release 0.0.1 of fsfw added as a core

fsfw/container/ArrayList.h

@@ -0,0 +1,253 @@
+#ifndef FSFW_CONTAINER_ARRAYLIST_H_
+#define FSFW_CONTAINER_ARRAYLIST_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serialize/SerializeIF.h"
+
+/**
+ * @brief 	A List that stores its values in an array.
+ * @details
+ * The underlying storage is an array that can be allocated by the class
+ * itself or supplied via ctor.
+ *
+ * @ingroup container
+ */
+template<typename T, typename count_t = uint8_t>
+class ArrayList {
+	template<typename U, typename count> friend class SerialArrayListAdapter;
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
+	static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
+
+	/**
+	 * 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) {
+	}
+
+	/**
+	 * Copying is forbiden by declaring copy ctor and copy assignment deleted
+	 * It is too ambigous in this case.
+	 * (Allocate a new backend? Use the same? What to do in an modifying call?)
+	 */
+	ArrayList(const ArrayList& other) = delete;
+	const ArrayList& operator=(const ArrayList& other) = delete;
+
+	/**
+	 * Number of Elements stored in this List
+	 */
+	count_t size;
+
+
+	/**
+	 * Destructor, if the allocating constructor was used, it deletes the array.
+	 */
+	virtual ~ArrayList() {
+		if (allocated) {
+			delete[] entries;
+		}
+	}
+
+	/**
+	 * An Iterator to go trough an ArrayList
+	 *
+	 * It stores a pointer to an element and increments the
+	 * pointer when incremented itself.
+	 */
+	class Iterator {
+	public:
+		/**
+		 * Empty ctor, points to NULL
+		 */
+		Iterator(): value(0) {}
+
+		/**
+		 * Initializes the Iterator to point to an element
+		 *
+		 * @param initialize
+		 */
+		Iterator(T *initialize) {
+			value = initialize;
+		}
+
+		/**
+		 * The current element the iterator points to
+		 */
+		T *value;
+
+		Iterator& operator++() {
+			value++;
+			return *this;
+		}
+
+		Iterator operator++(int) {
+			Iterator tmp(*this);
+			operator++();
+			return tmp;
+		}
+
+		Iterator& operator--() {
+			value--;
+			return *this;
+		}
+
+		Iterator operator--(int) {
+			Iterator tmp(*this);
+			operator--();
+			return tmp;
+		}
+
+		T& operator*() {
+			return *value;
+		}
+
+		const T& operator*() const {
+			return *value;
+		}
+
+		T *operator->() {
+			return value;
+		}
+
+		const T *operator->() const {
+			return value;
+		}
+	};
+
+	friend bool operator==(const ArrayList::Iterator& lhs,
+			const ArrayList::Iterator& rhs) {
+		return (lhs.value == rhs.value);
+	}
+
+	friend bool operator!=(const ArrayList::Iterator& lhs,
+			const ArrayList::Iterator& rhs) {
+		return not (lhs.value == rhs.value);
+	}
+
+	/**
+	 * 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
+	 */
+	size_t maxSize() const {
+		return this->maxSize_;
+	}
+
+	/**
+	 * Insert a new element into the list.
+	 *
+	 * The new element is inserted after the last stored element.
+	 *
+	 * @param entry
+	 * @return
+	 *          -@c FULL if the List is full
+	 *          -@c RETURN_OK else
+	 */
+	ReturnValue_t insert(T entry) {
+		if (size >= maxSize_) {
+			return FULL;
+		}
+		entries[size] = entry;
+		++size;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	/**
+	 * clear the List
+	 *
+	 * This does not actually clear all entries, it only sets the size to 0.
+	 */
+	void clear() {
+		size = 0;
+	}
+
+	count_t remaining() {
+		return (maxSize_ - size);
+	}
+
+protected:
+	/**
+	 * pointer to the array in which the entries are stored
+	 */
+	T *entries;
+	/**
+	 * remembering the maximum size
+	 */
+	size_t maxSize_;
+
+	/**
+	 * true if the array was allocated and needs to be deleted in the destructor.
+	 */
+	bool allocated;
+};
+
+
+
+#endif /* FSFW_CONTAINER_ARRAYLIST_H_ */

fsfw/container/BinaryTree.h

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

fsfw/container/DynamicFIFO.h

@@ -0,0 +1,55 @@
+#ifndef FSFW_CONTAINER_DYNAMICFIFO_H_
+#define FSFW_CONTAINER_DYNAMICFIFO_H_
+
+#include "FIFOBase.h"
+#include <vector>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure. The maximum size
+ * 			can be set in the constructor.
+ * @details
+ * The maximum capacity can be determined at run-time, so this container
+ * performs dynamic memory allocation!
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
+template<typename T>
+class DynamicFIFO: public FIFOBase<T> {
+public:
+	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
+			fifoVector(maxCapacity)  {
+		// trying to pass the pointer of the uninitialized vector
+		// to the FIFOBase constructor directly lead to a super evil bug.
+		// So we do it like this now.
+		this->setContainer(fifoVector.data());
+	};
+
+	/**
+	 * @brief	Custom copy constructor which prevents setting the
+	 * 	        underlying pointer wrong. This function allocates memory!
+	 * @details This is a very heavy operation so try to avoid this!
+	 *
+	 */
+	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
+			fifoVector(other.maxCapacity) {
+		this->fifoVector = other.fifoVector;
+		this->setContainer(fifoVector.data());
+	}
+
+	/**
+	 * @brief Custom assignment operator
+	 * @details This is a very heavy operation so try to avoid this!
+	 * @param other DyamicFIFO to copy from
+	 */
+	DynamicFIFO& operator=(const DynamicFIFO& other){
+		FIFOBase<T>::operator=(other);
+		this->fifoVector = other.fifoVector;
+		this->setContainer(fifoVector.data());
+		return *this;
+	}
+private:
+	std::vector<T> fifoVector;
+};
+
+#endif /* FSFW_CONTAINER_DYNAMICFIFO_H_ */

fsfw/container/FIFO.h

@@ -0,0 +1,47 @@
+#ifndef FSFW_CONTAINER_FIFO_H_
+#define FSFW_CONTAINER_FIFO_H_
+
+#include "FIFOBase.h"
+#include <array>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure with size fixed at
+ * 			compile time
+ * @details
+ * Performs no dynamic memory allocation.
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
+template<typename T, size_t capacity>
+class FIFO: public FIFOBase<T> {
+public:
+	FIFO(): FIFOBase<T>(nullptr, capacity) {
+		this->setContainer(fifoArray.data());
+	};
+
+	/**
+	 * @brief 	Custom copy constructor to set pointer correctly.
+	 * @param other
+	 */
+	FIFO(const FIFO& other): FIFOBase<T>(other) {
+		this->fifoArray = other.fifoArray;
+		this->setContainer(fifoArray.data());
+	}
+
+	/**
+	 * @brief Custom assignment operator
+	 * @param other
+	 */
+	FIFO& operator=(const FIFO& other){
+		FIFOBase<T>::operator=(other);
+		this->fifoArray = other.fifoArray;
+		this->setContainer(fifoArray.data());
+		return *this;
+	}
+
+private:
+	std::array<T, capacity> fifoArray;
+};
+
+#endif /* FSFW_CONTAINER_FIFO_H_ */

fsfw/container/FIFOBase.h

@@ -0,0 +1,79 @@
+#ifndef FSFW_CONTAINER_FIFOBASE_H_
+#define FSFW_CONTAINER_FIFOBASE_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
+#include <cstring>
+
+template <typename T>
+class FIFOBase {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
+	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
+	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
+
+	/** Default ctor, takes pointer to first entry of underlying container
+	 *  and maximum capacity */
+	FIFOBase(T* values, const size_t maxCapacity);
+
+	/**
+	 * Insert value into FIFO
+	 * @param value
+	 * @return RETURN_OK on success, FULL if full
+	 */
+	ReturnValue_t insert(T value);
+	/**
+	 * Retrieve item from FIFO. This removes the item from the FIFO.
+	 * @param value Must point to a valid T
+	 * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
+	 */
+	ReturnValue_t retrieve(T *value);
+	/**
+	 * Retrieve item from FIFO without removing it from FIFO.
+	 * @param value Must point to a valid T
+	 * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
+	 */
+	ReturnValue_t peek(T * value);
+	/**
+	 * Remove item from FIFO.
+	 * @return RETURN_OK on success, EMPTY if empty
+	 */
+	ReturnValue_t pop();
+
+	/***
+	 * Check if FIFO is empty
+	 * @return True if empty, False if not
+	 */
+	bool empty();
+	/***
+	 * Check if FIFO is Full
+	 * @return True if full, False if not
+	 */
+	bool full();
+	/***
+	 *  Current used size (elements) used
+	 * @return size_t in elements
+	 */
+	size_t size();
+	/***
+	 * Get maximal capacity of fifo
+	 * @return size_t with max capacity of this fifo
+	 */
+	size_t getMaxCapacity() const;
+
+protected:
+	void setContainer(T* data);
+	size_t maxCapacity = 0;
+
+	T* values;
+
+	size_t readIndex = 0;
+	size_t writeIndex = 0;
+	size_t currentSize = 0;
+
+	size_t next(size_t current);
+};
+
+#include "FIFOBase.tpp"
+
+#endif /* FSFW_CONTAINER_FIFOBASE_H_ */

fsfw/container/FIFOBase.tpp

@@ -0,0 +1,93 @@
+#ifndef FSFW_CONTAINER_FIFOBASE_TPP_
+#define FSFW_CONTAINER_FIFOBASE_TPP_
+
+#ifndef FSFW_CONTAINER_FIFOBASE_H_
+#error Include FIFOBase.h before FIFOBase.tpp!
+#endif
+
+template<typename T>
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+		maxCapacity(maxCapacity), values(values){};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::insert(T value) {
+	if (full()) {
+		return FULL;
+	} else {
+		values[writeIndex] = value;
+		writeIndex = next(writeIndex);
+		++currentSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
+	if (empty()) {
+		return EMPTY;
+	} else {
+		if (value == nullptr){
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		*value = values[readIndex];
+		readIndex = next(readIndex);
+		--currentSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::peek(T* value) {
+	if(empty()) {
+		return EMPTY;
+	} else {
+		if (value == nullptr){
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		*value = values[readIndex];
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::pop() {
+	T value;
+	return this->retrieve(&value);
+};
+
+template<typename T>
+inline bool FIFOBase<T>::empty() {
+	return (currentSize == 0);
+};
+
+template<typename T>
+inline bool FIFOBase<T>::full() {
+	return (currentSize == maxCapacity);
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::size() {
+	return currentSize;
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::next(size_t current) {
+	++current;
+	if (current == maxCapacity) {
+		current = 0;
+	}
+	return current;
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::getMaxCapacity() const {
+	return maxCapacity;
+}
+
+
+template<typename T>
+inline void FIFOBase<T>::setContainer(T *data) {
+	this->values = data;
+}
+
+#endif

fsfw/container/FixedArrayList.h

@@ -0,0 +1,38 @@
+#ifndef FIXEDARRAYLIST_H_
+#define FIXEDARRAYLIST_H_
+
+#include "ArrayList.h"
+#include <cmath>
+/**
+ * \ingroup container
+ */
+template<typename T, size_t MAX_SIZE, typename count_t = uint8_t>
+class FixedArrayList: public ArrayList<T, count_t> {
+	static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
+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;
+		this->size = other.size;
+	}
+
+	FixedArrayList& operator=(FixedArrayList other) {
+		memcpy(this->data, other.data, sizeof(this->data));
+		this->entries = data;
+		this->size = other.size;
+		return *this;
+	}
+
+	virtual ~FixedArrayList() {
+	}
+
+};
+
+#endif /* FIXEDARRAYLIST_H_ */

fsfw/container/FixedMap.h

@@ -0,0 +1,230 @@
+#ifndef FSFW_CONTAINER_FIXEDMAP_H_
+#define FSFW_CONTAINER_FIXEDMAP_H_
+
+#include "ArrayList.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <utility>
+#include <type_traits>
+
+/**
+ * @brief    Map implementation for maps with a pre-defined size.
+ * @details
+ * Can be initialized with desired maximum size.
+ * Iterator is used to access <key,value> pair and iterate through map entries.
+ * Complexity O(n).
+ * @warning Iterators return a non-const key_t in the pair.
+ * @warning A User is not allowed to change the key, otherwise the map is corrupted.
+ * @ingroup container
+ */
+template<typename key_t, typename T>
+class FixedMap: public SerializeIF {
+	static_assert (std::is_trivially_copyable<T>::value or
+	        std::is_base_of<SerializeIF, T>::value,
+			"Types used in FixedMap must either be trivial copy-able or a "
+			"derived class from SerializeIF to be serialize-able");
+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) {
+		}
+	};
+
+	friend bool operator==(const typename FixedMap::Iterator& lhs,
+			const typename FixedMap::Iterator& rhs) {
+		return (lhs.value == rhs.value);
+	}
+
+	friend bool operator!=(const typename FixedMap::Iterator& lhs,
+			const typename FixedMap::Iterator& rhs) {
+		return not (lhs.value == rhs.value);
+	}
+
+	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 = nullptr) {
+		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 != nullptr) {
+			*storedValue = Iterator(&theMap[_size]);
+		}
+		++_size;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t insert(std::pair<key_t, T> pair) {
+		return insert(pair.first, pair.second);
+	}
+
+	ReturnValue_t exists(key_t key) const {
+		ReturnValue_t result = KEY_DOES_NOT_EXIST;
+		if (findIndex(key) < _size) {
+			result = HasReturnvaluesIF::RETURN_OK;
+		}
+		return result;
+	}
+
+	ReturnValue_t erase(Iterator *iter) {
+		uint32_t i;
+		if ((i = findIndex((*iter).value->first)) >= _size) {
+			return KEY_DOES_NOT_EXIST;
+		}
+		theMap[i] = theMap[_size - 1];
+		--_size;
+		--((*iter).value);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t erase(key_t key) {
+		uint32_t i;
+		if ((i = findIndex(key)) >= _size) {
+			return KEY_DOES_NOT_EXIST;
+		}
+		theMap[i] = theMap[_size - 1];
+		--_size;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	T *findValue(key_t key) const {
+		return &theMap[findIndex(key)].second;
+	}
+
+	Iterator find(key_t key) const {
+		ReturnValue_t result = exists(key);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return end();
+		}
+		return Iterator(&theMap[findIndex(key)]);
+	}
+
+	ReturnValue_t find(key_t key, T **value) const {
+		ReturnValue_t result = exists(key);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		*value = &theMap[findIndex(key)].second;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	bool empty() {
+	    if(_size == 0) {
+	        return true;
+	    }
+	    else {
+	        return false;
+	    }
+	}
+
+	bool full() {
+	    if(_size >= theMap.maxSize()) {
+	        return true;
+	    }
+	    else {
+	        return false;
+	    }
+	}
+
+	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 /* FSFW_CONTAINER_FIXEDMAP_H_ */

fsfw/container/FixedOrderedMultimap.h

@@ -0,0 +1,206 @@
+#ifndef FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
+#define FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
+
+#include "ArrayList.h"
+#include <cstring>
+
+/**
+ * @brief  An associative container which allows multiple entries of the same key.
+ * @details
+ * Same keys are ordered by KEY_COMPARE function which is std::less<key_t> > by default.
+ *
+ * It uses the ArrayList, so technically this is not a real map, it is an array of pairs
+ * of type key_t, T. It is ordered by key_t as FixedMap but allows same keys. Thus it has a linear
+ * complexity O(n). As long as the number of entries remains low, this
+ * should not be an issue.
+ * The number of insertion and deletion operation should be minimized
+ * as those incur extensive memory move operations (the underlying container
+ * is not node based).
+ *
+ * Its of fixed size so no allocations are performed after the construction.
+ *
+ * The maximum size is given as first parameter of the constructor.
+ *
+ * It provides an iterator to do list iterations.
+ *
+ * The type T must have a copy constructor if it is not trivial copy-able.
+ *
+ * @warning Iterators return a non-const key_t in the pair.
+ * @warning A User is not allowed to change the key, otherwise the map is corrupted.
+ *
+ * \ingroup container
+ */
+template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+class FixedOrderedMultimap {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
+	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
+
+	/***
+	 * Constructor which needs a size_t for the maximum allowed size
+	 *
+	 * Can not be resized during runtime
+	 *
+	 * Allocates memory at construction
+	 * @param maxSize size_t of Maximum allowed size
+	 */
+    FixedOrderedMultimap(size_t maxSize):theMap(maxSize), _size(0){
+    }
+
+	/***
+	 * Virtual destructor frees Memory by deleting its member
+	 */
+	virtual ~FixedOrderedMultimap() {
+	}
+
+	/***
+	 * Special iterator for FixedOrderedMultimap
+	 */
+	class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
+	public:
+		Iterator() :
+			ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
+		}
+
+		Iterator(std::pair<key_t, T> *pair) :
+			ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
+		}
+	};
+
+	/***
+	 * Returns an iterator pointing to the first element
+	 * @return Iterator pointing to first element
+	 */
+	Iterator begin() const {
+		return Iterator(&theMap[0]);
+	}
+
+	/**
+	 * Returns an iterator pointing to one element past the end
+	 * @return Iterator pointing to one element past the end
+	 */
+	Iterator end() const {
+		return Iterator(&theMap[_size]);
+	}
+
+	/***
+	 * Returns the current size of the map (not maximum size!)
+	 * @return Current size
+	 */
+	size_t size() const{
+		return _size;
+	}
+
+	/**
+	 * Clears the map, does not deallocate any memory
+	 */
+	void clear(){
+		_size = 0;
+	}
+
+	/**
+	 * Returns the maximum size of the map
+	 * @return Maximum size of the map
+	 */
+	size_t maxSize() const{
+		return theMap.maxSize();
+	}
+
+	/***
+	 * Used to insert a key and value separately.
+	 *
+	 * @param[in] key Key of the new element
+	 * @param[in] value Value of the new element
+	 * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr
+	 * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
+	 */
+	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr);
+
+	/***
+	 * Used to insert new pair instead of single values
+	 *
+	 * @param pair Pair to be inserted
+	 * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
+	 */
+	ReturnValue_t insert(std::pair<key_t, T> pair);
+
+	/***
+	 * Can be used to check if a certain key is in the map
+	 * @param key Key to be checked
+	 * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
+	 */
+	ReturnValue_t exists(key_t key) const;
+
+	/***
+	 * Used to delete the element in the iterator
+	 *
+	 * The iterator will point to the element before or begin(),
+	 *  but never to one element in front of the map.
+	 *
+	 * @warning The iterator needs to be valid and dereferenceable
+	 * @param[in/out] iter Pointer to iterator to the element that needs to be ereased
+	 * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
+	 */
+	ReturnValue_t erase(Iterator *iter);
+
+	/***
+	 * Used to erase by key
+	 * @param key Key to be erased
+	 * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
+	 */
+	ReturnValue_t erase(key_t key);
+
+	/***
+	 * Find returns the first appearance of the key
+	 *
+	 * If the key does not exist, it points to end()
+	 *
+	 * @param key Key to search for
+	 * @return Iterator pointing to the first entry of key
+	 */
+	Iterator find(key_t key) const{
+		ReturnValue_t result = exists(key);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return end();
+		}
+		return Iterator(&theMap[findFirstIndex(key)]);
+	};
+
+	/***
+	 * Finds first entry of the given key and returns a
+	 * pointer to the value
+	 *
+	 * @param key Key to search for
+	 * @param value Found value
+	 * @return RETURN_OK if it points to the value,
+	 * KEY_DOES_NOT_EXIST if the key is not in the map
+	 */
+	ReturnValue_t find(key_t key, T **value) const;
+
+	friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
+			const typename FixedOrderedMultimap::Iterator& rhs) {
+		return (lhs.value == rhs.value);
+	}
+
+	friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
+			const typename FixedOrderedMultimap::Iterator& rhs) {
+		return not (lhs.value == rhs.value);
+	}
+
+private:
+	typedef KEY_COMPARE compare;
+	compare myComp;
+	ArrayList<std::pair<key_t, T>, size_t> theMap;
+	size_t _size;
+
+	size_t findFirstIndex(key_t key, size_t startAt = 0) const;
+
+	size_t findNicePlace(key_t key) const;
+
+	void removeFromPosition(size_t position);
+};
+
+#include "FixedOrderedMultimap.tpp"
+
+#endif /* FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */

fsfw/container/FixedOrderedMultimap.tpp

@@ -0,0 +1,109 @@
+#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
+#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
+
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
+	if (_size == theMap.maxSize()) {
+		return MAP_FULL;
+	}
+	size_t position = findNicePlace(key);
+	memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
+			(_size - position) * sizeof(std::pair<key_t,T>));
+	theMap[position].first = key;
+	theMap[position].second = value;
+	++_size;
+	if (storedValue != nullptr) {
+		*storedValue = Iterator(&theMap[position]);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
+	return insert(pair.first, pair.second);
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
+	ReturnValue_t result = KEY_DOES_NOT_EXIST;
+	if (findFirstIndex(key) < _size) {
+		result = HasReturnvaluesIF::RETURN_OK;
+	}
+	return result;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
+	size_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;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
+	size_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;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::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;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
+	if (startAt >= _size) {
+		return startAt + 1;
+	}
+	size_t i = startAt;
+	for (i = startAt; i < _size; ++i) {
+		if (theMap[i].first == key) {
+			return i;
+		}
+	}
+	return i;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
+	size_t i = 0;
+	for (i = 0; i < _size; ++i) {
+		if (myComp(key, theMap[i].first)) {
+			return i;
+		}
+	}
+	return i;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
+	if (_size <= position) {
+		return;
+	}
+	memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
+			(_size - position - 1) * sizeof(std::pair<key_t,T>));
+	--_size;
+}
+
+
+#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

fsfw/container/HybridIterator.h

@@ -0,0 +1,90 @@
+#ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
+#define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
+
+#include "ArrayList.h"
+#include "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_ */

fsfw/container/IndexedRingMemoryArray.h

@@ -0,0 +1,700 @@
+#ifndef FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
+#define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
+
+#include "ArrayList.h"
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../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_ */

fsfw/container/PlacementFactory.h

@@ -0,0 +1,71 @@
+#ifndef FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
+#define FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
+
+#include "../storagemanager/StorageManagerIF.h"
+#include <utility>
+/**
+ * The Placement Factory is used to create objects at runtime in a specific pool.
+ * In general, this should be avoided and it should only be used if you know what you are doing.
+ * You are not allowed to use this container with a type that allocates memory internally like ArrayList.
+ *
+ * Also, you have to check the returned pointer in generate against nullptr!
+ *
+ * A backend of Type StorageManagerIF must be given as a place to store the new objects.
+ * Therefore ThreadSafety is only provided by your StorageManager Implementation.
+ *
+ * Objects must be destroyed by the user with "destroy"! Otherwise the pool will not be cleared.
+ *
+ * The concept is based on the placement new operator.
+ *
+ * @warning Do not use with any Type that allocates memory internally!
+ * @ingroup container
+ */
+class PlacementFactory {
+public:
+	PlacementFactory(StorageManagerIF* backend) :
+			dataBackend(backend) {
+	}
+
+	/***
+	 * Generates an object of type T in the backend storage.
+	 *
+	 * @warning Do not use with any Type that allocates memory internally!
+	 *
+	 * @tparam T Type of Object
+	 * @param args Constructor Arguments to be passed
+	 * @return A pointer to the new object or a nullptr in case of failure
+	 */
+	template<typename T, typename ... Args>
+	T* generate(Args&&... args) {
+		store_address_t tempId;
+		uint8_t* pData = nullptr;
+		ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T),
+				&pData);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return nullptr;
+		}
+		T* temp = new (pData) T(std::forward<Args>(args)...);
+		return temp;
+	}
+	/***
+	 * Function to destroy the object allocated with generate and free space in backend.
+	 * This must be called by the user.
+	 *
+	 * @param thisElement Element to be destroyed
+	 * @return RETURN_OK if the element was destroyed, different errors on failure
+	 */
+	template<typename T>
+	ReturnValue_t destroy(T* thisElement) {
+		if (thisElement == nullptr){
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		//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_ */

fsfw/container/RingBufferBase.h

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

fsfw/container/SharedRingBuffer.cpp

@@ -0,0 +1,55 @@
+#include "SharedRingBuffer.h"
+#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes):
+		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
+		maxExcessBytes) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
+		const size_t size, bool overwriteOld, size_t maxExcessBytes):
+		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
+		maxExcessBytes) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+
+void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
+	this->fifoDepth = fifoDepth;
+}
+
+ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
+        MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
+    return mutex->lockMutex(timeoutType, timeout);
+}
+
+ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
+    return mutex->unlockMutex();
+}
+
+
+
+MutexIF* SharedRingBuffer::getMutexHandle() const {
+    return mutex;
+}
+
+ReturnValue_t SharedRingBuffer::initialize() {
+	if(fifoDepth > 0) {
+		receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
+	}
+	return SystemObject::initialize();
+}
+
+DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
+	if(receiveSizesFIFO == nullptr) {
+		// Configuration error.
+		sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
+				<< " was not configured to have sizes FIFO, returning nullptr!"
+				<< std::endl;
+	}
+	return receiveSizesFIFO;
+}

fsfw/container/SharedRingBuffer.h

@@ -0,0 +1,92 @@
+#ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
+#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
+
+#include "SimpleRingBuffer.h"
+#include "DynamicFIFO.h"
+#include "../ipc/MutexIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../timemanager/Clock.h"
+
+/**
+ * @brief   Ring buffer which can be shared among multiple objects
+ * @details
+ * This class offers a mutex to perform thread-safe operation on the ring
+ * buffer. It is still up to the developer to actually perform the lock
+ * and unlock operations.
+ */
+class SharedRingBuffer: public SystemObject,
+		public SimpleRingBuffer {
+public:
+	/**
+	 * This constructor allocates a new internal buffer with the supplied size.
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(object_id_t objectId, const size_t size,
+			bool overwriteOld, size_t maxExcessBytes);
+
+	/**
+	 * @brief	This function can be used to add an optional FIFO to the class
+	 * @details 
+	 * This FIFO will be allocated in the initialize function (and will
+	 * have a fixed maximum size after that). It can be used to store
+	 * values like packet sizes, for example for a shared ring buffer
+	 * used by producer/consumer tasks.
+	 */
+	void setToUseReceiveSizeFIFO(size_t fifoDepth);
+
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
+			bool overwriteOld, size_t maxExcessBytes);
+
+	/**
+	 * Unless a read-only constant value is read, all operations on the
+	 * shared ring buffer should be protected by calling this function.
+	 * @param timeoutType
+	 * @param timeout
+	 * @return
+	 */
+	virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
+	        dur_millis_t timeout);
+	/**
+	 * Any locked mutex also has to be unlocked, otherwise, access to the
+	 * shared ring buffer will be blocked.
+	 * @return
+	 */
+	virtual ReturnValue_t unlockRingBufferMutex();
+
+	/**
+	 * The mutex handle can be accessed directly, for example to perform
+	 * the lock with the #MutexHelper for a RAII compliant lock operation.
+	 * @return
+	 */
+	MutexIF* getMutexHandle() const;
+
+	ReturnValue_t initialize() override;
+
+	/**
+	 * If the shared ring buffer was configured to have a sizes FIFO, a handle
+	 * to that FIFO can be retrieved with this function.
+	 * Do not forget to protect access with a lock if required!
+	 * @return
+	 */
+	DynamicFIFO<size_t>* getReceiveSizesFIFO();
+private:
+	MutexIF* mutex = nullptr;
+
+	size_t fifoDepth = 0;
+	DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
+};
+
+
+
+#endif /* FSFW_CONTAINER_SHAREDRINGBUFFER_H_ */

fsfw/container/SimpleRingBuffer.cpp

@@ -0,0 +1,131 @@
+#include "SimpleRingBuffer.h"
+#include <cstring>
+
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
+		size_t maxExcessBytes) :
+		RingBufferBase<>(0, size, overwriteOld),
+		maxExcessBytes(maxExcessBytes) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+	buffer = new uint8_t[size + maxExcessBytes];
+}
+
+SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
+
+SimpleRingBuffer::~SimpleRingBuffer() {
+	delete[] buffer;
+}
+
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
+        size_t amount) {
+    if (availableWriteSpace() >= amount or overwriteOld) {
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap < amount) {
+            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            excessBytes = amount - amountTillWrap;
+        }
+        *writePointer = &buffer[write];
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
+	if(getExcessBytes() > 0) {
+		moveExcessBytesToStart();
+	}
+	incrementWrite(amount);
+
+}
+
+ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
+		size_t amount) {
+	if (availableWriteSpace() >= amount or overwriteOld) {
+		size_t amountTillWrap = writeTillWrap();
+		if (amountTillWrap >= amount) {
+			// remaining size in buffer is sufficient to fit full amount.
+			memcpy(&buffer[write], data, amount);
+		}
+		else {
+			memcpy(&buffer[write], data, amountTillWrap);
+			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
+		}
+		incrementWrite(amount);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
+		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
+	size_t amountTillWrap = readTillWrap(READ_PTR);
+	if (availableData < amount) {
+		if (readRemaining) {
+			// more data available than amount specified.
+			amount = availableData;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	if (trueAmount != nullptr) {
+		*trueAmount = amount;
+	}
+	if (amountTillWrap >= amount) {
+		memcpy(data, &buffer[read[READ_PTR]], amount);
+	} else {
+		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
+		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
+	}
+
+	if(incrementReadPtr) {
+		deleteData(amount, readRemaining);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+size_t SimpleRingBuffer::getExcessBytes() const {
+    return excessBytes;
+}
+
+void SimpleRingBuffer::moveExcessBytesToStart() {
+    if(excessBytes > 0) {
+        std::memcpy(buffer, &buffer[size], excessBytes);
+        excessBytes = 0;
+    }
+}
+
+ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
+		bool deleteRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
+	if (availableData < amount) {
+		if (deleteRemaining) {
+			amount = availableData;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	if (trueAmount != nullptr) {
+		*trueAmount = amount;
+	}
+	incrementRead(amount, READ_PTR);
+	return HasReturnvaluesIF::RETURN_OK;
+}

fsfw/container/SimpleRingBuffer.h

@@ -0,0 +1,129 @@
+#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
+#define FSFW_CONTAINER_SIMPLERINGBUFFER_H_
+
+#include "RingBufferBase.h"
+#include <cstddef>
+
+/**
+ * @brief 	Circular buffer implementation, useful for buffering
+ *          into data streams.
+ * @details
+ * Note that the deleteData() has to be called to increment the read pointer.
+ * This class allocated dynamically, so
+ * @ingroup containers
+ */
+class SimpleRingBuffer: public RingBufferBase<> {
+public:
+    /**
+     * This constructor allocates a new internal buffer with the supplied size.
+     *
+     * @param size
+     * @param overwriteOld If the ring buffer is overflowing at a write
+     * operation, the oldest data will be overwritten.
+     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * to the specified size to accomodate contiguous write operations
+     * with getFreeElement.
+     *
+     */
+	SimpleRingBuffer(const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+	 * @param maxExcessBytes
+	 * If the buffer can accomodate additional bytes for contigous write
+	 * operations with getFreeElement, this is the maximum allowed additional
+	 * size
+	 */
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
+
+	virtual ~SimpleRingBuffer();
+
+	/**
+	 * Write to circular buffer and increment write pointer by amount.
+	 * @param data
+	 * @param amount
+	 * @return -@c RETURN_OK if write operation was successfull
+	 * -@c RETURN_FAILED if
+	 */
+	ReturnValue_t writeData(const uint8_t* data, size_t amount);
+
+	/**
+	 * Returns a pointer to a free element. If the remaining buffer is
+	 * not large enough, the data will be written past the actual size
+	 * and the amount of excess bytes will be cached. This function
+	 * does not increment the write pointer!
+	 * @param writePointer Pointer to a pointer which can be used to write
+	 * contiguous blocks into the ring buffer
+	 * @param amount
+	 * @return
+	 */
+	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
+
+	/**
+	 * This increments the write pointer and also copies the excess bytes
+	 * to the beginning. It should be called if the write operation
+	 * conducted after calling getFreeElement() was performed.
+	 * @return
+	 */
+	void confirmBytesWritten(size_t amount);
+
+	virtual size_t getExcessBytes() const;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart();
+
+	/**
+	 * Read from circular buffer at read pointer.
+	 * @param data
+	 * @param amount
+	 * @param incrementReadPtr
+	 * If this is set to true, the read pointer will be incremented.
+	 * If readRemaining is set to true, the read pointer will be incremented
+	 * accordingly.
+	 * @param readRemaining
+	 * If this is set to true, the data will be read even if the amount
+	 * specified exceeds the read data available.
+	 * @param trueAmount [out]
+	 * If readRemaining was set to true, the true amount read will be assigned
+	 * to the passed value.
+	 * @return
+	 * - @c RETURN_OK if data was read successfully
+	 * - @c RETURN_FAILED if not enough data was available and readRemaining
+	 *      was set to false.
+	 */
+	ReturnValue_t readData(uint8_t* data, size_t amount,
+			bool incrementReadPtr = false, bool readRemaining = false,
+			size_t* trueAmount = nullptr);
+
+	/**
+	 * Delete data by incrementing read pointer.
+	 * @param amount
+	 * @param deleteRemaining
+	 * If the amount specified is larger than the remaing size to read and this
+	 * is set to true, the remaining amount will be deleted as well
+	 * @param trueAmount [out]
+	 * If deleteRemaining was set to true, the amount deleted will be assigned
+	 * to the passed value.
+	 * @return
+	 */
+	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
+	        size_t* trueAmount = nullptr);
+
+private:
+	static const uint8_t READ_PTR = 0;
+	uint8_t* buffer = nullptr;
+	size_t maxExcessBytes;
+	size_t excessBytes = 0;
+};
+
+#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */
+

fsfw/container/SinglyLinkedList.h

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

fsfw/container/group.h

@@ -0,0 +1,15 @@
+#ifndef GROUP_H_
+#define GROUP_H_
+
+/**
+ * @defgroup container Container
+ *
+ * General Purpose Container to store various elements.
+ *
+ * Also contains Adapter classes to print elements to a
+ * bytestream and to read them from a bytestream, as well
+ * as an Adapter to swap the endianness.
+ */
+
+
+#endif /* GROUP_H_ */