Merge remote-tracking branch 'upstream/development' into mueller/parameter-convergence

CHANGELOG

@@ -29,6 +29,10 @@ 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

memory/HasFileSystemIF.h

@@ -0,0 +1,80 @@
+#ifndef FSFW_MEMORY_HASFILESYSTEMIF_H_
+#define FSFW_MEMORY_HASFILESYSTEMIF_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../returnvalues/FwClassIds.h"
+#include "../ipc/messageQueueDefinitions.h"
+
+#include <cstddef>
+
+/**
+ * @brief	Generic interface for objects which expose a file system to enable
+ * 			message based file handling.
+ * @author  J. Meier, R. Mueller
+ */
+class HasFileSystemIF {
+public:
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM;
+
+    static constexpr ReturnValue_t FILE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x00);
+    static constexpr ReturnValue_t FILE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+    static constexpr ReturnValue_t FILE_LOCKED = MAKE_RETURN_CODE(0x02);
+
+    static constexpr ReturnValue_t DIRECTORY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+    static constexpr ReturnValue_t DIRECTORY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x04);
+    static constexpr ReturnValue_t DIRECTORY_NOT_EMPTY = MAKE_RETURN_CODE(0x05);
+
+
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_WRITE = MAKE_RETURN_CODE(0x06); //! P1: Sequence number missing
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_READ = MAKE_RETURN_CODE(0x07); //! P1: Sequence number missing
+
+	virtual ~HasFileSystemIF() {}
+	/**
+	 * Function to get the MessageQueueId_t of the implementing object
+	 * @return MessageQueueId_t of the object
+	 */
+	virtual MessageQueueId_t getCommandQueue() const = 0;
+
+	/**
+	 * Generic function to append to file.
+	 * @param dirname Directory of the file
+	 * @param filename The filename of the file
+	 * @param data The data to write to the file
+	 * @param size The size of the data to write
+	 * @param packetNumber Current packet number. Can be used to verify that
+	 * there are no missing packets.
+	 * @param args Any other arguments which an implementation might require.
+	 * @param bytesWritten Actual bytes written to file
+	 * For large files the write procedure must be split in multiple calls
+	 * to writeToFile
+	 */
+	virtual ReturnValue_t appendToFile(const char* repositoryPath,
+	        const char* filename, const uint8_t* data, size_t size,
+	        uint16_t packetNumber, void* args = nullptr) = 0;
+
+	/**
+	 * Generic function to create a new file.
+	 * @param repositoryPath
+	 * @param filename
+	 * @param data
+	 * @param size
+	 * @param args Any other arguments which an implementation might require.
+	 * @return
+	 */
+	virtual ReturnValue_t createFile(const char* repositoryPath,
+	        const char* filename, const uint8_t* data = nullptr,
+	        size_t size = 0, void* args = nullptr) = 0;
+
+	/**
+	 * Generic function to delete a file.
+	 * @param repositoryPath
+	 * @param filename
+	 * @param args
+	 * @return
+	 */
+	virtual ReturnValue_t deleteFile(const char* repositoryPath,
+	        const char* filename, void* args = nullptr) = 0;
+};
+
+
+#endif /* FSFW_MEMORY_HASFILESYSTEMIF_H_ */

power/Fuse.cpp

@@ -1,22 +1,25 @@
+#include "Fuse.h"
+
 #include "../monitoring/LimitViolationReporter.h"
 #include "../monitoring/MonitoringMessageContent.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "../power/Fuse.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../ipc/QueueFactory.h"
 
 object_id_t Fuse::powerSwitchId = 0;
 
-Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
+Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId,
+		sid_t variableSet, VariableIds ids,
 		float maxCurrent, uint16_t confirmationCount) :
-		SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId), powerIF(
+		SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId),
-		NULL), currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount,
+		currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount,
-				maxCurrent, FUSE_CURRENT_HIGH), powerMonitor(fuseObjectId, 2,
+				maxCurrent, FUSE_CURRENT_HIGH),
-				GlobalDataPool::poolIdAndPositionToPid(ids.poolIdPower, 0),
+		powerMonitor(fuseObjectId, 2, ids.poolIdPower,
-				confirmationCount), set(), voltage(ids.pidVoltage, &set), current(
+				confirmationCount),
-				ids.pidCurrent, &set), state(ids.pidState, &set), power(
+		set(variableSet), voltage(ids.pidVoltage, &set),
-				ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE), commandQueue(
+		current(ids.pidCurrent, &set), state(ids.pidState, &set),
-				NULL), parameterHelper(this), healthHelper(this, fuseObjectId) {
+		power(ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE),
+		parameterHelper(this), healthHelper(this, fuseObjectId) {
 	commandQueue = QueueFactory::instance()->createMessageQueue();
 }
 
@@ -75,7 +78,7 @@ ReturnValue_t Fuse::check() {
 		float lowLimit = 0.0;
 		float highLimit = RESIDUAL_POWER;
 		calculatePowerLimits(&lowLimit, &highLimit);
-		result = powerMonitor.checkPower(power, lowLimit, highLimit);
+		result = powerMonitor.checkPower(power.value, lowLimit, highLimit);
 		if (result == MonitoringIF::BELOW_LOW_LIMIT) {
 			reportEvents(POWER_BELOW_LOW_LIMIT);
 		} else if (result == MonitoringIF::ABOVE_HIGH_LIMIT) {
@@ -132,7 +135,7 @@ void Fuse::calculateFusePower() {
 		return;
 	}
 	//Calculate fuse power.
-	power = current * voltage;
+	power.value = current.value * voltage.value;
 	power.setValid(PoolVariableIF::VALID);
 }
 
@@ -190,12 +193,12 @@ void Fuse::checkFuseState() {
 			reportEvents(FUSE_WENT_OFF);
 		}
 	}
-	oldFuseState = state;
+	oldFuseState = state.value;
 }
 
 float Fuse::getPower() {
 	if (power.isValid()) {
-		return power;
+		return power.value;
 	} else {
 		return 0.0;
 	}

power/Fuse.h

@@ -1,17 +1,16 @@
-#ifndef FUSE_H_
+#ifndef FSFW_POWER_FUSE_H_
-#define FUSE_H_
+#define FSFW_POWER_FUSE_H_
+
+#include "PowerComponentIF.h"
+#include "PowerSwitchIF.h"
 
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../datapoolglob/PIDReader.h"
 #include "../devicehandlers/HealthDevice.h"
 #include "../monitoring/AbsLimitMonitor.h"
-#include "../power/PowerComponentIF.h"
-#include "../power/PowerSwitchIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../parameters/ParameterHelper.h"
 #include <list>
 
+#include "../datapoollocal/StaticLocalDataSet.h"
 namespace Factory {
 void setStaticFrameworkObjectIds();
 }
@@ -26,10 +25,10 @@ private:
 	static constexpr float RESIDUAL_POWER = 0.005 * 28.5; //!< This is the upper limit of residual power lost by fuses and switches. Worst case is Fuse and one of two switches on. See PCDU ICD 1.9 p29 bottom
 public:
 	struct VariableIds {
-		uint32_t pidVoltage;
+		gp_id_t pidVoltage;
-		uint32_t pidCurrent;
+		gp_id_t pidCurrent;
-		uint32_t pidState;
+		gp_id_t pidState;
-		uint32_t poolIdPower;
+		gp_id_t poolIdPower;
 	};
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
@@ -39,8 +38,8 @@ public:
 	static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW); //!< PSS detected a fuse that violates its limits.
 
 	typedef std::list<PowerComponentIF*> DeviceList;
-	Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
+	Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet,
-			float maxCurrent, uint16_t confirmationCount = 2);
+			VariableIds ids, float maxCurrent, uint16_t confirmationCount = 2);
 	virtual ~Fuse();
 	void addDevice(PowerComponentIF *set);
 	float getPower();
@@ -70,12 +69,12 @@ public:
 private:
 	uint8_t oldFuseState;
 	uint8_t fuseId;
-	PowerSwitchIF *powerIF; //could be static in our case.
+	PowerSwitchIF *powerIF = nullptr; //could be static in our case.
 	AbsLimitMonitor<float> currentLimit;
 	class PowerMonitor: public MonitorReporter<float> {
 	public:
 		template<typename ... Args>
-		PowerMonitor(Args ... args) :
+		PowerMonitor(Args ... args):
 				MonitorReporter<float>(std::forward<Args>(args)...) {
 		}
 		ReturnValue_t checkPower(float sample, float lowerLimit,
@@ -85,12 +84,14 @@ private:
 
 	};
 	PowerMonitor powerMonitor;
-	GlobDataSet set;
+	StaticLocalDataSet<3> set;
-	PIDReader<float> voltage;
+
-	PIDReader<float> current;
+	lp_var_t<float> voltage;
-	PIDReader<uint8_t> state;
+	lp_var_t<float> current;
-	gp_float_t power;
+	lp_var_t<uint8_t> state;
-	MessageQueueIF* commandQueue;
+
+	lp_var_t<float> power;
+	MessageQueueIF* commandQueue = nullptr;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
 	static object_id_t powerSwitchId;
@@ -103,4 +104,4 @@ private:
 	bool areSwitchesOfComponentOn(DeviceList::iterator iter);
 };
 
-#endif /* FUSE_H_ */
+#endif /* FSFW_POWER_FUSE_H_ */

power/PowerComponent.cpp

@@ -1,20 +1,15 @@
-/**
- * @file	PowerComponent.cpp
- * @brief	This file defines the PowerComponent class.
- * @date	28.08.2014
- * @author	baetz
- */
-
 #include "PowerComponent.h"
+#include "../serialize/SerializeAdapter.h"
 
-PowerComponent::PowerComponent() :
+PowerComponent::PowerComponent(): switchId1(0xFF), switchId2(0xFF),
-		deviceObjectId(0), switchId1(0xFF), switchId2(0xFF), doIHaveTwoSwitches(
+        doIHaveTwoSwitches(false) {
-		false), min(0.0), max(0.0), moduleId(0) {
 }
-PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max,
+
-		uint8_t switchId1, bool twoSwitches, uint8_t switchId2) :
+PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min,
-		deviceObjectId(setId), switchId1(switchId1), switchId2(switchId2), doIHaveTwoSwitches(
+        float max, uint8_t switchId1, bool twoSwitches, uint8_t switchId2) :
-				twoSwitches), min(min), max(max), moduleId(moduleId) {
+		deviceObjectId(setId), switchId1(switchId1), switchId2(switchId2),
+		doIHaveTwoSwitches(twoSwitches), min(min), max(max),
+		moduleId(moduleId) {
 }
 
 ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size,
@@ -57,7 +52,7 @@ float PowerComponent::getMax() {
 }
 
 ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
-Endianness streamEndianness) {
+        Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
 			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -80,7 +75,7 @@ ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set<>(max);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

power/PowerComponent.h

@@ -1,13 +1,17 @@
-#ifndef POWERCOMPONENT_H_
+#ifndef FSFW_POWER_POWERCOMPONENT_H_
-#define POWERCOMPONENT_H_
+#define FSFW_POWER_POWERCOMPONENT_H_
 
-#include "../objectmanager/SystemObjectIF.h"
 #include "PowerComponentIF.h"
 
+#include "../objectmanager/frameworkObjects.h"
+#include "../objectmanager/SystemObjectIF.h"
+
+
 class PowerComponent: public PowerComponentIF {
 public:
-	PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max, uint8_t switchId1,
+	PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max,
-			bool twoSwitches = false, uint8_t switchId2 = 0xFF);
+	        uint8_t switchId1, bool twoSwitches = false,
+	        uint8_t switchId2 = 0xFF);
 
 	virtual object_id_t getDeviceObjectId();
 
@@ -31,18 +35,18 @@ public:
 				ParameterWrapper *parameterWrapper,
 				const ParameterWrapper *newValues, uint16_t startAtIndex);
 private:
-	const object_id_t deviceObjectId;
+	const object_id_t deviceObjectId = objects::NO_OBJECT;
 	const uint8_t switchId1;
 	const uint8_t switchId2;
 
 	const bool doIHaveTwoSwitches;
 
-	float min;
+	float min = 0.0;
-	float max;
+	float max = 0.0;
 
-	uint8_t moduleId;
+	uint8_t moduleId = 0;
 
 	PowerComponent();
 };
 
-#endif /* POWERCOMPONENT_H_ */
+#endif /* FSFW_POWER_POWERCOMPONENT_H_ */

power/PowerComponentIF.h

@@ -1,24 +1,23 @@
-#ifndef POWERCOMPONENTIF_H_
+#ifndef FSFW_POWER_POWERCOMPONENTIF_H_
-#define POWERCOMPONENTIF_H_
+#define FSFW_POWER_POWERCOMPONENTIF_H_
 
 #include "../serialize/SerializeIF.h"
 #include "../parameters/HasParametersIF.h"
+#include "../objectmanager/SystemObjectIF.h"
 
 class PowerComponentIF : public SerializeIF, public HasParametersIF {
 public:
-	virtual ~PowerComponentIF() {
+	virtual ~PowerComponentIF() {}
 
-	}
+	virtual object_id_t getDeviceObjectId() = 0;
 
-	virtual object_id_t getDeviceObjectId()=0;
+	virtual uint8_t getSwitchId1() = 0;
-
+	virtual uint8_t getSwitchId2() = 0;
-	virtual uint8_t getSwitchId1()=0;
+	virtual bool hasTwoSwitches() = 0;
-	virtual uint8_t getSwitchId2()=0;
-	virtual bool hasTwoSwitches()=0;
 
 	virtual float getMin() = 0;
 	virtual float getMax() = 0;
 
 };
 
-#endif /* POWERCOMPONENTIF_H_ */
+#endif /* FSFW_POWER_POWERCOMPONENTIF_H_ */

power/PowerSensor.cpp

@@ -1,14 +1,18 @@
 #include "PowerSensor.h"
+
 #include "../ipc/QueueFactory.h"
 
-PowerSensor::PowerSensor(object_id_t setId, VariableIds ids,
+PowerSensor::PowerSensor(object_id_t objectId, sid_t setId,  VariableIds ids,
 		DefaultLimits limits, SensorEvents events, uint16_t confirmationCount) :
-		SystemObject(setId), commandQueue(NULL), parameterHelper(this), healthHelper(this, setId), set(), current(
+		SystemObject(objectId), parameterHelper(this),
-				ids.pidCurrent, &set), voltage(ids.pidVoltage, &set), power(
+		healthHelper(this, objectId),
-				ids.poolIdPower, &set, PoolVariableIF::VAR_WRITE), currentLimit(
+		powerSensorSet(setId), current(ids.pidCurrent, &powerSensorSet),
-				setId, MODULE_ID_CURRENT, ids.pidCurrent, confirmationCount,
+		voltage(ids.pidVoltage, &powerSensorSet),
+		power(ids.poolIdPower, &powerSensorSet, PoolVariableIF::VAR_WRITE),
+		currentLimit(objectId, MODULE_ID_CURRENT, ids.pidCurrent, confirmationCount,
 				limits.currentMin, limits.currentMax, events.currentLow,
-				events.currentHigh), voltageLimit(setId, MODULE_ID_VOLTAGE,
+				events.currentHigh),
+		voltageLimit(objectId, MODULE_ID_VOLTAGE,
 				ids.pidVoltage, confirmationCount, limits.voltageMin,
 				limits.voltageMax, events.voltageLow, events.voltageHigh) {
 		commandQueue = QueueFactory::instance()->createMessageQueue();
@@ -19,13 +23,13 @@ PowerSensor::~PowerSensor() {
 }
 
 ReturnValue_t PowerSensor::calculatePower() {
-	set.read();
+	powerSensorSet.read();
 	ReturnValue_t result1 = HasReturnvaluesIF::RETURN_FAILED;
 	ReturnValue_t result2 = HasReturnvaluesIF::RETURN_FAILED;
 	if (healthHelper.healthTable->isHealthy(getObjectId()) && voltage.isValid()
 			&& current.isValid()) {
-		result1 = voltageLimit.doCheck(voltage);
+		result1 = voltageLimit.doCheck(voltage.value);
-		result2 = currentLimit.doCheck(current);
+		result2 = currentLimit.doCheck(current.value);
 	} else {
 		voltageLimit.setToInvalid();
 		currentLimit.setToInvalid();
@@ -37,9 +41,9 @@ ReturnValue_t PowerSensor::calculatePower() {
 		power.setValid(PoolVariableIF::INVALID);
 	} else {
 		power.setValid(PoolVariableIF::VALID);
-		power = current * voltage;
+		power.value = current.value * voltage.value;
 	}
-	set.commit();
+	powerSensorSet.commit();
 	return result1;
 }
 
@@ -92,8 +96,8 @@ void PowerSensor::checkCommandQueue() {
 }
 
 void PowerSensor::setDataPoolEntriesInvalid() {
-	set.read();
+	powerSensorSet.read();
-	set.commit(PoolVariableIF::INVALID);
+	powerSensorSet.commit(PoolVariableIF::INVALID);
 }
 
 float PowerSensor::getPower() {

power/PowerSensor.h

@@ -1,9 +1,7 @@
-#ifndef POWERSENSOR_H_
+#ifndef FSFW_POWER_POWERSENSOR_H_
-#define POWERSENSOR_H_
+#define FSFW_POWER_POWERSENSOR_H_
 
-#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoollocal/StaticLocalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../datapoolglob/PIDReader.h"
 #include "../devicehandlers/HealthDevice.h"
 #include "../monitoring/LimitMonitor.h"
 #include "../parameters/ParameterHelper.h"
@@ -12,15 +10,18 @@
 
 class PowerController;
 
+/**
+ * @brief	Does magic.
+ */
 class PowerSensor: public SystemObject,
 		public ReceivesParameterMessagesIF,
 		public HasHealthIF {
 	friend class PowerController;
 public:
 	struct VariableIds {
-		uint32_t pidCurrent;
+		gp_id_t pidCurrent;
-		uint32_t pidVoltage;
+		gp_id_t pidVoltage;
-		uint32_t poolIdPower;
+		gp_id_t poolIdPower;
 	};
 	struct DefaultLimits {
 		float currentMin;
@@ -34,8 +35,9 @@ public:
 		Event voltageLow;
 		Event voltageHigh;
 	};
-	PowerSensor(object_id_t setId, VariableIds setIds, DefaultLimits limits,
+	PowerSensor(object_id_t objectId, sid_t sid, VariableIds setIds,
-			SensorEvents events, uint16_t confirmationCount = 0);
+			DefaultLimits limits, SensorEvents events,
+			uint16_t confirmationCount = 0);
 	virtual ~PowerSensor();
 	ReturnValue_t calculatePower();
 	ReturnValue_t performOperation(uint8_t opCode);
@@ -50,15 +52,19 @@ public:
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex);
 private:
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
-	GlobDataSet set;
+	//GlobDataSet set;
+	StaticLocalDataSet<3> powerSensorSet;
 	//Variables in
-	PIDReader<float> current;
+	lp_var_t<float> current;
-	PIDReader<float> voltage;
+	lp_var_t<float> voltage;
+	//PIDReader<float> current;
+	//PIDReader<float> voltage;
 	//Variables out
-	gp_float_t power;
+	lp_var_t<float> power;
+	//gp_float_t power;
 
 	static const uint8_t MODULE_ID_CURRENT = 1;
 	static const uint8_t MODULE_ID_VOLTAGE = 2;
@@ -68,4 +74,4 @@ protected:
 	LimitMonitor<float> voltageLimit;
 };
 
-#endif /* POWERSENSOR_H_ */
+#endif /* FSFW_POWER_POWERSENSOR_H_ */

power/PowerSwitchIF.h

@@ -1,18 +1,16 @@
-/**
+#ifndef FSFW_POWER_POWERSWITCHIF_H_
- * @file	PowerSwitchIF.h
+#define FSFW_POWER_POWERSWITCHIF_H_
- * @brief	This file defines the PowerSwitchIF class.
- * @date	20.03.2013
- * @author	baetz
- */
-
-#ifndef POWERSWITCHIF_H_
-#define POWERSWITCHIF_H_
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 /**
- * This interface defines a connection to a device that is capable of turning on and off
+ *
- * switches of devices identified by a switch ID.
+ * @brief   This interface defines a connection to a device that is capable of
+ *          turning on and off switches of devices identified by a switch ID.
+ * @details
+ * The virtual functions of this interface do not allow to make any assignments
+ * because they can be called asynchronosuly (const ending).
+ * @ingroup interfaces
  */
 class PowerSwitchIF : public HasReturnvaluesIF {
 public:
@@ -72,4 +70,4 @@ public:
 };
 
 
-#endif /* POWERSWITCHIF_H_ */
+#endif /* FSFW_POWER_POWERSWITCHIF_H_ */

power/PowerSwitcher.cpp

@@ -1,15 +1,17 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "PowerSwitcher.h"
+
+#include "../objectmanager/ObjectManagerIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
-		PowerSwitcher::State_t setStartState) :
+		PowerSwitcher::State_t setStartState):
-		state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2), power(NULL) {
+		state(setStartState), firstSwitch(setSwitch1),
+		secondSwitch(setSwitch2) {
 }
 
 ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
 	power = objectManager->get<PowerSwitchIF>(powerSwitchId);
-	if (power == NULL) {
+	if (power == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
@@ -17,19 +19,25 @@ ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
 
 ReturnValue_t PowerSwitcher::getStateOfSwitches() {
 	SwitchReturn_t result = howManySwitches();
+
 	switch (result) {
 	case ONE_SWITCH:
 		return power->getSwitchState(firstSwitch);
-	case TWO_SWITCHES:
+	case TWO_SWITCHES: {
-		if ((power->getSwitchState(firstSwitch) == PowerSwitchIF::SWITCH_ON)
+	    ReturnValue_t firstSwitchState = power->getSwitchState(firstSwitch);
-				&& (power->getSwitchState(secondSwitch) == PowerSwitchIF::SWITCH_ON)) {
+	    ReturnValue_t secondSwitchState = power->getSwitchState(firstSwitch);
+		if ((firstSwitchState == PowerSwitchIF::SWITCH_ON)
+				&& (secondSwitchState == PowerSwitchIF::SWITCH_ON)) {
 			return PowerSwitchIF::SWITCH_ON;
-		} else if ((power->getSwitchState(firstSwitch) == PowerSwitchIF::SWITCH_OFF)
+		}
-				&& (power->getSwitchState(secondSwitch) == PowerSwitchIF::SWITCH_OFF)) {
+		else if ((firstSwitchState == PowerSwitchIF::SWITCH_OFF)
+				&& (secondSwitchState  == PowerSwitchIF::SWITCH_OFF)) {
 			return PowerSwitchIF::SWITCH_OFF;
-		} else {
+		}
+		else {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
+	}
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

power/PowerSwitcher.h

@@ -1,10 +1,13 @@
-#ifndef POWERSWITCHER_H_
+#ifndef FSFW_POWER_POWERSWITCHER_H_
-#define POWERSWITCHER_H_
+#define FSFW_POWER_POWERSWITCHER_H_
+
 #include "PowerSwitchIF.h"
+
+#include "../objectmanager/SystemObjectIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
 
-class PowerSwitcher : public HasReturnvaluesIF {
+class PowerSwitcher: public HasReturnvaluesIF {
 public:
 	enum State_t {
 		WAIT_OFF,
@@ -16,7 +19,8 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
 	static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-	PowerSwitcher( uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH, State_t setStartState = SWITCH_IS_OFF );
+	PowerSwitcher( uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH,
+	        State_t setStartState = SWITCH_IS_OFF );
 	ReturnValue_t initialize(object_id_t powerSwitchId);
 	void turnOn();
 	void turnOff();
@@ -29,7 +33,8 @@ public:
 private:
 	uint8_t firstSwitch;
 	uint8_t secondSwitch;
-	PowerSwitchIF* power;
+	PowerSwitchIF* power = nullptr;
+
 	static const uint8_t NO_SWITCH = 0xFF;
 	enum SwitchReturn_t {
 		ONE_SWITCH = 1,
@@ -42,4 +47,4 @@ private:
 
 
 
-#endif /* POWERSWITCHER_H_ */
+#endif /* FSFW_POWER_POWERSWITCHER_H_ */