Merge remote-tracking branch 'upstream/master' to the fork ro include all fsfw changes and tags

Reviewed-on: fsfw/fsfw#532

.clang-format

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

.gitignore

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

CHANGELOG

@@ -0,0 +1,175 @@
+# 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

@@ -0,0 +1,351 @@
+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

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

README.md

@@ -0,0 +1,128 @@
+![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

@@ -1,110 +0,0 @@
-#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

@@ -1,93 +0,0 @@
-#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, optional if queue was set in constructor
-	 * @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

@@ -1,79 +0,0 @@
-#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

@@ -1,32 +0,0 @@
-#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 = MESSAGE_TYPE::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

@@ -1,127 +0,0 @@
-#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

@@ -1,36 +0,0 @@
-#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

@@ -1,34 +0,0 @@
-#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

@@ -1,60 +0,0 @@
-#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

@@ -1,74 +0,0 @@
-#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

@@ -1,24 +0,0 @@
-#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

@@ -0,0 +1,8 @@
+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

@@ -0,0 +1,72 @@
+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

@@ -0,0 +1,13 @@
+# 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

@@ -1,255 +0,0 @@
-#ifndef ARRAYLIST_H_
-#define ARRAYLIST_H_
-
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerializeIF.h>
-
-/**
- * A List that stores its values in an array.
- *
- * The backend 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);
-
-	/**
-	 * 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);
-		}
-	}
-	;
-
-	/**
-	 * 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;
-		}
-	}
-
-	/**
-	 * 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);
-	}
-private:
-	/**
-	 * This is the copy constructor
-	 *
-	 * It is private, as copying is too ambigous in this case. (Allocate a new backend? Use the same?
-	 * What to do in an modifying call?)
-	 *
-	 * @param other
-	 */
-	ArrayList(const ArrayList& other) :
-			size(other.size), entries(other.entries), maxSize_(other.maxSize_), allocated(
-					false) {
-	}
-protected:
-	/**
-	 * pointer to the array in which the entries are stored
-	 */
-	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

@@ -1,153 +0,0 @@
-#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/FIFO.h

@@ -1,82 +0,0 @@
-#ifndef FIFO_H_
-#define FIFO_H_
-
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-
-/**
- * @brief Simple First-In-First-Out data structure
- * @tparam T Entry Type
- * @tparam capacity Maximum capacity
- */
-template<typename T, uint8_t capacity>
-class FIFO {
-private:
-	uint8_t readIndex, writeIndex, currentSize;
-	T data[capacity];
-
-	uint8_t next(uint8_t current) {
-		++current;
-		if (current == capacity) {
-			current = 0;
-		}
-		return current;
-	}
-public:
-	FIFO() :
-			readIndex(0), writeIndex(0), currentSize(0) {
-	}
-
-	bool empty() {
-		return (currentSize == 0);
-	}
-
-	bool full() {
-		return (currentSize == capacity);
-	}
-
-	uint8_t size(){
-		return currentSize;
-	}
-
-	ReturnValue_t insert(T value) {
-		if (full()) {
-			return FULL;
-		} else {
-			data[writeIndex] = value;
-			writeIndex = next(writeIndex);
-			++currentSize;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-
-	ReturnValue_t retrieve(T *value) {
-		if (empty()) {
-			return EMPTY;
-		} else {
-			*value = data[readIndex];
-			readIndex = next(readIndex);
-			--currentSize;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-
-	ReturnValue_t peek(T * value) {
-	    if(empty()) {
-	        return EMPTY;
-	    } else {
-	       *value = data[readIndex];
-	       return HasReturnvaluesIF::RETURN_OK;
-	    }
-	}
-
-	ReturnValue_t pop() {
-		T value;
-		return this->retrieve(&value);
-	}
-
-	static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
-	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
-	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
-};
-
-#endif /* FIFO_H_ */

container/FixedArrayList.h

@@ -1,34 +0,0 @@
-#ifndef FIXEDARRAYLIST_H_
-#define FIXEDARRAYLIST_H_
-
-#include <framework/container/ArrayList.h>
-/**
- * \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:
-	FixedArrayList() :
-			ArrayList<T, count_t>(data, MAX_SIZE) {
-	}
-
-	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

@@ -1,199 +0,0 @@
-#ifndef FIXEDMAP_H_
-#define FIXEDMAP_H_
-
-#include <framework/container/ArrayList.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <utility>
-
-/**
- * \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;
-		}
-
-		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 (exists(key) == HasReturnvaluesIF::RETURN_OK) {
-			return KEY_ALREADY_EXISTS;
-		}
-		if (_size == theMap.maxSize()) {
-			return 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.fist, 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();
-	}
-
-	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

@@ -1,181 +0,0 @@
-#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_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:
-	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

@@ -1,90 +0,0 @@
-#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

@@ -1,700 +0,0 @@
-#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>
-
-template<typename T>
-class Index: public SerializeIF{
-	/**
-	 * Index is the Type used for the list of indices. The template parameter is the type which describes the index, it needs to be a child of SerializeIF to be able to make it persistent
-	 */
-	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;
-};
-
-
-
-template<typename T>
-class IndexedRingMemoryArray: public SerializeIF, public ArrayList<Index<T>, uint32_t>{
-	/**
-	 * Indexed Ring Memory Array is a class for a ring memory with indices. 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
-	 */
-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
-		uint32_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
-	 */
-
-	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;
-			}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 {
-
-		uint32_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

@@ -1,41 +0,0 @@
-#ifndef ISDERIVEDFROM_H_
-#define ISDERIVEDFROM_H_
-
-template<typename D, typename B>
-class IsDerivedFrom {
-	class No {
-	};
-	class Yes {
-		No no[3];
-	};
-
-	static Yes Test(B*); // declared, but not defined
-	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

@@ -1,35 +0,0 @@
-#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

@@ -1,96 +0,0 @@
-#ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
-#define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
-
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-
-template<uint8_t N_READ_PTRS = 1>
-class RingBufferBase {
-public:
-	RingBufferBase(uint32_t startAddress, uint32_t size, bool overwriteOld) :
-			start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) {
-		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
-			read[count] = startAddress;
-		}
-	}
-	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
-		if (availableReadData(n) >= amount) {
-			incrementRead(amount, n);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	ReturnValue_t writeData(uint32_t amount) {
-		if (availableWriteSpace() >= amount || overwriteOld) {
-			incrementWrite(amount);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	uint32_t availableReadData(uint8_t n = 0) const {
-		return ((write + size) - read[n]) % size;
-	}
-	uint32_t availableWriteSpace(uint8_t n = 0) const  {
-		//One less to avoid ambiguous full/empty problem.
-		return (((read[n] + size) - write - 1) % size);
-	}
-	bool isFull(uint8_t n = 0) {
-		return (availableWriteSpace(n) == 0);
-	}
-	bool isEmpty(uint8_t n = 0) {
-		return (availableReadData(n) == 0);
-	}
-	virtual ~RingBufferBase() {
-
-	}
-	uint32_t getRead(uint8_t n = 0) const {
-		return read[n];
-	}
-	void setRead(uint32_t read, uint8_t n = 0) {
-		if (read >= start && read < (start+size)) {
-			this->read[n] = read;
-		}
-	}
-	uint32_t getWrite() const {
-		return write;
-	}
-	void setWrite(uint32_t write) {
-		this->write = write;
-	}
-	void clear() {
-		write = start;
-		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
-			read[count] = start;
-		}
-	}
-	uint32_t writeTillWrap() {
-		return (start + size) - write;
-	}
-	uint32_t readTillWrap(uint8_t n = 0) {
-		return (start + size) - read[n];
-	}
-	uint32_t getStart() const {
-		return start;
-	}
-	bool overwritesOld() const {
-		return overwriteOld;
-	}
-	uint32_t maxSize() const {
-		return size - 1;
-	}
-protected:
-	const uint32_t start;
-	uint32_t write;
-	uint32_t read[N_READ_PTRS];
-	const uint32_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;
-	}
-};
-
-#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */

container/RingBufferTest.cpp.ignore

@@ -1,79 +0,0 @@
-
-#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/SimpleRingBuffer.cpp

@@ -1,68 +0,0 @@
-#include <framework/container/SimpleRingBuffer.h>
-#include <string.h>
-
-SimpleRingBuffer::SimpleRingBuffer(uint32_t size, bool overwriteOld) :
-		RingBufferBase<>(0, size, overwriteOld), buffer(NULL) {
-	buffer = new uint8_t[size];
-}
-
-SimpleRingBuffer::~SimpleRingBuffer() {
-	delete[] buffer;
-}
-
-ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
-		uint32_t amount) {
-	if (availableWriteSpace() >= amount || overwriteOld) {
-		uint32_t amountTillWrap = writeTillWrap();
-		if (amountTillWrap >= 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, uint32_t amount,
-		bool readRemaining, uint32_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
-	uint32_t amountTillWrap = readTillWrap(READ_PTR);
-	if (availableData < amount) {
-		if (readRemaining) {
-			amount = availableData;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	if (trueAmount != NULL) {
-		*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);
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
-		bool deleteRemaining, uint32_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
-	if (availableData < amount) {
-		if (deleteRemaining) {
-			amount = availableData;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	if (trueAmount != NULL) {
-		*trueAmount = amount;
-	}
-	incrementRead(amount, READ_PTR);
-	return HasReturnvaluesIF::RETURN_OK;
-}

container/SimpleRingBuffer.h

@@ -1,21 +0,0 @@
-#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
-
-#include <framework/container/RingBufferBase.h>
-#include <stddef.h>
-
-class SimpleRingBuffer: public RingBufferBase<> {
-public:
-	SimpleRingBuffer(uint32_t size, bool overwriteOld);
-	virtual ~SimpleRingBuffer();
-	ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
-	ReturnValue_t readData(uint8_t* data, uint32_t amount, bool readRemaining = false, uint32_t* trueAmount = NULL);
-	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false, uint32_t* trueAmount = NULL);
-private:
-//	static const uint8_t TEMP_READ_PTR = 1;
-	static const uint8_t READ_PTR = 0;
-	uint8_t* buffer;
-};
-
-#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
-

container/SinglyLinkedList.h

@@ -1,107 +0,0 @@
-#ifndef SINGLYLINKEDLIST_H_
-#define SINGLYLINKEDLIST_H_
-
-#include <stddef.h>
-#include <stdint.h>
-/**
- * \ingroup container
- */
-template<typename T>
-class LinkedElement {
-public:
-	T *value;
-	class Iterator {
-	public:
-		LinkedElement<T> *value;
-		Iterator() :
-				value(NULL) {
-
-		}
-
-		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 = NULL) : value(setElement),
-		next(setNext) {
-	}
-	virtual ~LinkedElement(){
-
-	}
-	virtual LinkedElement* getNext() const {
-		return next;
-	}
-
-	virtual void setNext(LinkedElement* next) {
-		this->next = next;
-	}
-	LinkedElement* begin() {
-		return this;
-	}
-	LinkedElement* end() {
-		return NULL;
-	}
-private:
-	LinkedElement *next;
-};
-
-template<typename T>
-class SinglyLinkedList {
-public:
-	SinglyLinkedList() :
-			start(NULL) {
-	}
-
-	SinglyLinkedList(typename LinkedElement<T>::Iterator start) :
-			start(start.value) {
-	}
-	SinglyLinkedList(LinkedElement<T>* startElement) :
-				start(startElement) {
-		}
-	typename LinkedElement<T>::Iterator begin() const {
-		return LinkedElement<T>::Iterator::Iterator(start);
-	}
-	typename LinkedElement<T>::Iterator::Iterator end() const {
-		return LinkedElement<T>::Iterator::Iterator();
-	}
-
-	uint32_t getSize() const {
-		uint32_t size = 0;
-		LinkedElement<T> *element = start;
-		while (element != NULL) {
-			size++;
-			element = element->getNext();
-		}
-		return size;
-	}
-	void setStart(LinkedElement<T>* setStart) {
-		start = setStart;
-	}
-protected:
-	LinkedElement<T> *start;
-};
-
-#endif /* SINGLYLINKEDLIST_H_ */

container/listTest.cpp.ignore

@@ -1,365 +0,0 @@
-#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

@@ -0,0 +1,9 @@
+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

@@ -0,0 +1,11 @@
+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()

contrib/fsfw_contrib/sgp4/sgp4unit.h

@@ -1,117 +1,117 @@
-#ifndef _sgp4unit_
-#define _sgp4unit_
-/*     ----------------------------------------------------------------
-*
-*                                 sgp4unit.h
-*
-*    this file contains the sgp4 procedures for analytical propagation
-*    of a satellite. the code was originally released in the 1980 and 1986
-*    spacetrack papers. a detailed discussion of the theory and history
-*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
-*    and kelso.
-*
-*                            companion code for
-*               fundamentals of astrodynamics and applications
-*                                    2007
-*                              by david vallado
-*
-*       (w) 719-573-2600, email dvallado@agi.com
-*
-*    current :
-*              20 apr 07  david vallado
-*                           misc fixes for constants
-*    changes :
-*              11 aug 06  david vallado
-*                           chg lyddane choice back to strn3, constants, misc doc
-*              15 dec 05  david vallado
-*                           misc fixes
-*              26 jul 05  david vallado
-*                           fixes for paper
-*                           note that each fix is preceded by a
-*                           comment with "sgp4fix" and an explanation of
-*                           what was changed
-*              10 aug 04  david vallado
-*                           2nd printing baseline working
-*              14 may 01  david vallado
-*                           2nd edition baseline
-*                     80  norad
-*                           original baseline
-*       ----------------------------------------------------------------      */
-
-#include <math.h>
-#include <stdio.h>
-
-// -------------------------- structure declarations ----------------------------
-typedef enum
-{
-  wgs72old,
-  wgs72,
-  wgs84
-} gravconsttype;
-
-typedef struct elsetrec
-{
-  long int  satnum;
-  int       epochyr, epochtynumrev;
-  int       error;
-  char      init, method;
-
-  /* Near Earth */
-  int    isimp;
-  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
-         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
-         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
-         nodecf;
-
-  /* Deep Space */
-  int    irez;
-  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
-         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
-         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
-         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
-         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
-         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
-         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
-
-  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
-         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
-         no;
-} elsetrec;
-
-// --------------------------- function declarations ----------------------------
-int sgp4init
-       (
-         gravconsttype whichconst,      const int satn,     const double epoch,
-         const double xbstar, const double xecco, const double xargpo,
-         const double xinclo, const double xmo,   const double xno,
-         const double xnodeo,
-         elsetrec& satrec
-       );
-
-int sgp4
-       (
-         gravconsttype whichconst,
-         elsetrec& satrec, double tsince,
-         double r[], double v[]
-       );
-
-double  gstime
-       (
-         double
-       );
-
-void getgravconst
-      (
-       gravconsttype,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&
-      );
-
-#endif
-
+#ifndef _sgp4unit_
+#define _sgp4unit_
+/*     ----------------------------------------------------------------
+*
+*                                 sgp4unit.h
+*
+*    this file contains the sgp4 procedures for analytical propagation
+*    of a satellite. the code was originally released in the 1980 and 1986
+*    spacetrack papers. a detailed discussion of the theory and history
+*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
+*    and kelso.
+*
+*                            companion code for
+*               fundamentals of astrodynamics and applications
+*                                    2007
+*                              by david vallado
+*
+*       (w) 719-573-2600, email dvallado@agi.com
+*
+*    current :
+*              20 apr 07  david vallado
+*                           misc fixes for constants
+*    changes :
+*              11 aug 06  david vallado
+*                           chg lyddane choice back to strn3, constants, misc doc
+*              15 dec 05  david vallado
+*                           misc fixes
+*              26 jul 05  david vallado
+*                           fixes for paper
+*                           note that each fix is preceded by a
+*                           comment with "sgp4fix" and an explanation of
+*                           what was changed
+*              10 aug 04  david vallado
+*                           2nd printing baseline working
+*              14 may 01  david vallado
+*                           2nd edition baseline
+*                     80  norad
+*                           original baseline
+*       ----------------------------------------------------------------      */
+
+#include <math.h>
+#include <stdio.h>
+
+// -------------------------- structure declarations ----------------------------
+typedef enum
+{
+  wgs72old,
+  wgs72,
+  wgs84
+} gravconsttype;
+
+typedef struct elsetrec
+{
+  long int  satnum;
+  int       epochyr, epochtynumrev;
+  int       error;
+  char      init, method;
+
+  /* Near Earth */
+  int    isimp;
+  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
+         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
+         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
+         nodecf;
+
+  /* Deep Space */
+  int    irez;
+  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
+         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
+         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
+         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
+         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
+         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
+         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
+
+  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
+         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
+         no;
+} elsetrec;
+
+// --------------------------- function declarations ----------------------------
+int sgp4init
+       (
+         gravconsttype whichconst,      const int satn,     const double epoch,
+         const double xbstar, const double xecco, const double xargpo,
+         const double xinclo, const double xmo,   const double xno,
+         const double xnodeo,
+         elsetrec& satrec
+       );
+
+int sgp4
+       (
+         gravconsttype whichconst,
+         elsetrec& satrec, double tsince,
+         double r[], double v[]
+       );
+
+double  gstime
+       (
+         double
+       );
+
+void getgravconst
+      (
+       gravconsttype,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&
+      );
+
+#endif
+

controller/ControllerBase.cpp

@@ -1,137 +0,0 @@
-#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 message;
-	ReturnValue_t result;
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
-
-		result = modeHelper.handleModeCommand(&message);
-		if (result == RETURN_OK) {
-			continue;
-		}
-
-		result = healthHelper.handleHealthCommand(&message);
-		if (result == RETURN_OK) {
-			continue;
-		}
-		result = handleCommandMessage(&message);
-		if (result == RETURN_OK) {
-			continue;
-		}
-		message.setToUnknownCommand();
-		commandQueue->reply(&message);
-	}
-
-}
-
-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

@@ -1,79 +0,0 @@
-#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_ */

datapool/ControllerSet.cpp

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

datapool/ControllerSet.h

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

datapool/DataPool.cpp

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

datapool/DataPool.h

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

datapool/DataPoolAdmin.cpp

@@ -1,300 +0,0 @@
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/DataPoolAdmin.h>
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/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 = ::dataPool.PIDToDataPoolId(address);
-
-	DataSet 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 = ::dataPool.PIDToDataPoolId(address);
-	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
-	DataSet 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) {
-		DataSet 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 = ::dataPool.PIDToDataPoolId(address);
-	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
-	DataSet 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) {
-		DataSet 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);
-}

datapool/DataPoolAdmin.h

@@ -1,58 +0,0 @@
-#ifndef DATAPOOLADMIN_H_
-#define DATAPOOLADMIN_H_
-
-#include <framework/memory/MemoryHelper.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/action/SimpleActionHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/parameters/ReceivesParameterMessagesIF.h>
-#include <framework/datapool/DataPoolParameterWrapper.h>
-#include <framework/ipc/MessageQueueIF.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_ */

datapool/DataPoolParameterWrapper.cpp

@@ -1,181 +0,0 @@
-#include "DataPoolParameterWrapper.h"
-
-//for returncodes
-#include <framework/parameters/HasParametersIF.h>
-
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolRawAccess.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;
-
-	DataSet 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++){
-		DataSet 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++) {
-
-		DataSet 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;
-}

datapool/DataPoolParameterWrapper.h

@@ -1,38 +0,0 @@
-#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_ */

datapool/DataSet.cpp

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

datapool/DataSet.h

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

datapool/DataSetIF.h

@@ -1,39 +0,0 @@
-/**
- * \file	DataSetIF.h
- *
- * \brief	This file contains the small interface to access the DataSet class.
- *
- * \date	10/23/2012
- *
- * \author	Bastian Baetz
- *
- */
-
-#ifndef DATASETIF_H_
-#define DATASETIF_H_
-
-class PoolVariableIF;
-
-/**
- * \brief	This class defines a small interface to register on a DataSet.
- *
- * \details	Currently, the only purpose of this interface is to provide a method for locally
- * 			checked-out variables to register on a data set. Still, it may become useful for
- * 			other purposes as well.
- *
- *	\ingroup data_pool
- */
-class DataSetIF {
-public:
-	/**
-	 * \brief	This is an empty virtual destructor, as it is proposed for C++ interfaces.
-	 */
-	virtual ~DataSetIF() {}
-	/**
-	 * \brief	This operation provides a method to register local data pool variables
-	 * 			to register in a data set by passing itself to this DataSet operation.
-	 */
-	virtual void registerVariable( PoolVariableIF* variable ) = 0;
-};
-
-#endif /* DATASETIF_H_ */

datapool/PIDReader.h

@@ -1,147 +0,0 @@
-#ifndef PIDREADER_H_
-#define PIDREADER_H_
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolEntry.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-template<typename U, uint8_t n_var> class PIDReaderList;
-
-template<typename T>
-class PIDReader: public PoolVariableIF {
-	template<typename U, uint8_t n_var> friend class PIDReaderList;
-protected:
-	uint32_t parameterId;
-	uint8_t valid;
-	ReturnValue_t read() {
-		uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
-		PoolEntry<T> *read_out = ::dataPool.getData<T>(
-				DataPool::PIDToDataPoolId(parameterId), arrayIndex);
-		if (read_out != NULL) {
-			valid = read_out->valid;
-			value = read_out->address[arrayIndex];
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			value = 0;
-			valid = false;
-			sif::error << "PIDReader: read of PID 0x" << std::hex << parameterId
-					<< std::dec << " failed." << std::endl;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	/**
-	 * Never commit, is read-only.
-	 * Reason is the possibility to access a single DP vector element, but if we commit,
-	 * we set validity of the whole vector.
-	 */
-	ReturnValue_t commit() {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	/**
-	 * Empty ctor for List initialization
-	 */
-	PIDReader() :
-			parameterId(PoolVariableIF::NO_PARAMETER), valid(
-					PoolVariableIF::INVALID), value(0) {
-
-	}
-public:
-	/**
-	 * \brief	This is the local copy of the data pool entry.
-	 */
-	T value;
-	/**
-	 * \brief	In the constructor, the variable can register itself in a DataSet (if not NULL is
-	 * 			passed).
-	 * \details	It DOES NOT fetch the current value from the data pool, but sets the value
-	 * 			attribute to default (0). The value is fetched within the read() operation.
-	 * \param set_id	This is the id in the global data pool this instance of the access class
-	 * 					corresponds to.
-	 * \param dataSet	The data set in which the variable shall register itself. If NULL,
-	 * 					the variable is not registered.
-	 * \param setWritable If this flag is set to true, changes in the value attribute can be
-	 * 					written back to the data pool, otherwise not.
-	 */
-	PIDReader(uint32_t setParameterId, DataSetIF *dataSet) :
-			parameterId(setParameterId), valid(PoolVariableIF::INVALID), value(
-					0) {
-		if (dataSet != NULL) {
-			dataSet->registerVariable(this);
-		}
-	}
-
-	/**
-	 * Copy ctor to copy classes containing Pool Variables.
-	 */
-	PIDReader(const PIDReader &rhs) :
-			parameterId(rhs.parameterId), valid(rhs.valid), value(rhs.value) {
-	}
-
-	/**
-	 * \brief	The classes destructor is empty.
-	 */
-	~PIDReader() {
-
-	}
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const {
-		return DataPool::PIDToDataPoolId(parameterId);
-	}
-	uint32_t getParameterId() const {
-		return parameterId;
-	}
-	/**
-	 * This method returns if the variable is write-only, read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const {
-		return VAR_READ;
-	}
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const {
-		if (valid)
-			return true;
-		else
-			return false;
-	}
-
-	uint8_t getValid() {
-		return valid;
-	}
-
-	void setValid(uint8_t valid) {
-		this->valid = valid;
-	}
-
-	operator T() {
-		return value;
-	}
-
-	PIDReader<T>& operator=(T newValue) {
-		value = newValue;
-		return *this;
-	}
-
-	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t maxSize, Endianness streamEndianness) const override {
-		return SerializeAdapter::serialize(&value, buffer, size, maxSize,
-				streamEndianness);
-	}
-
-	virtual size_t getSerializedSize() const override {
-		return SerializeAdapter::getSerializedSize(&value);
-	}
-
-	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-			Endianness streamEndianness) override {
-		return SerializeAdapter::deSerialize(&value, buffer, size,
-				streamEndianness);
-	}
-};
-
-#endif /* PIDREADER_H_ */

datapool/PIDReaderList.h

@@ -1,27 +0,0 @@
-#ifndef FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
-#define FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
-
-#include <framework/datapool/PIDReader.h>
-#include <framework/datapool/PoolVariableIF.h>
-template <class T, uint8_t n_var>
-class PIDReaderList {
-private:
-	PIDReader<T> variables[n_var];
-public:
-	PIDReaderList( const uint32_t setPid[n_var], DataSetIF* dataSet) {
-		//I really should have a look at the new init list c++ syntax.
-		if (dataSet == NULL) {
-			return;
-		}
-		for (uint8_t count = 0; count < n_var; count++) {
-			variables[count].parameterId = setPid[count];
-			dataSet->registerVariable(&variables[count]);
-		}
-	}
-
-	PIDReader<T> &operator [](int i) { return variables[i]; }
-};
-
-
-
-#endif /* FRAMEWORK_DATAPOOL_PIDREADERLIST_H_ */

datapool/PoolRawAccess.cpp

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

datapool/PoolRawAccess.h

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

datapool/PoolVarList.h

@@ -1,28 +0,0 @@
-#ifndef POOLVARLIST_H_
-#define POOLVARLIST_H_
-
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVariableIF.h>
-template <class T, uint8_t n_var>
-class PoolVarList {
-private:
-	PoolVariable<T> variables[n_var];
-public:
-	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;
-		}
-		for (uint8_t count = 0; count < n_var; count++) {
-			variables[count].dataPoolId = set_id[count];
-			variables[count].readWriteMode = setReadWriteMode;
-			dataSet->registerVariable(&variables[count]);
-		}
-	}
-
-	PoolVariable<T> &operator [](int i) { return variables[i]; }
-};
-
-
-
-#endif /* POOLVARLIST_H_ */

datapool/PoolVariable.h

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

datapool/PoolVariableIF.h

@@ -1,71 +0,0 @@
-/*
- * \file	PoolVariableIF.h
- *
- * \brief	This file contains the interface definition for pool variables.
- *
- * \date	10/17/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLVARIABLEIF_H_
-#define POOLVARIABLEIF_H_
-
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
-
-/**
- * \brief	This interface is used to control local data pool variable representations.
- *
- * \details	To securely handle data pool variables, all pool entries are locally managed by
- * 			data pool variable access classes, which are called pool variables. To ensure a
- * 			common state of a set of variables needed in a function, these local pool variables
- * 			again are managed by other classes, e.g. the DataSet. This interface provides unified
- * 			access to local pool variables for such manager classes.
- *	\ingroup data_pool
- */
-class PoolVariableIF : public SerializeIF {
-	friend class DataSet;
-protected:
-	/**
-	 * \brief	The commit call shall write back a newly calculated local value to the data pool.
-	 */
-	virtual ReturnValue_t commit() = 0;
-	/**
-	 * \brief	The read call shall read the value of this parameter from the data pool and store
-	 * 			the content locally.
-	 */
-	virtual ReturnValue_t read() = 0;
-public:
-	static const uint8_t VALID = 1;
-	static const uint8_t INVALID = 0;
-	static const uint32_t NO_PARAMETER = 0;
-	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(uint8_t validity) = 0;
-
-};
-
-#endif /* POOLVARIABLEIF_H_ */

datapool/PoolVector.h

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

devicehandlers/AcceptsDeviceResponsesIF.h

@@ -1,23 +0,0 @@
-/**
- * @file	AcceptsDeviceResponsesIF.h
- * @brief	This file defines the AcceptsDeviceResponsesIF class.
- * @date	15.05.2013
- * @author	baetz
- */
-
-#ifndef ACCEPTSDEVICERESPONSESIF_H_
-#define ACCEPTSDEVICERESPONSESIF_H_
-
-#include <framework/ipc/MessageQueueSenderIF.h>
-
-class AcceptsDeviceResponsesIF {
-public:
-	/**
-	 * Default empty virtual destructor.
-	 */
-	virtual ~AcceptsDeviceResponsesIF() {
-}
-virtual MessageQueueId_t getDeviceQueue() = 0;
-};
-
-#endif /* ACCEPTSDEVICERESPONSESIF_H_ */

devicehandlers/AssemblyBase.h

@@ -1,132 +0,0 @@
-#ifndef ASSEMBLYBASE_H_
-#define ASSEMBLYBASE_H_
-
-#include <framework/container/FixedArrayList.h>
-#include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/subsystem/SubsystemBase.h>
-
-class AssemblyBase: public SubsystemBase {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::ASSEMBLY_BASE;
-	static const ReturnValue_t NEED_SECOND_STEP = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t NEED_TO_RECONFIGURE = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t MODE_FALLBACK = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t CHILD_NOT_COMMANDABLE = MAKE_RETURN_CODE(0x04);
-	static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
-	static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE =
-			MAKE_RETURN_CODE(0xa1);
-
-	AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
-	virtual ~AssemblyBase();
-
-protected:
-	enum InternalState {
-		STATE_NONE,
-		STATE_OVERWRITE_HEALTH,
-		STATE_NEED_SECOND_STEP,
-		STATE_SINGLE_STEP,
-		STATE_SECOND_STEP,
-	} internalState;
-
-	enum RecoveryState {
-		RECOVERY_IDLE,
-		RECOVERY_STARTED,
-		RECOVERY_ONGOING,
-		RECOVERY_ONGOING_2,
-		RECOVERY_WAIT
-	} recoveryState; //!< Indicates if one of the children requested a recovery.
-	ChildrenMap::iterator recoveringDevice;
-	/**
-	 * the mode the current transition is trying to achieve.
-	 * Can be different from the modehelper.commandedMode!
-	 */
-	Mode_t targetMode;
-
-	/**
-	 * the submode the current transition is trying to achieve.
-	 * Can be different from the modehelper.commandedSubmode!
-	 */
-	Submode_t targetSubmode;
-
-	Countdown recoveryOffTimer;
-
-	static const uint32_t POWER_OFF_TIME_MS = 1000;
-
-	virtual ReturnValue_t handleCommandMessage(CommandMessage *message);
-
-	virtual ReturnValue_t handleHealthReply(CommandMessage *message);
-
-	virtual void performChildOperation();
-
-	bool handleChildrenChanged();
-
-	/**
-	 * This method is called if the children changed its mode in a way that the current
-	 * mode can't be kept.
-	 * Default behavior is to go to MODE_OFF.
-	 * @param result The failure code which was returned by checkChildrenState.
-	 */
-	virtual void handleChildrenLostMode(ReturnValue_t result);
-
-	bool handleChildrenChangedHealth();
-
-	virtual void handleChildrenTransition();
-
-	ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-			uint32_t *msToReachTheMode);
-
-	virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
-			Submode_t submode) = 0;
-
-	virtual void startTransition(Mode_t mode, Submode_t submode);
-
-	virtual void doStartTransition(Mode_t mode, Submode_t submode);
-
-	virtual bool isInTransition();
-
-	virtual void handleModeReached();
-
-	virtual void handleModeTransitionFailed(ReturnValue_t result);
-
-	void sendHealthCommand(MessageQueueId_t sendTo, HealthState health);
-
-	//SHOULDDO: Change that OVERWRITE_HEALTH may be returned (or return internalState directly?)
-	/**
-	 * command children to reach mode,submode
-	 *
-	 * set #commandsOutstanding correctly, or use executeTable()
-	 *
-	 * @param mode
-	 * @param submode
-	 * @return
-	 *    - @c RETURN_OK if ok
-	 *    - @c NEED_SECOND_STEP if children need to be commanded again
-	 */
-	virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
-
-	//SHOULDDO: Remove wantedMode, wantedSubmode, as targetMode/submode is available?
-	virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
-			Submode_t wantedSubmode) = 0;
-
-	virtual ReturnValue_t checkChildrenStateOff();
-
-	ReturnValue_t checkChildrenState();
-
-	virtual ReturnValue_t checkChildOff(uint32_t objectId);
-
-	/**
-	 * Manages recovery of a device
-	 * @return true if recovery is still ongoing, false else.
-	 */
-	bool checkAndHandleRecovery();
-
-	/**
-	 * Helper method to overwrite health state of one of the children.
-	 * Also sets state to STATE_OVERWRITE_HEATH.
-	 * @param objectId Must be a registered child.
-	 */
-	void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
-
-};
-
-#endif /* ASSEMBLYBASE_H_ */

devicehandlers/ChildHandlerBase.h

@@ -1,25 +0,0 @@
-#ifndef PAYLOADHANDLERBASE_H_
-#define PAYLOADHANDLERBASE_H_
-
-#include <framework/devicehandlers/ChildHandlerFDIR.h>
-#include <framework/devicehandlers/DeviceHandlerBase.h>
-
-class ChildHandlerBase: public DeviceHandlerBase {
-public:
-	ChildHandlerBase(object_id_t setObjectId,
-			object_id_t deviceCommunication, CookieIF * comCookie,
-			uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId, uint32_t parent,
-			FailureIsolationBase* customFdir = nullptr,
-			size_t cmdQueueSize = 20);
-	virtual ~ChildHandlerBase();
-
-	virtual ReturnValue_t initialize();
-
-protected:
-	const uint32_t parentId;
-	ChildHandlerFDIR childHandlerFdir;
-
-};
-
-#endif /* PAYLOADHANDLERBASE_H_ */

devicehandlers/ChildHandlerFDIR.cpp

@@ -1,10 +0,0 @@
-#include <framework/devicehandlers/ChildHandlerFDIR.h>
-
-ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner, object_id_t faultTreeParent, uint32_t recoveryCount) :
-		DeviceHandlerFailureIsolation(owner, faultTreeParent) {
-	recoveryCounter.setFailureThreshold(recoveryCount);
-}
-
-ChildHandlerFDIR::~ChildHandlerFDIR() {
-}
-

devicehandlers/DeviceHandlerMessage.h

@@ -1,91 +0,0 @@
-#ifndef DEVICEHANDLERMESSAGE_H_
-#define DEVICEHANDLERMESSAGE_H_
-
-#include <framework/action/ActionMessage.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-//SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
-
-/**
- * This is used to uniquely identify commands that are sent to a device
- *
- * The values are defined in the device-specific implementations
- */
-typedef uint32_t DeviceCommandId_t;
-
-/**
- * The DeviceHandlerMessage is used to send Commands to a DeviceHandlerIF
- */
-class DeviceHandlerMessage {
-private:
-	DeviceHandlerMessage();
-public:
-
-	/**
-	 * These are the commands that can be sent to a DeviceHandlerBase
-	 */
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::DEVICE_HANDLER_COMMAND;
-	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
-//	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
-	static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
-	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID( 4 ); //!< (De)Activates the monitoring of all raw traffic in DeviceHandlers, setParameter is 0 to deactivate, 1 to activate
-
-	/*static const Command_t REPLY_SWITCHED_IOBOARD = MAKE_COMMAND_ID(1 );//!< Reply to a @c CMD_SWITCH_IOBOARD, indicates switch was successful, getParameter() contains the board switched to (0: nominal, 1: redundant)
-	 static const Command_t REPLY_CANT_SWITCH_IOBOARD = MAKE_COMMAND_ID( 2);	//!< Reply to a @c CMD_SWITCH_IOBOARD, indicating the switch could not be performed, getParameter() contains the error message
-	 static const Command_t REPLY_WIRETAPPING = MAKE_COMMAND_ID( 3);	//!< Reply to a @c CMD_WIRETAPPING, getParameter() is the current state, 1 enabled, 0 disabled
-
-	 static const Command_t REPLY_COMMAND_WAS_SENT = MAKE_COMMAND_ID(4 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was successfully sent to the device, getParameter() contains the ::DeviceCommandId_t
-	 static const Command_t REPLY_COMMAND_NOT_SUPPORTED = MAKE_COMMAND_ID(5 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t is not supported, getParameter() contains the requested ::DeviceCommand_t, getParameter2() contains the ::DeviceCommandId_t
-	 static const Command_t REPLY_COMMAND_WAS_NOT_SENT = MAKE_COMMAND_ID(6 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was not sent, getParameter contains the RMAP Return code (@see rmap.h), getParameter2() contains the ::DeviceCommandId_t
-
-	 static const Command_t REPLY_COMMAND_ALREADY_SENT = MAKE_COMMAND_ID(7 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t has already been sent to the device and not ye been answered
-	 static const Command_t REPLY_WRONG_MODE_FOR_CMD = MAKE_COMMAND_ID(8 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates that the requested command can not be sent in the curent mode, getParameter() contains the DeviceHandlerCommand_t
-	 static const Command_t REPLY_NO_DATA = MAKE_COMMAND_ID(9 );	//!< Reply to a CMD_RAW or @c CMD_DIRECT, indicates that the ::store_id_t was invalid, getParameter() contains the ::DeviceCommandId_t, getPrameter2() contains the error code
-	 */
-	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS; //!< Signals that a direct command was sent
-	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11 ); //!< Contains a raw command sent to the Device
-	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID( 0x12); //!< Contains a raw reply from the Device, getParameter() is the ObjcetId of the sender, getParameter2() is a ::store_id_t containing the raw packet received
-	static const Command_t REPLY_DIRECT_COMMAND_DATA = ActionMessage::DATA_REPLY;
-
-	/**
-	 * Default Destructor
-	 */
-	virtual ~DeviceHandlerMessage() {
-	}
-
-	static store_address_t getStoreAddress(const CommandMessage* message);
-	static uint32_t getDeviceCommandId(const CommandMessage* message);
-	static object_id_t getDeviceObjectId(const CommandMessage *message);
-	static object_id_t getIoBoardObjectId(const CommandMessage* message);
-	static uint8_t getWiretappingMode(const CommandMessage* message);
-
-//	static void setDeviceHandlerDirectCommandMessage(CommandMessage* message,
-//			DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-
-	static void setDeviceHandlerDirectCommandReply(CommandMessage* message,
-			object_id_t deviceObjectid,
-			store_address_t commandParametersStoreId);
-
-	static void setDeviceHandlerRawCommandMessage(CommandMessage* message,
-			store_address_t rawPacketStoreId);
-
-	static void setDeviceHandlerRawReplyMessage(CommandMessage* message,
-			object_id_t deviceObjectid, store_address_t rawPacketStoreId,
-			bool isCommand);
-
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, store_address_t rawPacketStoreId);
-	static void setDeviceHandlerWiretappingMessage(CommandMessage* message,
-			uint8_t wiretappingMode);
-	static void setDeviceHandlerSwitchIoBoardMessage(CommandMessage* message,
-			object_id_t ioBoardIdentifier);
-
-	static void clear(CommandMessage* message);
-};
-
-#endif /* DEVICEHANDLERMESSAGE_H_ */

devicehandlers/FixedSequenceSlot.cpp

@@ -1,20 +0,0 @@
-/**
- * @file	PollingSlot.cpp
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#include <framework/devicehandlers/FixedSequenceSlot.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <cstddef>
-
-FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
-		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
-		handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
-	handler = objectManager->get<ExecutableObjectIF>(handlerId);
-	handler->setTaskIF(executingTask);
-}
-
-FixedSequenceSlot::~FixedSequenceSlot() {}
-

devicehandlers/FixedSlotSequence.cpp

@@ -1,123 +0,0 @@
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
-		lengthMs(setLengthMs) {
-	current = slotList.begin();
-}
-
-FixedSlotSequence::~FixedSlotSequence() {
-	// Call the destructor on each list entry.
-	slotList.clear();
-}
-
-void FixedSlotSequence::executeAndAdvance() {
-	current->handler->performOperation(current->opcode);
-//	if (returnValue != RETURN_OK) {
-//		this->sendErrorMessage( returnValue );
-//	}
-	//Increment the polling Sequence iterator
-	this->current++;
-	//Set it to the beginning, if the list's end is reached.
-	if (this->current == this->slotList.end()) {
-		this->current = this->slotList.begin();
-	}
-}
-
-uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
-	uint32_t oldTime;
-	SlotListIter slotListIter = current;
-	// Get the pollingTimeMs of the current slot object.
-	oldTime = slotListIter->pollingTimeMs;
-	// Advance to the next object.
-	slotListIter++;
-	// Find the next interval which is not 0.
-	while (slotListIter != slotList.end()) {
-		if (oldTime != slotListIter->pollingTimeMs) {
-			return slotListIter->pollingTimeMs - oldTime;
-		} else {
-			slotListIter++;
-		}
-	}
-	// If the list end is reached (this is definitely an interval != 0),
-	// the interval is calculated by subtracting the remaining time of the PST
-	// and adding the start time of the first handler in the list.
-	slotListIter = slotList.begin();
-	return lengthMs - oldTime + slotListIter->pollingTimeMs;
-}
-
-uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
-	uint32_t currentTime;
-	SlotListIter slotListIter = current;
-	// Get the pollingTimeMs of the current slot object.
-	currentTime = slotListIter->pollingTimeMs;
-
-	//if it is the first slot, calculate difference to last slot
-	if (slotListIter == slotList.begin()){
-		return lengthMs - (--slotList.end())->pollingTimeMs + currentTime;
-	}
-	// get previous slot
-	slotListIter--;
-
-	return currentTime - slotListIter->pollingTimeMs;
-}
-
-bool FixedSlotSequence::slotFollowsImmediately() {
-	uint32_t currentTime = current->pollingTimeMs;
-	SlotListIter fixedSequenceIter = this->current;
-	// Get the pollingTimeMs of the current slot object.
-	if (fixedSequenceIter == slotList.begin())
-		return false;
-	fixedSequenceIter--;
-	if (fixedSequenceIter->pollingTimeMs == currentTime) {
-		return true;
-	} else {
-		return false;
-	}
-}
-
-uint32_t FixedSlotSequence::getLengthMs() const {
-	return this->lengthMs;
-}
-
-ReturnValue_t FixedSlotSequence::checkSequence() const {
-	if(slotList.empty()) {
-		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	auto slotIt = slotList.begin();
-	uint32_t count = 0;
-	uint32_t time = 0;
-	while (slotIt != slotList.end()) {
-		if (slotIt->handler == nullptr) {
-			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
-					<< std::endl;
-			count++;
-		} else if (slotIt->pollingTimeMs < time) {
-			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< slotIt->pollingTimeMs
-					<< " is smaller than previous with " << time << std::endl;
-			count++;
-		} else {
-			// All ok, print slot.
-			//info << "Current slot polling time: " << std::endl;
-			//info << std::dec << slotIt->pollingTimeMs << std::endl;
-		}
-		time = slotIt->pollingTimeMs;
-		slotIt++;
-	}
-	//info << "Number of elements in slot list: "
-	//	   << slotList.size() << std::endl;
-	if (count > 0) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-		int8_t executionStep, PeriodicTaskIF* executingTask) {
-	this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
-			executingTask));
-	this->current = slotList.begin();
-}

docs/.gitignore

@@ -0,0 +1 @@
+/_build

docs/CMakeLists.txt

@@ -0,0 +1,66 @@
+# This is based on this excellent posting provided by Sy: 
+# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/
+find_package(Doxygen REQUIRED)
+find_package(Sphinx REQUIRED)
+
+get_target_property(LIB_FSFW_PUBLIC_HEADER_DIRS ${LIB_FSFW_NAME} INTERFACE_INCLUDE_DIRECTORIES)
+# TODO: Add HAL as well
+file(GLOB_RECURSE LIB_FSFW_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/src/*.h)
+file(GLOB_RECURSE RST_DOC_FILES ${PROJECT_SOURCE_DIR}/docs/*.rst)
+
+set(DOXYGEN_INPUT_DIR ${PROJECT_SOURCE_DIR}/src)
+set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen)
+set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
+set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
+set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+# Replace variables inside @@ with the current values
+configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
+
+# Doxygen won't create this for us
+file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
+
+# Only regenerate Doxygen when the Doxyfile or public headers change
+add_custom_command(
+  OUTPUT ${DOXYGEN_INDEX_FILE}
+  DEPENDS ${LIB_FSFW_PUBLIC_HEADERS}
+  COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
+  MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
+  COMMENT "Generating docs"
+  VERBATIM
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
+
+set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
+set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
+set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
+
+# Only regenerate Sphinx when:
+# - Doxygen has rerun
+# - Our doc files have been updated
+# - The Sphinx config has been updated
+add_custom_command(
+  OUTPUT ${SPHINX_INDEX_FILE}
+  COMMAND
+    ${SPHINX_EXECUTABLE} -b html
+    # Tell Breathe where to find the Doxygen output
+    -Dbreathe_projects.fsfw=${DOXYGEN_OUTPUT_DIR}/xml
+  ${SPHINX_SOURCE} ${SPHINX_BUILD}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  DEPENDS
+  # Other docs files you want to track should go here (or in some variable)
+  ${RST_DOC_FILES}
+  ${DOXYGEN_INDEX_FILE}
+  MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
+  COMMENT "Generating documentation with Sphinx"
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
+
+# Add an install target to install the docs
+include(GNUInstallDirs)
+install(DIRECTORY ${SPHINX_BUILD}
+DESTINATION ${CMAKE_INSTALL_DOCDIR})

docs/Doxyfile.in

@@ -0,0 +1,7 @@
+INPUT = "@DOXYGEN_INPUT_DIR@"
+
+RECURSIVE = YES
+
+OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
+
+GENERATE_XML = YES

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README-config.md

@@ -0,0 +1,40 @@
+Configuring the FSFW
+======
+
+The FSFW can be configured via the `fsfwconfig` folder. A template folder has
+been provided to have a starting point for this. The folder should be added
+to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
+of the available options will be explained in more detail here.
+
+# Auto-Translation of Events
+
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the 
+   [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
+3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
+   and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
+4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
+   `translateEvents.h` and should be copied to the `fsfwconfig/events` folder
+   
+An example implementations of these translation file generators can be found as part
+of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
+or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
+
+## Configuring the Event Manager
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+``` c++
+namespace fsfwconfig {
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
+```
+

docs/README-controllers.md

@@ -0,0 +1 @@
+## Controllers

docs/README-core.md

@@ -0,0 +1,55 @@
+## FSFW Core Modules
+
+These core modules provide the most important functionalities of the 
+Flight Software Framework
+
+### Clock
+
+ * This is a class of static functions that can be used at anytime
+ * Leap Seconds must be set if any time conversions from UTC to other times is used
+
+### ObjectManager
+
+* Must be created during program startup
+* The component which handles all references. All SystemObjects register at this component. 
+* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
+* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
+A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
+
+```cpp
+template <typename T> T* ObjectManagerIF::get( object_id_t id )
+```
+* A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling objectManager->initialize() the produce function will be
+  called and all SystemObjects will be initialized afterwards.
+
+### Event Manager
+
+* Component which allows routing of events
+* Other objects can subscribe to specific events, ranges of events or all events of an object.
+* Subscriptions can be done during runtime but should be done during initialization
+* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
+
+### Health Table
+
+* A component which holds every health state 
+* Provides a thread safe way to access all health states without the need of message exchanges
+
+### Stores
+
+* The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
+* All of them should use the Thread Safe Class storagemanager/PoolManager
+
+### Tasks
+
+There are two different types of tasks:
+ * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+   insertion to the Tasks.
+ * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+   DeviceHandlers, where polling should be in a defined order. An example can be found in 
+   `defaultcfg/fsfwconfig/pollingSequence` folder
+

docs/README-devicehandlers.md

@@ -0,0 +1 @@
+## Device Handlers

docs/README-highlevel.md

@@ -0,0 +1,135 @@
+High-level overview
+======
+
+# Structure
+
+The general structure is driven by the usage of interfaces provided by objects. 
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
+This simplifies the instantiation of objects and allows the usage of some standard containers. 
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
+
+# Failure Handling
+
+Functions should return a defined `ReturnValue_t` to signal to the caller that something has
+gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
+or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
+See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
+`fsfwconfig` folder.
+
+# OSAL
+
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
+The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
+The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
+and how to use them.
+
+# Core Components 
+
+The FSFW has following core components. More detailed informations can be found in the
+[core component section](doc/README-core.md#top):
+
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks 
+   with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands 
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
+3. Clock: This module provided common time related functions
+4. EventManager: This module allows routing of events generated by `SystemObjects`
+5. HealthTable: A component which stores the health states of objects
+
+# Static IDs in the framework
+
+Some parts of the framework use a static routing address for communication. 
+An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
+ inside the function `Factory::setStaticFrameworkObjectIds()`.
+
+# Events
+
+Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
+This works analog to the returnvalues. Every object that needs own EventIds has to get a
+unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
+
+# Internal Communication
+
+Components communicate mostly via Messages through Queues. 
+Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
+will create `MessageQueue` instances for the used OSAL.
+
+# External Communication
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used. 
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+## TMTC Communication
+
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
+files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
+and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in 
+the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
+while the `fsfw_example` application is running.
+
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the `TmTcBridge` implementation.
+
+## CCSDS Frames, CCSDS Space Packets and PUS
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in `tcdistribution`. 
+If Space Packets are used, a timestamper has to be provided by the user. 
+An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
+
+# Device Handlers
+
+DeviceHandlers are another important component of the FSFW. 
+The idea is, to have a software counterpart of every physical device to provide a simple mode,
+health and commanding interface. By separating the underlying Communication Interface with 
+`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow
+for FDIR reaction.  Device Handlers can be created by implementing `DeviceHandlerBase`. 
+A standard FDIR component for the DH will be created automatically but can
+be overwritten by the user. More information on DeviceHandlers can be found in the
+related [documentation section](doc/README-devicehandlers.md#top).
+
+# Modes and Health
+
+The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
+of components. On-board Mode Management is implement in hierarchy system. 
+DeviceHandlers and Controllers are the lowest part of the hierarchy. 
+The next layer are Assemblies. Those assemblies act as a component which handle
+redundancies of handlers. Assemblies share a common core with the next level which
+are the Subsystems. 
+
+Those Assemblies are intended to act as auto-generated components from a database which describes
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component. 
+The target table is used to describe the state that is checked continuously by the subsystem. 
+All of this allows System Modes to be generated as Subsystem object as well from the same database. 
+This System contains list of subsystem modes in the transition and target tables. 
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
+
+The health state represents if the component is able to perform its tasks. 
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery. 
+
+# Unit Tests
+
+Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
+catch2 itself. More information on how to run these tests can be found in the separate
+[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)

docs/README-localpools.md

@@ -0,0 +1,174 @@
+## Local Data Pools Developer Information
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be 
+used by other software objects like controllers as well. If a custom class should have a local 
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a `LocalDataPoolManager` member object in the custom class
+2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
+and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change 
+detected by the data creator instead of checking the data manually each cycle. Two important 
+framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
+shown above so the steps required are altered slightly.
+
+### Storing and Accessing pool data 
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
+The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all 
+cohesive pool variables. These sets simply iterator over the list of variables and call the 
+`read` and `commit` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+```cpp
+class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+public:
+    /**
+     * Constructor for data users
+     * @param gyroId
+     */
+    GyroPrimaryDataset(object_id_t gyroId):
+            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+        setAllVariablesReadOnly();
+    }
+
+    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_X, this);
+    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Y, this);
+    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Z, this);
+private:
+
+    friend class GyroHandler;
+    /**
+     * Constructor for data creator
+     * @param hkOwner
+     */
+    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+};
+```
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
+as a friend class. Both the atittude controller and the `GyroHandler` can now
+use the same class definition to access the pool variables with `read` and `commit` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+### Using the local data pools in a `DeviceHandlerBase` subclass
+
+It is very common to store data generated by devices like a sensor into a pool which can 
+then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
+local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
+as a member:
+
+```cpp
+class GyroHandler: ... {
+
+public:
+	...
+private:
+	...
+	GyroPrimaryDataset gyroData;
+	...
+};
+```
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+```cpp
+GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+        CookieIF *comCookie, uint8_t switchId):
+        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+		gyroData(this) {}
+```
+
+We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
+The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
+`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local 
+pool manager can access the custom data sets as well.
+By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
+`DeviceHandlerBase` subclass will use the internal command map to retrieve 
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the `fillCommandAndReplyMap` function:
+
+```cpp
+void GyroHandler::fillCommandAndReplyMap() {
+	...
+	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+	...
+}
+```
+
+Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
+function. Here, we also immediately subscribe for periodic housekeeping packets 
+with an interval of 4 seconds. They are still disabled in this example and can be enabled 
+with a housekeeping service command.
+
+```cpp
+ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+		LocalDataPoolManager &poolManager) {
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+			new PoolEntry<uint8_t>({0}));
+	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+			new PoolEntry<uint8_t>({0}));
+
+	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+```
+
+Now, if we receive some sensor data and converted them into the right format, 
+we can write it into the pool like this, using a guard class to ensure the set is commited back 
+in any case:
+
+```cpp
+PoolReadGuard readHelper(&gyroData);
+if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+	if(not gyroData.isValid()) {
+		gyroData.setValidity(true, true);
+	}
+
+	gyroData.angVelocityX = angularVelocityX;
+	gyroData.angVelocityY = angularVelocityY;
+	gyroData.angVelocityZ = angularVelocityZ;
+}
+```
+
+The guard class will commit the changed data on destruction automatically.
+
+### Using the local data pools in a `ExtendedControllerBase` subclass
+
+Coming soon
+
+

docs/README-osal.md

@@ -0,0 +1,32 @@
+# Operating System Abstraction Layer (OSAL)
+
+Some specific information on the provided OSALs are provided.
+
+## Linux OSAL
+
+This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for 
+embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
+and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
+
+More information on how to set up a Linux system accordingly can be found in the 
+[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
+
+## Hosted OSAL
+
+This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
+
+## FreeRTOS OSAL
+
+FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
+
+When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
+
+## RTEMS OSAL
+
+The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
+
+## TCP/IP socket abstraction
+
+The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.
+
+

docs/README-pus.md

@@ -0,0 +1 @@
+## PUS Services

docs/api.rst

@@ -0,0 +1,16 @@
+API
+====
+
+.. toctree::
+   :maxdepth: 4
+
+   api/objectmanager
+   api/task
+   api/ipc
+   api/returnvalue
+   api/event
+   api/modes
+   api/health
+   api/action
+   api/devicehandler
+   api/controller

docs/api/action.rst

@@ -0,0 +1,15 @@
+Action Module API
+=================
+
+``ActionHelper``
+-----------------
+
+.. doxygenclass:: ActionHelper
+	:members:
+
+``HasActionsIF``
+-----------------
+
+.. doxygenclass:: HasActionsIF
+	:members:
+	:protected-members:

docs/api/controller.rst

@@ -0,0 +1,16 @@
+Controller API
+=================
+
+``ControllerBase``
+-------------------------
+
+.. doxygenclass:: ControllerBase
+	:members:
+	:protected-members:
+
+``ExtendedControllerBase``
+-----------------------------
+
+.. doxygenclass:: ExtendedControllerBase
+	:members:
+	:protected-members:

docs/api/devicehandler.rst

@@ -0,0 +1,16 @@
+Device Handler Base API
+=========================
+
+``DeviceHandlerBase``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerBase
+	:members:
+	:protected-members:
+
+``DeviceHandlerIF``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerIF
+	:members:
+	:protected-members:

docs/api/event.rst

@@ -0,0 +1,6 @@
+.. _eventapi:
+
+Event API
+============
+
+.. doxygenfile:: Event.h

docs/api/health.rst

@@ -0,0 +1,9 @@
+Health API
+===========
+
+``HasHealthIF``
+------------------
+
+.. doxygenclass:: HasHealthIF
+	:members:
+	:protected-members:

docs/api/ipc.rst

@@ -0,0 +1,9 @@
+IPC Module API
+=================
+
+``MessageQueueIF``
+-------------------
+
+.. doxygenclass:: MessageQueueIF
+	:members:
+	:protected-members:

docs/api/modes.rst

@@ -0,0 +1,10 @@
+Modes API
+=========
+
+
+``HasModesIF``
+---------------
+
+.. doxygenclass:: HasModesIF
+	:members:
+	:protected-members:

docs/api/objectmanager.rst

@@ -0,0 +1,30 @@
+Object Manager API
+=========================
+
+``SystemObject``
+--------------------
+
+.. doxygenclass:: SystemObject
+	:members:
+	:protected-members:
+
+``ObjectManager``
+-----------------------
+
+.. doxygenclass:: ObjectManager
+	:members:
+	:protected-members:
+
+``SystemObjectIF``
+--------------------
+
+.. doxygenclass:: SystemObjectIF
+	:members:
+	:protected-members:
+
+``ObjectManagerIF``
+-----------------------
+
+.. doxygenclass:: ObjectManagerIF
+	:members:
+	:protected-members:

docs/api/returnvalue.rst

@@ -0,0 +1,10 @@
+.. _retvalapi:
+
+Returnvalue API
+==================
+
+.. doxygenfile:: HasReturnvaluesIF.h
+
+.. _fwclassids:
+
+.. doxygenfile:: FwClassIds.h

docs/api/task.rst

@@ -0,0 +1,8 @@
+Task API
+=========
+
+``ExecutableObjectIF``
+-----------------------
+
+.. doxygenclass:: ExecutableObjectIF
+	:members:

docs/conf.py

@@ -0,0 +1,56 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'Flight Software Framework'
+copyright = '2021, Institute of Space Systems (IRS)'
+author = 'Institute of Space Systems (IRS)'
+
+# The full version, including alpha/beta/rc tags
+release = '2.0.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [ "breathe" ]
+
+breathe_default_project = "fsfw"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'alabaster'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []

docs/config.rst

@@ -0,0 +1,41 @@
+Configuring the FSFW
+=====================
+
+The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
+``misc/defaultcfg`` to have a starting point for this. The folder should be added
+to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
+of the available options will be explained in more detail here.
+
+Auto-Translation of Events
+----------------------------
+
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the
+   `fsfwgen Python scripts <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen>`_.
+3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
+   and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
+4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
+   ``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
+
+An example implementations of these translation file generators can be found as part
+of the `SOURCE project here <https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/develop/generators>`_
+or the `FSFW example <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/generators>`_
+
+Configuring the Event Manager
+----------------------------------
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+.. code-block:: cpp
+
+   namespace fsfwconfig {
+   //! Configure the allocated pool sizes for the event manager.
+   static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+   static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+   static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+   }

docs/controllers.rst

@@ -0,0 +1,2 @@
+Controllers
+=============

docs/core.rst

@@ -0,0 +1,70 @@
+.. _core:
+
+Core Modules
+=============
+
+The core modules provide the most important functionalities of the Flight Software Framework.
+
+Clock
+------
+
+- This is a class of static functions that can be used at anytime
+- Leap Seconds must be set if any time conversions from UTC to other times is used
+
+Object Manager
+---------------
+
+- Must be created during program startup
+- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
+  component.
+- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
+  framework objects.
+- A reference to an object can be retrieved by calling the ``get`` function of
+  :cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
+  A ``nullptr`` check of the returning pointer must be done. This function is based on
+  run-time type information.
+
+	.. code-block:: cpp
+
+		template <typename T> T* ObjectManagerIF::get(object_id_t id);
+
+- A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
+  produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
+  afterwards.
+
+Event Manager
+---------------
+
+- Component which allows routing of events
+- Other objects can subscribe to specific events, ranges of events or all events of an object.
+- Subscriptions can be done during runtime but should be done during initialization
+- Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
+
+Health Table
+---------------
+
+- A component which holds every health state
+- Provides a thread safe way to access all health states without the need of message exchanges
+
+Stores
+--------------
+
+- The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+- Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
+- All of them should use the Thread Safe Class storagemanager/PoolManager
+
+Tasks
+---------
+
+There are two different types of tasks:
+
+- The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+  insertion to the Tasks.
+- FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+  DeviceHandlers, where polling should be in a defined order. An example can be found in 
+  ``defaultcfg/fsfwconfig/pollingSequence`` folder
+

docs/devicehandlers.rst

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+Device Handlers
+==================
+

docs/doxy/.gitignore

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+html
+latex
+rtf