Hosted FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted) provides a
-good starting point and a demo to see the FSFW capabilities.
-It is recommended to get started by building and playing around with the demo application.
-There are also other examples provided for all OSALs using the popular embedded platforms
-Raspberry Pi, Beagle Bone Black and STM32H7.
-
-Generally, the FSFW is included in a project by providing
-a configuration folder, building the static library and linking against it. 
-There are some functions like `printChar` which are different depending on the target architecture
-and need to be implemented by the mission developer.
-
-A template configuration folder was provided and can be copied into the project root to have
-a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
-information about the possible options.
-
-## Adding the library
-
-The following steps show how to add and use FSFW components. It is still recommended to
-try out the example mentioned above to get started, but the following steps show how to
-add and link against the FSFW library in general.
-
-1. Add this repository as a submodule
-
-   ```sh
-   git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw   
-   ```
-
-2. Add the following directive inside the uppermost `CMakeLists.txt` file of your project
-
-   ```cmake
-   add_subdirectory(fsfw)
-   ```
-
-3. Make sure to provide a configuration folder and supply the path to that folder with
-   the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
-   It is also necessary to provide the `printChar` function. You can find an example
-   implementation for a hosted build 
-   [here](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c).
-
-4. Link against the FSFW library
-
-	```cmake
-	target_link_libraries(<YourProjectName> PRIVATE fsfw)
-	```
-
-5. It should now be possible use the FSFW as a static library from the user code.
-
-## Building the unittests
-
-The FSFW also has unittests which use the [Catch2 library](https://github.com/catchorg/Catch2).
-These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
-from your project `CMakeLists.txt` file or from the command line.
-
-The fsfw-tests binary will be built as part of the static library and dropped alongside it.
-If the unittests are built, the library and the tests will be built with coverage information by
-default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
-
-You can use the following commands inside the `fsfw` folder to set up the build system
-
-```sh
-mkdir build-Unittest && cd build-Unittest
-cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
-```
-
-You can also use `-DFSFW_OSAL=linux` on Linux systems.
-
-Coverage data in HTML format can be generated using the `CodeCoverage`
-[CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generare the coverage data in this format,
-the following command can be used inside the build directory after the build system was set up
-
-```sh
-cmake --build . -- fsfw-tests_coverage -j
-```
-
-The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
-
-## Formatting the sources
-
-The formatting is done by the `clang-format` tool. The configuration is contained within the
-`.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `apply-clang-format.sh` helper script to format all source files consistently.
-
-## Index
-
-[1. High-level overview](docs/README-highlevel.md#top) <br>
-[2. Core components](docs/README-core.md#top) <br>
-[3. Configuration](docs/README-config.md#top) <br>
-[4. OSAL overview](docs/README-osal.md#top) <br>
-[5. PUS services](docs/README-pus.md#top) <br>
-[6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
-[7. Controller overview](docs/README-controllers.md#top) <br>
-[8. Local Data Pools](docs/README-localpools.md#top) <br>
-
-
-

action/ActionHelper.cpp

@@ -0,0 +1,110 @@
+#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(nullptr) {
+}
+
+ActionHelper::~ActionHelper() {
+}
+
+ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
+	if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
+		ActionId_t currentAction = ActionMessage::getActionId(command);
+		prepareExecution(command->getSender(), currentAction,
+				ActionMessage::getStoreId(command));
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return CommandMessage::UNKNOWN_COMMAND;
+	}
+}
+
+ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
+	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (ipcStore == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(queueToUse_ != nullptr) {
+		setQueueToUse(queueToUse_);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
+	CommandMessage reply;
+	ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
+	queueToUse->sendMessage(reportTo, &reply);
+}
+
+void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
+	CommandMessage reply;
+	ActionMessage::setCompletionReply(&reply, commandId, result);
+	queueToUse->sendMessage(reportTo, &reply);
+}
+
+void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
+	queueToUse = queue;
+}
+
+void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
+		store_address_t dataAddress) {
+	const uint8_t* dataPtr = NULL;
+	size_t size = 0;
+	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		CommandMessage reply;
+		ActionMessage::setStepReply(&reply, actionId, 0, result);
+		queueToUse->sendMessage(commandedBy, &reply);
+		return;
+	}
+	result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+	ipcStore->deleteData(dataAddress);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		CommandMessage reply;
+		ActionMessage::setStepReply(&reply, actionId, 0, result);
+		queueToUse->sendMessage(commandedBy, &reply);
+		return;
+	}
+}
+
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+		ActionId_t replyId, SerializeIF* data, bool hideSender) {
+	CommandMessage reply;
+	store_address_t storeAddress;
+	uint8_t *dataPtr;
+	size_t maxSize = data->getSerializedSize();
+	if (maxSize == 0) {
+		//No error, there's simply nothing to report.
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	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, SerializeIF::Endianness::BIG);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		ipcStore->deleteData(storeAddress);
+		return result;
+	}
+	//We don't need to report the objectId, as we receive REQUESTED data before the completion success message.
+	//True aperiodic replies need to be reported with another dedicated message.
+	ActionMessage::setDataReply(&reply, replyId, storeAddress);
+
+	//TODO Service Implementation sucks at the moment
+	if (hideSender){
+		result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
+	} else {
+		result = queueToUse->sendMessage(reportTo, &reply);
+	}
+	if ( result != HasReturnvaluesIF::RETURN_OK){
+		ipcStore->deleteData(storeAddress);
+	}
+	return result;
+}
+
+void ActionHelper::resetHelper() {
+}

action/ActionHelper.h

@@ -0,0 +1,93 @@
+#ifndef ACTIONHELPER_H_
+#define ACTIONHELPER_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/serialize/SerializeIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+/**
+ * \brief Action Helper is a helper class which handles action messages
+ *
+ * Components which use the HasActionIF this helper can be used to handle the action messages.
+ * It does handle step messages as well as other answers to action calls. It uses the executeAction function
+ * of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
+ */
+class HasActionsIF;
+
+class ActionHelper {
+public:
+	/**
+	 * Constructor of the action helper
+	 * @param setOwner Pointer to the owner of the interface
+	 * @param useThisQueue messageQueue to be used, can be set during initialize function as well.
+	 */
+	ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
+
+	virtual ~ActionHelper();
+	/**
+	 * Function to be called from the owner with a new command message
+	 *
+	 * If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
+	 * If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
+	 *
+	 * @param command Pointer to a command message received by the owner
+	 * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
+	 */
+	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
+	 * @return Returns RETURN_OK if successful
+	 */
+	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.
+	 *
+	 * @param step Number of steps already done
+	 * @param reportTo The messageQueueId to report the step message to
+	 * @param commandId ID of the executed command
+	 * @param result Result of the execution
+	 */
+	void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	/**
+	 * Function to be called by the owner to send a action completion message
+	 *
+	 * @param reportTo MessageQueueId_t to report the action completion message to
+	 * @param commandId ID of the executed command
+	 * @param result Result of the execution
+	 */
+	void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	/**
+	 * Function to be called by the owner if an action does report data
+	 *
+	 * @param reportTo MessageQueueId_t to report the action completion message to
+	 * @param replyId ID of the executed command
+	 * @param data Pointer to the data
+	 * @return Returns RETURN_OK if successful, otherwise failure code
+	 */
+	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
+	/**
+	 * Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
+	 * message queue is unavailable at construction and initialize but must be setup before first call of other functions.
+	 * @param queue Queue to be used by the helper
+	 */
+	void setQueueToUse(MessageQueueIF *queue);
+protected:
+	static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
+	HasActionsIF* owner;//!< Pointer to the owner
+	MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
+	StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
+	/**
+	 *Internal function called by handleActionMessage(CommandMessage* command)
+	 *
+	 * @param commandedBy MessageQueueID of Commander
+	 * @param actionId ID of action to be done
+	 * @param dataAddress Address of additional data in IPC Store
+	 */
+	virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
+	/**
+	 *
+	 */
+	virtual void resetHelper();
+};
+
+#endif /* ACTIONHELPER_H_ */

action/ActionMessage.cpp

@@ -0,0 +1,79 @@
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+
+ActionMessage::ActionMessage() {
+}
+
+ActionMessage::~ActionMessage() {
+}
+
+void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
+		store_address_t parameters) {
+	message->setCommand(EXECUTE_ACTION);
+	message->setParameter(fid);
+	message->setParameter2(parameters.raw);
+}
+
+ActionId_t ActionMessage::getActionId(const CommandMessage* message) {
+	return ActionId_t(message->getParameter());
+}
+
+store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
+	store_address_t temp;
+	temp.raw = message->getParameter2();
+	return temp;
+}
+
+void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
+		ReturnValue_t result) {
+	if (result == HasReturnvaluesIF::RETURN_OK) {
+		message->setCommand(STEP_SUCCESS);
+	} else {
+		message->setCommand(STEP_FAILED);
+	}
+	message->setParameter(fid);
+	message->setParameter2((step << 16) + result);
+}
+
+uint8_t ActionMessage::getStep(const CommandMessage* message) {
+	return uint8_t((message->getParameter2() >> 16) & 0xFF);
+}
+
+ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) {
+	return message->getParameter2() & 0xFFFF;
+}
+
+void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
+		store_address_t data) {
+	message->setCommand(DATA_REPLY);
+	message->setParameter(actionId);
+	message->setParameter2(data.raw);
+}
+
+void ActionMessage::setCompletionReply(CommandMessage* message,
+		ActionId_t fid, ReturnValue_t result) {
+	if (result == HasReturnvaluesIF::RETURN_OK) {
+		message->setCommand(COMPLETION_SUCCESS);
+	} else {
+		message->setCommand(COMPLETION_FAILED);
+	}
+	message->setParameter(fid);
+	message->setParameter2(result);
+}
+
+void ActionMessage::clear(CommandMessage* message) {
+	switch(message->getCommand()) {
+	case EXECUTE_ACTION:
+	case DATA_REPLY: {
+		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+				objects::IPC_STORE);
+		if (ipcStore != NULL) {
+			ipcStore->deleteData(getStoreId(message));
+		}
+		break;
+	}
+	default:
+		break;
+	}
+}

action/ActionMessage.h

@@ -0,0 +1,32 @@
+#ifndef ACTIONMESSAGE_H_
+#define ACTIONMESSAGE_H_
+
+#include <framework/ipc/CommandMessage.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+typedef uint32_t ActionId_t;
+
+class ActionMessage {
+private:
+	ActionMessage();
+public:
+	static const uint8_t MESSAGE_ID = messagetypes::ACTION;
+	static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
+	static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
+	static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
+	static const Command_t DATA_REPLY =  MAKE_COMMAND_ID(4);
+	static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
+	static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
+	virtual ~ActionMessage();
+	static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
+	static ActionId_t getActionId(const CommandMessage* message );
+	static store_address_t getStoreId(const CommandMessage* message );
+	static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	static uint8_t getStep(const CommandMessage* message );
+	static ReturnValue_t getReturnCode(const CommandMessage* message );
+	static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
+	static void setCompletionReply(CommandMessage* message, ActionId_t fid, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	static void clear(CommandMessage* message);
+};
+
+#endif /* ACTIONMESSAGE_H_ */

action/CommandActionHelper.cpp

@@ -0,0 +1,127 @@
+#include <framework/action/ActionMessage.h>
+#include <framework/action/CommandActionHelper.h>
+#include <framework/action/CommandsActionsIF.h>
+#include <framework/action/HasActionsIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
+
+CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
+		owner(setOwner), queueToUse(NULL), ipcStore(
+		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);
+	if (receiver == NULL) {
+		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
+	}
+	store_address_t storeId;
+	uint8_t *storePointer;
+	size_t maxSize = data->getSerializedSize();
+	ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
+			&storePointer);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	size_t size = 0;
+	result = data->serialize(&storePointer, &size, maxSize,
+			SerializeIF::Endianness::BIG);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	return sendCommand(receiver->getCommandQueue(), actionId, storeId);
+}
+
+ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
+		ActionId_t actionId, const uint8_t *data, uint32_t size) {
+//	if (commandCount != 0) {
+//		return CommandsFunctionsIF::ALREADY_COMMANDING;
+//	}
+	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
+	if (receiver == NULL) {
+		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
+	}
+	store_address_t storeId;
+	ReturnValue_t result = ipcStore->addData(&storeId, data, size);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	return sendCommand(receiver->getCommandQueue(), actionId, storeId);
+}
+
+ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
+		ActionId_t actionId, store_address_t storeId) {
+	CommandMessage command;
+	ActionMessage::setCommand(&command, actionId, storeId);
+	ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		ipcStore->deleteData(storeId);
+	}
+	lastTarget = queueId;
+	commandCount++;
+	return result;
+}
+
+ReturnValue_t CommandActionHelper::initialize() {
+	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (ipcStore == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	queueToUse = owner->getCommandQueuePtr();
+	if (queueToUse == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
+	if (reply->getSender() != lastTarget) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	switch (reply->getCommand()) {
+	case ActionMessage::COMPLETION_SUCCESS:
+		commandCount--;
+		owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
+		return HasReturnvaluesIF::RETURN_OK;
+	case ActionMessage::COMPLETION_FAILED:
+		commandCount--;
+		owner->completionFailedReceived(ActionMessage::getActionId(reply),
+				ActionMessage::getReturnCode(reply));
+		return HasReturnvaluesIF::RETURN_OK;
+	case ActionMessage::STEP_SUCCESS:
+		owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
+				ActionMessage::getStep(reply));
+		return HasReturnvaluesIF::RETURN_OK;
+	case ActionMessage::STEP_FAILED:
+		commandCount--;
+		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));
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t CommandActionHelper::getCommandCount() const {
+	return commandCount;
+}
+
+void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
+	const uint8_t * data = NULL;
+	size_t size = 0;
+	ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return;
+	}
+	owner->dataReceived(actionId, data, size);
+	ipcStore->deleteData(storeId);
+}

action/CommandActionHelper.h

@@ -0,0 +1,36 @@
+#ifndef COMMANDACTIONHELPER_H_
+#define COMMANDACTIONHELPER_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/serialize/SerializeIF.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+
+class CommandsActionsIF;
+
+class CommandActionHelper {
+	friend class CommandsActionsIF;
+public:
+	CommandActionHelper(CommandsActionsIF* owner);
+	virtual ~CommandActionHelper();
+	ReturnValue_t commandAction(object_id_t commandTo,
+			ActionId_t actionId, const uint8_t* data, uint32_t size);
+	ReturnValue_t commandAction(object_id_t commandTo,
+			ActionId_t actionId, SerializeIF* data);
+	ReturnValue_t initialize();
+	ReturnValue_t handleReply(CommandMessage* reply);
+	uint8_t getCommandCount() const;
+private:
+	CommandsActionsIF* owner;
+	MessageQueueIF* queueToUse;
+	StorageManagerIF* ipcStore;
+	uint8_t commandCount;
+	MessageQueueId_t lastTarget;
+	void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
+	ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
+			store_address_t storeId);
+};
+
+#endif /* COMMANDACTIONHELPER_H_ */

action/CommandsActionsIF.h

@@ -0,0 +1,34 @@
+#ifndef COMMANDSACTIONSIF_H_
+#define COMMANDSACTIONSIF_H_
+
+#include <framework/action/CommandActionHelper.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+
+/**
+ * Interface to separate commanding actions of other objects.
+ * In next iteration, IF should be shortened to three calls:
+ * - dataReceived(data)
+ * - successReceived(id, step)
+ * - failureReceived(id, step, cause)
+ * or even
+ * - replyReceived(id, step, cause) (if cause == OK, it's a success).
+ */
+class CommandsActionsIF {
+	friend class CommandActionHelper;
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
+	static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
+	static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
+	virtual ~CommandsActionsIF() {}
+	virtual MessageQueueIF* getCommandQueuePtr() = 0;
+protected:
+	virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
+	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
+	virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
+	virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
+	virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
+};
+
+
+#endif /* COMMANDSACTIONSIF_H_ */

action/HasActionsIF.h

@@ -0,0 +1,60 @@
+#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
+#define FRAMEWORK_ACTION_HASACTIONSIF_H_
+
+#include <framework/action/ActionHelper.h>
+#include <framework/action/ActionMessage.h>
+#include <framework/action/SimpleActionHelper.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+/**
+ * @brief
+ * Interface for component which uses actions
+ *
+ * @details
+ * This interface is used to execute actions in the component. Actions, in the
+ * sense of this interface, are activities with a well-defined beginning and
+ * end in time. They may adjust sub-states of components, but are not supposed
+ * to change the main mode of operation, which is handled with the HasModesIF
+ * described below.
+ *
+ * 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 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);
+	virtual ~HasActionsIF() { }
+	/**
+	 * Function to get the MessageQueueId_t of the implementing object
+	 * @return MessageQueueId_t of the object
+	 */
+	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!
+	 */
+	virtual ReturnValue_t executeAction(ActionId_t actionId,
+			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
+};
+
+
+#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */

action/SimpleActionHelper.cpp

@@ -0,0 +1,74 @@
+#include <framework/action/HasActionsIF.h>
+#include <framework/action/SimpleActionHelper.h>
+SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
+		MessageQueueIF* useThisQueue) :
+		ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
+				0), lastAction(0), stepCount(0) {
+}
+
+SimpleActionHelper::~SimpleActionHelper() {
+}
+
+void SimpleActionHelper::step(ReturnValue_t result) {
+	//STEP_OFFESET is subtracted to compensate for adding offset in base method, which is not necessary here.
+	ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
+			result);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		resetHelper();
+	}
+}
+
+void SimpleActionHelper::finish(ReturnValue_t result) {
+	ActionHelper::finish(lastCommander, lastAction, result);
+	resetHelper();
+}
+
+ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) {
+	return ActionHelper::reportData(lastCommander, lastAction, data);
+}
+
+void SimpleActionHelper::resetHelper() {
+	stepCount = 0;
+	isExecuting = false;
+	lastAction = 0;
+	lastCommander = 0;
+}
+
+void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
+		ActionId_t actionId, store_address_t dataAddress) {
+	CommandMessage reply;
+	if (isExecuting) {
+		ipcStore->deleteData(dataAddress);
+		ActionMessage::setStepReply(&reply, actionId, 0,
+				HasActionsIF::IS_BUSY);
+		queueToUse->sendMessage(commandedBy, &reply);
+	}
+	const uint8_t* dataPtr = NULL;
+	size_t size = 0;
+	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		ActionMessage::setStepReply(&reply, actionId, 0, result);
+		queueToUse->sendMessage(commandedBy, &reply);
+		return;
+	}
+	lastCommander = commandedBy;
+	lastAction = actionId;
+	result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+	ipcStore->deleteData(dataAddress);
+	switch (result) {
+	case HasReturnvaluesIF::RETURN_OK:
+		isExecuting = true;
+		stepCount++;
+		break;
+	case HasActionsIF::EXECUTION_FINISHED:
+		ActionMessage::setCompletionReply(&reply, actionId,
+				HasReturnvaluesIF::RETURN_OK);
+		queueToUse->sendMessage(commandedBy, &reply);
+		break;
+	default:
+		ActionMessage::setStepReply(&reply, actionId, 0, result);
+		queueToUse->sendMessage(commandedBy, &reply);
+		break;
+	}
+
+}

action/SimpleActionHelper.h

@@ -0,0 +1,24 @@
+#ifndef SIMPLEACTIONHELPER_H_
+#define SIMPLEACTIONHELPER_H_
+
+#include <framework/action/ActionHelper.h>
+
+class SimpleActionHelper: public ActionHelper {
+public:
+	SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
+	virtual ~SimpleActionHelper();
+	void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	ReturnValue_t reportData(SerializeIF* data);
+
+protected:
+	void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
+	virtual  void resetHelper();
+private:
+	bool isExecuting;
+	MessageQueueId_t lastCommander;
+	ActionId_t lastAction;
+	uint8_t stepCount;
+};
+
+#endif /* SIMPLEACTIONHELPER_H_ */

automation/Dockerfile

@@ -1,8 +0,0 @@
-FROM ubuntu:focal
-
-RUN apt-get update
-RUN apt-get --yes upgrade
-
-#tzdata is a dependency, won't install otherwise
-ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano

automation/Jenkinsfile

@@ -1,72 +0,0 @@
-pipeline {
-    agent any
-    environment {
-        BUILDDIR = 'build-unittests'
-    }
-    stages {
-        stage('Create Docker') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    additionalBuildArgs  '--no-cache'
-                    reuseNode true
-                }
-            }
-            steps {
-                sh 'rm -rf $BUILDDIR'
-            }
-        }
-        stage('Configure') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
-                }
-            }
-        }
-        stage('Build') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -j'
-                }
-            }
-        }
-        stage('Unittests') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
-            steps {
-                dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j'
-                }
-            }
-        }
-        stage('Valgrind') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
-            steps {
-                dir(BUILDDIR) {
-                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                }
-            }
-        }
-    }
-}

cmake/FindSphinx.cmake

@@ -1,13 +0,0 @@
-# Look for an executable called sphinx-build
-find_program(SPHINX_EXECUTABLE
-             NAMES sphinx-build
-             DOC "Path to sphinx-build executable")
-
-include(FindPackageHandleStandardArgs)
-
-# Handle standard arguments to find_package like REQUIRED and QUIET
-find_package_handle_standard_args(
-    Sphinx
-    "Failed to find sphinx-build executable"
-    SPHINX_EXECUTABLE
-)

container/ArrayList.h

@@ -0,0 +1,247 @@
+#ifndef FRAMEWORK_CONTAINER_ARRAYLIST_H_
+#define FRAMEWORK_CONTAINER_ARRAYLIST_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serialize/SerializeIF.h>
+
+/**
+ * @brief 	A List that stores its values in an array.
+ * @details
+ * The underlying storage is an array that can be allocated by the class
+ * itself or supplied via ctor.
+ *
+ * @ingroup container
+ */
+template<typename T, typename count_t = uint8_t>
+class ArrayList {
+	template<typename U, typename count> friend class SerialArrayListAdapter;
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
+	static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
+
+    /**
+     * Copying is forbiden by declaring copy ctor and copy assignment deleted
+     * It is too ambigous in this case.
+     * (Allocate a new backend? Use the same? What to do in an modifying call?)
+     */
+	ArrayList(const ArrayList& other) = delete;
+	const ArrayList& operator=(const ArrayList& other) = delete;
+
+	/**
+	 * Number of Elements stored in this List
+	 */
+	count_t size;
+
+	/**
+	 * This is the allocating constructor;
+	 *
+	 * It allocates an array of the specified size.
+	 *
+	 * @param maxSize
+	 */
+	ArrayList(count_t maxSize) :
+			size(0), maxSize_(maxSize), allocated(true) {
+		entries = new T[maxSize];
+	}
+
+	/**
+	 * This is the non-allocating constructor
+	 *
+	 * It expects a pointer to an array of a certain size and initializes itself to it.
+	 *
+	 * @param storage the array to use as backend
+	 * @param maxSize size of storage
+	 * @param size size of data already present in storage
+	 */
+	ArrayList(T *storage, count_t maxSize, count_t size = 0) :
+			size(size), entries(storage), maxSize_(maxSize), allocated(false) {
+	}
+
+	/**
+	 * Destructor, if the allocating constructor was used, it deletes the array.
+	 */
+	virtual ~ArrayList() {
+		if (allocated) {
+			delete[] entries;
+		}
+	}
+
+    /**
+     * An Iterator to go trough an ArrayList
+     *
+     * It stores a pointer to an element and increments the
+     * pointer when incremented itself.
+     */
+    class Iterator {
+    public:
+        /**
+         * Empty ctor, points to NULL
+         */
+        Iterator(): value(0) {}
+
+        /**
+         * Initializes the Iterator to point to an element
+         *
+         * @param initialize
+         */
+        Iterator(T *initialize) {
+            value = initialize;
+        }
+
+        /**
+         * The current element the iterator points to
+         */
+        T *value;
+
+        Iterator& operator++() {
+            value++;
+            return *this;
+        }
+
+        Iterator operator++(int) {
+            Iterator tmp(*this);
+            operator++();
+            return tmp;
+        }
+
+        Iterator& operator--() {
+            value--;
+            return *this;
+        }
+
+        Iterator operator--(int) {
+            Iterator tmp(*this);
+            operator--();
+            return tmp;
+        }
+
+        T operator*() {
+            return *value;
+        }
+
+        T *operator->() {
+            return value;
+        }
+
+        const T *operator->() const{
+            return value;
+        }
+
+        //SHOULDDO this should be implemented as non-member
+        bool operator==(const typename ArrayList<T, count_t>::Iterator& other) const{
+            return (value == other.value);
+        }
+
+        //SHOULDDO this should be implemented as non-member
+        bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
+            return !(*this == other);
+        }
+    };
+
+	/**
+	 * Iterator pointing to the first stored elmement
+	 *
+	 * @return Iterator to the first element
+	 */
+	Iterator begin() const {
+		return Iterator(&entries[0]);
+	}
+
+	/**
+	 * returns an Iterator pointing to the element after the last stored entry
+	 *
+	 * @return Iterator to the element after the last entry
+	 */
+	Iterator end() const {
+		return Iterator(&entries[size]);
+	}
+
+	T & operator[](count_t i) const {
+		return entries[i];
+	}
+
+	/**
+	 * The first element
+	 *
+	 * @return pointer to the first stored element
+	 */
+	T *front() {
+		return entries;
+	}
+
+	/**
+	 * The last element
+	 *
+	 * does not return a valid pointer if called on an empty list.
+	 *
+	 * @return pointer to the last stored element
+	 */
+	T *back() {
+		return &entries[size - 1];
+		//Alternative solution
+		//return const_cast<T*>(static_cast<const T*>(*this).back());
+	}
+
+	const T* back() const{
+		return &entries[size-1];
+	}
+
+	/**
+	 * The maximum number of elements this List can contain
+	 *
+	 * @return maximum number of elements
+	 */
+	uint32_t maxSize() const {
+		return this->maxSize_;
+	}
+
+	/**
+	 * Insert a new element into the list.
+	 *
+	 * The new element is inserted after the last stored element.
+	 *
+	 * @param entry
+	 * @return
+	 *          -@c FULL if the List is full
+	 *          -@c RETURN_OK else
+	 */
+	ReturnValue_t insert(T entry) {
+		if (size >= maxSize_) {
+			return FULL;
+		}
+		entries[size] = entry;
+		++size;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	/**
+	 * clear the List
+	 *
+	 * This does not actually clear all entries, it only sets the size to 0.
+	 */
+	void clear() {
+		size = 0;
+	}
+
+	count_t remaining() {
+		return (maxSize_ - size);
+	}
+
+protected:
+	/**
+	 * pointer to the array in which the entries are stored
+	 */
+	T *entries;
+	/**
+	 * remembering the maximum size
+	 */
+	uint32_t maxSize_;
+
+	/**
+	 * true if the array was allocated and needs to be deleted in the destructor.
+	 */
+	bool allocated;
+};
+
+#endif /* ARRAYLIST_H_ */

container/BinaryTree.h

@@ -0,0 +1,153 @@
+#ifndef FRAMEWORK_CONTAINER_BINARYTREE_H_
+#define FRAMEWORK_CONTAINER_BINARYTREE_H_
+
+#include <stddef.h>
+#include <stdint.h>
+#include <map>
+template<typename Tp>
+class BinaryNode {
+public:
+	BinaryNode(Tp* setValue) :
+			value(setValue), left(NULL), right(NULL), parent(NULL) {
+	}
+	Tp *value;
+	BinaryNode* left;
+	BinaryNode* right;
+	BinaryNode* parent;
+};
+
+template<typename Tp>
+class ExplicitNodeIterator {
+public:
+	typedef ExplicitNodeIterator<Tp> _Self;
+	typedef BinaryNode<Tp> _Node;
+	typedef Tp value_type;
+	typedef Tp* pointer;
+	typedef Tp& reference;
+	ExplicitNodeIterator() :
+			element(NULL) {
+	}
+	ExplicitNodeIterator(_Node* node) :
+			element(node) {
+	}
+	BinaryNode<Tp>* element;
+	_Self up() {
+		return _Self(element->parent);
+	}
+	_Self left() {
+		if (element != NULL) {
+			return _Self(element->left);
+		} else {
+			return _Self(NULL);
+		}
+
+	}
+	_Self right() {
+		if (element != NULL) {
+			return _Self(element->right);
+		} else {
+			return _Self(NULL);
+		}
+
+	}
+	bool operator==(const _Self& __x) const {
+		return element == __x.element;
+	}
+	bool operator!=(const _Self& __x) const {
+		return element != __x.element;
+	}
+    pointer
+    operator->() const {
+    	if (element != NULL) {
+    		return element->value;
+    	} else {
+    		return NULL;
+    	}
+    }
+    pointer operator*() const {
+    	return this->operator->();
+    }
+};
+
+/**
+ * Pretty rudimentary version of a simple binary tree (not a binary search tree!).
+ */
+template<typename Tp>
+class BinaryTree {
+public:
+	typedef ExplicitNodeIterator<Tp> iterator;
+	typedef BinaryNode<Tp> Node;
+	typedef std::pair<iterator, iterator> children;
+	BinaryTree() :
+			rootNode(NULL) {
+	}
+	BinaryTree(Node* rootNode) :
+			rootNode(rootNode) {
+	}
+	iterator begin() const {
+		return iterator(rootNode);
+	}
+	static iterator end() {
+		return iterator(NULL);
+	}
+	iterator insert(bool insertLeft, iterator parentNode, Node* newNode ) {
+		newNode->parent = parentNode.element;
+		if (parentNode.element != NULL) {
+			if (insertLeft) {
+				parentNode.element->left = newNode;
+			} else {
+				parentNode.element->right = newNode;
+			}
+		} else {
+			//Insert first element.
+			rootNode = newNode;
+		}
+		return iterator(newNode);
+	}
+	//No recursion to children. Needs to be done externally.
+	children erase(iterator node) {
+		if (node.element == rootNode) {
+			//We're root node
+			rootNode = NULL;
+		} else {
+			//Delete parent's reference
+			if (node.up().left() == node) {
+				node.up().element->left = NULL;
+			} else {
+				node.up().element->right = NULL;
+			}
+		}
+		return children(node.element->left, node.element->right);
+	}
+	static uint32_t countLeft(iterator start) {
+		if (start == end()) {
+			return 0;
+		}
+		//We also count the start node itself.
+		uint32_t count = 1;
+		while (start.left() != end()) {
+			count++;
+			start = start.left();
+		}
+		return count;
+	}
+	static uint32_t countRight(iterator start) {
+		if (start == end()) {
+			return 0;
+		}
+		//We also count the start node itself.
+		uint32_t count = 1;
+		while (start.right() != end()) {
+			count++;
+			start = start.right();
+		}
+		return count;
+	}
+
+protected:
+	Node* rootNode;
+};
+
+
+
+#endif /* FRAMEWORK_CONTAINER_BINARYTREE_H_ */

container/DynamicFIFO.h

@@ -0,0 +1,42 @@
+#ifndef FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
+#define FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
+
+#include <framework/container/FIFOBase.h>
+#include <vector>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure. The maximum size
+ * 			can be set in the constructor.
+ * @details
+ * The maximum capacity can be determined at run-time, so this container
+ * performs dynamic memory allocation!
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
+template<typename T>
+class DynamicFIFO: public FIFOBase<T> {
+public:
+	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
+			fifoVector(maxCapacity)  {
+		// trying to pass the pointer of the uninitialized vector
+		// to the FIFOBase constructor directly lead to a super evil bug.
+		// So we do it like this now.
+		this->setData(fifoVector.data());
+	};
+
+	/**
+	 * @brief	Custom copy constructor which prevents setting the
+	 * 	        underlying pointer wrong.
+	 */
+	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
+			fifoVector(other.maxCapacity) {
+		this->setData(fifoVector.data());
+	}
+
+
+private:
+	std::vector<T> fifoVector;
+};
+
+#endif /* FRAMEWORK_CONTAINER_DYNAMICFIFO_H_ */

container/FIFO.h

@@ -0,0 +1,34 @@
+#ifndef FRAMEWORK_CONTAINER_FIFO_H_
+#define FRAMEWORK_CONTAINER_FIFO_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/container/FIFOBase.h>
+#include <array>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure with size fixed at
+ * 			compile time
+ * @details
+ * Performs no dynamic memory allocation.
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
+template<typename T, size_t capacity>
+class FIFO: public FIFOBase<T> {
+public:
+	FIFO(): FIFOBase<T>(fifoArray.data(), capacity) {};
+
+	/**
+	 * @brief 	Custom copy constructor to set pointer correctly.
+	 * @param other
+	 */
+	FIFO(const FIFO& other): FIFOBase<T>(other) {
+		this->setData(fifoArray.data());
+	}
+
+private:
+	std::array<T, capacity> fifoArray;
+};
+
+#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */

container/FIFOBase.h

@@ -0,0 +1,65 @@
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#define FRAMEWORK_CONTAINER_FIFOBASE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+#include <cstring>
+
+template <typename T>
+class FIFOBase {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
+	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
+	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
+
+	/** Default ctor, takes pointer to first entry of underlying container
+	 *  and maximum capacity */
+	FIFOBase(T* values, const size_t maxCapacity);
+
+	/**
+	 * Insert value into FIFO
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t insert(T value);
+	/**
+	 * Retrieve item from FIFO. This removes the item from the FIFO.
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t retrieve(T *value);
+	/**
+	 * Retrieve item from FIFO without removing it from FIFO.
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t peek(T * value);
+	/**
+	 * Remove item from FIFO.
+	 * @return
+	 */
+	ReturnValue_t pop();
+
+	bool empty();
+	bool full();
+	size_t size();
+
+
+	size_t getMaxCapacity() const;
+
+protected:
+	void setData(T* data);
+	size_t maxCapacity = 0;
+
+	T* values;
+
+	size_t readIndex = 0;
+	size_t writeIndex = 0;
+	size_t currentSize = 0;
+
+	size_t next(size_t current);
+};
+
+#include <framework/container/FIFOBase.tpp>
+
+#endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */

container/FIFOBase.tpp

@@ -0,0 +1,87 @@
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+#define FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#error Include FIFOBase.h before FIFOBase.tpp!
+#endif
+
+template<typename T>
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+		maxCapacity(maxCapacity), values(values){};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::insert(T value) {
+	if (full()) {
+		return FULL;
+	} else {
+		values[writeIndex] = value;
+		writeIndex = next(writeIndex);
+		++currentSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
+	if (empty()) {
+		return EMPTY;
+	} else {
+		*value = values[readIndex];
+		readIndex = next(readIndex);
+		--currentSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::peek(T* value) {
+	if(empty()) {
+		return EMPTY;
+	} else {
+		*value = values[readIndex];
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::pop() {
+	T value;
+	return this->retrieve(&value);
+};
+
+template<typename T>
+inline bool FIFOBase<T>::empty() {
+	return (currentSize == 0);
+};
+
+template<typename T>
+inline bool FIFOBase<T>::full() {
+	return (currentSize == maxCapacity);
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::size() {
+	return currentSize;
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::next(size_t current) {
+	++current;
+	if (current == maxCapacity) {
+		current = 0;
+	}
+	return current;
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::getMaxCapacity() const {
+	return maxCapacity;
+}
+
+
+template<typename T>
+inline void FIFOBase<T>::setData(T *data) {
+	this->values = data;
+}
+
+#endif

container/FixedArrayList.h

@@ -0,0 +1,57 @@
+#ifndef FIXEDARRAYLIST_H_
+#define FIXEDARRAYLIST_H_
+
+#include <framework/container/ArrayList.h>
+
+/**
+ * @brief 	Array List with a fixed maximum size
+ * @ingroup container
+ */
+template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>
+class FixedArrayList: public ArrayList<T, count_t> {
+private:
+	T data[MAX_SIZE];
+public:
+	/**
+	 * (Robin) Maybe we should also implement move assignment and move ctor.
+	 * Or at least delete them.
+	 */
+	FixedArrayList() :
+			ArrayList<T, count_t>(data, MAX_SIZE) {
+	}
+
+	// (Robin): We could create a constructor to initialize the fixed array list
+	// with data and the known size field
+	// so it can be used for serialization too (with SerialFixedArrrayListAdapter)
+	// is this feasible?
+	/**
+	 * Initialize a fixed array list with data and number of data fields.
+	 * Endianness of entries can be swapped optionally.
+	 * @param data_
+	 * @param count
+	 * @param swapArrayListEndianess
+	 */
+	FixedArrayList(T * data_, count_t count):
+		ArrayList<T, count_t>(data, MAX_SIZE) {
+		memcpy(this->data, data_, count * sizeof(T));
+		this->size = count;
+	}
+
+	FixedArrayList(const FixedArrayList& other) :
+			ArrayList<T, count_t>(data, MAX_SIZE) {
+		memcpy(this->data, other.data, sizeof(this->data));
+		this->entries = data;
+	}
+
+	FixedArrayList& operator=(FixedArrayList other) {
+		memcpy(this->data, other.data, sizeof(this->data));
+		this->entries = data;
+		return *this;
+	}
+
+	virtual ~FixedArrayList() {
+	}
+
+};
+
+#endif /* FIXEDARRAYLIST_H_ */

container/FixedMap.h

@@ -0,0 +1,225 @@
+#ifndef FIXEDMAP_H_
+#define FIXEDMAP_H_
+
+#include <framework/container/ArrayList.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <utility>
+
+/**
+ * @brief 	Map implementation for maps with a pre-defined size.
+ * @details Can be initialized with desired maximum size.
+ * 	        Iterator is used to access <key,value> pair and
+ * 	        iterate through map entries. Complexity O(n).
+ * @ingroup container
+ */
+template<typename key_t, typename T>
+class FixedMap: public SerializeIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
+	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+
+private:
+	static const key_t EMPTY_SLOT = -1;
+	ArrayList<std::pair<key_t, T>, uint32_t> theMap;
+	uint32_t _size;
+
+	uint32_t findIndex(key_t key) const {
+		if (_size == 0) {
+			return 1;
+		}
+		uint32_t i = 0;
+		for (i = 0; i < _size; ++i) {
+			if (theMap[i].first == key) {
+				return i;
+			}
+		}
+		return i;
+	}
+public:
+	FixedMap(uint32_t maxSize) :
+			theMap(maxSize), _size(0) {
+	}
+
+	class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
+	public:
+		Iterator() :
+				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
+		}
+
+		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;
+		}
+
+		// -> operator overloaded, can be used to access value
+		T *operator->() {
+			return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
+		}
+
+		// Can be used to access the key of the iterator
+		key_t first() {
+			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->first;
+		}
+
+		// Alternative to access value, similar to std::map implementation
+		T second() {
+			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
+		}
+	};
+
+
+
+	Iterator begin() const {
+		return Iterator(&theMap[0]);
+	}
+
+	Iterator end() const {
+		return Iterator(&theMap[_size]);
+	}
+
+	uint32_t size() const {
+		return _size;
+	}
+
+	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
+		if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
+			return FixedMap::KEY_ALREADY_EXISTS;
+		}
+		if (_size == theMap.maxSize()) {
+			return FixedMap::MAP_FULL;
+		}
+		theMap[_size].first = key;
+		theMap[_size].second = value;
+		if (storedValue != NULL) {
+			*storedValue = Iterator(&theMap[_size]);
+		}
+		++_size;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t insert(std::pair<key_t, T> pair) {
+		return insert(pair.first, pair.second);
+	}
+
+	ReturnValue_t exists(key_t key) const {
+		ReturnValue_t result = KEY_DOES_NOT_EXIST;
+		if (findIndex(key) < _size) {
+			result = HasReturnvaluesIF::RETURN_OK;
+		}
+		return result;
+	}
+
+	ReturnValue_t erase(Iterator *iter) {
+		uint32_t i;
+		if ((i = findIndex((*iter).value->first)) >= _size) {
+			return KEY_DOES_NOT_EXIST;
+		}
+		theMap[i] = theMap[_size - 1];
+		--_size;
+		--((*iter).value);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t erase(key_t key) {
+		uint32_t i;
+		if ((i = findIndex(key)) >= _size) {
+			return KEY_DOES_NOT_EXIST;
+		}
+		theMap[i] = theMap[_size - 1];
+		--_size;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	T *findValue(key_t key) const {
+		return &theMap[findIndex(key)].second;
+	}
+
+	Iterator find(key_t key) const {
+		ReturnValue_t result = exists(key);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return end();
+		}
+		return Iterator(&theMap[findIndex(key)]);
+	}
+
+	ReturnValue_t find(key_t key, T **value) const {
+		ReturnValue_t result = exists(key);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		*value = &theMap[findIndex(key)].second;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void clear() {
+		_size = 0;
+	}
+
+	uint32_t maxSize() const {
+		return theMap.maxSize();
+	}
+
+
+	bool full() {
+		if(_size == theMap.maxSize()) {
+			return true;
+		}
+		else {
+			return false;
+		}
+	}
+
+	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::serialize(&theMap[i].first, buffer,
+					size, maxSize, streamEndianness);
+			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
+					maxSize, streamEndianness);
+			++i;
+		}
+		return result;
+	}
+
+	virtual size_t getSerializedSize() const {
+		uint32_t printSize = sizeof(_size);
+		uint32_t i = 0;
+
+		for (i = 0; i < _size; ++i) {
+			printSize += SerializeAdapter::getSerializedSize(
+					&theMap[i].first);
+			printSize += SerializeAdapter::getSerializedSize(&theMap[i].second);
+		}
+
+		return printSize;
+	}
+
+	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::deSerialize(&theMap[i].first, buffer,
+					size, streamEndianness);
+			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
+					streamEndianness);
+			++i;
+		}
+		return result;
+	}
+
+};
+
+#endif /* FIXEDMAP_H_ */

container/FixedOrderedMultimap.h

@@ -0,0 +1,181 @@
+#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
+#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
+
+#include <framework/container/ArrayList.h>
+#include <cstring>
+#include <set>
+/**
+ * \ingroup container
+ */
+template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+class FixedOrderedMultimap {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
+	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+
+private:
+	typedef KEY_COMPARE compare;
+	compare myComp;
+	ArrayList<std::pair<key_t, T>, uint32_t> theMap;
+	uint32_t _size;
+
+	uint32_t findFirstIndex(key_t key, uint32_t startAt = 0) const {
+		if (startAt >= _size) {
+			return startAt + 1;
+		}
+		uint32_t i = startAt;
+		for (i = startAt; i < _size; ++i) {
+			if (theMap[i].first == key) {
+				return i;
+			}
+		}
+		return i;
+	}
+
+	uint32_t findNicePlace(key_t key) const {
+		uint32_t i = 0;
+		for (i = 0; i < _size; ++i) {
+			if (myComp(key, theMap[i].first)) {
+				return i;
+			}
+		}
+		return i;
+	}
+
+	void removeFromPosition(uint32_t position) {
+		if (_size <= position) {
+			return;
+		}
+		memmove(&theMap[position], &theMap[position + 1],
+				(_size - position - 1) * sizeof(std::pair<key_t,T>));
+		--_size;
+	}
+public:
+	FixedOrderedMultimap(uint32_t maxSize) :
+			theMap(maxSize), _size(0) {
+	}
+	virtual ~FixedOrderedMultimap() {
+	}
+
+	class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
+	public:
+		Iterator() :
+				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
+		}
+
+		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 {
+		return Iterator(&theMap[0]);
+	}
+
+	Iterator end() const {
+		return Iterator(&theMap[_size]);
+	}
+
+	uint32_t size() const {
+		return _size;
+	}
+
+	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
+		if (_size == theMap.maxSize()) {
+			return MAP_FULL;
+		}
+		uint32_t position = findNicePlace(key);
+		memmove(&theMap[position + 1], &theMap[position],
+				(_size - position) * sizeof(std::pair<key_t,T>));
+		theMap[position].first = key;
+		theMap[position].second = value;
+		++_size;
+		if (storedValue != NULL) {
+			*storedValue = Iterator(&theMap[position]);
+		}
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t insert(std::pair<key_t, T> pair) {
+		return insert(pair.fist, pair.second);
+	}
+
+	ReturnValue_t exists(key_t key) const {
+		ReturnValue_t result = KEY_DOES_NOT_EXIST;
+		if (findFirstIndex(key) < _size) {
+			result = HasReturnvaluesIF::RETURN_OK;
+		}
+		return result;
+	}
+
+	ReturnValue_t erase(Iterator *iter) {
+		uint32_t i;
+		if ((i = findFirstIndex((*iter).value->first)) >= _size) {
+			return KEY_DOES_NOT_EXIST;
+		}
+		removeFromPosition(i);
+		if (*iter != begin()) {
+			(*iter)--;
+		} else {
+			*iter = begin();
+		}
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t erase(key_t key) {
+		uint32_t i;
+		if ((i = findFirstIndex(key)) >= _size) {
+			return KEY_DOES_NOT_EXIST;
+		}
+		do {
+			removeFromPosition(i);
+			i = findFirstIndex(key, i);
+		} while (i < _size);
+		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) {
+			return end();
+		}
+		return Iterator(&theMap[findFirstIndex(key)]);
+	}
+
+	ReturnValue_t find(key_t key, T **value) const {
+		ReturnValue_t result = exists(key);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		*value = &theMap[findFirstIndex(key)].second;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void clear() {
+		_size = 0;
+	}
+
+	uint32_t maxSize() const {
+		return theMap.maxSize();
+	}
+
+};
+
+#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */

container/HybridIterator.h

@@ -0,0 +1,90 @@
+#ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
+#define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
+
+#include <framework/container/ArrayList.h>
+#include <framework/container/SinglyLinkedList.h>
+
+template<typename T, typename count_t = uint8_t>
+class HybridIterator: public LinkedElement<T>::Iterator,
+		public ArrayList<T, count_t>::Iterator {
+public:
+	HybridIterator() {}
+
+	HybridIterator(typename LinkedElement<T>::Iterator *iter) :
+		LinkedElement<T>::Iterator(*iter), value(iter->value),
+		linked(true) {
+
+	}
+
+	HybridIterator(LinkedElement<T> *start) :
+		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) {
+		if (value == this->end) {
+			value = NULL;
+		}
+	}
+
+	HybridIterator(T *firstElement, T *lastElement) :
+			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
+			linked(false), end(++lastElement) {
+		if (value == end) {
+			value = NULL;
+		}
+	}
+
+	HybridIterator& operator++() {
+		if (linked) {
+			LinkedElement<T>::Iterator::operator++();
+			if (LinkedElement<T>::Iterator::value != nullptr) {
+				value = LinkedElement<T>::Iterator::value->value;
+			} else {
+				value = nullptr;
+			}
+		} else {
+			ArrayList<T, count_t>::Iterator::operator++();
+			value = ArrayList<T, count_t>::Iterator::value;
+
+			if (value == end) {
+				value = nullptr;
+			}
+		}
+		return *this;
+	}
+
+	HybridIterator operator++(int) {
+		HybridIterator tmp(*this);
+		operator++();
+		return tmp;
+	}
+
+	bool operator==(const HybridIterator& other) const {
+		return value == other.value;
+	}
+
+	bool operator!=(const HybridIterator& other) const {
+		return !(*this == other);
+	}
+
+	T operator*() {
+		return *value;
+	}
+
+	T *operator->() {
+		return value;
+	}
+
+	T* value = nullptr;
+
+private:
+	bool linked = false;
+	T *end = nullptr;
+};
+
+#endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */

container/IndexedRingMemoryArray.h

@@ -0,0 +1,721 @@
+#ifndef FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
+#define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
+
+#include <framework/container/ArrayList.h>
+#include <framework/globalfunctions/CRC.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/serialize/SerialArrayListAdapter.h>
+#include <cmath>
+
+/**
+ * Index is the Type used for the list of indices.
+ *
+ * @tparam T Type which destribes the index. Needs to be a child of SerializeIF
+ * 			 to be able to make it persistent
+ */
+template<typename T>
+class Index: public SerializeIF{
+	/**
+	 *
+	 */
+	static_assert(std::is_base_of<SerializeIF,T>::value,
+			"Wrong Type for Index, Type must implement SerializeIF");
+public:
+	Index():blockStartAddress(0),size(0),storedPackets(0){}
+
+	Index(uint32_t startAddress):blockStartAddress(startAddress),
+			size(0),storedPackets(0) {
+	}
+
+	void setBlockStartAddress(uint32_t newAddress) {
+		this->blockStartAddress = newAddress;
+	}
+
+	uint32_t getBlockStartAddress() const {
+		return blockStartAddress;
+	}
+
+	const T* getIndexType() const {
+		return &indexType;
+	}
+
+	T* modifyIndexType() {
+		return &indexType;
+	}
+	/**
+	 * Updates the index Type. Uses = operator
+	 * @param indexType Type to copy from
+	 */
+	void setIndexType(T* indexType) {
+		this->indexType = *indexType;
+	}
+
+	uint32_t getSize() const {
+		return size;
+	}
+
+	void setSize(uint32_t size) {
+		this->size = size;
+	}
+
+	void addSize(uint32_t size){
+		this->size += size;
+	}
+
+	void setStoredPackets(uint32_t newStoredPackets){
+		this->storedPackets = newStoredPackets;
+	}
+
+	void addStoredPackets(uint32_t packets){
+		this->storedPackets += packets;
+	}
+
+	uint32_t getStoredPackets() const{
+		return this->storedPackets;
+	}
+
+	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,maxSize,streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK){
+			return result;
+		}
+		result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK){
+			return result;
+		}
+		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,maxSize,streamEndianness);
+		return result;
+	}
+
+	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,streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK){
+			return result;
+		}
+		result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK){
+			return result;
+		}
+		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK){
+			return result;
+		}
+		return result;
+	}
+
+	size_t getSerializedSize() const {
+		uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress);
+		size += indexType.getSerializedSize();
+		size += SerializeAdapter::getSerializedSize(&this->size);
+		size += SerializeAdapter::getSerializedSize(&this->storedPackets);
+		return size;
+	}
+
+
+	bool operator==(const Index<T>& other){
+		return ((blockStartAddress == other.getBlockStartAddress()) && (size==other.getSize())) && (indexType == *(other.getIndexType()));
+	}
+
+private:
+	uint32_t blockStartAddress;
+	uint32_t size;
+	uint32_t storedPackets;
+	T indexType;
+};
+
+
+/**
+ * @brief Indexed Ring Memory Array is a class for a ring memory with indices.
+ * @details
+ * It assumes that the newest data comes in last
+ * It uses the currentWriteBlock as pointer to the current writing position
+ * The currentReadBlock must be set manually
+ * @tparam T
+ */
+template<typename T>
+class IndexedRingMemoryArray: public SerializeIF, public ArrayList<Index<T>, uint32_t>{
+	/**
+	 *
+	 */
+public:
+	IndexedRingMemoryArray(uint32_t startAddress, uint32_t size, uint32_t bytesPerBlock,
+			SerializeIF* additionalInfo, bool overwriteOld):
+			ArrayList<Index<T>,uint32_t>(NULL,(uint32_t)10,(uint32_t)0),totalSize(size),
+			indexAddress(startAddress),currentReadSize(0),currentReadBlockSizeCached(0),
+			lastBlockToReadSize(0), additionalInfo(additionalInfo),overwriteOld(overwriteOld)
+	{
+		//Calculate the maximum number of indices needed for this blocksize
+		uint32_t maxNrOfIndices = floor(static_cast<double>(size)/static_cast<double>(bytesPerBlock));
+
+		//Calculate the Size needeed for the index itself
+		size_t serializedSize = 0;
+		if(additionalInfo!=NULL) {
+			serializedSize += additionalInfo->getSerializedSize();
+		}
+
+		//Size of current iterator type
+		Index<T> tempIndex;
+		serializedSize += tempIndex.getSerializedSize();
+
+		//Add Size of Array
+		serializedSize += sizeof(uint32_t); //size of array
+		serializedSize += (tempIndex.getSerializedSize() * maxNrOfIndices); //size of elements
+		serializedSize += sizeof(uint16_t); //size of crc
+
+		//Calculate new size after index
+		if(serializedSize > totalSize){
+			error << "IndexedRingMemory: Store is too small for index" << std::endl;
+		}
+		uint32_t useableSize = totalSize - serializedSize;
+
+		//Update the totalSize for calculations
+		totalSize = useableSize;
+
+		//True StartAddress
+		uint32_t trueStartAddress = indexAddress + serializedSize;
+
+		//Calculate True number of Blocks and reset size of true Number of Blocks
+		uint32_t trueNumberOfBlocks = floor(static_cast<double>(totalSize) / static_cast<double>(bytesPerBlock));
+
+		//allocate memory now
+		this->entries = new Index<T>[trueNumberOfBlocks];
+		this->size = trueNumberOfBlocks;
+		this->maxSize_ = trueNumberOfBlocks;
+		this->allocated = true;
+
+		//Check trueNumberOfBlocks
+		if(trueNumberOfBlocks<1) {
+			error << "IndexedRingMemory: Invalid Number of Blocks: " << trueNumberOfBlocks;
+		}
+
+		//Fill address into index
+		uint32_t address = trueStartAddress;
+		for (typename IndexedRingMemoryArray<T>::Iterator it = this->begin();it!=this->end();++it) {
+			it->setBlockStartAddress(address);
+			it->setSize(0);
+			it->setStoredPackets(0);
+			address += bytesPerBlock;
+		}
+
+		//Initialize iterators
+		currentWriteBlock = this->begin();
+		currentReadBlock = this->begin();
+		lastBlockToRead = this->begin();
+
+		//Check last blockSize
+		uint32_t lastBlockSize = (trueStartAddress + useableSize) -  (this->back()->getBlockStartAddress());
+		if((lastBlockSize<bytesPerBlock) && (this->size > 1)){
+			//remove the last Block so the second last block has more size
+			this->size -= 1;
+			debug << "IndexedRingMemory: Last Block is smaller than bytesPerBlock, removed last block" << std::endl;
+		}
+	}
+
+	/**
+	 * Resets the whole index, the iterators and executes the given reset function on every index type
+	 * @param typeResetFnc static reset function which accepts a pointer to the index Type
+	 */
+	void reset(void (*typeResetFnc)(T*)){
+		currentReadBlock = this->begin();
+		currentWriteBlock = this->begin();
+		lastBlockToRead = this->begin();
+		currentReadSize = 0;
+		currentReadBlockSizeCached = 0;
+		lastBlockToReadSize = 0;
+		for(typename IndexedRingMemoryArray<T>::Iterator it = this->begin();it!=this->end();++it){
+			it->setSize(0);
+			it->setStoredPackets(0);
+			(*typeResetFnc)(it->modifyIndexType());
+		}
+	}
+
+	void resetBlock(typename IndexedRingMemoryArray<T>::Iterator it,void (*typeResetFnc)(T*)){
+		it->setSize(0);
+		it->setStoredPackets(0);
+		(*typeResetFnc)(it->modifyIndexType());
+	}
+
+	/**
+	 * Reading
+	 * @param it
+	 */
+	void setCurrentReadBlock(typename IndexedRingMemoryArray<T>::Iterator it){
+		currentReadBlock = it;
+		currentReadBlockSizeCached = it->getSize();
+	}
+
+	void resetRead(){
+		currentReadBlock = this->begin();
+		currentReadSize = 0;
+		currentReadBlockSizeCached = this->begin()->getSize();
+		lastBlockToRead = currentWriteBlock;
+		lastBlockToReadSize = currentWriteBlock->getSize();
+	}
+
+	/**
+	 * Sets the last block to read to this iterator.
+	 * Can be used to dump until block x
+	 * @param it The iterator for the last read block
+	 */
+	void setLastBlockToRead(typename IndexedRingMemoryArray<T>::Iterator it){
+		lastBlockToRead = it;
+		lastBlockToReadSize = it->getSize();
+	}
+
+	/**
+	 * Set the read pointer to the first written Block, which is the first non empty block in front of the write block
+	 * Can be the currentWriteBlock as well
+	 */
+	void readOldest(){
+		resetRead();
+		currentReadBlock = getNextNonEmptyBlock();
+		currentReadBlockSizeCached = currentReadBlock->getSize();
+
+	}
+
+	/**
+	 * Sets the current read iterator to the next Block and resets the current read size
+	 * The current size of the block will be cached to avoid race condition between write and read
+	 * If the end of the ring is reached the read pointer will be set to the begin
+	 */
+	void readNext(){
+		currentReadSize = 0;
+		if((this->size != 0) && (currentReadBlock.value ==this->back())){
+			currentReadBlock = this->begin();
+		}else{
+			currentReadBlock++;
+		}
+
+		currentReadBlockSizeCached = currentReadBlock->getSize();
+	}
+
+	/**
+	 * Returns the address which is currently read from
+	 * @return Address to read from
+	 */
+	uint32_t getCurrentReadAddress() const {
+		return getAddressOfCurrentReadBlock() + currentReadSize;
+	}
+
+	/**
+	 * Adds readSize to the current size and checks if the read has no more data
+	 * left and advances the read block.
+	 * @param readSize The size that was read
+	 * @return Returns true if the read can go on
+	 */
+	bool addReadSize(uint32_t readSize) {
+		if(currentReadBlock == lastBlockToRead) {
+			//The current read block is the last to read
+			if((currentReadSize+readSize)<lastBlockToReadSize) {
+				//the block has more data -> return true
+				currentReadSize += readSize;
+				return true;
+			}
+			else {
+				//Reached end of read -> return false
+				currentReadSize = lastBlockToReadSize;
+				return false;
+			}
+		}
+		else {
+			//We are not in the last Block
+			if((currentReadSize + readSize)<currentReadBlockSizeCached) {
+				//The current Block has more data
+				currentReadSize += readSize;
+				return true;
+			}
+			// TODO: Maybe some logic blocks should be extracted
+			else {
+				//The current block is written completely
+				readNext();
+				if(currentReadBlockSizeCached==0) {
+					//Next block is empty
+					typename IndexedRingMemoryArray<T>::Iterator it(currentReadBlock);
+					//Search if any block between this and the last block is not empty
+					for(;it!=lastBlockToRead;++it){
+						if(it == this->end()){
+							//This is the end, next block is the begin
+							it = this->begin();
+							if(it == lastBlockToRead){
+								//Break if the begin is the lastBlockToRead
+								break;
+							}
+						}
+						if(it->getSize()!=0){
+							//This is a non empty block. Go on reading with this block
+							currentReadBlock = it;
+							currentReadBlockSizeCached = it->getSize();
+							return true;
+						}
+					}
+					//reached lastBlockToRead and every block was empty, check if the last block is also empty
+					if(lastBlockToReadSize!=0){
+						//go on with last Block
+						currentReadBlock = lastBlockToRead;
+						currentReadBlockSizeCached = lastBlockToReadSize;
+						return true;
+					}
+					//There is no non empty block left
+					return false;
+				}
+				//Size is larger than 0
+				return true;
+			}
+		}
+	}
+	uint32_t getRemainigSizeOfCurrentReadBlock() const{
+		if(currentReadBlock == lastBlockToRead){
+			return (lastBlockToReadSize - currentReadSize);
+		}else{
+			return (currentReadBlockSizeCached - currentReadSize);
+		}
+	}
+
+	uint32_t getAddressOfCurrentReadBlock() const {
+		return currentReadBlock->getBlockStartAddress();
+	}
+
+	/**
+	 * Gets the next non empty Block after the current write block,
+	 * @return Returns the iterator to the block. If there is non, the current write block is returned
+	 */
+	typename IndexedRingMemoryArray<T>::Iterator getNextNonEmptyBlock() const {
+		for(typename IndexedRingMemoryArray<T>::Iterator it = getNextWrite();it!=currentWriteBlock;++it){
+				if(it == this->end()){
+					it = this->begin();
+					if(it == currentWriteBlock){
+						break;
+					}
+				}
+				if(it->getSize()!=0){
+					return it;
+				}
+		}
+		return currentWriteBlock;
+	}
+
+	/**
+	 * Returns a copy of the oldest Index type
+	 * @return Type of Index
+	 */
+	T* getOldest(){
+		return (getNextNonEmptyBlock()->modifyIndexType());
+	}
+
+
+	/*
+	 * Writing
+	 */
+	uint32_t getAddressOfCurrentWriteBlock() const{
+		return currentWriteBlock->getBlockStartAddress();
+	}
+
+	uint32_t getSizeOfCurrentWriteBlock() const{
+		return currentWriteBlock->getSize();
+	}
+
+	uint32_t getCurrentWriteAddress() const{
+		return getAddressOfCurrentWriteBlock() + getSizeOfCurrentWriteBlock();
+	}
+
+	void clearCurrentWriteBlock(){
+		currentWriteBlock->setSize(0);
+		currentWriteBlock->setStoredPackets(0);
+	}
+
+	void addCurrentWriteBlock(uint32_t size, uint32_t storedPackets){
+		currentWriteBlock->addSize(size);
+		currentWriteBlock->addStoredPackets(storedPackets);
+	}
+
+	T* modifyCurrentWriteBlockIndexType(){
+		return currentWriteBlock->modifyIndexType();
+	}
+
+	void updatePreviousWriteSize(uint32_t size, uint32_t storedPackets){
+		typename IndexedRingMemoryArray<T>::Iterator it = getPreviousBlock(currentWriteBlock);
+		it->addSize(size);
+		it->addStoredPackets(storedPackets);
+	}
+
+	/**
+	 * Checks if the block has enough space for sizeToWrite
+	 * @param sizeToWrite The data to be written in the Block
+	 * @return Returns true if size to write is smaller the remaining size of the block
+	 */
+	bool hasCurrentWriteBlockEnoughSpace(uint32_t sizeToWrite){
+		typename IndexedRingMemoryArray<T>::Iterator next = getNextWrite();
+		uint32_t addressOfNextBlock = next->getBlockStartAddress();
+		uint32_t availableSize =
+				( ( addressOfNextBlock + totalSize ) -
+				(getAddressOfCurrentWriteBlock() + getSizeOfCurrentWriteBlock()))
+				% totalSize;
+		return (sizeToWrite < availableSize);
+	}
+
+	/**
+	 * Checks if the store is full if overwrite old is false
+	 * @return Returns true if it is writeable and false if not
+	 */
+	bool isNextBlockWritable(){
+		//First check if this is the end of the list
+		typename IndexedRingMemoryArray<T>::Iterator next;
+		next = getNextWrite();
+		if((next->getSize()!=0) && (!overwriteOld)){
+			return false;
+		}
+		return true;
+	}
+
+	/**
+	 * Updates current write Block Index Type
+	 * @param infoOfNewBlock
+	 */
+	void updateCurrentBlock(T* infoOfNewBlock){
+		currentWriteBlock->setIndexType(infoOfNewBlock);
+	}
+
+
+	/**
+	 * Succeed to next block, returns FAILED if overwrite is false and the store is full
+	 * @return
+	 */
+	ReturnValue_t writeNext(){
+		//Check Next Block
+		if(!isNextBlockWritable()){
+			//The Index is full and does not overwrite old
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		//Next block can be written, update Metadata
+		currentWriteBlock = getNextWrite();
+		currentWriteBlock->setSize(0);
+		currentWriteBlock->setStoredPackets(0);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	/**
+	 * Serializes the Index and calculates the CRC.
+	 * Parameters according to HasSerializeIF
+	 * @param buffer
+	 * @param size
+	 * @param maxSize
+	 * @param streamEndianness
+	 * @return
+	 */
+	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,maxSize,streamEndianness);
+		}
+		ReturnValue_t result = currentWriteBlock->serialize(buffer,size,maxSize,streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK){
+					return result;
+		}
+		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::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 = SerializeAdapter::serialize(&crc,buffer,size,maxSize,streamEndianness);
+		return result;
+	}
+
+
+	/**
+	 * Get the serialized Size of the index
+	 * @return The serialized size of the index
+	 */
+	size_t getSerializedSize() const {
+
+		size_t size = 0;
+		if(additionalInfo!=NULL){
+			size += additionalInfo->getSerializedSize();
+		}
+		size += currentWriteBlock->getSerializedSize();
+		size += SerializeAdapter::getSerializedSize(&this->size);
+		size += (this->entries[0].getSerializedSize()) * this->size;
+		uint16_t crc = 0;
+		size += SerializeAdapter::getSerializedSize(&crc);
+		return size;
+	}
+	/**
+	 * DeSerialize the Indexed Ring from a buffer, deSerializes the current write iterator
+	 * CRC Has to be checked before!
+	 * @param buffer
+	 * @param size
+	 * @param streamEndianness
+	 * @return
+	 */
+
+	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,streamEndianness);
+		}
+		if(result != HasReturnvaluesIF::RETURN_OK){
+					return result;
+		}
+
+		Index<T> tempIndex;
+		result = tempIndex.deSerialize(buffer,size,streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK){
+					return result;
+		}
+		uint32_t tempSize = 0;
+		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK){
+					return result;
+		}
+		if(this->size != tempSize){
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		uint32_t i = 0;
+		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
+			result = SerializeAdapter::deSerialize(
+					&this->entries[i], buffer, size,
+					streamEndianness);
+			++i;
+		}
+		if(result != HasReturnvaluesIF::RETURN_OK){
+					return result;
+		}
+		typename IndexedRingMemoryArray<T>::Iterator cmp(&tempIndex);
+		for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
+			if(*(cmp.value) == *(it.value)){
+				currentWriteBlock = it;
+				return HasReturnvaluesIF::RETURN_OK;
+			}
+		}
+		//Reached if current write block iterator is not found
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint32_t getIndexAddress() const {
+		return indexAddress;
+	}
+
+
+	/*
+	 * Statistics
+	 */
+	uint32_t getStoredPackets() const {
+		uint32_t size = 0;
+		for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
+			size += it->getStoredPackets();
+		}
+		return size;
+	}
+
+	uint32_t getTotalSize() const {
+		return totalSize;
+	}
+
+	uint32_t getCurrentSize() const{
+		uint32_t size = 0;
+		for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
+			size += it->getSize();
+		}
+		return size;
+	}
+
+	bool isEmpty() const{
+		return getCurrentSize()==0;
+	}
+
+	double getPercentageFilled() const{
+		uint32_t filledSize = 0;
+		for(typename IndexedRingMemoryArray<T>::Iterator it= this->begin();it!=this->end();++it){
+			filledSize += it->getSize();
+		}
+
+		return (double)filledSize/(double)this->totalSize;
+	}
+
+	typename IndexedRingMemoryArray<T>::Iterator getCurrentWriteBlock() const{
+		return currentWriteBlock;
+	}
+	/**
+	 * Get the next block of the currentWriteBlock.
+	 * Returns the first one if currentWriteBlock is the last one
+	 * @return Iterator pointing to the next block after currentWriteBlock
+	 */
+	typename IndexedRingMemoryArray<T>::Iterator getNextWrite() const{
+		typename IndexedRingMemoryArray<T>::Iterator next(currentWriteBlock);
+		if((this->size != 0) && (currentWriteBlock.value == this->back())){
+			next = this->begin();
+		}else{
+			++next;
+		}
+		return next;
+	}
+	/**
+	 * Get the block in front of the Iterator
+	 * Returns the last block if it is the first block
+	 * @param it iterator which you want the previous block from
+	 * @return pointing to the block before it
+	 */
+	typename IndexedRingMemoryArray<T>::Iterator getPreviousBlock(typename IndexedRingMemoryArray<T>::Iterator it) {
+		if(this->begin() == it){
+			typename IndexedRingMemoryArray<T>::Iterator next((this->back()));
+			return next;
+		}
+		typename IndexedRingMemoryArray<T>::Iterator next(it);
+		--next;
+		return next;
+	}
+private:
+	//The total size used by the blocks (without index)
+	uint32_t totalSize;
+
+	//The address of the index
+	const uint32_t indexAddress;
+
+	//The iterators for writing and reading
+	typename IndexedRingMemoryArray<T>::Iterator currentWriteBlock;
+	typename IndexedRingMemoryArray<T>::Iterator currentReadBlock;
+
+	//How much of the current read block is read already
+	uint32_t currentReadSize;
+
+	//Cached Size of current read block
+	uint32_t currentReadBlockSizeCached;
+
+	//Last block of current write (should be write block)
+	typename IndexedRingMemoryArray<T>::Iterator lastBlockToRead;
+	//current size of last Block to read
+	uint32_t lastBlockToReadSize;
+
+	//Additional Info to be serialized with the index
+	SerializeIF* additionalInfo;
+
+	//Does it overwrite old blocks?
+	const bool overwriteOld;
+
+};
+
+#endif /* FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_ */

container/IsDerivedFrom.h

@@ -0,0 +1,50 @@
+#ifndef ISDERIVEDFROM_H_
+#define ISDERIVEDFROM_H_
+
+/**
+ * These template type checks are based on SFINAE
+ * (https://en.cppreference.com/w/cpp/language/sfinae)
+ *
+ * @tparam D Derived Type
+ * @tparam B Base Type
+ */
+template<typename D, typename B>
+class IsDerivedFrom {
+	class No {
+	};
+	class Yes {
+		No no[3];
+	};
+
+	// This will be chosen if B is the base type
+	static Yes Test(B*); // declared, but not defined
+	// This will be chosen for anything else
+	static No Test(... ); // declared, but not defined
+
+public:
+	enum {
+		Is = sizeof(Test(static_cast<D*>(0))) == sizeof(Yes)
+	};
+};
+
+template<typename, typename>
+struct is_same {
+    static bool const value = false;
+};
+
+template<typename A>
+struct is_same<A, A> {
+    static bool const value = true;
+};
+
+
+template<bool C, typename T = void>
+struct enable_if {
+  typedef T type;
+};
+
+template<typename T>
+struct enable_if<false, T> { };
+
+
+#endif /* ISDERIVEDFROM_H_ */

container/PlacementFactory.h

@@ -0,0 +1,35 @@
+#ifndef FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
+#define FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
+
+#include <framework/storagemanager/StorageManagerIF.h>
+#include <utility>
+
+class PlacementFactory {
+public:
+	PlacementFactory(StorageManagerIF* backend) :
+			dataBackend(backend) {
+	}
+	template<typename T, typename ... Args>
+	T* generate(Args&&... args) {
+		store_address_t tempId;
+		uint8_t* pData = NULL;
+		ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T),
+				&pData);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return NULL;
+		}
+		T* temp = new (pData) T(std::forward<Args>(args)...);
+		return temp;
+	}
+	template<typename T>
+	ReturnValue_t destroy(T* thisElement) {
+		//Need to call destructor first, in case something was allocated by the object (shouldn't do that, however).
+		thisElement->~T();
+		uint8_t* pointer = (uint8_t*) (thisElement);
+		return dataBackend->deleteData(pointer, sizeof(T));
+	}
+private:
+	StorageManagerIF* dataBackend;
+};
+
+#endif /* FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_ */

container/RingBufferBase.h

@@ -0,0 +1,113 @@
+#ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
+#define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+
+template<uint8_t N_READ_PTRS = 1>
+class RingBufferBase {
+public:
+	RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
+			start(startAddress), write(startAddress), size(size),
+			overwriteOld(overwriteOld) {
+		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
+			read[count] = startAddress;
+		}
+	}
+
+	virtual ~RingBufferBase() {}
+
+	bool isFull(uint8_t n = 0) {
+		return (availableWriteSpace(n) == 0);
+	}
+	bool isEmpty(uint8_t n = 0) {
+		return (availableReadData(n) == 0);
+	}
+
+	size_t availableReadData(uint8_t n = 0) const {
+		return ((write + size) - read[n]) % size;
+	}
+	size_t availableWriteSpace(uint8_t n = 0) const  {
+		//One less to avoid ambiguous full/empty problem.
+		return (((read[n] + size) - write - 1) % size);
+	}
+
+	bool overwritesOld() const {
+		return overwriteOld;
+	}
+
+	size_t maxSize() const {
+		return size - 1;
+	}
+
+	void clear() {
+		write = start;
+		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
+			read[count] = start;
+		}
+	}
+
+	size_t writeTillWrap() {
+		return (start + size) - write;
+	}
+
+	size_t readTillWrap(uint8_t n = 0) {
+		return (start + size) - read[n];
+	}
+
+	size_t getStart() const {
+		return start;
+	}
+
+protected:
+	const size_t start;
+	size_t write;
+	size_t read[N_READ_PTRS];
+	const size_t size;
+	const bool overwriteOld;
+	void incrementWrite(uint32_t amount) {
+		write = ((write + amount - start) % size) + start;
+	}
+	void incrementRead(uint32_t amount, uint8_t n = 0) {
+		read[n] = ((read[n] + amount - start) % size) + start;
+	}
+
+	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
+		if (availableReadData(n) >= amount) {
+			incrementRead(amount, n);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+	ReturnValue_t writeData(uint32_t amount) {
+		if (availableWriteSpace() >= amount or overwriteOld) {
+			incrementWrite(amount);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+
+	size_t getRead(uint8_t n = 0) const {
+		return read[n];
+	}
+
+	void setRead(uint32_t read, uint8_t n = 0) {
+		if (read >= start && read < (start+size)) {
+			this->read[n] = read;
+		}
+	}
+
+	uint32_t getWrite() const {
+		return write;
+	}
+
+	void setWrite(uint32_t write) {
+		this->write = write;
+	}
+};
+
+#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */

container/RingBufferTest.cpp.ignore

@@ -0,0 +1,79 @@
+
+#include <iostream>
+#include "SimpleRingBuffer.h"
+
+
+int main() {
+	using namespace std;
+	SimpleRingBuffer buffer(64, false);
+	uint8_t data[8] = {'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h'};
+	ReturnValue_t result = buffer.writeData(data, 8);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "writeData failed." << endl;
+	}
+	result = buffer.writeData(data, 8);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "writeData failed." << endl;
+	}
+	uint8_t buffer2[47] = {0};
+	for (uint8_t count = 0; count<sizeof(buffer2); count++) {
+		buffer2[count] = count;
+	}
+	result = buffer.writeData(buffer2, sizeof(buffer2));
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "writeData failed." << endl;
+	}
+	result = buffer.writeData(buffer2, sizeof(buffer2));
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "writeData failed." << endl;
+	}
+	uint8_t readBuffer[64] = {0};
+	uint32_t writtenData = 0;
+	result = buffer.readData(readBuffer, 12, true, &writtenData);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "readData failed." << endl;
+	} else {
+		cout << "Read data: " << writtenData << endl;
+		for (uint32_t count = 0; count < writtenData; count++) {
+			cout << hex << (uint16_t)readBuffer[count] << " ";
+		}
+		cout << dec << endl;
+	}
+
+	result = buffer.readData(readBuffer, 60, true, &writtenData);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "readData failed." << endl;
+	} else {
+		cout << "Read data: " << writtenData << endl;
+		for (uint32_t count = 0; count < writtenData; count++) {
+			cout << hex << (uint16_t)readBuffer[count] << " ";
+		}
+		cout << dec << endl;
+	}
+	result = buffer.writeData(data, sizeof(data));
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "writeData failed." << endl;
+	}
+	result = buffer.readData(readBuffer, 60, true, &writtenData);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "readData failed." << endl;
+	} else {
+		cout << "Read data: " << writtenData << endl;
+		for (uint32_t count = 0; count < writtenData; count++) {
+			cout << hex << (uint16_t)readBuffer[count] << " ";
+		}
+		cout << dec << endl;
+	}
+	result = buffer.writeData(readBuffer, sizeof(readBuffer));
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "writeData failed." << endl;
+	}
+	result = buffer.writeData(readBuffer, sizeof(readBuffer)-1);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		cout << "writeData failed." << endl;
+	} else {
+		cout << "write done." << endl;
+	}
+}
+
+

container/SharedRingBuffer.cpp

@@ -0,0 +1,59 @@
+#include <framework/container/SharedRingBuffer.h>
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes, dur_millis_t mutexTimeout):
+		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
+		maxExcessBytes), mutexTimeout(mutexTimeout) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
+		const size_t size, bool overwriteOld, size_t maxExcessBytes,
+		dur_millis_t mutexTimeout):
+		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
+		maxExcessBytes), mutexTimeout(mutexTimeout) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedRingBuffer::getFreeElementProtected(uint8_t** writePtr,
+		size_t amount) {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::getFreeElement(writePtr,amount);
+}
+
+ReturnValue_t SharedRingBuffer::writeDataProtected(const uint8_t *data,
+		size_t amount) {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::writeData(data,amount);
+}
+
+ReturnValue_t SharedRingBuffer::readDataProtected(uint8_t *data, size_t amount,
+		bool incrementReadPtr, bool readRemaining,
+		size_t *trueAmount) {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::readData(data,amount, incrementReadPtr,
+			readRemaining, trueAmount);
+}
+
+ReturnValue_t SharedRingBuffer::deleteDataProtected(size_t amount,
+		bool deleteRemaining, size_t *trueAmount) {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::deleteData(amount, deleteRemaining, trueAmount);
+}
+
+size_t SharedRingBuffer::getExcessBytes() const {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::getExcessBytes();
+}
+
+void SharedRingBuffer::moveExcessBytesToStart() {
+	MutexHelper(mutex, mutexTimeout);
+	return SimpleRingBuffer::moveExcessBytesToStart();
+}
+
+size_t SharedRingBuffer::getAvailableReadDataProtected(uint8_t n) const {
+	MutexHelper(mutex, mutexTimeout);
+	return ((write + size) - read[n]) % size;
+}

container/SharedRingBuffer.h

@@ -0,0 +1,68 @@
+#ifndef FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+#define FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+
+#include <framework/container/SimpleRingBuffer.h>
+#include <framework/ipc/MutexIF.h>
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/timemanager/Clock.h>
+
+class SharedRingBuffer: public SystemObject,
+		public SimpleRingBuffer {
+public:
+	/**
+	 * This constructor allocates a new internal buffer with the supplied size.
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(object_id_t objectId, const size_t size,
+			bool overwriteOld, size_t maxExcessBytes,
+			dur_millis_t mutexTimeout = 10);
+
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
+			bool overwriteOld, size_t maxExcessBytes,
+			dur_millis_t mutexTimeout = 10);
+
+	void setMutexTimeout(dur_millis_t newTimeout);
+
+	virtual size_t getExcessBytes() const override;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart() override;
+
+	/** Performs mutex protected SimpleRingBuffer::getFreeElement call */
+	ReturnValue_t getFreeElementProtected(uint8_t** writePtr, size_t amount);
+
+	/** Performs mutex protected SimpleRingBuffer::writeData call */
+	ReturnValue_t writeDataProtected(const uint8_t* data, size_t amount);
+
+	/** Performs mutex protected SimpleRingBuffer::readData call */
+	ReturnValue_t readDataProtected(uint8_t *data, size_t amount,
+			bool incrementReadPtr = false,
+			bool readRemaining = false, size_t *trueAmount = nullptr);
+
+	/** Performs mutex protected SimpleRingBuffer::deleteData call */
+	ReturnValue_t deleteDataProtected(size_t amount,
+			bool deleteRemaining = false, size_t* trueAmount = nullptr);
+
+	size_t getAvailableReadDataProtected (uint8_t n = 0) const;
+private:
+	dur_millis_t mutexTimeout;
+	MutexIF* mutex = nullptr;
+};
+
+
+
+#endif /* FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_ */

container/SimpleRingBuffer.cpp

@@ -0,0 +1,127 @@
+#include <framework/container/SimpleRingBuffer.h>
+#include <cstring>
+
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
+		size_t maxExcessBytes) :
+		RingBufferBase<>(0, size, overwriteOld),
+		maxExcessBytes(maxExcessBytes) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+	buffer = new uint8_t[size + maxExcessBytes];
+}
+
+SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
+
+
+SimpleRingBuffer::~SimpleRingBuffer() {
+	delete[] buffer;
+}
+
+
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
+        size_t amount) {
+    if (availableWriteSpace() >= amount or overwriteOld) {
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap < amount) {
+            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            excessBytes = amount - amountTillWrap;
+        }
+        *writePointer = &buffer[write];
+        incrementWrite(amount);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
+		size_t amount) {
+	if (availableWriteSpace() >= amount or overwriteOld) {
+		size_t amountTillWrap = writeTillWrap();
+		if (amountTillWrap >= amount) {
+			// remaining size in buffer is sufficient to fit full amount.
+			memcpy(&buffer[write], data, amount);
+		}
+		else {
+			memcpy(&buffer[write], data, amountTillWrap);
+			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
+		}
+		incrementWrite(amount);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
+		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
+	size_t availableData = availableReadData(READ_PTR);
+	size_t amountTillWrap = readTillWrap(READ_PTR);
+	if (availableData < amount) {
+		if (readRemaining) {
+			// more data available than amount specified.
+			amount = availableData;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	if (trueAmount != nullptr) {
+		*trueAmount = amount;
+	}
+	if (amountTillWrap >= amount) {
+		memcpy(data, &buffer[read[READ_PTR]], amount);
+	} else {
+		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
+		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
+	}
+
+	if(incrementReadPtr) {
+		deleteData(amount, readRemaining);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+size_t SimpleRingBuffer::getExcessBytes() const {
+    return excessBytes;
+}
+
+void SimpleRingBuffer::moveExcessBytesToStart() {
+    if(excessBytes > 0) {
+        std::memcpy(buffer, &buffer[size], excessBytes);
+        excessBytes = 0;
+    }
+}
+
+ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
+		bool deleteRemaining, size_t* trueAmount) {
+	size_t availableData = availableReadData(READ_PTR);
+	if (availableData < amount) {
+		if (deleteRemaining) {
+			amount = availableData;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	if (trueAmount != nullptr) {
+		*trueAmount = amount;
+	}
+	incrementRead(amount, READ_PTR);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+

container/SimpleRingBuffer.h

@@ -0,0 +1,119 @@
+#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+
+#include <framework/container/RingBufferBase.h>
+#include <cstddef>
+
+/**
+ * @brief 	Circular buffer implementation, useful for buffering
+ *          into data streams.
+ * @details
+ * Note that the deleteData() has to be called to increment the read pointer.
+ * This class allocated dynamically, so
+ * @ingroup containers
+ */
+class SimpleRingBuffer: public RingBufferBase<> {
+public:
+    /**
+     * This constructor allocates a new internal buffer with the supplied size.
+     *
+     * @param size
+     * @param overwriteOld If the ring buffer is overflowing at a write
+     * operation, the oldest data will be overwritten.
+     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * to the specified size to accomodate contiguous write operations
+     * with getFreeElement.
+     *
+     */
+	SimpleRingBuffer(const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+	 * @param maxExcessBytes
+	 * If the buffer can accomodate additional bytes for contigous write
+	 * operations with getFreeElement, this is the maximum allowed additional
+	 * size
+	 */
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
+
+	virtual ~SimpleRingBuffer();
+
+	/**
+	 * Write to circular buffer and increment write pointer by amount.
+	 * @param data
+	 * @param amount
+	 * @return -@c RETURN_OK if write operation was successfull
+	 * -@c RETURN_FAILED if
+	 */
+	ReturnValue_t writeData(const uint8_t* data, size_t amount);
+
+	/**
+	 * Returns a pointer to a free element. If the remaining buffer is
+	 * not large enough, the data will be written past the actual size
+	 * and the amount of excess bytes will be cached.
+	 * @param writePointer Pointer to a pointer which can be used to write
+	 * contiguous blocks into the ring buffer
+	 * @param amount
+	 * @return
+	 */
+	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
+
+	virtual size_t getExcessBytes() const;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart();
+
+	/**
+	 * Read from circular buffer at read pointer.
+	 * @param data
+	 * @param amount
+	 * @param incrementReadPtr
+	 * If this is set to true, the read pointer will be incremented.
+	 * If readRemaining is set to true, the read pointer will be incremented
+	 * accordingly.
+	 * @param readRemaining
+	 * If this is set to true, the data will be read even if the amount
+	 * specified exceeds the read data available.
+	 * @param trueAmount [out]
+	 * If readRemaining was set to true, the true amount read will be assigned
+	 * to the passed value.
+	 * @return
+	 * - @c RETURN_OK if data was read successfully
+	 * - @c RETURN_FAILED if not enough data was available and readRemaining
+	 *      was set to false.
+	 */
+	ReturnValue_t readData(uint8_t* data, size_t amount,
+			bool incrementReadPtr = false, bool readRemaining = false,
+			size_t* trueAmount = nullptr);
+
+	/**
+	 * Delete data by incrementing read pointer.
+	 * @param amount
+	 * @param deleteRemaining
+	 * If the amount specified is larger than the remaing size to read and this
+	 * is set to true, the remaining amount will be deleted as well
+	 * @param trueAmount [out]
+	 * If deleteRemaining was set to true, the amount deleted will be assigned
+	 * to the passed value.
+	 * @return
+	 */
+	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
+	        size_t* trueAmount = nullptr);
+private:
+	static const uint8_t READ_PTR = 0;
+	uint8_t* buffer = nullptr;
+	size_t maxExcessBytes;
+	size_t excessBytes = 0;
+};
+
+#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
+

container/SinglyLinkedList.h

@@ -0,0 +1,154 @@
+#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+
+#include <cstddef>
+#include <cstdint>
+
+/**
+ * @brief	Linked list data structure,
+ * 			each entry has a pointer to the next entry (singly)
+ * @ingroup container
+ */
+template<typename T>
+class LinkedElement {
+public:
+	T *value;
+	class Iterator {
+	public:
+		LinkedElement<T> *value = nullptr;
+		Iterator() {}
+
+		Iterator(LinkedElement<T> *element) :
+				value(element) {
+		}
+
+		Iterator& operator++() {
+			value = value->getNext();
+			return *this;
+		}
+
+		Iterator operator++(int) {
+			Iterator tmp(*this);
+			operator++();
+			return tmp;
+		}
+
+		bool operator==(Iterator other) {
+			return value == other.value;
+		}
+
+		bool operator!=(Iterator other) {
+			return !(*this == other);
+		}
+		T *operator->() {
+			return value->value;
+		}
+	};
+
+	LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
+	       value(setElement), next(setNext) {}
+
+	virtual ~LinkedElement(){}
+
+	virtual LinkedElement* getNext() const {
+		return next;
+	}
+
+	virtual void setNext(LinkedElement* next) {
+		this->next = next;
+	}
+
+	virtual void setEnd() {
+	    this->next = nullptr;
+	}
+
+	LinkedElement* begin() {
+		return this;
+	}
+	LinkedElement* end() {
+		return nullptr;
+	}
+private:
+	LinkedElement *next;
+};
+
+template<typename T>
+class SinglyLinkedList {
+public:
+    using ElementIterator = typename LinkedElement<T>::Iterator;
+
+	SinglyLinkedList() {}
+
+	SinglyLinkedList(ElementIterator start) :
+			start(start.value) {}
+
+	SinglyLinkedList(LinkedElement<T>* startElement) :
+			start(startElement) {}
+
+	ElementIterator begin() const {
+		return ElementIterator::Iterator(start);
+	}
+
+	/** Returns iterator to nulltr */
+	ElementIterator end() const {
+		return ElementIterator::Iterator();
+	}
+
+	/**
+	 * Returns last element in singly linked list.
+	 * @return
+	 */
+	ElementIterator back() const {
+	    LinkedElement<T> *element = start;
+	    while (element != nullptr) {
+	        element = element->getNext();
+	    }
+	    return ElementIterator::Iterator(element);
+	}
+
+	size_t getSize() const {
+		size_t size = 0;
+		LinkedElement<T> *element = start;
+		while (element != nullptr) {
+			size++;
+			element = element->getNext();
+		}
+		return size;
+	}
+	void setStart(LinkedElement<T>* firstElement) {
+		start = firstElement;
+	}
+
+	void setNext(LinkedElement<T>* currentElement,
+	        LinkedElement<T>* nextElement) {
+	    currentElement->setNext(nextElement);
+	}
+
+    void setLast(LinkedElement<T>* lastElement) {
+        lastElement->setEnd();
+    }
+
+    void insertElement(LinkedElement<T>* element, size_t position) {
+        LinkedElement<T> *currentElement = start;
+        for(size_t count = 0; count < position; count++) {
+            if(currentElement == nullptr) {
+                return;
+            }
+            currentElement = currentElement->getNext();
+        }
+        LinkedElement<T>* elementAfterCurrent = currentElement->next;
+        currentElement->setNext(element);
+        if(elementAfterCurrent != nullptr) {
+            element->setNext(elementAfterCurrent);
+        }
+    }
+
+    void insertBack(LinkedElement<T>* lastElement) {
+        back().value->setNext(lastElement);
+    }
+
+protected:
+	LinkedElement<T> *start = nullptr;
+};
+
+#endif /* SINGLYLINKEDLIST_H_ */

container/group.h

@@ -0,0 +1,13 @@
+#ifndef GROUP_H_
+#define GROUP_H_
+
+/**
+ * @defgroup container Container
+ *
+ * General Purpose Containers to store various elements.
+ * As opposed to the STL library implementation, these implementations
+ * don't  allocate memory dynamically.
+ */
+
+
+#endif /* GROUP_H_ */

container/listTest.cpp.ignore

@@ -0,0 +1,365 @@
+#include "FixedArrayList.h"
+#include "SinglyLinkedList.h"
+#include "HybridIterator.h"
+
+#include "FixedMap.h"
+
+#include <stdio.h>
+
+/*
+
+class Packet: public SinglyLinkedList {
+public:
+	SinglyLinkedList::Element<uint32_t> element1;
+	SinglyLinkedList::Element<uint32_t> element2;
+
+	Packet() {
+		this->start = &element1;
+		element1.next = &element2;
+	}
+};
+
+class Packet2: public SinglyLinkedList {
+public:
+	SinglyLinkedList::Element<uint32_t> element1;
+	SinglyLinkedList::Element<FixedArrayList<FixedArrayList<uint8_t, 5>, 2>> element2;
+	SinglyLinkedList::Element<uint32_t> element3;
+
+	Packet2() {
+		this->start = &element1;
+		element1.next = &element2;
+		element2.next = &element3;
+	}
+};
+
+class Packet3: public SinglyLinkedList {
+public:
+	SinglyLinkedList::TypedElement<uint32_t> element1;
+	SinglyLinkedList::TypedElement<uint32_t> element2;
+
+	Packet3() {
+		this->start = &element1;
+		element1.next = &element2;
+	}
+};
+
+void arrayList() {
+	puts("** Array List **");
+	FixedArrayList<uint32_t, 10, uint32_t> list;
+	FixedArrayList<uint32_t, 10, uint32_t> list2;
+
+	list.size = 2;
+
+	list[0] = 0xcafecafe;
+
+	list[1] = 0x12345678;
+
+	uint8_t buffer[100];
+	uint8_t *pointer = buffer;
+	uint32_t size = 0;
+	uint32_t maxSize = 100;
+	uint32_t i;
+	int32_t size2;
+
+	printf("printsize: %i\n", list.getPrintSize());
+
+	list.print(&pointer, &size, 100, true);
+
+	printf("buffer(%i):", size);
+	for (i = 0; i < size; ++i) {
+		printf("%02x", buffer[i]);
+	}
+	printf("\n");
+
+	pointer = buffer;
+
+	size2 = size;
+
+	printf("list2 read: %x\n", list2.read(&pointer, &size2, true));
+
+	printf("list2(%i):", list2.size);
+	for (ArrayList<uint32_t, uint32_t>::Iterator iter = list2.begin();
+			iter != list2.end(); iter++) {
+		printf("0x%04x ", *iter);
+	}
+	printf("\n");
+
+	HybridIterator<uint32_t, uint32_t> hiter(list.begin(),list.end());
+
+	printf("hybrid1: 0x%04x\n", *(hiter++));
+	printf("hybrid2: 0x%04x\n", *hiter);
+
+}
+
+void allocatingList() {
+	puts("** Allocating List **");
+	ArrayList<uint8_t> myList(3), myList2(2);
+	myList[0] = 0xab;
+	myList[1] = 0xcd;
+	myList.size = 2;
+
+	uint8_t buffer[100];
+	uint8_t *pointer = buffer;
+	uint32_t size = 0;
+	uint32_t maxSize = 100;
+	uint32_t i;
+	int32_t size2;
+
+	myList.print(&pointer, &size, 100, true);
+
+	pointer = buffer;
+	size2 = size;
+
+	printf("Read %x\n", myList2.read(&pointer, &size2, true));
+
+	printf("%x,%x\n", myList2[0], myList2[1]);
+
+}
+
+void linkedList() {
+	puts("** Linked List **");
+	uint8_t buffer[100];
+	uint8_t *pointer = buffer;
+	uint32_t size = 0;
+	uint32_t maxSize = 100;
+	uint32_t i;
+	int32_t size2;
+
+	Packet myPacket;
+	myPacket.element1.entry = 0x12345678;
+	myPacket.element2.entry = 0x9abcdef0;
+
+	pointer = buffer;
+	size = 0;
+	ReturnValue_t result = myPacket.print(&pointer, &size, 100, true);
+
+	printf("result %02x\n", result);
+
+	printf("printsize: %i\n", myPacket.getPrintSize());
+
+	printf("buffer(%i):", size);
+	for (i = 0; i < size; ++i) {
+		printf("%02x", buffer[i]);
+	}
+	printf("\n");
+
+	Packet3 myPacket3;
+
+	myPacket3.element1.entry = 0x12345678;
+	myPacket3.element2.entry = 0xabcdeff;
+
+	SinglyLinkedList::TypedIterator<uint32_t> titer(&myPacket3.element1);
+
+	printf("0x%04x\n", *titer);
+
+	HybridIterator<uint32_t, uint32_t> hiter(&myPacket3.element1);
+
+	printf("hybrid1: 0x%04x\n", *hiter);
+	hiter++;
+	printf("hybrid2: 0x%04x\n", *hiter);
+}
+
+void complex() {
+	puts("** complex **");
+	uint8_t buffer[100];
+	uint8_t *pointer = buffer;
+	uint32_t size = 0;
+	uint32_t maxSize = 100;
+	uint32_t i;
+	int32_t size2 = size;
+
+	Packet myPacket2;
+
+	size2 = size;
+	pointer = buffer;
+
+	myPacket2.read(&pointer, &size2, true);
+
+	printf("packet: 0x%04x, 0x%04x\n", myPacket2.element1.entry,
+			myPacket2.element2.entry);
+
+	buffer[0] = 0x12;
+	buffer[1] = 0x34;
+	buffer[2] = 0x56;
+	buffer[3] = 0x78;
+	buffer[4] = 0x2;
+	buffer[5] = 0x3;
+	buffer[6] = 0xab;
+	buffer[7] = 0xcd;
+	buffer[8] = 0xef;
+	buffer[9] = 0x2;
+	buffer[10] = 0x11;
+	buffer[11] = 0x22;
+	buffer[12] = 0xca;
+	buffer[13] = 0xfe;
+	buffer[14] = 0x5a;
+	buffer[15] = 0xfe;
+
+	pointer = buffer;
+	size2 = 23;
+
+	Packet2 p2;
+
+	ReturnValue_t result = p2.read(&pointer, &size2, true);
+	printf("result is %02x\n", result);
+
+	printf("%04x; %i: %i: %x %x %x; %i: %x %x;; %04x\n", p2.element1.entry,
+			p2.element2.entry.size, p2.element2.entry[0].size,
+			p2.element2.entry[0][0], p2.element2.entry[0][1],
+			p2.element2.entry[0][2], p2.element2.entry[1].size,
+			p2.element2.entry[1][0], p2.element2.entry[1][1],
+			p2.element3.entry);
+
+}
+*/
+struct Test {
+	uint32_t a;
+	uint32_t b;
+};
+
+template<typename key_t, typename T>
+void printMap(FixedMap<key_t, T> *map) {
+	typename FixedMap<key_t, T>::Iterator iter;
+	printf("Map (%i): ", map->getSize());
+	for (iter = map->begin(); iter != map->end(); ++iter) {
+		printf("%x:%08x,%08x ", iter.value->first, (*iter).a, (*iter).b);
+	}
+	printf("\n");
+}
+
+template<typename T>
+void map() {
+	puts("** Map **");
+	typename FixedMap<T, Test>::Iterator iter;
+	ReturnValue_t result;
+	FixedMap<T, Test> myMap(5);
+
+	printMap<T, Test>(&myMap);
+
+	Test a;
+	a.a = 0x01234567;
+	a.b = 0xabcdef89;
+
+	myMap.insert(1, a);
+	printMap<T, Test>(&myMap);
+
+	a.a = 0;
+
+	myMap.insert(2, a);
+	printMap<T, Test>(&myMap);
+
+	printf("2 exists: %x\n", myMap.exists(0x02));
+
+	printf("ff exists: %x\n", myMap.exists(0xff));
+
+	a.a = 1;
+	printf("insert 0x2: %x\n", myMap.insert(2, a));
+
+	result = myMap.insert(0xff, a);
+	a.a = 0x44;
+	result = myMap.insert(0xab, a);
+	result = myMap.insert(0xa, a);
+
+	printMap<T, Test>(&myMap);
+
+	printf("insert 0x5: %x\n", myMap.insert(5, a));
+
+	printf("erase 0xfe: %x\n", myMap.erase(0xfe));
+
+	printf("erase 0x2: %x\n", myMap.erase(0x2));
+
+	printMap<T, Test>(&myMap);
+
+	printf("erase 0xab: %x\n", myMap.erase(0xab));
+	printMap<T, Test>(&myMap);
+
+	printf("insert 0x5: %x\n", myMap.insert(5, a));
+	printMap<T, Test>(&myMap);
+
+	iter = myMap.begin();
+	++iter;
+	++iter;
+	++iter;
+
+	printf("iter: %i: %x,%x\n",iter.value->first, iter->a, iter->b);
+
+	myMap.erase(&iter);
+
+	printf("iter: %i: %x,%x\n",iter.value->first, iter->a, iter->b);
+	printMap<T, Test>(&myMap);
+
+}
+
+/*
+void mapPrint() {
+	puts("** Map Print **");
+	FixedMap<uint16_t, Packet2> myMap(5);
+	Packet2 myPacket;
+	myPacket.element1.entry = 0x12345678;
+
+	myPacket.element2.entry[0][0] = 0xab;
+	myPacket.element2.entry[0][1] = 0xcd;
+	myPacket.element2.entry[0].size = 2;
+	myPacket.element2.entry.size = 1;
+
+	myPacket.element3.entry = 0xabcdef90;
+
+	myMap.insert(0x1234, myPacket);
+
+	uint8_t buffer[100];
+	uint32_t size = 0, i;
+	uint8_t *pointer = buffer;
+
+	printf("printsize: %i\n", myMap.getPrintSize());
+
+	SerializeAdapter<FixedMap<uint16_t, Packet2>>::print(&myMap, &pointer,
+			&size, 100, false);
+
+	printf("buffer(%i):", size);
+	for (i = 0; i < size; ++i) {
+		printf("%02x", buffer[i]);
+	}
+	printf("\n");
+
+	int32_t size2 = size;
+	pointer = buffer;
+
+	FixedMap<uint16_t, Packet2> myMap2(5);
+
+	ReturnValue_t result = SerializeAdapter<FixedMap<uint16_t, Packet2>>::read(
+			&myMap2, &pointer, &size2, false);
+
+	Packet2 *myPacket2 = myMap2.find(0x1234);
+
+	printf("Map (%i): Packet2: %x, Array (%i): Array (%i): %x, %x; %x\n",
+			myMap2.getSize(), myPacket2->element1.entry,
+			myPacket2->element2.entry.size, myPacket2->element2.entry[0].size,
+			myPacket2->element2.entry[0][0], myPacket2->element2.entry[0][1],
+			myPacket2->element3.entry);
+
+}
+
+void empty() {
+	puts("** Empty **");
+	ArrayList<uint32_t> list(0);
+	printf("%p %p\n", list.front(), list.back());
+}
+*/
+
+int main(void) {
+
+//	arrayList();
+//	linkedList();
+//	allocatingList();
+//	complex();
+
+	map<uint32_t>();
+//
+//	mapPrint();
+
+//	empty();
+
+
+
+	return 0;
+}

contrib/CMakeLists.txt

@@ -1,9 +0,0 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-add_subdirectory(fsfw_contrib)

contrib/fsfw_contrib/CMakeLists.txt

@@ -1,11 +0,0 @@
-if(FSFW_ADD_SGP4_PROPAGATOR)
-    target_sources(${LIB_FSFW_NAME} PRIVATE
-        sgp4/sgp4unit.cpp
-    )
-    target_include_directories(${LIB_FSFW_NAME} PRIVATE
-        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
-    )
-    target_include_directories(${LIB_FSFW_NAME} INTERFACE
-        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
-    )
-endif()

controller/ControllerBase.cpp

@@ -0,0 +1,137 @@
+#include <framework/subsystem/SubsystemBase.h>
+#include <framework/controller/ControllerBase.h>
+#include <framework/subsystem/SubsystemBase.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/action/HasActionsIF.h>
+
+ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
+		size_t commandQueueDepth) :
+		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
+				SUBMODE_NONE), commandQueue(NULL), modeHelper(
+				this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
+	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+
+}
+
+ControllerBase::~ControllerBase() {
+	QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}
+
+ReturnValue_t ControllerBase::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	MessageQueueId_t parentQueue = 0;
+	if (parentId != 0) {
+		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+		if (parent == NULL) {
+			return RETURN_FAILED;
+		}
+		parentQueue = parent->getCommandQueue();
+
+		parent->registerChild(getObjectId());
+	}
+
+	result = healthHelper.initialize(parentQueue);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	result = modeHelper.initialize(parentQueue);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	result = hkSwitcher.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	return RETURN_OK;
+}
+
+MessageQueueId_t ControllerBase::getCommandQueue() const {
+	return commandQueue->getId();
+}
+
+void ControllerBase::handleQueue() {
+	CommandMessage command;
+	ReturnValue_t result;
+	for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {
+
+		result = modeHelper.handleModeCommand(&command);
+		if (result == RETURN_OK) {
+			continue;
+		}
+
+		result = healthHelper.handleHealthCommand(&command);
+		if (result == RETURN_OK) {
+			continue;
+		}
+		result = handleCommandMessage(&command);
+		if (result == RETURN_OK) {
+			continue;
+		}
+		command.setToUnknownCommand();
+		commandQueue->reply(&command);
+	}
+
+}
+
+void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
+	changeHK(this->mode, this->submode, false);
+	triggerEvent(CHANGING_MODE, mode, submode);
+	this->mode = mode;
+	this->submode = submode;
+	modeHelper.modeChanged(mode, submode);
+	modeChanged(mode, submode);
+	announceMode(false);
+	changeHK(this->mode, this->submode, true);
+}
+
+void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
+	*mode = this->mode;
+	*submode = this->submode;
+}
+
+void ControllerBase::setToExternalControl() {
+	healthHelper.setHealth(EXTERNAL_CONTROL);
+}
+
+void ControllerBase::announceMode(bool recursive) {
+	triggerEvent(MODE_INFO, mode, submode);
+}
+
+ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
+	handleQueue();
+	hkSwitcher.performOperation();
+	performControlOperation();
+	return RETURN_OK;
+}
+
+void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) {
+	return;
+}
+
+ReturnValue_t ControllerBase::setHealth(HealthState health) {
+	switch (health) {
+	case HEALTHY:
+	case EXTERNAL_CONTROL:
+		healthHelper.setHealth(health);
+		return RETURN_OK;
+	default:
+		return INVALID_HEALTH_STATE;
+	}
+}
+
+HasHealthIF::HealthState ControllerBase::getHealth() {
+	return healthHelper.getHealth();
+}
+void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
+			executingTask = task_;
+}
+
+void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
+}

controller/ControllerBase.h

@@ -0,0 +1,79 @@
+#ifndef CONTROLLERBASE_H_
+#define CONTROLLERBASE_H_
+
+#include <framework/health/HasHealthIF.h>
+#include <framework/health/HealthHelper.h>
+#include <framework/modes/HasModesIF.h>
+#include <framework/modes/ModeHelper.h>
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/datapool/HkSwitchHelper.h>
+
+
+class ControllerBase: public HasModesIF,
+		public HasHealthIF,
+		public ExecutableObjectIF,
+		public SystemObject,
+		public HasReturnvaluesIF {
+public:
+
+	static const Mode_t MODE_NORMAL = 2;
+
+	ControllerBase(uint32_t setObjectId, uint32_t parentId,
+			size_t commandQueueDepth = 3);
+	virtual ~ControllerBase();
+
+	ReturnValue_t initialize();
+
+	virtual MessageQueueId_t getCommandQueue() const;
+
+	virtual ReturnValue_t performOperation(uint8_t opCode);
+
+	virtual ReturnValue_t setHealth(HealthState health);
+
+	virtual HasHealthIF::HealthState getHealth();
+
+	/**
+	 * Implementation of ExecutableObjectIF function
+	 *
+	 * Used to setup the reference of the task, that executes this component
+	 * @param task_ Pointer to the taskIF of this task
+	 */
+	virtual  void setTaskIF(PeriodicTaskIF* task_);
+
+
+protected:
+	const uint32_t parentId;
+
+	Mode_t mode;
+
+	Submode_t submode;
+
+	MessageQueueIF* commandQueue;
+
+	ModeHelper modeHelper;
+
+	HealthHelper healthHelper;
+
+	HkSwitchHelper hkSwitcher;
+
+	/**
+	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 */
+	PeriodicTaskIF* executingTask;
+
+	void handleQueue();
+
+	virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+	virtual void performControlOperation() = 0;
+	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+			uint32_t *msToReachTheMode) = 0;
+	virtual void modeChanged(Mode_t mode, Submode_t submode);
+	virtual void startTransition(Mode_t mode, Submode_t submode);
+	virtual void getMode(Mode_t *mode, Submode_t *submode);
+	virtual void setToExternalControl();
+	virtual void announceMode(bool recursive);
+	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
+};
+
+#endif /* CONTROLLERBASE_H_ */

coordinates/CoordinateTransformations.cpp

@@ -1,9 +1,8 @@
-#include "fsfw/coordinates/CoordinateTransformations.h"
-#include "fsfw/globalfunctions/constants.h"
-#include "fsfw/globalfunctions/math/MatrixOperations.h"
-#include "fsfw/globalfunctions/math/VectorOperations.h"
-
-#include <cstddef>
+#include <framework/coordinates/CoordinateTransformations.h>
+#include <framework/globalfunctions/constants.h>
+#include <framework/globalfunctions/math/MatrixOperations.h>
+#include <framework/globalfunctions/math/VectorOperations.h>
+#include <stddef.h>
 #include <cmath>
 
 
@@ -18,13 +17,11 @@ void CoordinateTransformations::velocityEcfToEci(const double* ecfVelocity,
 	ecfToEci(ecfVelocity, eciVelocity, ecfPosition, timeUTC);
 }
 
-void CoordinateTransformations::positionEciToEcf(const double* eciCoordinates,
-        double* ecfCoordinates,timeval *timeUTC){
+void CoordinateTransformations::positionEciToEcf(const double* eciCoordinates, double* ecfCoordinates,timeval *timeUTC){
 	eciToEcf(eciCoordinates,ecfCoordinates,NULL,timeUTC);
 };
 
-void CoordinateTransformations::velocityEciToEcf(const double* eciVelocity,
-        const double* eciPosition, double* ecfVelocity,timeval* timeUTC){
+void CoordinateTransformations::velocityEciToEcf(const double* eciVelocity,const double* eciPosition, double* ecfVelocity,timeval* timeUTC){
 	eciToEcf(eciVelocity,ecfVelocity,eciPosition,timeUTC);
 }
 

coordinates/CoordinateTransformations.h

@@ -1,8 +1,7 @@
 #ifndef COORDINATETRANSFORMATIONS_H_
 #define COORDINATETRANSFORMATIONS_H_
 
-#include "coordinatesConf.h"
-#include "fsfw/timemanager/Clock.h"
+#include <framework/timemanager/Clock.h>
 #include <cstring>
 
 class CoordinateTransformations {

coordinates/Jgm3Model.h

@@ -1,14 +1,13 @@
 #ifndef FRAMEWORK_COORDINATES_JGM3MODEL_H_
 #define FRAMEWORK_COORDINATES_JGM3MODEL_H_
 
-#include "coordinatesConf.h"
-#include "CoordinateTransformations.h"
-
-#include "fsfw/globalfunctions/math/VectorOperations.h"
-#include "fsfw/globalfunctions/timevalOperations.h"
-#include "fsfw/globalfunctions/constants.h"
+#include <stdint.h>
+#include <framework/coordinates/CoordinateTransformations.h>
+#include <framework/globalfunctions/math/VectorOperations.h>
+#include <framework/globalfunctions/timevalOperations.h>
+#include <framework/globalfunctions/constants.h>
 #include <memory.h>
-#include <cstdint>
+
 
 template<uint8_t DEGREE,uint8_t ORDER>
 class Jgm3Model {

coordinates/Sgp4Propagator.cpp

@@ -1,13 +1,10 @@
-#include "fsfw/coordinates/CoordinateTransformations.h"
-#include "fsfw/coordinates/Sgp4Propagator.h"
-
-#include "fsfw/globalfunctions/constants.h"
-#include "fsfw/globalfunctions/math/MatrixOperations.h"
-#include "fsfw/globalfunctions/math/VectorOperations.h"
-#include "fsfw/globalfunctions/timevalOperations.h"
-
+#include <framework/coordinates/CoordinateTransformations.h>
+#include <framework/coordinates/Sgp4Propagator.h>
+#include <framework/globalfunctions/constants.h>
+#include <framework/globalfunctions/math/MatrixOperations.h>
+#include <framework/globalfunctions/math/VectorOperations.h>
+#include <framework/globalfunctions/timevalOperations.h>
 #include <cstring>
-
 Sgp4Propagator::Sgp4Propagator() :
 		initialized(false), epoch({0, 0}), whichconst(wgs84) {
 

coordinates/Sgp4Propagator.h

@@ -1,14 +1,9 @@
 #ifndef SGP4PROPAGATOR_H_
 #define SGP4PROPAGATOR_H_
 
-#include "coordinatesConf.h"
-#include "fsfw/platform.h"
-
-#ifndef PLATFORM_WIN
 #include <sys/time.h>
-#endif
-#include "fsfw_contrib/sgp4/sgp4unit.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "../contrib/sgp4/sgp4unit.h"
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 
 class Sgp4Propagator {
 public:

datalinklayer/BCFrame.h

@@ -8,8 +8,7 @@
 #ifndef BCFRAME_H_
 #define BCFRAME_H_
 
-#include "dllConf.h"
-#include "CCSDSReturnValuesIF.h"
+#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
 
 /**
  * Small helper class to identify a BcFrame.

datalinklayer/CCSDSReturnValuesIF.h

@@ -8,8 +8,7 @@
 #ifndef CCSDSRETURNVALUESIF_H_
 #define CCSDSRETURNVALUESIF_H_
 
-#include "dllConf.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 /**
  * This is a helper class to collect special return values that come up during CCSDS Handling.
  * @ingroup ccsds_handling

datalinklayer/Clcw.cpp

@@ -1,5 +1,14 @@
-#include "fsfw/datalinklayer/Clcw.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+/**
+ * @file	Clcw.cpp
+ * @brief	This file defines the Clcw class.
+ * @date	17.04.2013
+ * @author	baetz
+ */
+
+
+
+#include <framework/datalinklayer/Clcw.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 Clcw::Clcw() {
 	content.raw = 0;
@@ -46,9 +55,7 @@ void Clcw::setBitLock(bool bitLock) {
 }
 
 void Clcw::print() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl;
-#endif
 }
 
 void Clcw::setWhole(uint32_t rawClcw) {

datalinklayer/Clcw.h

@@ -1,9 +1,14 @@
+/**
+ * @file	Clcw.h
+ * @brief	This file defines the Clcw class.
+ * @date	17.04.2013
+ * @author	baetz
+ */
+
 #ifndef CLCW_H_
 #define CLCW_H_
 
-#include "dllConf.h"
-#include "ClcwIF.h"
-
+#include <framework/datalinklayer/ClcwIF.h>
 /**
  * Small helper method to handle the Clcw values.
  * It has a content struct that manages the register and can be set externally.

datalinklayer/DataLinkLayer.cpp

@@ -1,6 +1,6 @@
-#include "fsfw/datalinklayer/DataLinkLayer.h"
-#include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include <framework/datalinklayer/DataLinkLayer.h>
+#include <framework/globalfunctions/CRC.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw,
 		uint8_t set_start_sequence_length, uint16_t set_scid) :
@@ -98,10 +98,8 @@ ReturnValue_t DataLinkLayer::processFrame(uint16_t length) {
 	receivedDataLength = length;
 	ReturnValue_t status = allFramesReception();
 	if (status != RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DataLinkLayer::processFrame: frame reception failed. "
 		         "Error code: " << std::hex << status << std::dec << std::endl;
-#endif
 //		currentFrame.print();
 		return status;
 	} else {
@@ -126,9 +124,7 @@ ReturnValue_t DataLinkLayer::initialize() {
 	if ( virtualChannels.begin() != virtualChannels.end() ) {
 		clcw->setVirtualChannel( virtualChannels.begin()->second->getChannelId() );
 	} else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl;
-#endif
 		return RETURN_FAILED;
 	}
 

datalinklayer/DataLinkLayer.h

@@ -1,13 +1,11 @@
 #ifndef DATALINKLAYER_H_
 #define DATALINKLAYER_H_
 
-#include "dllConf.h"
-#include "CCSDSReturnValuesIF.h"
-#include "ClcwIF.h"
-#include "TcTransferFrame.h"
-#include "VirtualChannelReceptionIF.h"
-#include "fsfw/events/Event.h"
-
+#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
+#include <framework/datalinklayer/ClcwIF.h>
+#include <framework/datalinklayer/TcTransferFrame.h>
+#include <framework/datalinklayer/VirtualChannelReceptionIF.h>
+#include <framework/events/Event.h>
 #include <map>
 
 
@@ -21,18 +19,12 @@ class VirtualChannelReception;
 class DataLinkLayer : public CCSDSReturnValuesIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
-	//! [EXPORT] : [COMMENT] A RF available signal was detected. P1: raw RFA state, P2: 0
-	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO);
-	//! [EXPORT] : [COMMENT] A previously found RF available signal was lost.
-	//! P1: raw RFA state, P2: 0
-	static const Event RF_LOST = MAKE_EVENT(1, severity::INFO);
-	//! [EXPORT] : [COMMENT] A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
-	static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO);
-	//! [EXPORT] : [COMMENT] A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
-	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO);
-//	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
-	//! [EXPORT] : [COMMENT] The CCSDS Board could not interpret a TC
-	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW);
+	static const Event RF_AVAILABLE = MAKE_EVENT(0, SEVERITY::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
+	static const Event RF_LOST = MAKE_EVENT(1, SEVERITY::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
+	static const Event BIT_LOCK = MAKE_EVENT(2, SEVERITY::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
+	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, SEVERITY::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
+//	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, SEVERITY::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
+	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< The CCSDS Board could not interpret a TC
 	/**
 	 * The Constructor sets the passed parameters and nothing else.
 	 * @param set_frame_buffer The buffer in which incoming frame candidates are stored.

datalinklayer/Farm1StateIF.h

@@ -8,9 +8,7 @@
 #ifndef FARM1STATEIF_H_
 #define FARM1STATEIF_H_
 
-#include "dllConf.h"
-#include "CCSDSReturnValuesIF.h"
-
+#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
 class VirtualChannelReception;
 class TcTransferFrame;
 class ClcwIF;

datalinklayer/Farm1StateLockout.cpp

@@ -1,8 +1,16 @@
-#include "fsfw/datalinklayer/ClcwIF.h"
-#include "fsfw/datalinklayer/Farm1StateLockout.h"
-#include "fsfw/datalinklayer/TcTransferFrame.h"
-#include "fsfw/datalinklayer/VirtualChannelReception.h"
+/**
+ * @file	Farm1StateLockout.cpp
+ * @brief	This file defines the Farm1StateLockout class.
+ * @date	24.04.2013
+ * @author	baetz
+ */
 
+
+
+#include <framework/datalinklayer/ClcwIF.h>
+#include <framework/datalinklayer/Farm1StateLockout.h>
+#include <framework/datalinklayer/TcTransferFrame.h>
+#include <framework/datalinklayer/VirtualChannelReception.h>
 Farm1StateLockout::Farm1StateLockout(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }
 

datalinklayer/Farm1StateLockout.h

@@ -1,8 +1,14 @@
+/**
+ * @file	Farm1StateLockout.h
+ * @brief	This file defines the Farm1StateLockout class.
+ * @date	24.04.2013
+ * @author	baetz
+ */
+
 #ifndef FARM1STATELOCKOUT_H_
 #define FARM1STATELOCKOUT_H_
 
-#include "dllConf.h"
-#include "Farm1StateIF.h"
+#include <framework/datalinklayer/Farm1StateIF.h>
 
 /**
  * This class represents the FARM-1 "Lockout" State.

datalinklayer/Farm1StateOpen.cpp

@@ -1,7 +1,17 @@
-#include "fsfw/datalinklayer/ClcwIF.h"
-#include "fsfw/datalinklayer/Farm1StateOpen.h"
-#include "fsfw/datalinklayer/TcTransferFrame.h"
-#include "fsfw/datalinklayer/VirtualChannelReception.h"
+/**
+ * @file	Farm1StateOpen.cpp
+ * @brief	This file defines the Farm1StateOpen class.
+ * @date	24.04.2013
+ * @author	baetz
+ */
+
+
+
+
+#include <framework/datalinklayer/ClcwIF.h>
+#include <framework/datalinklayer/Farm1StateOpen.h>
+#include <framework/datalinklayer/TcTransferFrame.h>
+#include <framework/datalinklayer/VirtualChannelReception.h>
 
 Farm1StateOpen::Farm1StateOpen(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }

datalinklayer/Farm1StateOpen.h

@@ -8,8 +8,7 @@
 #ifndef FARM1STATEOPEN_H_
 #define FARM1STATEOPEN_H_
 
-#include "dllConf.h"
-#include "Farm1StateIF.h"
+#include <framework/datalinklayer/Farm1StateIF.h>
 
 /**
  * This class represents the FARM-1 "Open" State.

datalinklayer/Farm1StateWait.cpp

@@ -1,7 +1,15 @@
-#include "fsfw/datalinklayer/ClcwIF.h"
-#include "fsfw/datalinklayer/Farm1StateWait.h"
-#include "fsfw/datalinklayer/TcTransferFrame.h"
-#include "fsfw/datalinklayer/VirtualChannelReception.h"
+/**
+ * @file	Farm1StateWait.cpp
+ * @brief	This file defines the Farm1StateWait class.
+ * @date	24.04.2013
+ * @author	baetz
+ */
+
+
+#include <framework/datalinklayer/ClcwIF.h>
+#include <framework/datalinklayer/Farm1StateWait.h>
+#include <framework/datalinklayer/TcTransferFrame.h>
+#include <framework/datalinklayer/VirtualChannelReception.h>
 
 Farm1StateWait::Farm1StateWait(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }

datalinklayer/Farm1StateWait.h

@@ -8,8 +8,7 @@
 #ifndef FARM1STATEWAIT_H_
 #define FARM1STATEWAIT_H_
 
-#include "dllConf.h"
-#include "Farm1StateIF.h"
+#include <framework/datalinklayer/Farm1StateIF.h>
 
 /**
  * This class represents the FARM-1 "Wait" State.

datalinklayer/MapPacketExtraction.cpp

@@ -1,21 +1,25 @@
-#include "fsfw/datalinklayer/MapPacketExtraction.h"
+/**
+ * @file	MapPacketExtraction.cpp
+ * @brief	This file defines the MapPacketExtraction class.
+ * @date	26.03.2013
+ * @author	baetz
+ */
 
-#include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/tmtcpacket/SpacePacketBase.h"
-#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
-#include "fsfw/tmtcservices/TmTcMessage.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-
-#include <cstring>
+#include <framework/datalinklayer/MapPacketExtraction.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/tmtcpacket/SpacePacketBase.h>
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <string.h>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
-		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
+		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0),
 		bufferPosition(packetBuffer), packetDestination(setPacketDestination),
-		tcQueueId(MessageQueueIF::NO_QUEUE) {
-	std::memset(packetBuffer, 0, sizeof(packetBuffer));
+		packetStore(nullptr), tcQueueId(MessageQueueMessageIF::NO_QUEUE) {
+	memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
 ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
@@ -32,11 +36,9 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
 			bufferPosition = &packetBuffer[packetLength];
 			status = RETURN_OK;
 		} else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error
 					<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
 					<< packetLength << std::endl;
-#endif
 			clearBuffers();
 			status = CONTENT_TOO_LARGE;
 		}
@@ -56,30 +58,24 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
 				}
 				status = RETURN_OK;
 			} else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 				sif::error
 						<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
 						<< packetLength << std::endl;
-#endif
 				clearBuffers();
 				status = CONTENT_TOO_LARGE;
 			}
 		} else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 			sif::error
 					<< "MapPacketExtraction::extractPackets. Illegal segment! Last flag: "
 					<< (int) lastSegmentationFlag << std::endl;
-#endif
 			clearBuffers();
 			status = ILLEGAL_SEGMENTATION_FLAG;
 		}
 		break;
 	default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error
 				<< "MapPacketExtraction::extractPackets. Illegal segmentationFlag: "
 				<< (int) segmentationFlag << std::endl;
-#endif
 		clearBuffers();
 		status = DATA_CORRUPTED;
 		break;
@@ -134,9 +130,9 @@ void MapPacketExtraction::clearBuffers() {
 }
 
 ReturnValue_t MapPacketExtraction::initialize() {
-	packetStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
-	AcceptsTelecommandsIF* distributor = ObjectManager::instance()->
-	        get<AcceptsTelecommandsIF>(packetDestination);
+	packetStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	AcceptsTelecommandsIF* distributor = objectManager->get<
+			AcceptsTelecommandsIF>(packetDestination);
 	if ((packetStore != NULL) && (distributor != NULL)) {
 		tcQueueId = distributor->getRequestQueue();
 		return RETURN_OK;
@@ -146,14 +142,10 @@ ReturnValue_t MapPacketExtraction::initialize() {
 }
 
 void MapPacketExtraction::printPacketBuffer(void) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "DLL: packet_buffer contains: " << std::endl;
-#endif
 	for (uint32_t i = 0; i < this->packetLength; ++i) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex
 				<< (uint16_t) this->packetBuffer[i] << std::endl;
-#endif
 	}
 }
 

datalinklayer/MapPacketExtraction.h

@@ -1,11 +1,17 @@
-#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
-#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
+/**
+ * @file	MapPacketExtraction.h
+ * @brief	This file defines the MapPacketExtraction class.
+ * @date	26.03.2013
+ * @author	baetz
+ */
 
-#include "dllConf.h"
-#include "MapPacketExtractionIF.h"
-#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/ipc/MessageQueueSenderIF.h"
+#ifndef MAPPACKETEXTRACTION_H_
+#define MAPPACKETEXTRACTION_H_
+
+#include <framework/datalinklayer/MapPacketExtractionIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/ipc/MessageQueueSenderIF.h>
 
 class StorageManagerIF;
 
@@ -14,19 +20,17 @@ class StorageManagerIF;
  * The class implements the full MAP Packet Extraction functionality as described in the CCSDS
  * TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
  * fully received. All found packets are forwarded to a single distribution entity.
- * @author B. Baetz
  */
 class MapPacketExtraction: public MapPacketExtractionIF {
 private:
 	static const uint32_t MAX_PACKET_SIZE = 4096;
 	uint8_t lastSegmentationFlag;	//!< The segmentation flag of the last received frame.
 	uint8_t mapId;	//!< MAP ID of this MAP Channel.
-	uint32_t packetLength = 0;	//!< Complete length of the current Space Packet.
+	uint32_t packetLength;	//!< Complete length of the current Space Packet.
 	uint8_t* bufferPosition;	//!< Position to write to in the internal Packet buffer.
 	uint8_t packetBuffer[MAX_PACKET_SIZE];	//!< The internal Space Packet Buffer.
 	object_id_t packetDestination;
-	//!< Pointer to the store where full TC packets are stored.
-	StorageManagerIF* packetStore = nullptr;
+	StorageManagerIF* packetStore;	//!< Pointer to the store where full TC packets are stored.
 	MessageQueueId_t tcQueueId;		//!< QueueId to send found packets to the distributor.
 	/**
 	 * Debug method to print the packet Buffer's content.
@@ -71,4 +75,4 @@ public:
 	uint8_t getMapId() const;
 };
 
-#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */
+#endif /* MAPPACKETEXTRACTION_H_ */

datalinklayer/MapPacketExtractionIF.h

@@ -8,9 +8,8 @@
 #ifndef MAPPACKETEXTRACTIONIF_H_
 #define MAPPACKETEXTRACTIONIF_H_
 
-#include "dllConf.h"
-#include "CCSDSReturnValuesIF.h"
-#include "TcTransferFrame.h"
+#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
+#include <framework/datalinklayer/TcTransferFrame.h>
 
 /**
  * This is the interface for MAP Packet Extraction classes.

datalinklayer/TcTransferFrame.cpp

@@ -1,8 +1,17 @@
-#include "fsfw/datalinklayer/TcTransferFrame.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+/**
+ * @file	TcTransferFrame.cpp
+ * @brief	This file defines the TcTransferFrame class.
+ * @date	27.04.2013
+ * @author	baetz
+ */
+
+
+
+#include <framework/datalinklayer/TcTransferFrame.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 TcTransferFrame::TcTransferFrame() {
-	 frame = nullptr;
+	 frame = NULL;
 }
 
 TcTransferFrame::TcTransferFrame(uint8_t* setData) {
@@ -78,25 +87,16 @@ uint8_t* TcTransferFrame::getFullDataField() {
 }
 
 void TcTransferFrame::print() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 	sif::debug << "Raw Frame: " << std::hex << std::endl;
 	for (uint16_t count = 0; count < this->getFullSize(); count++ ) {
 		sif::debug << (uint16_t)this->getFullFrame()[count] << " ";
 	}
 	sif::debug << std::dec << std::endl;
-
-	sif::debug << "Frame Header:" << std::endl;
-	sif::debug << "Version Number: " << std::hex
-			<< (uint16_t)this->getVersionNumber() << std::endl;
-	sif::debug << "Bypass Flag set?| Ctrl Cmd Flag set?: "
-			<< (uint16_t)this->bypassFlagSet() << " | "
-			<< (uint16_t)this->controlCommandFlagSet()  << std::endl;
-	sif::debug << "SCID : " << this->getSpacecraftId() << std::endl;
-	sif::debug << "VCID : " << (uint16_t)this->getVirtualChannelId()
-			<< std::endl;
-	sif::debug << "Frame length: " << std::dec << this->getFrameLength()
-			<< std::endl;
-	sif::debug << "Sequence Number: " << (uint16_t)this->getSequenceNumber()
-			<< std::endl;
-#endif
+//	debug << "Frame Header:" << std::endl;
+//	debug << "Version Number: " << std::hex << (uint16_t)this->current_frame.getVersionNumber() << std::endl;
+//	debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " << (uint16_t)this->current_frame.bypassFlagSet() << " | " << (uint16_t)this->current_frame.controlCommandFlagSet()  << std::endl;
+//	debug << "SCID : " << this->current_frame.getSpacecraftId() << std::endl;
+//	debug << "VCID : " << (uint16_t)this->current_frame.getVirtualChannelId() << std::endl;
+//	debug << "Frame length: " << std::dec << this->current_frame.getFrameLength() << std::endl;
+//	debug << "Sequence Number: " << (uint16_t)this->current_frame.getSequenceNumber() << std::endl;
 }

datalinklayer/TcTransferFrame.h

@@ -1,10 +1,8 @@
 #ifndef TCTRANSFERFRAME_H_
 #define TCTRANSFERFRAME_H_
 
-#include "dllConf.h"
-
-#include <cstdint>
-#include <cstddef>
+#include <stdint.h>
+#include <stddef.h>
 
 /**
  * The TcTransferFrame class simplifies handling of such Frames.

datalinklayer/TcTransferFrameLocal.cpp

@@ -1,8 +1,14 @@
-#include "fsfw/datalinklayer/TcTransferFrameLocal.h"
-#include "fsfw/globalfunctions/CRC.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+/**
+ * @file	TcTransferFrameLocal.cpp
+ * @brief	This file defines the TcTransferFrameLocal class.
+ * @date	27.04.2013
+ * @author	baetz
+ */
 
-#include <cstring>
+#include <framework/datalinklayer/TcTransferFrameLocal.h>
+#include <framework/globalfunctions/CRC.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <string.h>
 
 TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uint16_t scid,
 		uint8_t vcId, uint8_t sequenceNumber, uint8_t setSegmentHeader, uint8_t* data, uint16_t dataSize, uint16_t forceCrc) {
@@ -31,9 +37,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
 			this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
 			this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
 		} else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::warning << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl;
-#endif
+			sif::debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl;
 		}
 	} else {
 		//No data in frame

datalinklayer/TcTransferFrameLocal.h

@@ -8,8 +8,7 @@
 #ifndef TCTRANSFERFRAMELOCAL_H_
 #define TCTRANSFERFRAMELOCAL_H_
 
-#include "dllConf.h"
-#include "TcTransferFrame.h"
+#include <framework/datalinklayer/TcTransferFrame.h>
 
 /**
  * This is a helper class to locally create TC Transfer Frames.

datalinklayer/VirtualChannelReception.cpp

@@ -5,9 +5,9 @@
  * @author	baetz
  */
 
-#include "fsfw/datalinklayer/BCFrame.h"
-#include "fsfw/datalinklayer/VirtualChannelReception.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include <framework/datalinklayer/BCFrame.h>
+#include <framework/datalinklayer/VirtualChannelReception.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 VirtualChannelReception::VirtualChannelReception(uint8_t setChannelId,
 		uint8_t setSlidingWindowWidth) :
@@ -102,10 +102,8 @@ uint8_t VirtualChannelReception::getChannelId() const {
 ReturnValue_t VirtualChannelReception::initialize() {
 	ReturnValue_t returnValue = RETURN_FAILED;
 	if ((slidingWindowWidth > 254) || (slidingWindowWidth % 2 != 0)) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "VirtualChannelReception::initialize: Illegal sliding window width: "
 				<< (int) slidingWindowWidth << std::endl;
-#endif
 		return RETURN_FAILED;
 	}
 	for (mapChannelIterator iterator = mapChannels.begin(); iterator != mapChannels.end();

datalinklayer/VirtualChannelReception.h

@@ -8,16 +8,14 @@
 #ifndef VIRTUALCHANNELRECEPTION_H_
 #define VIRTUALCHANNELRECEPTION_H_
 
-#include "dllConf.h"
-#include "CCSDSReturnValuesIF.h"
-#include "Clcw.h"
-#include "Farm1StateIF.h"
-#include "Farm1StateLockout.h"
-#include "Farm1StateOpen.h"
-#include "Farm1StateWait.h"
-#include "MapPacketExtractionIF.h"
-#include "VirtualChannelReceptionIF.h"
-
+#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
+#include <framework/datalinklayer/Clcw.h>
+#include <framework/datalinklayer/Farm1StateIF.h>
+#include <framework/datalinklayer/Farm1StateLockout.h>
+#include <framework/datalinklayer/Farm1StateOpen.h>
+#include <framework/datalinklayer/Farm1StateWait.h>
+#include <framework/datalinklayer/MapPacketExtractionIF.h>
+#include <framework/datalinklayer/VirtualChannelReceptionIF.h>
 #include <map>
 /**
  * Implementation of a TC Virtual Channel.

datalinklayer/VirtualChannelReceptionIF.h

@@ -8,10 +8,9 @@
 #ifndef VIRTUALCHANNELRECEPTIONIF_H_
 #define VIRTUALCHANNELRECEPTIONIF_H_
 
-#include "dllConf.h"
-#include "ClcwIF.h"
-#include "TcTransferFrame.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include <framework/datalinklayer/ClcwIF.h>
+#include <framework/datalinklayer/TcTransferFrame.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 
 /**
  * This is the interface for Virtual Channel reception classes.

datapool/ControllerSet.cpp

@@ -0,0 +1,14 @@
+#include <framework/datapool/ControllerSet.h>
+
+ControllerSet::ControllerSet() {
+
+}
+
+ControllerSet::~ControllerSet() {
+}
+
+void ControllerSet::setInvalid() {
+	read();
+	setToDefault();
+	commit(PoolVariableIF::INVALID);
+}

datapool/ControllerSet.h

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

datapool/DataSetBase.cpp

@@ -0,0 +1,168 @@
+#include <framework/datapool/DataSetBase.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+DataSetBase::DataSetBase(PoolVariableIF** registeredVariablesArray,
+        const size_t maxFillCount):
+        registeredVariables(registeredVariablesArray),
+        maxFillCount(maxFillCount) {
+	for (uint8_t count = 0; count < maxFillCount; count++) {
+		registeredVariables[count] = nullptr;
+	}
+}
+
+DataSetBase::~DataSetBase() {}
+
+ReturnValue_t DataSetBase::registerVariable(
+		PoolVariableIF *variable) {
+	if (state != States::DATA_SET_UNINITIALISED) {
+		sif::error << "DataSet::registerVariable: "
+				"Call made in wrong position." << std::endl;
+		return DataSetIF::DATA_SET_UNINITIALISED;
+	}
+	if (variable == nullptr) {
+		sif::error << "DataSet::registerVariable: "
+				"Pool variable is nullptr." << std::endl;
+		return DataSetIF::POOL_VAR_NULL;
+	}
+	if (fillCount >= maxFillCount) {
+		sif::error << "DataSet::registerVariable: "
+				"DataSet is full." << std::endl;
+		return DataSetIF::DATA_SET_FULL;
+	}
+	registeredVariables[fillCount] = variable;
+	fillCount++;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DataSetBase::read(uint32_t lockTimeout) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	if (state == States::DATA_SET_UNINITIALISED) {
+		lockDataPool(lockTimeout);
+		for (uint16_t count = 0; count < fillCount; count++) {
+			result = readVariable(count);
+			if(result != RETURN_OK) {
+				break;
+			}
+		}
+		state = States::DATA_SET_WAS_READ;
+		unlockDataPool();
+	}
+	else {
+		sif::error << "DataSet::read(): "
+				"Call made in wrong position. Don't forget to commit"
+				" member datasets!" << std::endl;
+		result = SET_WAS_ALREADY_READ;
+	}
+	return result;
+}
+
+uint16_t DataSetBase::getFillCount() const {
+    return fillCount;
+}
+
+ReturnValue_t DataSetBase::readVariable(uint16_t count) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	// These checks are often performed by the respective
+	// variable implementation too, but I guess a double check does not hurt.
+	if (registeredVariables[count]->getReadWriteMode() !=
+				PoolVariableIF::VAR_WRITE and
+		registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER)
+	{
+		result = registeredVariables[count]->readWithoutLock();
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			result = INVALID_PARAMETER_DEFINITION;
+		}
+	}
+	return result;
+}
+
+ReturnValue_t DataSetBase::commit(uint32_t lockTimeout) {
+	if (state == States::DATA_SET_WAS_READ) {
+		handleAlreadyReadDatasetCommit(lockTimeout);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return handleUnreadDatasetCommit(lockTimeout);
+	}
+}
+
+void DataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
+	lockDataPool(lockTimeout);
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				!= PoolVariableIF::VAR_READ
+				&& registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			registeredVariables[count]->commitWithoutLock();
+		}
+	}
+	state = States::DATA_SET_UNINITIALISED;
+	unlockDataPool();
+}
+
+ReturnValue_t DataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	lockDataPool(lockTimeout);
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				== PoolVariableIF::VAR_WRITE
+				&& registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			registeredVariables[count]->commitWithoutLock();
+		} else if (registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			if (result != COMMITING_WITHOUT_READING) {
+				sif::error << "DataSet::commit(): commit-without-read call made "
+						"with non write-only variable." << std::endl;
+				result = COMMITING_WITHOUT_READING;
+			}
+		}
+	}
+	state = States::DATA_SET_UNINITIALISED;
+	unlockDataPool();
+	return result;
+}
+
+
+ReturnValue_t DataSetBase::lockDataPool(uint32_t timeoutMs) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DataSetBase::unlockDataPool() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DataSetBase::serialize(uint8_t** buffer, size_t* size,
+		const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t count = 0; count < fillCount; count++) {
+		result = registeredVariables[count]->serialize(buffer, size, maxSize,
+		        streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+ReturnValue_t DataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
+        SerializeIF::Endianness streamEndianness) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t count = 0; count < fillCount; count++) {
+		result = registeredVariables[count]->deSerialize(buffer, size,
+				streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+size_t DataSetBase::getSerializedSize() const {
+	uint32_t size = 0;
+	for (uint16_t count = 0; count < fillCount; count++) {
+		size += registeredVariables[count]->getSerializedSize();
+	}
+	return size;
+}

datapool/DataSetBase.h

@@ -0,0 +1,149 @@
+#ifndef FRAMEWORK_DATAPOOL_DATASETBASE_H_
+#define FRAMEWORK_DATAPOOL_DATASETBASE_H_
+#include <framework/datapool/DataSetIF.h>
+#include <framework/datapool/PoolVariableIF.h>
+#include <framework/ipc/MutexIF.h>
+
+/**
+ * @brief	The DataSetBase class manages a set of locally checked out variables.
+ * @details
+ * This class manages a list, where a set of local variables (or pool variables)
+ * are registered. They are checked-out (i.e. their values are looked
+ * up and copied) with the read call. After the user finishes working with the
+ * pool variables, he can write back all variable values to the pool with
+ * the commit call. The data set manages locking and freeing the data pool,
+ * to ensure that all values are read and written back at once.
+ *
+ * An internal state manages usage of this class. Variables may only be
+ * registered before the read call is made, and the commit call only
+ * after the read call.
+ *
+ * If pool variables are writable and not committed until destruction
+ * of the set, the DataSet class automatically sets the valid flag in the
+ * data pool to invalid (without) changing the variable's value.
+ *
+ * The base class lockDataPool und unlockDataPool implementation are empty
+ * and should be implemented to protect the underlying pool type.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class DataSetBase: public DataSetIF,
+		public SerializeIF,
+		public HasReturnvaluesIF {
+public:
+
+	/**
+	 * @brief	Creates an empty dataset. Use registerVariable or
+	 * 			supply a pointer to this dataset to PoolVariable
+	 * 			initializations to register pool variables.
+	 */
+	DataSetBase(PoolVariableIF** registeredVariablesArray,
+	        const size_t maxFillCount);
+	virtual~ DataSetBase();
+
+	/**
+	 * @brief	The read call initializes reading out all registered variables.
+	 * @details
+	 * It iterates through the list of registered variables and calls all read()
+	 * functions of the registered pool variables (which read out their values
+	 * from the data pool) which are not write-only.
+	 * In case of an error (e.g. a wrong data type, or an invalid data pool id),
+	 * the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
+	 *
+	 * The data pool is locked during the whole read operation and
+	 * freed afterwards.The state changes to "was written" after this operation.
+	 * @return
+	 * - @c RETURN_OK if all variables were read successfully.
+	 * - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the
+	 * requested variable is invalid.
+	 * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
+	 * commit() in between
+	 */
+	virtual ReturnValue_t read(uint32_t lockTimeout =
+			MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call initializes writing back the registered variables.
+	 * @details
+	 * It iterates through the list of registered variables and calls the
+	 * commit() method of the remaining registered variables (which write back
+	 * their values to the pool).
+	 *
+	 * The data pool is locked during the whole commit operation and
+	 * freed afterwards. The state changes to "was committed" after this operation.
+	 *
+	 * If the set does contain at least one variable which is not write-only
+	 * commit() can only be called after read(). If the set only contains
+	 * variables which are write only, commit() can be called without a
+	 * preceding read() call.
+	 * @return	- @c RETURN_OK if all variables were read successfully.
+	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
+	 * 			  contains non write-only variables
+	 */
+	virtual ReturnValue_t commit(uint32_t lockTimeout =
+			MutexIF::BLOCKING) override;
+
+	/**
+	 * Register the passed pool variable instance into the data set.
+	 * @param variable
+	 * @return
+	 */
+	virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
+	/**
+	 * Provides the means to lock the underlying data structure to ensure
+	 * thread-safety. Default implementation is empty
+	 * @return Always returns -@c RETURN_OK
+	 */
+	virtual ReturnValue_t lockDataPool(uint32_t timeoutMs =
+			MutexIF::BLOCKING) override;
+	/**
+	 * Provides the means to unlock the underlying data structure to ensure
+	 * thread-safety. Default implementation is empty
+	 * @return Always returns -@c RETURN_OK
+	 */
+	virtual ReturnValue_t unlockDataPool() override;
+
+	virtual uint16_t getFillCount() const;
+
+	/* SerializeIF implementations */
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				const size_t maxSize,
+				SerializeIF::Endianness streamEndianness) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override;
+
+protected:
+	/**
+	 * @brief	The fill_count attribute ensures that the variables
+	 * 			register in the correct array position and that the maximum
+	 * 			number of variables is not exceeded.
+	 */
+	uint16_t fillCount = 0;
+	/**
+	 * States of the seet.
+	 */
+	enum class States {
+		DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
+		DATA_SET_WAS_READ     //!< DATA_SET_WAS_READ
+	};
+	/**
+	 * @brief	state manages the internal state of the data set,
+	 *          which is important e.g. for the behavior on destruction.
+	 */
+	States state = States::DATA_SET_UNINITIALISED;
+
+	/**
+	 * @brief	This array represents all pool variables registered in this set.
+	 * Child classes can use a static or dynamic container to create
+	 * an array of registered variables and assign the first entry here.
+	 */
+	PoolVariableIF** registeredVariables = nullptr;
+	const size_t maxFillCount = 0;
+
+private:
+	ReturnValue_t readVariable(uint16_t count);
+	void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
+	ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
+};
+
+#endif /* FRAMEWORK_DATAPOOL_DATASETBASE_H_ */

datapool/DataSetIF.h

@@ -1,8 +1,8 @@
-#ifndef FSFW_DATAPOOL_DATASETIF_H_
-#define FSFW_DATAPOOL_DATASETIF_H_
+#ifndef DATASETIF_H_
+#define DATASETIF_H_
 
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include "../timemanager/Clock.h"
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/timemanager/Clock.h>
 class PoolVariableIF;
 
 /**
@@ -18,13 +18,15 @@ class PoolVariableIF;
 class DataSetIF {
 public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
-	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION = MAKE_RETURN_CODE(1);
-	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE(2);
-	static constexpr ReturnValue_t COMMITING_WITHOUT_READING = MAKE_RETURN_CODE(3);
+	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
+			MAKE_RETURN_CODE( 0x01 );
+	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
+	static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
+			MAKE_RETURN_CODE(0x03);
 
-	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE(4);
-	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE(5);
-	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE(6);
+	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE( 0x04 );
+	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
+	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
 
 	/**
 	 * @brief	This is an empty virtual destructor,
@@ -32,6 +34,8 @@ public:
 	 */
 	virtual ~DataSetIF() {}
 
+	virtual ReturnValue_t read(uint32_t lockTimeout) = 0;
+	virtual ReturnValue_t commit(uint32_t lockTimeout) = 0;
 	/**
 	 * @brief	This operation provides a method to register local data pool
 	 * 			variables to register in a data set by passing itself
@@ -40,6 +44,19 @@ public:
 	virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
 
 	virtual uint16_t getFillCount() const = 0;
+private:
+	/**
+	 * @brief 	Most underlying data structures will have a pool like structure
+	 * 			and will require a lock and unlock mechanism to ensure
+	 * 			thread-safety
+	 * @return Lock operation result
+	 */
+	virtual ReturnValue_t lockDataPool(uint32_t timeoutMs) = 0;
+	/**
+	 * @brief   Unlock call corresponding to the lock call.
+	 * @return Unlock operation result
+	 */
+	virtual ReturnValue_t unlockDataPool() = 0;
 };
 
-#endif /* FSFW_DATAPOOL_DATASETIF_H_ */
+#endif /* DATASETIF_H_ */

datapool/HkSwitchHelper.cpp

@@ -1,5 +1,5 @@
-#include "fsfw/datapool/HkSwitchHelper.h"
-#include "fsfw/ipc/QueueFactory.h"
+#include <framework/datapool/HkSwitchHelper.h>
+#include <framework/ipc/QueueFactory.h>
 
 HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
 		commandActionHelper(this), eventProxy(eventProxy) {
@@ -7,7 +7,7 @@ HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
 }
 
 HkSwitchHelper::~HkSwitchHelper() {
-    QueueFactory::instance()->deleteMessageQueue(actionQueue);
+	// TODO Auto-generated destructor stub
 }
 
 ReturnValue_t HkSwitchHelper::initialize() {

datapool/HkSwitchHelper.h

@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
 #define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
 
-#include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/action/CommandsActionsIF.h"
-#include "fsfw/events/EventReportingProxyIF.h"
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/action/CommandsActionsIF.h>
+#include <framework/events/EventReportingProxyIF.h>
 
 //TODO this class violations separation between mission and framework
 //but it is only a transitional solution until the Datapool is
@@ -13,7 +13,7 @@ class HkSwitchHelper: public ExecutableObjectIF, public CommandsActionsIF {
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
-	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
+	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, SEVERITY::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
 
 	HkSwitchHelper(EventReportingProxyIF *eventProxy);
 	virtual ~HkSwitchHelper();

datapool/PoolEntry.cpp

@@ -1,18 +1,21 @@
-#include "fsfw/datapool/PoolEntry.h"
-
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/globalfunctions/arrayprinter.h"
-
+#include <framework/datapool/PoolEntry.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/arrayprinter.h>
 #include <cstring>
-#include <algorithm>
 
 template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid ):
-		length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t setLength,
+		bool setValid ) : length(setLength), valid(setValid) {
 	this->address = new T[this->length];
 	if(initValue.size() == 0) {
 		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);
 	}
@@ -63,26 +66,10 @@ bool PoolEntry<T>::getValid() {
 
 template <typename T>
 void PoolEntry<T>::print() {
-	const char* validString = nullptr;
-	if(valid) {
-		validString = "Valid";
-	}
-	else {
-		validString = "Invalid";
-	}
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-	 sif::info << "PoolEntry information." << std::endl;
-	 sif::info << "PoolEntry validity: " << validString << std::endl;
-#else
-	 sif::printInfo("PoolEntry information.\n");
-	 sif::printInfo("PoolEntry validity: %s\n", validString);
-#endif
-	arrayprinter::print(reinterpret_cast<uint8_t*>(address), getByteSize());
-}
-
-template<typename T>
-inline T* PoolEntry<T>::getDataPtr() {
-	return this->address;
+	 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;
 }
 
 template<typename T>
@@ -93,10 +80,8 @@ Type PoolEntry<T>::getType() {
 template class PoolEntry<uint8_t>;
 template class PoolEntry<uint16_t>;
 template class PoolEntry<uint32_t>;
-template class PoolEntry<uint64_t>;
 template class PoolEntry<int8_t>;
 template class PoolEntry<int16_t>;
 template class PoolEntry<int32_t>;
-template class PoolEntry<int64_t>;
 template class PoolEntry<float>;
 template class PoolEntry<double>;

datapool/PoolEntry.h

@@ -1,7 +1,7 @@
-#ifndef FSFW_DATAPOOL_POOLENTRY_H_
-#define FSFW_DATAPOOL_POOLENTRY_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
 
-#include "PoolEntryIF.h"
+#include <framework/datapool/PoolEntryIF.h>
 
 #include <initializer_list>
 #include <type_traits>
@@ -35,22 +35,24 @@ public:
 				"uint8_t");
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
-	 * 			potential initialization values are copied to that space.
+	 * 			potential init values are copied to that space.
 	 * @details
 	 * Not passing any arguments will initialize an non-array pool entry
-	 * with an initial invalid state and the value 0.
-	 * Please note that if an initializer list is passed, the length of the
-	 * initializer list needs to be correct for vector entries because
-	 * required allocated space will be deduced from the initializer list length
-	 * and the pool entry type.
+	 * (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 a pool entry of a vector with two entries to 0.
+	 * initialize the two entries to zero.
+	 * @param setLength
+	 * Defines the array length of this entry. Should be equal to the
+	 * intializer list length.
 	 * @param setValid
 	 * Sets the initialization flag. It is invalid by default.
 	 */
-	PoolEntry(std::initializer_list<T> initValue = {0}, bool setValid = false);
-
+	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t setLength = 1,
+			bool setValid = false);
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
@@ -64,9 +66,9 @@ public:
 	 */
 	PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
 
-	//! Explicitely deleted copy ctor, copying is not allowed.
+	//! Explicitely deleted copy ctor, copying is not allowed!
 	PoolEntry(const PoolEntry&) = delete;
-	//! Explicitely deleted copy assignment, copying is not allowed.
+	//! Explicitely deleted copy assignment, copying is not allowed!
 	PoolEntry& operator=(const PoolEntry&) = delete;
 
 	/**
@@ -80,16 +82,21 @@ public:
 	~PoolEntry();
 
 	/**
-	 * Return typed pointer to start of data.
-	 * @return
+	 * @brief	This is the address pointing to the allocated memory.
 	 */
-	T* getDataPtr();
-
+	T* address;
+	/**
+	 * @brief	This attribute stores the length information.
+	 */
+	uint8_t length;
+	/**
+	 * @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
-	 * For non-array pool entries return type size, for vector entries
-	 * return type size times the number of entries.
+	 * @details	A single parameter has size 1.
 	 */
 	uint8_t getSize();
 	/**
@@ -116,22 +123,8 @@ public:
 	 * 			information to the screen. It prints all array entries in a row.
 	 */
 	void print();
-	Type getType();
 
-private:
-	/**
-	 * @brief	This attribute stores the length information.
-	 */
-	uint8_t length;
-	/**
-	 * @brief	Here, the validity information for a variable is stored.
-	 * 			Every entry (single variable or vector) has one valid flag.
-	 */
-	uint8_t valid;
-	/**
-	 * @brief	This is the address pointing to the allocated memory.
-	 */
-	T* address;
+	Type getType();
 };
 
-#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */
+#endif /* POOLENTRY_H_ */

datapool/PoolEntryIF.h

@@ -1,7 +1,7 @@
-#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
-#define FSFW_DATAPOOL_POOLENTRYIF_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 
-#include "../globalfunctions/Type.h"
+#include <framework/globalfunctions/Type.h>
 #include <cstdint>
 
 /**
@@ -60,4 +60,4 @@ public:
 	virtual Type getType() = 0;
 };
 
-#endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */
+#endif /* POOLENTRYIF_H_ */

datapool/PoolRawAccessHelper.cpp

@@ -0,0 +1,188 @@
+/**
+ * @file PoolRawAccessHelper.cpp
+ *
+ * @date 22.12.2019
+ * @author R. Mueller
+ */
+
+#include <framework/datapool/PoolRawAccessHelper.h>
+#include <framework/datapoolglob/GlobalDataSet.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+#include <cmath>
+#include <cstring>
+
+PoolRawAccessHelper::PoolRawAccessHelper(uint32_t * poolIdBuffer_,
+		uint8_t  numberOfParameters_):
+		poolIdBuffer(reinterpret_cast<uint8_t * >(poolIdBuffer_)),
+		numberOfParameters(numberOfParameters_), validBufferIndex(0),
+		validBufferIndexBit(1) {
+}
+
+PoolRawAccessHelper::~PoolRawAccessHelper() {
+}
+
+ReturnValue_t PoolRawAccessHelper::serialize(uint8_t **buffer, size_t *size,
+		const size_t max_size, SerializeIF::Endianness streamEndianness) {
+	SerializationArgs serializationArgs = {buffer, size, max_size,
+	        streamEndianness};
+	ReturnValue_t result = RETURN_OK;
+	size_t remainingParametersSize = numberOfParameters * 4;
+	for(uint8_t count=0; count < numberOfParameters; count++) {
+		result = serializeCurrentPoolEntryIntoBuffer(serializationArgs,
+				&remainingParametersSize, false);
+		if(result != RETURN_OK) {
+			return result;
+		}
+	}
+	if(remainingParametersSize != 0) {
+		sif::debug << "PoolRawAccessHelper: "
+				"Remaining parameters size not 0 !" << std::endl;
+		result = RETURN_FAILED;
+	}
+	return result;
+}
+
+ReturnValue_t PoolRawAccessHelper::serializeWithValidityMask(uint8_t ** buffer,
+		size_t * size, const size_t max_size,
+		SerializeIF::Endianness streamEndianness) {
+	ReturnValue_t result = RETURN_OK;
+	SerializationArgs argStruct = {buffer, size, max_size, streamEndianness};
+	size_t remainingParametersSize = numberOfParameters * 4;
+	uint8_t validityMaskSize = ceil((float)numberOfParameters/8.0);
+	uint8_t validityMask[validityMaskSize];
+	memset(validityMask,0, validityMaskSize);
+	for(uint8_t count = 0; count < numberOfParameters; count++) {
+		result = serializeCurrentPoolEntryIntoBuffer(argStruct,
+				&remainingParametersSize,true,validityMask);
+		if (result != RETURN_OK) {
+			return result;
+		}
+	}
+	if(remainingParametersSize != 0) {
+		sif::debug << "PoolRawAccessHelper: Remaining "
+				"parameters size not 0 !" << std::endl;
+		result = RETURN_FAILED;
+	}
+
+	memcpy(*argStruct.buffer, validityMask, validityMaskSize);
+	*size += validityMaskSize;
+	validBufferIndex = 1;
+	validBufferIndexBit = 0;
+	return result;
+}
+
+ReturnValue_t PoolRawAccessHelper::serializeCurrentPoolEntryIntoBuffer(
+		SerializationArgs argStruct, size_t * remainingParameters,
+		bool withValidMask, uint8_t * validityMask) {
+	uint32_t currentPoolId;
+	// Deserialize current pool ID from pool ID buffer
+	ReturnValue_t result = SerializeAdapter::deSerialize(&currentPoolId,
+			&poolIdBuffer,remainingParameters, SerializeIF::Endianness::MACHINE);
+	if(result != RETURN_OK) {
+		sif::debug << std::hex << "PoolRawAccessHelper: Error deSeralizing "
+				"pool IDs" << std::dec << std::endl;
+		return result;
+	}
+	result = handlePoolEntrySerialization(currentPoolId, argStruct,
+			withValidMask, validityMask);
+	return result;
+}
+
+ReturnValue_t PoolRawAccessHelper::handlePoolEntrySerialization(
+		uint32_t currentPoolId,SerializationArgs argStruct, bool withValidMask,
+		uint8_t * validityMask) {
+	ReturnValue_t result = RETURN_FAILED;
+	uint8_t arrayPosition = 0;
+	uint8_t counter = 0;
+	bool poolEntrySerialized = false;
+	//debug << "Pool Raw Access Helper: Handling Pool ID: "
+	//      << std::hex <<  currentPoolId << std::endl;
+	while(not poolEntrySerialized) {
+
+		if(counter > GlobDataSet::DATA_SET_MAX_SIZE) {
+			sif::error << "PoolRawAccessHelper: Config error, "
+					 "max. number of possible data set variables exceeded"
+				  << std::endl;
+			return result;
+		}
+		counter ++;
+
+		GlobDataSet currentDataSet;
+		//debug << "Current array position: " << (int)arrayPosition << std::endl;
+		PoolRawAccess currentPoolRawAccess(currentPoolId, arrayPosition,
+				&currentDataSet, PoolVariableIF::VAR_READ);
+
+		result = currentDataSet.read();
+		if (result != RETURN_OK) {
+			sif::debug << std::hex << "PoolRawAccessHelper: Error reading raw "
+					"dataset with returncode 0x" << result << std::dec << std::endl;
+			return result;
+		}
+
+		result = checkRemainingSize(&currentPoolRawAccess, &poolEntrySerialized,
+				&arrayPosition);
+		if(result != RETURN_OK) {
+			sif::error << "Pool Raw Access Helper: Configuration Error at pool ID "
+				  << std::hex << currentPoolId
+				  << ". Size till end smaller than 0" << std::dec << std::endl;
+			return result;
+		}
+
+		// set valid mask bit if necessary
+		if(withValidMask) {
+			if(currentPoolRawAccess.isValid()) {
+				handleMaskModification(validityMask);
+			}
+			validBufferIndexBit ++;
+		}
+
+		result = currentDataSet.serialize(argStruct.buffer, argStruct.size,
+				argStruct.max_size, argStruct.streamEndianness);
+		if (result != RETURN_OK) {
+			sif::debug << "Pool Raw Access Helper: Error serializing pool data with "
+					 "ID 0x" << std::hex << currentPoolId << " into send buffer "
+					 "with return code " << result << std::dec << std::endl;
+			return result;
+		}
+
+	}
+	return result;
+}
+
+ReturnValue_t PoolRawAccessHelper::checkRemainingSize(PoolRawAccess*
+		currentPoolRawAccess, bool * isSerialized, uint8_t * arrayPosition) {
+	int8_t remainingSize = currentPoolRawAccess->getSizeTillEnd() -
+			currentPoolRawAccess->getSizeOfType();
+	if(remainingSize == 0) {
+		*isSerialized = true;
+	}
+	else if(remainingSize > 0) {
+		*arrayPosition += 1;
+	}
+	else {
+		return RETURN_FAILED;
+	}
+	return RETURN_OK;
+}
+
+void PoolRawAccessHelper::handleMaskModification(uint8_t * validityMask) {
+	validityMask[validBufferIndex] =
+			bitSetter(validityMask[validBufferIndex], validBufferIndexBit, true);
+	if(validBufferIndexBit == 8) {
+		validBufferIndex ++;
+		validBufferIndexBit = 1;
+	}
+}
+
+uint8_t PoolRawAccessHelper::bitSetter(uint8_t byte, uint8_t position,
+		bool value) {
+	if(position < 1 or position > 8) {
+		sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl;
+		return byte;
+	}
+	uint8_t shiftNumber = position + (6 - 2 * (position - 1));
+	byte |= 1UL << shiftNumber;
+	return byte;
+}

datapool/PoolRawAccessHelper.h

@@ -0,0 +1,111 @@
+/**
+ * @file PoolRawAccessHelper.h
+ *
+ * @date 22.12.2019
+ */
+
+#ifndef FRAMEWORK_DATAPOOL_POOLRAWACCESSHELPER_H_
+#define FRAMEWORK_DATAPOOL_POOLRAWACCESSHELPER_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/datapoolglob/GlobalDataSet.h>
+#include <framework/datapoolglob/PoolRawAccess.h>
+
+/**
+ * @brief 	This helper function simplifies accessing data pool entries
+ *  	  	via PoolRawAccess
+ * @details Can be used for a Housekeeping Service
+ * 			like  ECSS PUS Service 3 if the type of the datapool entries is unknown.
+ * 			The provided dataset can be serialized into a provided buffer automatically by
+ * 			providing a buffer of pool IDs
+ * @ingroup data_pool
+ */
+class PoolRawAccessHelper: public HasReturnvaluesIF {
+public:
+	/**
+	 * Call this constructor if a dataset needs to be serialized via
+	 * Pool Raw Access
+	 * @param dataSet_ This dataset will be used to perform thread-safe reading
+	 * @param poolIdBuffer_ A buffer of uint32_t pool IDs
+	 * @param numberOfParameters_ The number of parameters / pool IDs
+	 */
+	PoolRawAccessHelper(uint32_t * poolIdBuffer_, uint8_t numberOfParameters_);
+	virtual ~PoolRawAccessHelper();
+
+	/**
+	 * Serialize the datapool entries derived from the pool ID buffer
+	 * directly into a provided buffer
+	 * @param [out] buffer
+	 * @param [out] size Size of the serialized buffer
+	 * @param max_size
+	 * @param bigEndian
+	 * @return 	@c RETURN_OK On success
+	 * 			@c RETURN_FAILED on failure
+	 */
+	ReturnValue_t serialize(uint8_t ** buffer, size_t * size,
+			const size_t max_size, SerializeIF::Endianness streamEndianness);
+
+	/**
+	 * Serializes data pool entries into provided buffer with the validity mask buffer
+	 * at the end of the buffer. Every bit of the validity mask denotes
+	 * the validity of a corresponding data pool entry from left to right.
+	 * @param [out] buffer
+	 * @param [out] size Size of the serialized buffer plus size
+	 *                   of the validity mask
+	 * @return 	@c RETURN_OK On success
+	 * 			@c RETURN_FAILED on failure
+	 */
+	ReturnValue_t serializeWithValidityMask(uint8_t ** buffer, size_t * size,
+			const size_t max_size, SerializeIF::Endianness streamEndianness);
+
+
+private:
+	// DataSet * dataSet;
+	const uint8_t * poolIdBuffer;
+	uint8_t numberOfParameters;
+
+	uint8_t validBufferIndex;
+	uint8_t validBufferIndexBit;
+
+	struct SerializationArgs {
+		uint8_t ** buffer;
+		size_t * size;
+		const size_t max_size;
+		SerializeIF::Endianness streamEndianness;
+	};
+	/**
+	 * Helper function to serialize single pool entries
+	 * @param pPoolIdBuffer
+	 * @param buffer
+	 * @param remainingParameters
+	 * @param hkDataSize
+	 * @param max_size
+	 * @param bigEndian
+	 * @param withValidMask Can be set optionally to set a
+	 *        provided validity mask
+	 * @param validityMask Can be supplied and will be set if
+	 *  	  @c withValidMask is set to true
+	 * @return
+	 */
+	ReturnValue_t serializeCurrentPoolEntryIntoBuffer(
+			SerializationArgs argStruct, size_t * remainingParameters,
+			bool withValidMask = false, uint8_t * validityMask = nullptr);
+
+	ReturnValue_t handlePoolEntrySerialization(uint32_t currentPoolId,
+			SerializationArgs argStruct, bool withValidMask = false,
+			uint8_t * validityMask = nullptr);
+
+	ReturnValue_t checkRemainingSize(PoolRawAccess * currentPoolRawAccess,
+			bool * isSerialized, uint8_t * arrayPosition);
+	void handleMaskModification(uint8_t * validityMask);
+	/**
+	 * Sets specific bit of a byte
+	 * @param byte
+	 * @param position Position of byte to set from 1 to 8
+	 * @param value Binary value to set
+	 * @return
+	 */
+	uint8_t bitSetter(uint8_t byte, uint8_t position, bool value);
+};
+
+#endif /* FRAMEWORK_DATAPOOL_POOLRAWACCESSHELPER_H_ */

datapool/PoolVarList.h

@@ -1,15 +1,14 @@
-#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
-#define FSFW_DATAPOOL_POOLVARLIST_H_
+#ifndef POOLVARLIST_H_
+#define POOLVARLIST_H_
 
-#include "../datapool/PoolVariableIF.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
+#include <framework/datapool/PoolVariableIF.h>
+#include <framework/datapoolglob/GlobalPoolVariable.h>
 template <class T, uint8_t n_var>
 class PoolVarList {
 private:
 	GlobPoolVar<T> variables[n_var];
 public:
-	PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet,
-	        PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
+	PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet, PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
 		//I really should have a look at the new init list c++ syntax.
 		if (dataSet == NULL) {
 			return;
@@ -26,4 +25,4 @@ public:
 
 
 
-#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */
+#endif /* POOLVARLIST_H_ */

datapool/PoolVariableIF.h

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

datapoolglob/DataPoolAdmin.cpp

@@ -0,0 +1,300 @@
+#include <framework/datapoolglob/DataPoolAdmin.h>
+#include <framework/datapoolglob/GlobalDataSet.h>
+#include <framework/datapoolglob/GlobalDataPool.h>
+#include <framework/datapoolglob/PoolRawAccess.h>
+#include <framework/ipc/CommandMessage.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/parameters/ParameterMessage.h>
+
+DataPoolAdmin::DataPoolAdmin(object_id_t objectId) :
+		SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper(
+				this, NULL), actionHelper(this, NULL) {
+	commandQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+DataPoolAdmin::~DataPoolAdmin() {
+	QueueFactory::instance()->deleteMessageQueue(commandQueue);
+}
+
+ReturnValue_t DataPoolAdmin::performOperation(uint8_t opCode) {
+	handleCommand();
+	return RETURN_OK;
+}
+
+MessageQueueId_t DataPoolAdmin::getCommandQueue() const {
+	return commandQueue->getId();
+}
+
+ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
+	if (actionId != SET_VALIDITY) {
+		return INVALID_ACTION_ID;
+	}
+
+	if (size != 5) {
+		return INVALID_PARAMETERS;
+	}
+
+	uint32_t address = (data[0] << 24) | (data[1] << 16) | (data[2] << 8)
+			| data[3];
+
+	uint8_t valid = data[4];
+
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
+
+	GlobDataSet mySet;
+	PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE);
+	ReturnValue_t status = mySet.read();
+	if (status != RETURN_OK) {
+		return INVALID_ADDRESS;
+	}
+	if (valid != 0) {
+		variable.setValid(PoolVariableIF::VALID);
+	} else {
+		variable.setValid(PoolVariableIF::INVALID);
+	}
+
+	mySet.commit();
+
+	return EXECUTION_FINISHED;
+}
+
+ReturnValue_t DataPoolAdmin::getParameter(uint8_t domainId,
+		uint16_t parameterId, ParameterWrapper* parameterWrapper,
+		const ParameterWrapper* newValues, uint16_t startAtIndex) {
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+void DataPoolAdmin::handleCommand() {
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
+	if (result != RETURN_OK) {
+		return;
+	}
+
+	result = actionHelper.handleActionMessage(&command);
+
+	if (result == HasReturnvaluesIF::RETURN_OK) {
+		return;
+	}
+
+	result = handleParameterCommand(&command);
+	if (result == HasReturnvaluesIF::RETURN_OK) {
+		return;
+	}
+
+	result = memoryHelper.handleMemoryCommand(&command);
+	if (result != RETURN_OK) {
+		command.setToUnknownCommand();
+		commandQueue->reply(&command);
+	}
+}
+
+ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
+		const uint8_t* data, size_t size, uint8_t** dataPointer) {
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
+	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
+	GlobDataSet testSet;
+	PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
+			PoolVariableIF::VAR_READ);
+	ReturnValue_t status = testSet.read();
+	if (status != RETURN_OK) {
+		return INVALID_ADDRESS;
+	}
+	uint8_t typeSize = varToGetSize.getSizeOfType();
+
+	if (size % typeSize != 0) {
+		return INVALID_SIZE;
+	}
+
+	if (size > varToGetSize.getSizeTillEnd()) {
+		return INVALID_SIZE;
+	}
+	const uint8_t* readPosition = data;
+
+	for (; size > 0; size -= typeSize) {
+		GlobDataSet rawSet;
+		PoolRawAccess variable(poolId, arrayIndex, &rawSet,
+				PoolVariableIF::VAR_READ_WRITE);
+		status = rawSet.read();
+		if (status == RETURN_OK) {
+			status = variable.setEntryFromBigEndian(readPosition, typeSize);
+			if (status == RETURN_OK) {
+				status = rawSet.commit();
+			}
+		}
+		arrayIndex += 1;
+		readPosition += typeSize;
+	}
+	return ACTIVITY_COMPLETED;
+}
+
+ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
+		uint8_t** dataPointer, uint8_t* copyHere) {
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
+	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
+	GlobDataSet testSet;
+	PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
+			PoolVariableIF::VAR_READ);
+	ReturnValue_t status = testSet.read();
+	if (status != RETURN_OK) {
+		return INVALID_ADDRESS;
+	}
+	uint8_t typeSize = varToGetSize.getSizeOfType();
+	if (size > varToGetSize.getSizeTillEnd()) {
+		return INVALID_SIZE;
+	}
+	uint8_t* ptrToCopy = copyHere;
+	for (; size > 0; size -= typeSize) {
+		GlobDataSet rawSet;
+		PoolRawAccess variable(poolId, arrayIndex, &rawSet,
+				PoolVariableIF::VAR_READ);
+		status = rawSet.read();
+		if (status == RETURN_OK) {
+			size_t temp = 0;
+			status = variable.getEntryEndianSafe(ptrToCopy, &temp, size);
+			if (status != RETURN_OK) {
+				return RETURN_FAILED;
+			}
+		} else {
+			//Error reading parameter.
+		}
+		arrayIndex += 1;
+		ptrToCopy += typeSize;
+	}
+	return ACTIVITY_COMPLETED;
+}
+
+ReturnValue_t DataPoolAdmin::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = memoryHelper.initialize(commandQueue);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (storage == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	result = actionHelper.initialize(commandQueue);
+
+	return result;
+}
+
+//mostly identical to ParameterHelper::handleParameterMessage()
+ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	switch (command->getCommand()) {
+	case ParameterMessage::CMD_PARAMETER_DUMP: {
+		uint8_t domain = HasParametersIF::getDomain(
+				ParameterMessage::getParameterId(command));
+		uint16_t parameterId = HasParametersIF::getMatrixId(
+				ParameterMessage::getParameterId(command));
+
+		DataPoolParameterWrapper wrapper;
+		result = wrapper.set(domain, parameterId);
+
+		if (result == HasReturnvaluesIF::RETURN_OK) {
+			result = sendParameter(command->getSender(),
+					ParameterMessage::getParameterId(command), &wrapper);
+		}
+	}
+		break;
+	case ParameterMessage::CMD_PARAMETER_LOAD: {
+
+		uint8_t domain = HasParametersIF::getDomain(
+				ParameterMessage::getParameterId(command));
+		uint16_t parameterId = HasParametersIF::getMatrixId(
+				ParameterMessage::getParameterId(command));
+		uint8_t index = HasParametersIF::getIndex(
+				ParameterMessage::getParameterId(command));
+
+		const uint8_t *storedStream;
+		size_t storedStreamSize;
+		result = storage->getData(ParameterMessage::getStoreId(command),
+				&storedStream, &storedStreamSize);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			break;
+		}
+
+		ParameterWrapper streamWrapper;
+		result = streamWrapper.set(storedStream, storedStreamSize);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			storage->deleteData(ParameterMessage::getStoreId(command));
+			break;
+		}
+
+		DataPoolParameterWrapper poolWrapper;
+		result = poolWrapper.set(domain, parameterId);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			storage->deleteData(ParameterMessage::getStoreId(command));
+			break;
+		}
+
+		result = poolWrapper.copyFrom(&streamWrapper, index);
+
+		storage->deleteData(ParameterMessage::getStoreId(command));
+
+		if (result == HasReturnvaluesIF::RETURN_OK) {
+			result = sendParameter(command->getSender(),
+					ParameterMessage::getParameterId(command), &poolWrapper);
+		}
+	}
+		break;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		rejectCommand(command->getSender(), result, command->getCommand());
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+//identical to ParameterHelper::sendParameter()
+ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
+		const DataPoolParameterWrapper* wrapper) {
+	size_t serializedSize = wrapper->getSerializedSize();
+
+	uint8_t *storeElement;
+	store_address_t address;
+
+	ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
+			&storeElement);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	size_t storeElementSize = 0;
+
+	result = wrapper->serialize(&storeElement, &storeElementSize,
+			serializedSize, SerializeIF::Endianness::BIG);
+
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		storage->deleteData(address);
+		return result;
+	}
+
+	CommandMessage reply;
+
+	ParameterMessage::setParameterDumpReply(&reply, id, address);
+
+	commandQueue->sendMessage(to, &reply);
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+//identical to ParameterHelper::rejectCommand()
+void DataPoolAdmin::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
+		Command_t initialCommand) {
+	CommandMessage reply;
+	reply.setReplyRejected(reason, initialCommand);
+	commandQueue->sendMessage(to, &reply);
+}

datapoolglob/DataPoolAdmin.h

@@ -0,0 +1,59 @@
+#ifndef DATAPOOLADMIN_H_
+#define DATAPOOLADMIN_H_
+
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/action/HasActionsIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/parameters/ReceivesParameterMessagesIF.h>
+
+#include <framework/memory/MemoryHelper.h>
+#include <framework/action/SimpleActionHelper.h>
+#include <framework/datapoolglob/DataPoolParameterWrapper.h>
+
+class DataPoolAdmin: public HasActionsIF,
+		public ExecutableObjectIF,
+		public AcceptsMemoryMessagesIF,
+		public HasReturnvaluesIF,
+		public ReceivesParameterMessagesIF,
+		public SystemObject {
+public:
+	static const ActionId_t SET_VALIDITY = 1;
+
+	DataPoolAdmin(object_id_t objectId);
+
+	~DataPoolAdmin();
+
+	ReturnValue_t performOperation(uint8_t opCode);
+
+	MessageQueueId_t getCommandQueue() const;
+
+	ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
+			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, size_t size);
+
+	//not implemented as ParameterHelper is no used
+	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
+
+	ReturnValue_t initialize();
+private:
+	StorageManagerIF *storage;
+	MessageQueueIF* commandQueue;
+	MemoryHelper memoryHelper;
+	SimpleActionHelper actionHelper;
+	void handleCommand();
+	ReturnValue_t handleParameterCommand(CommandMessage *command);
+	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
+			const DataPoolParameterWrapper* wrapper);
+	void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
+			Command_t initialCommand);
+};
+
+#endif /* DATAPOOLADMIN_H_ */

datapoolglob/DataPoolParameterWrapper.cpp

@@ -0,0 +1,179 @@
+#include <framework/datapoolglob/GlobalDataSet.h>
+#include <framework/datapoolglob/DataPoolParameterWrapper.h>
+#include <framework/datapoolglob/PoolRawAccess.h>
+#include <framework/parameters/HasParametersIF.h>
+
+
+DataPoolParameterWrapper::DataPoolParameterWrapper() :
+		type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
+				PoolVariableIF::NO_PARAMETER) {
+
+}
+
+DataPoolParameterWrapper::~DataPoolParameterWrapper() {
+
+}
+
+ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
+		uint16_t parameterId) {
+	poolId = (domainId << 16) + parameterId;
+
+	GlobDataSet mySet;
+	PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ);
+	ReturnValue_t status = mySet.read();
+	if (status != HasReturnvaluesIF::RETURN_OK) {
+		//should only fail for invalid pool id
+		return HasParametersIF::INVALID_MATRIX_ID;
+	}
+
+	type = raw.getType();
+	rows = raw.getArraySize();
+	columns = 1;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
+	ReturnValue_t result;
+
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = SerializeAdapter::serialize(&columns, buffer, size,
+			maxSize, streamEndianness);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
+			streamEndianness);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	for (uint8_t index = 0; index < rows; index++){
+		GlobDataSet mySet;
+		PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
+		mySet.read();
+		result = raw.serialize(buffer,size,maxSize,streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK){
+			return result;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+//same as ParameterWrapper
+size_t DataPoolParameterWrapper::getSerializedSize() const {
+	size_t serializedSize = 0;
+	serializedSize += type.getSerializedSize();
+	serializedSize += sizeof(rows);
+	serializedSize += sizeof(columns);
+	serializedSize += rows * columns * type.getSize();
+
+	return serializedSize;
+}
+
+ReturnValue_t DataPoolParameterWrapper::deSerialize(const uint8_t** buffer,
+		size_t* size, Endianness streamEndianness) {
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+template<typename T>
+ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow,
+		uint8_t startingColumn, const void* from, uint8_t fromRows) {
+	//treat from as a continuous Stream as we copy all of it
+	const uint8_t *fromAsStream = (const uint8_t *) from;
+
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+
+	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
+
+		GlobDataSet mySet;
+		PoolRawAccess raw(poolId, startingRow + fromRow, &mySet,
+				PoolVariableIF::VAR_READ_WRITE);
+		mySet.read();
+
+		result = raw.setEntryFromBigEndian(fromAsStream, sizeof(T));
+
+		fromAsStream += sizeof(T);
+
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+
+		mySet.commit();
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DataPoolParameterWrapper::copyFrom(const ParameterWrapper* from,
+		uint16_t startWritingAtIndex) {
+	if (poolId == PoolVariableIF::NO_PARAMETER) {
+		return ParameterWrapper::NOT_SET;
+	}
+
+	if (type != from->type) {
+		return ParameterWrapper::DATATYPE_MISSMATCH;
+	}
+
+	//check if from fits into this
+	uint8_t startingRow = startWritingAtIndex / columns;
+	uint8_t startingColumn = startWritingAtIndex % columns;
+
+	if ((from->rows > (rows - startingRow))
+			|| (from->columns > (columns - startingColumn))) {
+		return ParameterWrapper::TOO_BIG;
+	}
+
+	ReturnValue_t result;
+	//copy data
+	if (from->pointsToStream) {
+		switch (type) {
+		case Type::UINT8_T:
+			result = deSerializeData<uint8_t>(startingRow, startingColumn,
+					from->readonlyData, from->rows);
+			break;
+		case Type::INT8_T:
+			result = deSerializeData<int8_t>(startingRow, startingColumn,
+					from->readonlyData, from->rows);
+			break;
+		case Type::UINT16_T:
+			result = deSerializeData<uint16_t>(startingRow, startingColumn,
+					from->readonlyData, from->rows);
+			break;
+		case Type::INT16_T:
+			result = deSerializeData<int16_t>(startingRow, startingColumn,
+					from->readonlyData, from->rows);
+			break;
+		case Type::UINT32_T:
+			result = deSerializeData<uint32_t>(startingRow, startingColumn,
+					from->readonlyData, from->rows);
+			break;
+		case Type::INT32_T:
+			result = deSerializeData<int32_t>(startingRow, startingColumn,
+					from->readonlyData, from->rows);
+			break;
+		case Type::FLOAT:
+			result = deSerializeData<float>(startingRow, startingColumn,
+					from->readonlyData, from->rows);
+			break;
+		case Type::DOUBLE:
+			result = deSerializeData<double>(startingRow, startingColumn,
+					from->readonlyData, from->rows);
+			break;
+		default:
+			result = ParameterWrapper::UNKNOW_DATATYPE;
+			break;
+		}
+	} else {
+		//not supported
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	return result;
+}

datapoolglob/DataPoolParameterWrapper.h

@@ -0,0 +1,38 @@
+#ifndef DATAPOOLPARAMETERWRAPPER_H_
+#define DATAPOOLPARAMETERWRAPPER_H_
+
+#include <framework/globalfunctions/Type.h>
+#include <framework/parameters/ParameterWrapper.h>
+
+class DataPoolParameterWrapper: public SerializeIF {
+public:
+	DataPoolParameterWrapper();
+	virtual ~DataPoolParameterWrapper();
+
+	ReturnValue_t set(uint8_t domainId, uint16_t parameterId);
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
+
+	virtual size_t getSerializedSize() const override;
+
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
+
+	ReturnValue_t copyFrom(const ParameterWrapper *from,
+			uint16_t startWritingAtIndex);
+
+private:
+	Type type;
+	uint8_t rows;
+	uint8_t columns;
+
+	uint32_t poolId;
+
+	template<typename T>
+	ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn,
+			const void *from, uint8_t fromRows);
+
+};
+
+#endif /* DATAPOOLPARAMETERWRAPPER_H_ */

datapoolglob/GlobalDataPool.cpp

@@ -0,0 +1,132 @@
+#include <framework/datapoolglob/GlobalDataPool.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/ipc/MutexFactory.h>
+
+GlobalDataPool::GlobalDataPool(
+		void(*initFunction)(GlobPoolMap* pool_map)) {
+	mutex = MutexFactory::instance()->createMutex();
+	if (initFunction != NULL ) {
+		initFunction( &this->globDataPool );
+	}
+}
+
+GlobalDataPool::~GlobalDataPool() {
+	MutexFactory::instance()->deleteMutex(mutex);
+	for(GlobPoolMapIter it = this->globDataPool.begin();
+	    it != this->globDataPool.end(); ++it )
+	{
+		delete it->second;
+	}
+}
+
+// The function checks PID, type and array length before returning a copy of
+// the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
+template <typename T> PoolEntry<T>* GlobalDataPool::getData( uint32_t data_pool_id,
+		uint8_t sizeOrPosition ) {
+	GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
+	if ( it != this->globDataPool.end() ) {
+		PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
+		if (entry != nullptr ) {
+			if ( sizeOrPosition <= entry->length ) {
+				return entry;
+			}
+		}
+	}
+	return nullptr;
+}
+
+PoolEntryIF* GlobalDataPool::getRawData( uint32_t data_pool_id ) {
+	GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
+	if ( it != this->globDataPool.end() ) {
+		return it->second;
+	} else {
+		return nullptr;
+	}
+}
+
+ReturnValue_t GlobalDataPool::unlockDataPool() {
+	ReturnValue_t status = mutex->unlockMutex();
+	if(status != RETURN_OK) {
+		sif::error << "DataPool::DataPool: unlock of mutex failed with"
+				" error code: " << status << std::endl;
+	}
+	return status;
+}
+
+ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) {
+	ReturnValue_t status = mutex->lockMutex(timeoutMs);
+	if(status != RETURN_OK) {
+		sif::error << "DataPool::DataPool: lock of mutex failed "
+				"with error code: " << status << std::endl;
+	}
+	return status;
+}
+
+void GlobalDataPool::print() {
+	sif::debug << "DataPool contains: " << std::endl;
+	std::map<uint32_t, PoolEntryIF*>::iterator	dataPoolIt;
+	dataPoolIt = this->globDataPool.begin();
+	while( dataPoolIt != this->globDataPool.end() ) {
+		sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
+		dataPoolIt->second->print();
+		dataPoolIt++;
+	}
+}
+
+uint32_t GlobalDataPool::PIDToDataPoolId(uint32_t parameter_id) {
+	return (parameter_id >> 8) & 0x00FFFFFF;
+}
+
+uint8_t GlobalDataPool::PIDToArrayIndex(uint32_t parameter_id) {
+	return (parameter_id & 0x000000FF);
+}
+
+uint32_t GlobalDataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
+	return (poolId << 8) + index;
+}
+
+
+//SHOULDDO: Do we need a mutex lock here... I don't think so,
+//as we only check static const values of elements in a list that do not change.
+//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
+ReturnValue_t GlobalDataPool::getType(uint32_t parameter_id, Type* type) {
+	GlobPoolMapIter it = this->globDataPool.find( PIDToDataPoolId(parameter_id));
+	if ( it != this->globDataPool.end() ) {
+		*type = it->second->getType();
+		return RETURN_OK;
+	} else {
+		*type = Type::UNKNOWN_TYPE;
+		return RETURN_FAILED;
+	}
+}
+
+bool GlobalDataPool::exists(uint32_t parameterId) {
+	uint32_t poolId = PIDToDataPoolId(parameterId);
+	uint32_t index = PIDToArrayIndex(parameterId);
+	GlobPoolMapIter it = this->globDataPool.find( poolId );
+	if (it != globDataPool.end()) {
+		if (it->second->getSize() >= index) {
+			return true;
+		}
+	}
+	return false;
+}
+
+template PoolEntry<uint8_t>* GlobalDataPool::getData<uint8_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint16_t>* GlobalDataPool::getData<uint16_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint32_t>* GlobalDataPool::getData<uint32_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint64_t>* GlobalDataPool::getData<uint64_t>(
+		uint32_t data_pool_id, uint8_t size);
+template PoolEntry<int8_t>* GlobalDataPool::getData<int8_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<int16_t>* GlobalDataPool::getData<int16_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<int32_t>* GlobalDataPool::getData<int32_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<float>* GlobalDataPool::getData<float>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<double>* GlobalDataPool::getData<double>(
+		uint32_t data_pool_id, uint8_t size);

datapoolglob/GlobalDataPool.h

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

datapoolglob/GlobalDataSet.cpp

@@ -0,0 +1,44 @@
+#include <framework/datapoolglob/GlobalDataPool.h>
+#include <framework/datapoolglob/GlobalDataSet.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+GlobDataSet::GlobDataSet(): DataSetBase(
+        reinterpret_cast<PoolVariableIF**>(&registeredVariables),
+        DATA_SET_MAX_SIZE) {}
+
+// Don't do anything with your variables, they are dead already!
+// (Destructor is already called)
+GlobDataSet::~GlobDataSet() {}
+
+ReturnValue_t GlobDataSet::commit(bool valid, uint32_t lockTimeout) {
+	setEntriesValid(valid);
+	setSetValid(valid);
+	return commit(lockTimeout);
+}
+
+ReturnValue_t GlobDataSet::commit(uint32_t lockTimeout) {
+	return DataSetBase::commit(lockTimeout);
+}
+
+ReturnValue_t GlobDataSet::unlockDataPool() {
+	return glob::dataPool.unlockDataPool();
+}
+
+ReturnValue_t GlobDataSet::lockDataPool(uint32_t timeoutMs) {
+	return glob::dataPool.lockDataPool(timeoutMs);
+}
+
+void GlobDataSet::setEntriesValid(bool valid) {
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				!= PoolVariableIF::VAR_READ) {
+			registeredVariables[count]->setValid(valid);
+		}
+	}
+}
+
+void GlobDataSet::setSetValid(bool valid) {
+	this->valid = valid;
+}
+
+

datapoolglob/GlobalDataSet.h

@@ -0,0 +1,96 @@
+#ifndef FRAMEWORK_DATAPOOLGLOB_DATASET_H_
+#define FRAMEWORK_DATAPOOLGLOB_DATASET_H_
+
+#include <framework/datapool/DataSetBase.h>
+
+/**
+ * @brief	The DataSet class manages a set of locally checked out variables
+ * 			for the global data pool.
+ * @details
+ * This class uses the read-commit() semantic provided by the DataSetBase class.
+ * It extends the base class by using the global data pool,
+ * having a valid state and implementing lock und unlock calls for the global
+ * datapool.
+ *
+ * For more information on how this class works, see the DataSetBase
+ * documentation.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class GlobDataSet: public DataSetBase {
+public:
+
+	/**
+	 * @brief	Creates an empty GlobDataSet. Use registerVariable or
+	 * 			supply a pointer to this dataset to PoolVariable
+	 * 			initializations to register pool variables.
+	 */
+	GlobDataSet();
+
+	/**
+	 * @brief	The destructor automatically manages writing the valid
+	 * 			information of variables.
+	 * @details
+	 * In case the data set was read out, but not committed(indicated by state),
+	 * the destructor parses all variables that are still registered to the set.
+	 * For each, the valid flag in the data pool is set to "invalid".
+	 */
+	~GlobDataSet();
+
+	/**
+	 * Variant of method above which sets validity of all elements of the set.
+	 * @param valid Validity information from PoolVariableIF.
+	 * @return	- @c RETURN_OK if all variables were read successfully.
+	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
+	 * 			     contains non write-only variables
+	 */
+	ReturnValue_t commit(bool valid, uint32_t lockTimeout = MutexIF::BLOCKING);
+	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+
+	/**
+	 * Set all entries
+	 * @param valid
+	 */
+	void setSetValid(bool valid);
+
+	/**
+	 * Set the valid information of all variables contained in the set which
+	 * are not read-only
+	 *
+	 * @param valid Validity information from PoolVariableIF.
+	 */
+	void setEntriesValid(bool valid);
+
+	//!< This definition sets the maximum number of variables to
+	//! register in one DataSet.
+	static const uint8_t DATA_SET_MAX_SIZE = 63;
+
+private:
+	/**
+	 * If the valid state of a dataset is always relevant to the whole
+	 * data set we can use this flag.
+	 */
+	bool valid = false;
+
+	/**
+	 * @brief	This is a small helper function to facilitate locking
+	 * 			the global data pool.
+	 * @details
+	 * It makes use of the lockDataPool method offered by the DataPool class.
+	 */
+	ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
+	/**
+	 * @brief	This is a small helper function to facilitate
+	 * 			unlocking the global data pool
+	 * @details
+	 * It makes use of the freeDataPoolLock method offered by the DataPool class.
+	 */
+	ReturnValue_t unlockDataPool() override;
+
+	void handleAlreadyReadDatasetCommit();
+	ReturnValue_t handleUnreadDatasetCommit();
+
+	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
+};
+
+#endif /* FRAMEWORK_DATAPOOLGLOB_DATASET_H_ */