From 3429918f5e35ed9ed942c946fdf0d19ed6379f26 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 30 Mar 2021 00:25:22 +0200
Subject: [PATCH 01/32] fixed cmakelists for linux

---
 osal/CMakeLists.txt | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/osal/CMakeLists.txt b/osal/CMakeLists.txt
index e4f1de7c7..6cda0c88a 100644
--- a/osal/CMakeLists.txt
+++ b/osal/CMakeLists.txt
@@ -10,11 +10,6 @@ elseif(${OS_FSFW} STREQUAL "host")
 	if (WIN32)
 		add_subdirectory(windows)
 	elseif(UNIX)
-		target_sources(${LIB_FSFW_NAME}
-			PUBLIC
-				linux/TcUnixUdpPollingTask.cpp
-				linux/TmTcUnixUdpBridge.cpp
-		)
 	endif ()
 
 else()

From 435c6e641021ce450ba88b1cb57c960a5548f784 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 30 Mar 2021 00:37:10 +0200
Subject: [PATCH 02/32] bugfix for linux/host

---
 osal/CMakeLists.txt | 42 +++++++++++++++++++++++-------------------
 1 file changed, 23 insertions(+), 19 deletions(-)

diff --git a/osal/CMakeLists.txt b/osal/CMakeLists.txt
index 6cda0c88a..76b939b1a 100644
--- a/osal/CMakeLists.txt
+++ b/osal/CMakeLists.txt
@@ -1,30 +1,34 @@
 # Check the OS_FSFW variable
 if(${OS_FSFW} STREQUAL "freertos")
-	add_subdirectory(FreeRTOS)
+    add_subdirectory(FreeRTOS)
 elseif(${OS_FSFW} STREQUAL "rtems")
-	add_subdirectory(rtems)
+    add_subdirectory(rtems)
 elseif(${OS_FSFW} STREQUAL "linux")
-	add_subdirectory(linux)
+    add_subdirectory(linux)
 elseif(${OS_FSFW} STREQUAL "host")
-	add_subdirectory(host)
-	if (WIN32)
-		add_subdirectory(windows)
-	elseif(UNIX)
-	endif ()
+    add_subdirectory(host)
+    if (WIN32)
+        add_subdirectory(windows)
+    elseif(UNIX)
+        # We still need to pull in some Linux specific sources
+        target_sources(${LIB_FSFW_NAME} PUBLIC
+            linux/tcpipHelpers.cpp
+        )
+    endif ()
 
 else()
 
-	message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
-	# Not set. Assumuing this is a host build, try to determine host OS
-	if (WIN32)
-		add_subdirectory(host)
-		add_subdirectory(windows)
-	elseif (UNIX)
-		add_subdirectory(linux)
-	else ()
-		# MacOS or other OSes have not been tested yet / are not supported.
-		message(FATAL_ERROR "The host OS could not be determined! Aborting.")
-	endif()
+    message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
+    # Not set. Assumuing this is a host build, try to determine host OS
+    if (WIN32)
+        add_subdirectory(host)
+        add_subdirectory(windows)
+    elseif (UNIX)
+        add_subdirectory(linux)
+    else ()
+        # MacOS or other OSes have not been tested yet / are not supported.
+        message(FATAL_ERROR "The host OS could not be determined! Aborting.")
+    endif()
 
 endif()
 

From 6983ddc3e022bfcf1e78354998e4577b20e146b0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 8 Apr 2021 15:27:03 +0200
Subject: [PATCH 03/32] super evil bugfix

---
 osal/linux/MessageQueue.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 60d15dee7..b40ff29b4 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -190,13 +190,14 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
-	}else if(status==0){
+	}
+	else if(status==0) {
 		//Success but no message received
 		return MessageQueueIF::EMPTY;
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send
 		//something later. But still, delete packet content.
-		memset(message->getData(), 0, message->getMaximumMessageSize());
+		memset(message->getBuffer(), 0, message->getMaximumMessageSize());
 		switch(errno){
 		case EAGAIN:
 			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages

From 23e3f2f34f1b68998a8aad6c01691d2e9c97ed65 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 8 Apr 2021 15:39:23 +0200
Subject: [PATCH 04/32] now fixed properly

---
 ipc/MessageQueueMessage.cpp | 4 ++++
 ipc/MessageQueueMessage.h   | 1 +
 ipc/MessageQueueMessageIF.h | 1 +
 osal/linux/MessageQueue.cpp | 7 ++++---
 4 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index e97778c3f..1958af54a 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -86,3 +86,7 @@ size_t MessageQueueMessage::getMaximumMessageSize() const {
     return this->MAX_MESSAGE_SIZE;
 }
 
+size_t MessageQueueMessage::getMaximumDataSize() const {
+    return this->MAX_DATA_SIZE;
+}
+
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 5234f64ff..111056caf 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -139,6 +139,7 @@ public:
 	virtual void setMessageSize(size_t messageSize) override;
 	virtual size_t getMinimumMessageSize() const override;
 	virtual size_t getMaximumMessageSize() const override;
+	virtual size_t getMaximumDataSize() const override;
 
 	/**
 	 * @brief	This is a debug method that prints the content.
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index 33e01e7d0..893c30b5e 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -72,6 +72,7 @@ public:
     virtual void setMessageSize(size_t messageSize) = 0;
     virtual size_t getMinimumMessageSize() const = 0;
     virtual size_t getMaximumMessageSize() const = 0;
+    virtual size_t getMaximumDataSize() const = 0;
 
 };
 
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index b40ff29b4..8004c045b 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -191,13 +191,14 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-	else if(status==0) {
+	else if (status==0) {
 		//Success but no message received
 		return MessageQueueIF::EMPTY;
-	} else {
+	}
+	else {
 		//No message was received. Keep lastPartner anyway, I might send
 		//something later. But still, delete packet content.
-		memset(message->getBuffer(), 0, message->getMaximumMessageSize());
+		memset(message->getData(), 0, message->getMaximumDataSize());
 		switch(errno){
 		case EAGAIN:
 			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages

From 10c3483fe51bfaac7f385332fb0fbc3d9ff1f57e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 8 Apr 2021 16:20:59 +0200
Subject: [PATCH 05/32] bugfix for RTEMS

---
 osal/rtems/MessageQueue.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp
index bfaf35690..717b80dd0 100644
--- a/osal/rtems/MessageQueue.cpp
+++ b/osal/rtems/MessageQueue.cpp
@@ -61,7 +61,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send something later.
 		//But still, delete packet content.
-		memset(message->getData(), 0, message->getMaximumMessageSize());
+		memset(message->getData(), 0, message->getMaximumDataSize());
 	}
 	return convertReturnCode(status);
 }

From 5676969fe368187507d7a3bf90b153719931fdf3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 11 Apr 2021 21:13:43 +0200
Subject: [PATCH 06/32] typo fix

---
 ipc/MessageQueueIF.h           | 2 +-
 osal/FreeRTOS/MessageQueue.cpp | 2 +-
 osal/linux/MessageQueue.cpp    | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index 1c06521ca..74ccb29a2 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -27,7 +27,7 @@ public:
 	//! Returned if a reply method was called without partner
 	static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
 	//! Returned if the target destination is invalid.
-	static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
+	static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4);
 
 	virtual ~MessageQueueIF() {}
 	/**
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index c0c82cf11..3a0f654ed 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -135,7 +135,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	QueueHandle_t destination = nullptr;
 
 	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
-		return MessageQueueIF::DESTINVATION_INVALID;
+		return MessageQueueIF::DESTINATION_INVALID;
 	}
 	else  {
 		destination = reinterpret_cast<QueueHandle_t>(sendTo);
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index 8004c045b..12774a58c 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -373,7 +373,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 					<<"mq_send to: " << sendTo << " sent from "
 					<< sentFrom << std::endl;
 #endif
-			return DESTINVATION_INVALID;
+			return DESTINATION_INVALID;
 		}
 		case EINTR:
 			//The call was interrupted by a signal.

From 01d0bd6c64c68d3a351573203945a35044e341f8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 11 Apr 2021 21:20:45 +0200
Subject: [PATCH 07/32] Small patch for CMakeLists file

This adds the additional includes to the interface as well
so libraries linking again fsfw get the additional includes
as well.
---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ff060d7be..8ba6a187e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -184,6 +184,7 @@ endif()
 target_include_directories(${LIB_FSFW_NAME} INTERFACE 
 	${CMAKE_SOURCE_DIR}
 	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_ADD_INC_PATHS_ABS}
 )
 
 # Includes path required to compile FSFW itself as well

From e50d0738ab08f75f7284a5788b8d3174d1e2dac7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 11 Apr 2021 21:22:58 +0200
Subject: [PATCH 08/32] bumped version to 1.0.0

---
 FSFWVersion.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/FSFWVersion.h b/FSFWVersion.h
index 11a608919..df2d49a51 100644
--- a/FSFWVersion.h
+++ b/FSFWVersion.h
@@ -3,9 +3,9 @@
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION 		0
-#define	FSFW_SUBVERSION 	0
-#define	FSFW_REVISION 	1
+#define FSFW_VERSION        1
+#define	FSFW_SUBVERSION     0
+#define	FSFW_REVISION       0
 
 
 

From b786b53c35dc64fe0743aec68cb8ef9bcfe2fcfb Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 11 Apr 2021 21:54:48 +0200
Subject: [PATCH 09/32] added all coverity fixes

---
 action/ActionHelper.cpp                 |  5 -----
 container/SharedRingBuffer.cpp          |  3 +++
 container/SharedRingBuffer.h            | 23 +++++++++++++----------
 datapool/HkSwitchHelper.cpp             |  2 +-
 datapoollocal/LocalDataPoolManager.cpp  | 22 ++++++++++++----------
 devicehandlers/DeviceHandlerBase.cpp    |  9 ++++++---
 events/EventMessage.cpp                 |  2 +-
 events/EventMessage.h                   |  2 +-
 globalfunctions/arrayprinter.cpp        |  4 ++--
 health/HealthTable.cpp                  | 24 ++++++++++++++++++++----
 osal/FreeRTOS/Clock.cpp                 |  2 +-
 osal/common/TcpTmTcServer.cpp           |  7 +++++--
 osal/host/FixedTimeslotTask.cpp         | 10 ++++++----
 osal/host/PeriodicTask.cpp              |  1 -
 osal/host/QueueMapManager.cpp           |  4 ++++
 osal/host/QueueMapManager.h             |  2 ++
 pus/CService200ModeCommanding.cpp       |  3 +--
 pus/Service1TelecommandVerification.cpp |  4 +++-
 pus/Service20ParameterManagement.cpp    |  5 ++---
 pus/Service5EventReporting.cpp          |  4 +++-
 pus/Service8FunctionManagement.cpp      |  6 ++++--
 pus/servicepackets/Service8Packets.h    |  4 ++--
 tmtcservices/TmTcBridge.cpp             |  4 +++-
 23 files changed, 95 insertions(+), 57 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 4b64a40ca..b2374ed69 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -147,11 +147,6 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
         return result;
     }
 
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        ipcStore->deleteData(storeAddress);
-        return result;
-    }
-
     /* We don't need to report the objectId, as we receive REQUESTED data before the completion
     success message. True aperiodic replies need to be reported with another dedicated message. */
     ActionMessage::setDataReply(&reply, replyId, storeAddress);
diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
index 5e20bb6fe..fe36341dd 100644
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@@ -17,6 +17,9 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
     mutex = MutexFactory::instance()->createMutex();
 }
 
+SharedRingBuffer::~SharedRingBuffer() {
+    MutexFactory::instance()->deleteMutex(mutex);
+}
 
 void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
     this->fifoDepth = fifoDepth;
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index 66a119ab0..9d6ea56c2 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -26,6 +26,18 @@ public:
      */
     SharedRingBuffer(object_id_t objectId, const size_t size,
             bool overwriteOld, size_t maxExcessBytes);
+    /**
+     * 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);
+
+    virtual~ SharedRingBuffer();
 
     /**
      * @brief    This function can be used to add an optional FIFO to the class
@@ -37,16 +49,7 @@ public:
      */
     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
diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp
index 1a2a25eb9..21e37f59d 100644
--- a/datapool/HkSwitchHelper.cpp
+++ b/datapool/HkSwitchHelper.cpp
@@ -7,7 +7,7 @@ HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
 }
 
 HkSwitchHelper::~HkSwitchHelper() {
-	// TODO Auto-generated destructor stub
+    QueueFactory::instance()->deleteMessageQueue(actionQueue);
 }
 
 ReturnValue_t HkSwitchHelper::initialize() {
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index 94ee9c264..dbe68ff14 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -909,27 +909,29 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 			errorPrint = "Unknown error";
 		}
 	}
+	object_id_t objectId = 0xffffffff;
+	if(owner != nullptr) {
+	    objectId = owner->getObjectId();
+	}
 
 	if(outputType == sif::OutputTypes::OUT_WARNING) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "LocalDataPoolManager::" << functionName
-				<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
-				<< std::hex << owner->getObjectId() << " | " << errorPrint
-				<< std::dec << std::setfill(' ') << std::endl;
+		sif::warning << "LocalDataPoolManager::" << functionName << ": Object ID 0x" <<
+		        std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint <<
+		        std::dec << std::setfill(' ') << std::endl;
 #else
 		sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
-				functionName, owner->getObjectId(), errorPrint);
+				functionName, objectId, errorPrint);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 	}
 	else if(outputType == sif::OutputTypes::OUT_ERROR) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "LocalDataPoolManager::" << functionName
-				<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
-				<< std::hex << owner->getObjectId() << " | " << errorPrint
-				<< std::dec << std::setfill(' ') << std::endl;
+		sif::error << "LocalDataPoolManager::" << functionName << ": Object ID 0x" <<
+		        std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint <<
+		        std::dec << std::setfill(' ') << std::endl;
 #else
 		sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
-				functionName, owner->getObjectId(), errorPrint);
+				functionName, objectId, errorPrint);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 	}
 #endif /* #if FSFW_VERBOSE_LEVEL >= 1 */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 15eac11f4..531a0642b 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1483,7 +1483,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
         if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) {
             errorPrint = "Initialization error";
         }
-        if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
+        else if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
             if(errorType == sif::OutputTypes::OUT_WARNING) {
                 errorPrint = "Generic Warning";
             }
@@ -1495,6 +1495,9 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
             errorPrint = "Unknown error";
         }
     }
+    if(functionName == nullptr) {
+        functionName = "unknown function";
+    }
 
     if(errorType == sif::OutputTypes::OUT_WARNING) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -1504,7 +1507,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
                 << std::setfill(' ') << std::endl;
 #else
         sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
-                this->getObjectId(), errorPrint);
+                functionName, this->getObjectId(), errorPrint);
 #endif
     }
     else if(errorType == sif::OutputTypes::OUT_ERROR) {
@@ -1515,7 +1518,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
                 << std::setfill(' ') << std::endl;
 #else
         sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
-                this->getObjectId(), errorPrint);
+                functionName, this->getObjectId(), errorPrint);
 #endif
     }
 
diff --git a/events/EventMessage.cpp b/events/EventMessage.cpp
index bbc41e100..548b4f0f3 100644
--- a/events/EventMessage.cpp
+++ b/events/EventMessage.cpp
@@ -109,6 +109,6 @@ bool EventMessage::isClearedEventMessage() {
 	return getEvent() == INVALID_EVENT;
 }
 
-size_t EventMessage::getMinimumMessageSize() {
+size_t EventMessage::getMinimumMessageSize() const {
 	return EVENT_MESSAGE_SIZE;
 }
diff --git a/events/EventMessage.h b/events/EventMessage.h
index 4d003bd7b..f2f5ffb50 100644
--- a/events/EventMessage.h
+++ b/events/EventMessage.h
@@ -45,7 +45,7 @@ public:
 
 protected:
 	static const Event INVALID_EVENT = 0;
-	virtual size_t getMinimumMessageSize();
+	virtual size_t getMinimumMessageSize() const override;
 
 };
 
diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp
index 20a64f5b6..0423360b9 100644
--- a/globalfunctions/arrayprinter.cpp
+++ b/globalfunctions/arrayprinter.cpp
@@ -51,7 +51,7 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
 #else
     // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
     // plus line break plus small safety margin.
-    char printBuffer[(size + 1) * 7 + 1];
+    char printBuffer[(size + 1) * 7 + 1] = {};
     size_t currentPos = 0;
     for(size_t i = 0; i < size; i++) {
         // To avoid buffer overflows.
@@ -94,7 +94,7 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
 #else
     // General format: 32, 243, -12 so it is number of chars times 5
     // plus line break plus small safety margin.
-    char printBuffer[(size + 1) * 5 + 1];
+    char printBuffer[(size + 1) * 5 + 1] = {};
     size_t currentPos = 0;
     for(size_t i = 0; i < size; i++) {
         // To avoid buffer overflows.
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index 5d720b191..3fed1deb1 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -68,14 +68,30 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
     MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
-	SerializeAdapter::serialize(&count,
+	ReturnValue_t result = SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+	    sif::warning << "HealthTable::printAll: Serialization of health table failed" << std::endl;
+#else
+	    sif::printWarning("HealthTable::printAll: Serialization of health table failed\n");
+#endif
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+	    return;
+	}
 	for (const auto& health: healthMap) {
-		SerializeAdapter::serialize(&health.first,
+		result = SerializeAdapter::serialize(&health.first,
 				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return;
+		}
 		uint8_t healthValue = health.second;
-		SerializeAdapter::serialize(&healthValue, &pointer, &size,
+		result = SerializeAdapter::serialize(&healthValue, &pointer, &size,
 				maxSize, SerializeIF::Endianness::BIG);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
 	}
 }
 
@@ -86,7 +102,7 @@ ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
 		mapIterator = healthMap.begin();
 	}
 	if (mapIterator == healthMap.end()) {
-		result = HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	*value = *mapIterator;
 	mapIterator++;
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index 806edcc7c..c15971fee 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -111,7 +111,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
         timeval* to) {
-    struct tm time_tm;
+    struct tm time_tm = {};
 
     time_tm.tm_year = from->year - 1900;
     time_tm.tm_mon = from->month - 1;
diff --git a/osal/common/TcpTmTcServer.cpp b/osal/common/TcpTmTcServer.cpp
index 296afad8e..08a62ffb9 100644
--- a/osal/common/TcpTmTcServer.cpp
+++ b/osal/common/TcpTmTcServer.cpp
@@ -70,6 +70,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
 #endif
         freeaddrinfo(addrResult);
         handleError(Protocol::TCP, ErrorSources::BIND_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     freeaddrinfo(addrResult);
@@ -84,8 +85,8 @@ TcpTmTcServer::~TcpTmTcServer() {
 ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
     using namespace tcpip;
     /* If a connection is accepted, the corresponding socket will be assigned to the new socket */
-    socket_t clientSocket;
-    sockaddr clientSockAddr;
+    socket_t clientSocket = 0;
+    sockaddr clientSockAddr = {};
     socklen_t connectorSockAddrLen = 0;
     int retval = 0;
 
@@ -101,6 +102,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
 
         if(clientSocket == INVALID_SOCKET) {
             handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
+            closeSocket(clientSocket);
             continue;
         };
 
@@ -122,6 +124,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
 
         /* Done, shut down connection */
         retval = shutdown(clientSocket, SHUT_SEND);
+        closeSocket(clientSocket);
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index 3b169b5a2..89daa2786 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -3,7 +3,7 @@
 #include "../../ipc/MutexFactory.h"
 #include "../../osal/host/Mutex.h"
 #include "../../osal/host/FixedTimeslotTask.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
 #include <thread>
@@ -38,7 +38,6 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
     if(mainThread.joinable()) {
         mainThread.join();
     }
-    delete this;
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
@@ -119,8 +118,11 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
     }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "Component " << std::hex << componentId <<
-            " not found, not adding it to pst" << std::endl;
+    sif::error << "Component " << std::hex << "0x" << componentId << "not found, "
+            "not adding it to PST.." << std::dec << std::endl;
+#else
+    sif::printError("Component 0x%08x not found, not adding it to PST..\n",
+            static_cast<unsigned int>(componentId));
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
 }
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index d7abf9d0c..631264b74 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -38,7 +38,6 @@ PeriodicTask::~PeriodicTask(void) {
 	if(mainThread.joinable()) {
 		mainThread.join();
 	}
-	delete this;
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
index b50d62dcf..c9100fe9a 100644
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@@ -10,6 +10,10 @@ QueueMapManager::QueueMapManager() {
     mapLock = MutexFactory::instance()->createMutex();
 }
 
+QueueMapManager::~QueueMapManager() {
+    MutexFactory::instance()->deleteMutex(mapLock);
+}
+
 QueueMapManager* QueueMapManager::instance() {
 	if (mqManagerInstance == nullptr){
 		mqManagerInstance = new QueueMapManager();
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
index 3610ca638..90c39c2f0 100644
--- a/osal/host/QueueMapManager.h
+++ b/osal/host/QueueMapManager.h
@@ -36,6 +36,8 @@ public:
 private:
 	//! External instantiation is forbidden.
 	QueueMapManager();
+	~QueueMapManager();
+
 	uint32_t queueCounter = 0;
 	MutexIF* mapLock;
 	QueueMap queueMap;
diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
index c4e99359b..70caadd10 100644
--- a/pus/CService200ModeCommanding.cpp
+++ b/pus/CService200ModeCommanding.cpp
@@ -61,8 +61,7 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(
 		return result;
 	}
 
-	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
-	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+	ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
 	        modeCommandPacket.getSubmode());
 	return result;
 }
diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
index 9e86c752a..7ce75478b 100644
--- a/pus/Service1TelecommandVerification.cpp
+++ b/pus/Service1TelecommandVerification.cpp
@@ -15,7 +15,9 @@ Service1TelecommandVerification::Service1TelecommandVerification(
 	tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
-Service1TelecommandVerification::~Service1TelecommandVerification() {}
+Service1TelecommandVerification::~Service1TelecommandVerification() {
+    QueueFactory::instance()->deleteMessageQueue(tmQueue);
+}
 
 MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){
 	return tmQueue->getId();
diff --git a/pus/Service20ParameterManagement.cpp b/pus/Service20ParameterManagement.cpp
index bc3a9119b..90e966500 100644
--- a/pus/Service20ParameterManagement.cpp
+++ b/pus/Service20ParameterManagement.cpp
@@ -75,9 +75,8 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #else
         sif::printError("Service20ParameterManagement::checkInterfaceAndAcquire"
                 "MessageQueue: Can't access object\n");
-        sif::printError("Object ID: 0x%08x\n", objectId);
-        sif::printError("Make sure it implements "
-                "ReceivesParameterMessagesIF!\n");
+        sif::printError("Object ID: 0x%08x\n", *objectId);
+        sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
 #endif
 
         return CommandingServiceBase::INVALID_OBJECT;
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
index 29eb7f20e..965a27ad6 100644
--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@@ -15,7 +15,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId,
 	eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
-Service5EventReporting::~Service5EventReporting(){}
+Service5EventReporting::~Service5EventReporting() {
+    QueueFactory::instance()->deleteMessageQueue(eventQueue);
+}
 
 ReturnValue_t Service5EventReporting::performService() {
 	EventMessage message;
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index a2202abc1..54187a829 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -53,12 +53,14 @@ ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t Service8FunctionManagement::prepareCommand(
 		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
 		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
-	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
+	return prepareDirectCommand(message, tcData, tcDataLen);
 }
 
 ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
 		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+    if(message == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
     if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index b026edf52..a27cf8bb6 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -43,8 +43,8 @@ public:
 
 private:
 	DirectCommand(const DirectCommand &command);
-	object_id_t objectId;
-	ActionId_t actionId;
+	object_id_t objectId = 0;
+	ActionId_t actionId = 0;
 	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
 	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
 
diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index f99b90516..dcffac41e 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -16,7 +16,9 @@ TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
             createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
-TmTcBridge::~TmTcBridge() {}
+TmTcBridge::~TmTcBridge() {
+    QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue);
+}
 
 ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		uint8_t sentPacketsPerCycle) {

From 06d34efa749dab1e3b76b47a0fa28d7f52cfd0fb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 12 Apr 2021 12:33:45 +0200
Subject: [PATCH 10/32] UDP and TCPIP smaller tweaks

Using AI_PASSIVE now so the UDP server listens to all
addresses (0.0.0.0) instead of just localhost.
Also implemented address print function properly
---
 osal/common/TcpTmTcServer.cpp    |  7 ++++--
 osal/common/UdpTcPollingTask.cpp |  9 +++++---
 osal/common/UdpTmTcBridge.cpp    | 22 ++++++++++--------
 osal/common/tcpipCommon.cpp      | 39 ++++++++++++++++++++++++++++++++
 osal/common/tcpipCommon.h        | 11 +++++++--
 5 files changed, 71 insertions(+), 17 deletions(-)

diff --git a/osal/common/TcpTmTcServer.cpp b/osal/common/TcpTmTcServer.cpp
index 296afad8e..08a62ffb9 100644
--- a/osal/common/TcpTmTcServer.cpp
+++ b/osal/common/TcpTmTcServer.cpp
@@ -70,6 +70,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
 #endif
         freeaddrinfo(addrResult);
         handleError(Protocol::TCP, ErrorSources::BIND_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     freeaddrinfo(addrResult);
@@ -84,8 +85,8 @@ TcpTmTcServer::~TcpTmTcServer() {
 ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
     using namespace tcpip;
     /* If a connection is accepted, the corresponding socket will be assigned to the new socket */
-    socket_t clientSocket;
-    sockaddr clientSockAddr;
+    socket_t clientSocket = 0;
+    sockaddr clientSockAddr = {};
     socklen_t connectorSockAddrLen = 0;
     int retval = 0;
 
@@ -101,6 +102,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
 
         if(clientSocket == INVALID_SOCKET) {
             handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
+            closeSocket(clientSocket);
             continue;
         };
 
@@ -122,6 +124,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
 
         /* Done, shut down connection */
         retval = shutdown(clientSocket, SHUT_SEND);
+        closeSocket(clientSocket);
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/osal/common/UdpTcPollingTask.cpp b/osal/common/UdpTcPollingTask.cpp
index 759cee057..47f67b295 100644
--- a/osal/common/UdpTcPollingTask.cpp
+++ b/osal/common/UdpTcPollingTask.cpp
@@ -15,7 +15,7 @@
 #endif
 
 //! Debugging preprocessor define.
-#define FSFW_UDP_RCV_WIRETAPPING_ENABLED    0
+#define FSFW_UDP_RECV_WIRETAPPING_ENABLED    0
 
 UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId,
         object_id_t tmtcUnixUdpBridge, size_t maxRecvSize,
@@ -66,10 +66,13 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
             tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
             continue;
         }
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
+#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived <<
                 " bytes received" << std::endl;
+#else
 #endif
+#endif /* FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1 */
 
         ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
         if(result != HasReturnvaluesIF::RETURN_FAILED) {
@@ -84,7 +87,7 @@ ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
 ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
     store_address_t storeId;
 
-#if FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
+#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1
     arrayprinter::print(receptionBuffer.data(), bytesRead);
 #endif
 
diff --git a/osal/common/UdpTmTcBridge.cpp b/osal/common/UdpTmTcBridge.cpp
index 7f3dc9293..ba23f521b 100644
--- a/osal/common/UdpTmTcBridge.cpp
+++ b/osal/common/UdpTmTcBridge.cpp
@@ -70,6 +70,7 @@ ReturnValue_t UdpTmTcBridge::initialize() {
     hints.ai_family = AF_INET;
     hints.ai_socktype = SOCK_DGRAM;
     hints.ai_protocol = IPPROTO_UDP;
+    hints.ai_flags = AI_PASSIVE;
 
     /* Set up UDP socket:
     https://en.wikipedia.org/wiki/Getaddrinfo
@@ -95,6 +96,10 @@ ReturnValue_t UdpTmTcBridge::initialize() {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+    tcpip::printAddress(addrResult->ai_addr);
+#endif
+
     retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
     if(retval != 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -103,6 +108,7 @@ ReturnValue_t UdpTmTcBridge::initialize() {
 #endif
         freeaddrinfo(addrResult);
         tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::BIND_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
     freeaddrinfo(addrResult);
     return HasReturnvaluesIF::RETURN_OK;
@@ -120,10 +126,8 @@ ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
     /* The target address can be set by different threads so this lock ensures thread-safety */
     MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-    char ipAddress [15];
-    sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-            &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+    tcpip::printAddress(&clientAddress);
 #endif
 
     int bytesSent = sendto(
@@ -151,13 +155,11 @@ void UdpTmTcBridge::checkAndSetClientAddress(sockaddr& newAddress) {
     /* The target address can be set by different threads so this lock ensures thread-safety */
     MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-    char ipAddress [15];
-    sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-            &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-    sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
-            &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+    tcpip::printAddress(&newAddress);
+    tcpip::printAddress(&clientAddress);
 #endif
+
     registerCommConnect();
 
     /* Set new IP address to reply to */
diff --git a/osal/common/tcpipCommon.cpp b/osal/common/tcpipCommon.cpp
index 9a5e4647c..551e2a426 100644
--- a/osal/common/tcpipCommon.cpp
+++ b/osal/common/tcpipCommon.cpp
@@ -1,4 +1,9 @@
 #include "tcpipCommon.h"
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#ifdef _WIN32
+#include <ws2tcpip.h>
+#endif
 
 void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string &protStr,
         std::string &srcString) {
@@ -34,3 +39,37 @@ void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std:
         srcString = "unknown call";
     }
 }
+
+void tcpip::printAddress(struct sockaddr* addr) {
+    char ipAddress[INET6_ADDRSTRLEN] = {};
+    const char* stringPtr = NULL;
+    switch(addr->sa_family) {
+    case AF_INET: {
+        struct sockaddr_in *addrIn = reinterpret_cast<struct sockaddr_in*>(addr);
+        stringPtr = inet_ntop(AF_INET, &(addrIn->sin_addr), ipAddress, INET_ADDRSTRLEN);
+        break;
+    }
+    case AF_INET6: {
+        struct sockaddr_in6 *addrIn = reinterpret_cast<struct sockaddr_in6*>(addr);
+        stringPtr = inet_ntop(AF_INET6, &(addrIn->sin6_addr), ipAddress, INET6_ADDRSTRLEN);
+        break;
+    }
+    }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(stringPtr == NULL) {
+        sif::debug << "Could not convert IP address to text representation, error code "
+                << errno << std::endl;
+    }
+    else {
+        sif::debug << "IP Address Sender: " <<  ipAddress << std::endl;
+    }
+#else
+    if(stringPtr == NULL) {
+        sif::printDebug("Could not convert IP address to text representation, error code %d\n",
+                errno);
+    }
+    else {
+        sif::printDebug("IP Address Sender: %s\n", ipAddress);
+    }
+#endif
+}
diff --git a/osal/common/tcpipCommon.h b/osal/common/tcpipCommon.h
index dc5ada526..22b914dc1 100644
--- a/osal/common/tcpipCommon.h
+++ b/osal/common/tcpipCommon.h
@@ -4,6 +4,13 @@
 #include "../../timemanager/clockDefinitions.h"
 #include <string>
 
+#ifdef _WIN32
+#include <winsock2.h>
+#else
+#include <netdb.h>
+#include <arpa/inet.h>
+#endif
+
 namespace tcpip {
 
 const char* const DEFAULT_SERVER_PORT = "7301";
@@ -28,8 +35,8 @@ enum class ErrorSources {
 void determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string& protStr,
         std::string& srcString);
 
+void printAddress(struct sockaddr* addr);
+
 }
 
-
-
 #endif /* FSFW_OSAL_COMMON_TCPIPCOMMON_H_ */

From 547538fbc5aa9b23d1128f01c100ad5a73b9a520 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 12 Apr 2021 12:38:56 +0200
Subject: [PATCH 11/32] proper MQ implementation

---
 osal/host/MessageQueue.cpp | 29 ++++++++++-------------------
 osal/host/MessageQueue.h   |  2 +-
 2 files changed, 11 insertions(+), 20 deletions(-)

diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index 18272a68a..41c55a3df 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -64,9 +64,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 		return MessageQueueIF::EMPTY;
 	}
 	MutexGuard mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
-	MessageQueueMessage* currentMessage = &messageQueue.front();
-	std::copy(currentMessage->getBuffer(),
-			currentMessage->getBuffer() + messageSize, message->getBuffer());
+	std::copy(messageQueue.front().data(), messageQueue.front().data() + messageSize,
+	        message->getBuffer());
 	messageQueue.pop();
 	// The last partner is the first uint32_t field in the message
 	this->lastPartner = message->getSender();
@@ -80,7 +79,7 @@ MessageQueueId_t MessageQueue::getLastPartner() const {
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
 	*count = messageQueue.size();
 	// Clears the queue.
-	messageQueue = std::queue<MessageQueueMessage>();
+	messageQueue = std::queue<std::vector<uint8_t>>();
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -106,6 +105,9 @@ bool MessageQueue::isDefaultDestinationSet() const {
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault) {
+    if(message == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 	message->setSender(sentFrom);
 	if(message->getMessageSize() > message->getMaximumMessageSize()) {
 		// Actually, this should never happen or an error will be emitted
@@ -128,21 +130,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
-		MutexGuard mutexLock(targetQueue->queueLock,
-		        MutexIF::TimeoutType::WAITING, 20);
-		// not ideal, works for now though.
-		MessageQueueMessage* mqmMessage =
-				dynamic_cast<MessageQueueMessage*>(message);
-		if(message != nullptr) {
-			targetQueue->messageQueue.push(*mqmMessage);
-		}
-		else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
-					"is not MessageQueueMessage!" << std::endl;
-#endif
-		}
-
+		MutexGuard mutexLock(targetQueue->queueLock, MutexIF::TimeoutType::WAITING, 20);
+		targetQueue->messageQueue.push(std::vector<uint8_t>(message->getMaximumMessageSize()));
+		memcpy(targetQueue->messageQueue.back().data(), message->getBuffer(),
+		        message->getMaximumMessageSize());
 	}
 	else {
 		return MessageQueueIF::FULL;
diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h
index 97a9e4915..e965123dc 100644
--- a/osal/host/MessageQueue.h
+++ b/osal/host/MessageQueue.h
@@ -212,7 +212,7 @@ protected:
 	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
 private:
-	std::queue<MessageQueueMessage> messageQueue;
+	std::queue<std::vector<uint8_t>> messageQueue;
 	/**
 	 * @brief	The class stores the queue id it got assigned.
 	 * 			If initialization fails, the queue id is set to zero.

From 4bb078c451ddf543e15e27073f5c8edf1642d38e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 12 Apr 2021 12:40:59 +0200
Subject: [PATCH 12/32] thermal sensor update

---
 thermal/TemperatureSensor.h | 54 +++++++++++++++++++------------------
 1 file changed, 28 insertions(+), 26 deletions(-)

diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index 2b1fb1f07..ceb8a8617 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -1,11 +1,14 @@
 #ifndef TEMPERATURESENSOR_H_
 #define TEMPERATURESENSOR_H_
 
-#include "../thermal/AbstractTemperatureSensor.h"
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
+#include "tcsDefinitions.h"
+#include "AbstractTemperatureSensor.h"
+
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
 #include "../monitoring/LimitMonitor.h"
 
+
 /**
  * @brief 	This building block handles non-linear value conversion and
  * 			range checks for analog temperature sensors.
@@ -57,27 +60,26 @@ public:
 
 	/**
 	 * Instantiate Temperature Sensor Object.
-	 * @param setObjectid objectId of the sensor object
-	 * @param inputValue Input value which is converted to a temperature
-	 * @param poolVariable Pool Variable to store the temperature value
-	 * @param vectorIndex Vector Index for the sensor monitor
-	 * @param parameters Calculation parameters, temperature limits, gradient limit
-	 * @param datapoolId Datapool ID of the output temperature
-	 * @param outputSet Output dataset for the output temperature to fetch it with read()
+	 * @param setObjectid   objectId of the sensor object
+	 * @param inputValue    Pointer to input value which is converted to a temperature
+	 * @param variableGpid  Global Pool ID of the output value
+	 * @param inputVariable Input variable handle
+	 * @param vectorIndex   Vector Index for the sensor monitor
+	 * @param parameters    Calculation parameters, temperature limits, gradient limit
+	 * @param outputSet     Output dataset for the output temperature to fetch it with read()
 	 * @param thermalModule respective thermal module, if it has one
 	 */
 	TemperatureSensor(object_id_t setObjectid,
-			inputType *inputValue, PoolVariableIF *poolVariable,
-			uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0},
-			GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
+			inputType *inputValue, gp_id_t variableGpid, PoolVariableIF* inputVariable,
+			uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			LocalPoolDataSetBase *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
 			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
-			inputValue(inputValue), poolVariable(poolVariable),
-			outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE),
-			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR,
-				GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
+			inputValue(inputValue), poolVariable(inputVariable),
+			outputTemperature(variableGpid, outputSet, PoolVariableIF::VAR_WRITE),
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, poolVariable,
 				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
 				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
-			oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
+			oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) {
 	}
 
 
@@ -98,7 +100,7 @@ protected:
 
 private:
 	void setInvalid() {
-		outputTemperature = INVALID_TEMPERATURE;
+		outputTemperature = thermal::INVALID_TEMPERATURE;
 		outputTemperature.setValid(false);
 		uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
 		sensorMonitor.setToInvalid();
@@ -108,11 +110,11 @@ protected:
 
 	UsedParameters parameters;
 
-	inputType * inputValue;
+	inputType* inputValue;
 
-	PoolVariableIF *poolVariable;
+	PoolVariableIF* poolVariable;
 
-	gp_float_t outputTemperature;
+	lp_var_t<float> outputTemperature;
 
 	LimitMonitor<limitType> sensorMonitor;
 
@@ -120,8 +122,8 @@ protected:
 	timeval uptimeOfOldTemperature;
 
 	void doChildOperation() {
-		if (!poolVariable->isValid()
-				|| !healthHelper.healthTable->isHealthy(getObjectId())) {
+		if ((not poolVariable->isValid()) or
+		        (not healthHelper.healthTable->isHealthy(getObjectId()))) {
 			setInvalid();
 			return;
 		}
@@ -152,13 +154,13 @@ protected:
 			}
 		}
 
-		//Check is done against raw limits. SHOULDDO: Why? Using �C would be more easy to handle.
+		//Check is done against raw limits. SHOULDDO: Why? Using C would be more easy to handle.
 		sensorMonitor.doCheck(outputTemperature.value);
 
 		if (sensorMonitor.isOutOfLimits()) {
 			uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
 			outputTemperature.setValid(PoolVariableIF::INVALID);
-			outputTemperature = INVALID_TEMPERATURE;
+			outputTemperature = thermal::INVALID_TEMPERATURE;
 		} else {
 			oldTemperature = outputTemperature;
 			uptimeOfOldTemperature = uptime;

From 5124f314f497bcfa8758c7124f63c68fb24eb88c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 12 Apr 2021 12:50:23 +0200
Subject: [PATCH 13/32] updated distributor modules

---
 tcdistribution/CCSDSDistributor.cpp |  31 +++++--
 tcdistribution/PUSDistributor.cpp   | 121 ++++++++++++++++------------
 2 files changed, 92 insertions(+), 60 deletions(-)

diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp
index b795854f2..62cbfbf2b 100644
--- a/tcdistribution/CCSDSDistributor.cpp
+++ b/tcdistribution/CCSDSDistributor.cpp
@@ -1,8 +1,10 @@
 #include "CCSDSDistributor.h"
 
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 #include "../tmtcpacket/SpacePacketBase.h"
 
+#define CCSDS_DISTRIBUTOR_DEBUGGING     0
+
 CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
 		object_id_t setObjectId):
 		TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
@@ -11,26 +13,36 @@ CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
 CCSDSDistributor::~CCSDSDistributor() {}
 
 TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
+#if CCSDS_DISTRIBUTOR_DEBUGGING == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-//	sif::debug << "CCSDSDistributor::selectDestination received: " <<
-//			this->currentMessage.getStorageId().pool_index << ", " <<
-//			this->currentMessage.getStorageId().packet_index << std::endl;
+	sif::debug << "CCSDSDistributor::selectDestination received: " <<
+			this->currentMessage.getStorageId().poolIndex << ", " <<
+			this->currentMessage.getStorageId().packetIndex << std::endl;
+#else
+	sif::printDebug("CCSDSDistributor::selectDestination received: %d, %d\n",
+	        currentMessage.getStorageId().poolIndex, currentMessage.getStorageId().packetIndex);
+#endif
 #endif
 	const uint8_t* packet = nullptr;
 	size_t size = 0;
 	ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
 			&packet, &size );
 	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "CCSDSDistributor::selectDestination: Getting data from"
 				" store failed!" << std::endl;
+#else
+		sif::printError("CCSDSDistributor::selectDestination: Getting data from"
+                " store failed!\n");
+#endif
 #endif
 	}
 	SpacePacketBase currentPacket(packet);
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-//	sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
-//			<< std::hex << currentPacket.getAPID() << std::dec << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && CCSDS_DISTRIBUTOR_DEBUGGING == 1
+	sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex <<
+	        currentPacket.getAPID() << std::dec << std::endl;
 #endif
 	TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
 	if ( position != this->queueMap.end() ) {
@@ -76,9 +88,14 @@ ReturnValue_t CCSDSDistributor::initialize() {
 	ReturnValue_t status = this->TcDistributor::initialize();
 	this->tcStore = objectManager->get<StorageManagerIF>( objects::TC_STORE );
 	if (this->tcStore == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 	    sif::error << "CCSDSDistributor::initialize: Could not initialize"
 	            " TC store!" << std::endl;
+#else
+	    sif::printError("CCSDSDistributor::initialize: Could not initialize"
+                " TC store!\n");
+#endif
 #endif
 	    status = RETURN_FAILED;
 	}
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index 00fd9029a..abdd1f8d3 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -1,22 +1,24 @@
 #include "CCSDSDistributorIF.h"
 #include "PUSDistributor.h"
 
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 #include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../tmtcservices/PusVerificationReport.h"
 
+#define PUS_DISTRIBUTOR_DEBUGGING     0
+
 PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
-		object_id_t setPacketSource) :
-		TcDistributor(setObjectId), checker(setApid), verifyChannel(),
-		tcStatus(RETURN_FAILED), packetSource(setPacketSource) {}
+        object_id_t setPacketSource) :
+        TcDistributor(setObjectId), checker(setApid), verifyChannel(),
+        tcStatus(RETURN_FAILED), packetSource(setPacketSource) {}
 
 PUSDistributor::~PUSDistributor() {}
 
 PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    // sif:: debug << "PUSDistributor::handlePacket received: "
-    //          << this->current_packet_id.store_index << ", "
-    //          << this->current_packet_id.packet_index << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
+    store_address_t storeId = this->currentMessage.getStorageId());
+    sif:: debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", " <<
+            storeId.packetIndex << std::endl;
 #endif
     TcMqMapIter queueMapIt = this->queueMap.end();
     if(this->currentPacket == nullptr) {
@@ -25,15 +27,17 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
     this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
     if (currentPacket->getWholeData() != nullptr) {
         tcStatus = checker.checkPacket(currentPacket);
-#ifdef DEBUG
         if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::debug << "PUSDistributor::handlePacket: Packet format "
-                    << "invalid, code "<< static_cast<int>(tcStatus)
-                    << std::endl;
+            sif::debug << "PUSDistributor::handlePacket: Packet format invalid, code " <<
+                    static_cast<int>(tcStatus) << std::endl;
+#else
+            sif::printDebug("PUSDistributor::handlePacket: Packet format invalid, code %d\n",
+                    static_cast<int>(tcStatus));
+#endif
 #endif
         }
-#endif
         uint32_t queue_id = currentPacket->getService();
         queueMapIt = this->queueMap.find(queue_id);
     }
@@ -43,11 +47,12 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
 
     if (queueMapIt == this->queueMap.end()) {
         tcStatus = DESTINATION_NOT_FOUND;
-#ifdef DEBUG
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "PUSDistributor::handlePacket: Destination not found, "
-                << "code "<< static_cast<int>(tcStatus) << std::endl;
-#endif
+        sif::debug << "PUSDistributor::handlePacket: Destination not found" << std::endl;
+#else
+        sif::printDebug("PUSDistributor::handlePacket: Destination not found\n");
+#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif
     }
 
@@ -62,46 +67,54 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
 
 
 ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
-	uint16_t serviceId = service->getIdentifier();
+    uint16_t serviceId = service->getIdentifier();
+#if PUS_DISTRIBUTOR_DEBUGGING == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	// sif::info << "Service ID: " << (int)serviceId << std::endl;
+    sif::info << "Service ID: " << static_cast<int>(serviceId) << std::endl;
+#else
+    sif::printInfo("Service ID: %d\n", static_cast<int>(serviceId));
 #endif
-	MessageQueueId_t queue = service->getRequestQueue();
-	auto returnPair = queueMap.emplace(serviceId, queue);
-	if (not returnPair.second) {
+#endif
+    MessageQueueId_t queue = service->getRequestQueue();
+    auto returnPair = queueMap.emplace(serviceId, queue);
+    if (not returnPair.second) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "PUSDistributor::registerService: Service ID already"
-				" exists in map." << std::endl;
+        sif::error << "PUSDistributor::registerService: Service ID already"
+                " exists in map" << std::endl;
+#else
+        sif::printError("PUSDistributor::registerService: Service ID already exists in map\n");
 #endif
-		return SERVICE_ID_ALREADY_EXISTS;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+#endif
+        return SERVICE_ID_ALREADY_EXISTS;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 MessageQueueId_t PUSDistributor::getRequestQueue() {
-	return tcQueue->getId();
+    return tcQueue->getId();
 }
 
 ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
-	if (queueStatus != RETURN_OK) {
-		tcStatus = queueStatus;
-	}
-	if (tcStatus != RETURN_OK) {
-		this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE,
-				currentPacket, tcStatus);
-		// A failed packet is deleted immediately after reporting,
-		// otherwise it will block memory.
-		currentPacket->deletePacket();
-		return RETURN_FAILED;
-	} else {
-		this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS,
-				currentPacket);
-		return RETURN_OK;
-	}
+    if (queueStatus != RETURN_OK) {
+        tcStatus = queueStatus;
+    }
+    if (tcStatus != RETURN_OK) {
+        this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE,
+                currentPacket, tcStatus);
+        // A failed packet is deleted immediately after reporting,
+        // otherwise it will block memory.
+        currentPacket->deletePacket();
+        return RETURN_FAILED;
+    } else {
+        this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS,
+                currentPacket);
+        return RETURN_OK;
+    }
 }
 
 uint16_t PUSDistributor::getIdentifier() {
-	return checker.getApid();
+    return checker.getApid();
 }
 
 ReturnValue_t PUSDistributor::initialize() {
@@ -111,15 +124,17 @@ ReturnValue_t PUSDistributor::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-	CCSDSDistributorIF* ccsdsDistributor =
-			objectManager->get<CCSDSDistributorIF>(packetSource);
-	if (ccsdsDistributor == nullptr) {
+    CCSDSDistributorIF* ccsdsDistributor =
+            objectManager->get<CCSDSDistributorIF>(packetSource);
+    if (ccsdsDistributor == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "PUSDistributor::initialize: Packet source invalid."
-		        << " Make sure it exists and implements CCSDSDistributorIF!"
-		        << std::endl;
+        sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;
+        sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
+#else
+        sif::printError("PUSDistributor::initialize: Packet source invalid\n");
+        sif::printError("Make sure it exists and implements CCSDSDistributorIF\n");
 #endif
-	    return RETURN_FAILED;
-	}
-	return ccsdsDistributor->registerApplication(this);
+        return RETURN_FAILED;
+    }
+    return ccsdsDistributor->registerApplication(this);
 }

From 98add88d143105f5c04d17629083d9bab2ee2916 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 20 Apr 2021 13:01:24 +0200
Subject: [PATCH 14/32] Makes linux realtime optional

Adds new config variable FSFW_USE_REALTIME_FOR_LINUX
---
 defaultcfg/fsfwconfig/FSFWConfig.h | 4 ++++
 osal/host/PeriodicTask.cpp         | 2 +-
 osal/linux/PosixThread.cpp         | 9 ++++++---
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index ed86e6e1f..385808fe4 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -57,6 +57,10 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 0
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index 7663d522d..0a99b03a3 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -19,7 +19,7 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), taskName(name), period(setPeriod),
 		deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
+    // It is probably possible to set task priorities by using the native
     // task handles for Windows / Linux
 	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
 #if defined(WIN32)
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index bd8e72583..ead32e873 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -184,8 +184,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 					strerror(status) << std::endl;
 #endif
 	}
-
-	// TODO FIFO -> This needs root privileges for the process
+#ifndef FSFW_USE_REALTIME_FOR_LINUX
+#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
+#endif
+#if FSFW_USE_REALTIME_FOR_LINUX == 1
+	// FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -203,7 +206,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 				strerror(status) << std::endl;
 #endif
 	}
-
+#endif
 	//Set Signal Mask for suspend until startTask is called
 	sigset_t waitSignal;
 	sigemptyset(&waitSignal);

From 03095776f16a216edc5d12c0dbc81b7205abb874 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 20 Apr 2021 13:31:15 +0200
Subject: [PATCH 15/32] Added a comment and corrected a mistake

---
 defaultcfg/fsfwconfig/FSFWConfig.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index 385808fe4..8f82251bd 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -52,15 +52,18 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
+//! Simultaneously. This will increase the required RAM for
 //! each CSB service !
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
 
 //! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
 //! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
-#define FSFW_USE_REALTIME_FOR_LINUX 0
+#define FSFW_USE_REALTIME_FOR_LINUX 1
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

From 6873d2b8473469290a268149cb939a745e92e67f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 14:46:59 +0200
Subject: [PATCH 16/32] temp sensor update

---
 thermal/TemperatureSensor.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index ceb8a8617..f1e17c559 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -122,6 +122,11 @@ protected:
 	timeval uptimeOfOldTemperature;
 
 	void doChildOperation() {
+		ReturnValue_t result = poolVariable->read(MutexIF::TimeoutType::WAITING, 20);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return;
+		}
+
 		if ((not poolVariable->isValid()) or
 		        (not healthHelper.healthTable->isHealthy(getObjectId()))) {
 			setInvalid();

From 64efb8ec7f2cd64c188791043289e4a45d79ad87 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 14:58:35 +0200
Subject: [PATCH 17/32] temperature sensor update

---
 thermal/TemperatureSensor.h | 21 +++++++++------------
 1 file changed, 9 insertions(+), 12 deletions(-)

diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index f1e17c559..abe446c0b 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -69,14 +69,14 @@ public:
 	 * @param outputSet     Output dataset for the output temperature to fetch it with read()
 	 * @param thermalModule respective thermal module, if it has one
 	 */
-	TemperatureSensor(object_id_t setObjectid,
-			inputType *inputValue, gp_id_t variableGpid, PoolVariableIF* inputVariable,
+	TemperatureSensor(object_id_t setObjectid,lp_var_t<limitType>* inputTemperature,
+			gp_id_t variableGpid, PoolVariableIF* inputVariable,
 			uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
-			LocalPoolDataSetBase *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
+			LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) :
 			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
-			inputValue(inputValue), poolVariable(inputVariable),
+			inputTemperature(inputTemperature),
 			outputTemperature(variableGpid, outputSet, PoolVariableIF::VAR_WRITE),
-			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, poolVariable,
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, variableGpid,
 				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
 				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
 			oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) {
@@ -110,10 +110,7 @@ protected:
 
 	UsedParameters parameters;
 
-	inputType* inputValue;
-
-	PoolVariableIF* poolVariable;
-
+	lp_var_t<limitType>* inputTemperature;
 	lp_var_t<float> outputTemperature;
 
 	LimitMonitor<limitType> sensorMonitor;
@@ -122,18 +119,18 @@ protected:
 	timeval uptimeOfOldTemperature;
 
 	void doChildOperation() {
-		ReturnValue_t result = poolVariable->read(MutexIF::TimeoutType::WAITING, 20);
+		ReturnValue_t result = inputTemperature->read(MutexIF::TimeoutType::WAITING, 20);
 		if(result != HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
 
-		if ((not poolVariable->isValid()) or
+		if ((not inputTemperature->isValid()) or
 		        (not healthHelper.healthTable->isHealthy(getObjectId()))) {
 			setInvalid();
 			return;
 		}
 
-		outputTemperature = calculateOutputTemperature(*inputValue);
+		outputTemperature = calculateOutputTemperature(inputTemperature->value);
 		outputTemperature.setValid(PoolVariableIF::VALID);
 
 		timeval uptime;

From e6a8371d4a6a54ad4091eb3bf48da6aea96d522e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 15:00:59 +0200
Subject: [PATCH 18/32] temperature sensor update

---
 thermal/TemperatureSensor.h | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index abe446c0b..55138cc3b 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -137,9 +137,9 @@ protected:
 		Clock::getUptime(&uptime);
 
 		if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
-			//In theory, we could use an AbsValueMonitor to monitor the gradient.
-			//But this would require storing the maxGradient in DP and quite some overhead.
-			//The concept of delta limits is a bit strange anyway.
+			// In theory, we could use an AbsValueMonitor to monitor the gradient.
+			// But this would require storing the maxGradient in DP and quite some overhead.
+			// The concept of delta limits is a bit strange anyway.
 			float deltaTime;
 			float deltaTemp;
 
@@ -152,11 +152,10 @@ protected:
 			}
 			if (parameters.gradient < deltaTemp / deltaTime) {
 				triggerEvent(TEMP_SENSOR_GRADIENT);
-				//Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it
+				// Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it
 			}
 		}
 
-		//Check is done against raw limits. SHOULDDO: Why? Using C would be more easy to handle.
 		sensorMonitor.doCheck(outputTemperature.value);
 
 		if (sensorMonitor.isOutOfLimits()) {

From 153c44601b484fef84795456fa32c8749e574d55 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 20 Apr 2021 15:04:42 +0200
Subject: [PATCH 19/32] refixed spelling

---
 defaultcfg/fsfwconfig/FSFWConfig.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index 8f82251bd..e1e0ec644 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -52,7 +52,7 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
-//! Simultaneously. This will increase the required RAM for
+//! simultaneously. This will increase the required RAM for
 //! each CSB service !
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 

From 7b29583f8f34e96b23fd6202252f58146e17d978 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 15:32:12 +0200
Subject: [PATCH 20/32] small improvements

---
 defaultcfg/fsfwconfig/FSFWConfig.h | 13 +++++++------
 osal/linux/PosixThread.cpp         | 10 +++++++++-
 osal/linux/tcpipHelpers.cpp        |  1 +
 3 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index e1e0ec644..fe18a2f43 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -40,6 +40,13 @@
 //! Specify whether a special mode store is used for Subsystem components.
 #define FSFW_USE_MODESTORE          0
 
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 1
+
 namespace fsfwconfig {
 //! Default timestamp size. The default timestamp will be an eight byte CDC
 //! short timestamp.
@@ -58,12 +65,6 @@ static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
 
-//! Defines if the real time scheduler for linux should be used.
-//! If set to 0, this will also disable priority settings for linux
-//! as most systems will not allow to set nice values without privileges
-//! For embedded linux system set this to 1.
-//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
-#define FSFW_USE_REALTIME_FOR_LINUX 1
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index f1cff9925..72adfb140 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -223,8 +223,16 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	status = pthread_create(&thread,&attributes,fnc_,arg_);
 	if(status != 0){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Posix Thread create failed with: " <<
+		sif::error << "PosixThread::createTask: Failed with: " <<
 				strerror(status) << std::endl;
+		sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " <<
+		        "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
+		        "/etc/security/limit.conf" << std::endl;
+#else
+		sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status));
+		sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
+		        "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
+                "/etc/security/limit.conf\n");
 #endif
 	}
 
diff --git a/osal/linux/tcpipHelpers.cpp b/osal/linux/tcpipHelpers.cpp
index 4c1b9a780..3e8f60092 100644
--- a/osal/linux/tcpipHelpers.cpp
+++ b/osal/linux/tcpipHelpers.cpp
@@ -1,5 +1,6 @@
 #include "../common/tcpipHelpers.h"
 
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../tasks/TaskFactory.h"
 
 #include <errno.h>

From 524e50a6dd5649b9748c677b72e00bdb9e9a725e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 15:54:44 +0200
Subject: [PATCH 21/32] comment block corrected

---
 thermal/TemperatureSensor.h | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index 55138cc3b..b4ea45049 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -60,18 +60,17 @@ public:
 
 	/**
 	 * Instantiate Temperature Sensor Object.
-	 * @param setObjectid   objectId of the sensor object
-	 * @param inputValue    Pointer to input value which is converted to a temperature
-	 * @param variableGpid  Global Pool ID of the output value
-	 * @param inputVariable Input variable handle
-	 * @param vectorIndex   Vector Index for the sensor monitor
-	 * @param parameters    Calculation parameters, temperature limits, gradient limit
-	 * @param outputSet     Output dataset for the output temperature to fetch it with read()
-	 * @param thermalModule respective thermal module, if it has one
+	 * @param setObjectid       objectId of the sensor object
+	 * @param inputTemperature  Pointer to a raw input value which is converted to an floating
+	 *                          point C output temperature
+	 * @param variableGpid      Global Pool ID of the output value
+	 * @param vectorIndex       Vector Index for the sensor monitor
+	 * @param parameters        Calculation parameters, temperature limits, gradient limit
+	 * @param outputSet         Output dataset for the output temperature to fetch it with read()
+	 * @param thermalModule     Respective thermal module, if it has one
 	 */
 	TemperatureSensor(object_id_t setObjectid,lp_var_t<limitType>* inputTemperature,
-			gp_id_t variableGpid, PoolVariableIF* inputVariable,
-			uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			gp_id_t variableGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
 			LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) :
 			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
 			inputTemperature(inputTemperature),

From 0c342ad7fcc715266a2562f65f2cec034d40e919 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 15:57:11 +0200
Subject: [PATCH 22/32] minor changes

---
 thermal/TemperatureSensor.h | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index b4ea45049..69c16c7f6 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -1,5 +1,5 @@
-#ifndef TEMPERATURESENSOR_H_
-#define TEMPERATURESENSOR_H_
+#ifndef FSFW_THERMAL_TEMPERATURESENSOR_H_
+#define FSFW_THERMAL_TEMPERATURESENSOR_H_
 
 #include "tcsDefinitions.h"
 #include "AbstractTemperatureSensor.h"
@@ -151,7 +151,8 @@ protected:
 			}
 			if (parameters.gradient < deltaTemp / deltaTime) {
 				triggerEvent(TEMP_SENSOR_GRADIENT);
-				// Don't set invalid, as we did not recognize it as invalid with full authority, let FDIR handle it
+				// Don't set invalid, as we did not recognize it as invalid with full authority,
+				// let FDIR handle it
 			}
 		}
 
@@ -181,7 +182,10 @@ public:
 	static const uint16_t ADDRESS_C = 2;
 	static const uint16_t ADDRESS_GRADIENT = 3;
 
-	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
+	//! Changed due to issue with later temperature checking even tough the sensor monitor was
+	//! confirming already (Was 10 before with comment = Correlates to a 10s confirmation time.
+	//! Chosen rather large, should not be so bad for components and helps survive glitches.)
+	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1;
 
 	static const uint8_t DOMAIN_ID_SENSOR = 1;
 
@@ -221,4 +225,4 @@ public:
 
 };
 
-#endif /* TEMPERATURESENSOR_H_ */
+#endif /* FSFW_THERMAL_TEMPERATURESENSOR_H_ */

From 38a5e7e618ebb7a9190b894b2ba6d302049aa042 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 16:00:01 +0200
Subject: [PATCH 23/32] ctor variable better name

---
 thermal/TemperatureSensor.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index 69c16c7f6..c7b9d771b 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -63,19 +63,19 @@ public:
 	 * @param setObjectid       objectId of the sensor object
 	 * @param inputTemperature  Pointer to a raw input value which is converted to an floating
 	 *                          point C output temperature
-	 * @param variableGpid      Global Pool ID of the output value
+	 * @param outputGpid        Global Pool ID of the output value
 	 * @param vectorIndex       Vector Index for the sensor monitor
 	 * @param parameters        Calculation parameters, temperature limits, gradient limit
 	 * @param outputSet         Output dataset for the output temperature to fetch it with read()
 	 * @param thermalModule     Respective thermal module, if it has one
 	 */
 	TemperatureSensor(object_id_t setObjectid,lp_var_t<limitType>* inputTemperature,
-			gp_id_t variableGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			gp_id_t outputGpid, uint8_t vectorIndex, Parameters parameters = {0, 0, 0, 0, 0, 0},
 			LocalPoolDataSetBase *outputSet = nullptr, ThermalModuleIF *thermalModule = nullptr) :
 			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
 			inputTemperature(inputTemperature),
-			outputTemperature(variableGpid, outputSet, PoolVariableIF::VAR_WRITE),
-			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, variableGpid,
+			outputTemperature(outputGpid, outputSet, PoolVariableIF::VAR_WRITE),
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR, outputGpid,
 				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
 				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
 			oldTemperature(20), uptimeOfOldTemperature({ thermal::INVALID_TEMPERATURE, 0 }) {

From d792679d49d6e3cc1cf323e046abc1baf7d11c1a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 16:09:50 +0200
Subject: [PATCH 24/32] calling empty ctor now (coverity)

---
 serialize/SerializeElement.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index 470802927..db66f9cc2 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -25,7 +25,7 @@ public:
 
 	}
 	SerializeElement() :
-			LinkedElement<SerializeIF>(this) {
+			LinkedElement<SerializeIF>(this), entry() {
 	}
 
 	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,

From 54ff8f9341c4d7ea16296b9bd5c4167ddb19a2ee Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 16:12:50 +0200
Subject: [PATCH 25/32] heater tweaks + coverity fix

---
 thermal/Heater.cpp | 596 +++++++++++++++++++++++----------------------
 thermal/Heater.h   | 115 ++++-----
 2 files changed, 359 insertions(+), 352 deletions(-)

diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp
index 782ce2963..8bfa030b9 100644
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@@ -1,350 +1,354 @@
-#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "Heater.h"
 
+#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "../power/Fuse.h"
 #include "../ipc/QueueFactory.h"
 
 Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) :
-		HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher(
-				NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(
-				false), timedOut(false), reactedToBeingFaulty(false), passive(
-				false), eventQueue(NULL), heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(
-				this), lastAction(CLEAR) {
-	eventQueue = QueueFactory::instance()->createMessageQueue();
+HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher(
+        NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(false), timedOut(false),
+        reactedToBeingFaulty(false), passive(false), eventQueue(NULL),
+        heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(this), lastAction(CLEAR) {
+    eventQueue = QueueFactory::instance()->createMessageQueue();
 }
 
 Heater::~Heater() {
-	QueueFactory::instance()->deleteMessageQueue(eventQueue);
+    QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 
 ReturnValue_t Heater::set() {
-	passive = false;
-	//wait for clear before doing anything
-	if (internalState == STATE_WAIT) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	if (healthHelper.healthTable->isHealthy(getObjectId())) {
-		doAction(SET);
-		if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)){
-			return HasReturnvaluesIF::RETURN_FAILED;
-		} else {
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	} else {
-		if (healthHelper.healthTable->isFaulty(getObjectId())) {
-			if (!reactedToBeingFaulty) {
-				reactedToBeingFaulty = true;
-				doAction(CLEAR);
-			}
-		}
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+    passive = false;
+    //wait for clear before doing anything
+    if (internalState == STATE_WAIT) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    if (healthHelper.healthTable->isHealthy(getObjectId())) {
+        doAction(SET);
+        if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)){
+            return HasReturnvaluesIF::RETURN_FAILED;
+        } else {
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+    } else {
+        if (healthHelper.healthTable->isFaulty(getObjectId())) {
+            if (!reactedToBeingFaulty) {
+                reactedToBeingFaulty = true;
+                doAction(CLEAR);
+            }
+        }
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 }
 
 void Heater::clear(bool passive) {
-	this->passive = passive;
-	//Force switching off
-	if (internalState == STATE_WAIT) {
-		internalState = STATE_ON;
-	}
-	if (healthHelper.healthTable->isHealthy(getObjectId())) {
-		doAction(CLEAR);
-	} else if (healthHelper.healthTable->isFaulty(getObjectId())) {
-		if (!reactedToBeingFaulty) {
-			reactedToBeingFaulty = true;
-			doAction(CLEAR);
-		}
-	}
+    this->passive = passive;
+    //Force switching off
+    if (internalState == STATE_WAIT) {
+        internalState = STATE_ON;
+    }
+    if (healthHelper.healthTable->isHealthy(getObjectId())) {
+        doAction(CLEAR);
+    } else if (healthHelper.healthTable->isFaulty(getObjectId())) {
+        if (!reactedToBeingFaulty) {
+            reactedToBeingFaulty = true;
+            doAction(CLEAR);
+        }
+    }
 }
 
 void Heater::doAction(Action action) {
-	//only act if we are not in the right state or in a transition
-	if (action == SET) {
-		if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)
-				|| (internalState == STATE_EXTERNAL_CONTROL)) {
-			switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
-			internalState = STATE_WAIT_FOR_SWITCHES_ON;
-			powerSwitcher->sendSwitchCommand(switch0, PowerSwitchIF::SWITCH_ON);
-			powerSwitcher->sendSwitchCommand(switch1, PowerSwitchIF::SWITCH_ON);
-		}
-	} else { //clear
-		if ((internalState == STATE_ON) || (internalState == STATE_FAULTY)
-				|| (internalState == STATE_EXTERNAL_CONTROL)) {
-			internalState = STATE_WAIT_FOR_SWITCHES_OFF;
-			switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
-			powerSwitcher->sendSwitchCommand(switch0,
-					PowerSwitchIF::SWITCH_OFF);
-			powerSwitcher->sendSwitchCommand(switch1,
-					PowerSwitchIF::SWITCH_OFF);
-		}
-	}
+    //only act if we are not in the right state or in a transition
+    if (action == SET) {
+        if ((internalState == STATE_OFF) || (internalState == STATE_PASSIVE)
+                || (internalState == STATE_EXTERNAL_CONTROL)) {
+            switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
+            internalState = STATE_WAIT_FOR_SWITCHES_ON;
+            powerSwitcher->sendSwitchCommand(switch0, PowerSwitchIF::SWITCH_ON);
+            powerSwitcher->sendSwitchCommand(switch1, PowerSwitchIF::SWITCH_ON);
+        }
+    } else { //clear
+        if ((internalState == STATE_ON) || (internalState == STATE_FAULTY)
+                || (internalState == STATE_EXTERNAL_CONTROL)) {
+            internalState = STATE_WAIT_FOR_SWITCHES_OFF;
+            switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
+            powerSwitcher->sendSwitchCommand(switch0,
+                    PowerSwitchIF::SWITCH_OFF);
+            powerSwitcher->sendSwitchCommand(switch1,
+                    PowerSwitchIF::SWITCH_OFF);
+        }
+    }
 }
 
 void Heater::setPowerSwitcher(PowerSwitchIF* powerSwitch) {
-	this->powerSwitcher = powerSwitch;
+    this->powerSwitcher = powerSwitch;
 }
 
 ReturnValue_t Heater::performOperation(uint8_t opCode) {
-	handleQueue();
-	handleEventQueue();
+    handleQueue();
+    handleEventQueue();
 
-	if (!healthHelper.healthTable->isFaulty(getObjectId())) {
-		reactedToBeingFaulty = false;
-	}
+    if (!healthHelper.healthTable->isFaulty(getObjectId())) {
+        reactedToBeingFaulty = false;
+    }
 
-	switch (internalState) {
-	case STATE_ON:
-		if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_OFF)
-				|| (powerSwitcher->getSwitchState(switch1)
-						== PowerSwitchIF::SWITCH_OFF)) {
-			//switch went off on its own
-			//trigger event. FDIR can confirm if it is caused by MniOps and decide on the action
-			//do not trigger FD events when under external control
-			if (healthHelper.getHealth() != EXTERNAL_CONTROL) {
-				triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF);
-			} else {
-				internalState = STATE_EXTERNAL_CONTROL;
-			}
-		}
-		break;
-	case STATE_OFF:
-		//check if heater is on, ie both switches are on
-		//if so, just command it to off, to resolve the situation or force a switch stayed on event
-		//But, only do anything if not already faulty (state off is the stable point for being faulty)
-		if ((!healthHelper.healthTable->isFaulty(getObjectId()))
-				&& (powerSwitcher->getSwitchState(switch0)
-						== PowerSwitchIF::SWITCH_ON)
-				&& (powerSwitcher->getSwitchState(switch1)
-						== PowerSwitchIF::SWITCH_ON)) {
-			//do not trigger FD events when under external control
-			if (healthHelper.getHealth() != EXTERNAL_CONTROL) {
-				internalState = STATE_WAIT_FOR_SWITCHES_OFF;
-				switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
-				powerSwitcher->sendSwitchCommand(switch0,
-						PowerSwitchIF::SWITCH_OFF);
-				powerSwitcher->sendSwitchCommand(switch1,
-						PowerSwitchIF::SWITCH_OFF);
-			} else {
-				internalState = STATE_EXTERNAL_CONTROL;
-			}
-		}
-		break;
-	case STATE_PASSIVE:
-		break;
-	case STATE_WAIT_FOR_SWITCHES_ON:
-		if (switchCountdown.hasTimedOut()) {
-			if ((powerSwitcher->getSwitchState(switch0)
-					== PowerSwitchIF::SWITCH_OFF)
-					|| (powerSwitcher->getSwitchState(switch1)
-							== PowerSwitchIF::SWITCH_OFF)) {
-				triggerEvent(HEATER_STAYED_OFF);
-				internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything
-			} else {
-				triggerEvent(HEATER_ON);
-				internalState = STATE_ON;
-			}
-		}
-		break;
-	case STATE_WAIT_FOR_SWITCHES_OFF:
-		if (switchCountdown.hasTimedOut()) {
-			//only check for both being on (ie heater still on)
-			if ((powerSwitcher->getSwitchState(switch0)
-					== PowerSwitchIF::SWITCH_ON)
-					&& (powerSwitcher->getSwitchState(switch1)
-							== PowerSwitchIF::SWITCH_ON)) {
-				if (healthHelper.healthTable->isFaulty(getObjectId())) {
-					if (passive) {
-						internalState = STATE_PASSIVE;
-					} else {
-						internalState = STATE_OFF; //just accept it
-					}
-					triggerEvent(HEATER_ON); //but throw an event to make it more visible
-					break;
-				}
-				triggerEvent(HEATER_STAYED_ON);
-				internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything
-			} else {
-				triggerEvent(HEATER_OFF);
-				if (passive) {
-					internalState = STATE_PASSIVE;
-				} else {
-					internalState = STATE_OFF;
-				}
-			}
-		}
-		break;
-	default:
-		break;
-	}
+    switch (internalState) {
+    case STATE_ON:
+        if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_OFF)
+                || (powerSwitcher->getSwitchState(switch1)
+                        == PowerSwitchIF::SWITCH_OFF)) {
+            //switch went off on its own
+            //trigger event. FDIR can confirm if it is caused by MniOps and decide on the action
+            //do not trigger FD events when under external control
+            if (healthHelper.getHealth() != EXTERNAL_CONTROL) {
+                triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF);
+            } else {
+                internalState = STATE_EXTERNAL_CONTROL;
+            }
+        }
+        break;
+    case STATE_OFF:
+        //check if heater is on, ie both switches are on
+        //if so, just command it to off, to resolve the situation or force a switch stayed on event
+        //But, only do anything if not already faulty (state off is the stable point for being faulty)
+        if ((!healthHelper.healthTable->isFaulty(getObjectId()))
+                && (powerSwitcher->getSwitchState(switch0)
+                        == PowerSwitchIF::SWITCH_ON)
+                        && (powerSwitcher->getSwitchState(switch1)
+                                == PowerSwitchIF::SWITCH_ON)) {
+            //do not trigger FD events when under external control
+            if (healthHelper.getHealth() != EXTERNAL_CONTROL) {
+                internalState = STATE_WAIT_FOR_SWITCHES_OFF;
+                switchCountdown.setTimeout(powerSwitcher->getSwitchDelayMs());
+                powerSwitcher->sendSwitchCommand(switch0,
+                        PowerSwitchIF::SWITCH_OFF);
+                powerSwitcher->sendSwitchCommand(switch1,
+                        PowerSwitchIF::SWITCH_OFF);
+            } else {
+                internalState = STATE_EXTERNAL_CONTROL;
+            }
+        }
+        break;
+    case STATE_PASSIVE:
+        break;
+    case STATE_WAIT_FOR_SWITCHES_ON:
+        if (switchCountdown.hasTimedOut()) {
+            if ((powerSwitcher->getSwitchState(switch0)
+                    == PowerSwitchIF::SWITCH_OFF)
+                    || (powerSwitcher->getSwitchState(switch1)
+                            == PowerSwitchIF::SWITCH_OFF)) {
+                triggerEvent(HEATER_STAYED_OFF);
+                internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything
+            } else {
+                triggerEvent(HEATER_ON);
+                internalState = STATE_ON;
+            }
+        }
+        break;
+    case STATE_WAIT_FOR_SWITCHES_OFF:
+        if (switchCountdown.hasTimedOut()) {
+            //only check for both being on (ie heater still on)
+            if ((powerSwitcher->getSwitchState(switch0)
+                    == PowerSwitchIF::SWITCH_ON)
+                    && (powerSwitcher->getSwitchState(switch1)
+                            == PowerSwitchIF::SWITCH_ON)) {
+                if (healthHelper.healthTable->isFaulty(getObjectId())) {
+                    if (passive) {
+                        internalState = STATE_PASSIVE;
+                    } else {
+                        internalState = STATE_OFF; //just accept it
+                    }
+                    triggerEvent(HEATER_ON); //but throw an event to make it more visible
+                    break;
+                }
+                triggerEvent(HEATER_STAYED_ON);
+                internalState = STATE_WAIT_FOR_FDIR; //wait before retrying or anything
+            } else {
+                triggerEvent(HEATER_OFF);
+                if (passive) {
+                    internalState = STATE_PASSIVE;
+                } else {
+                    internalState = STATE_OFF;
+                }
+            }
+        }
+        break;
+    default:
+        break;
+    }
 
-	if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_ON)
-			&& (powerSwitcher->getSwitchState(switch1)
-					== PowerSwitchIF::SWITCH_ON)) {
-		if (wasOn) {
-			if (heaterOnCountdown.hasTimedOut()) {
-				//SHOULDDO this means if a heater fails in single mode, the timeout will start again
-				//I am not sure if this is a bug, but atm I have no idea how to fix this and think
-				//it will be ok. whatcouldpossiblygowrong™
-				if (!timedOut) {
-					triggerEvent(HEATER_TIMEOUT);
-					timedOut = true;
-				}
-			}
-		} else {
-			wasOn = true;
-			heaterOnCountdown.resetTimer();
-			timedOut = false;
-		}
-	} else {
-		wasOn = false;
-	}
+    if ((powerSwitcher->getSwitchState(switch0) == PowerSwitchIF::SWITCH_ON)
+            && (powerSwitcher->getSwitchState(switch1)
+                    == PowerSwitchIF::SWITCH_ON)) {
+        if (wasOn) {
+            if (heaterOnCountdown.hasTimedOut()) {
+                //SHOULDDO this means if a heater fails in single mode, the timeout will start again
+                //I am not sure if this is a bug, but atm I have no idea how to fix this and think
+                //it will be ok. whatcouldpossiblygowrong™
+                if (!timedOut) {
+                    triggerEvent(HEATER_TIMEOUT);
+                    timedOut = true;
+                }
+            }
+        } else {
+            wasOn = true;
+            heaterOnCountdown.resetTimer();
+            timedOut = false;
+        }
+    } else {
+        wasOn = false;
+    }
 
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void Heater::setSwitch(uint8_t number, ReturnValue_t state,
-		uint32_t* uptimeOfSwitching) {
-	if (powerSwitcher == NULL) {
-		return;
-	}
-	if (powerSwitcher->getSwitchState(number) == state) {
-		*uptimeOfSwitching = INVALID_UPTIME;
-	} else {
-		if ((*uptimeOfSwitching == INVALID_UPTIME)) {
-			powerSwitcher->sendSwitchCommand(number, state);
-			Clock::getUptime(uptimeOfSwitching);
-		} else {
-			uint32_t currentUptime;
-			Clock::getUptime(&currentUptime);
-			if (currentUptime - *uptimeOfSwitching
-					> powerSwitcher->getSwitchDelayMs()) {
-				*uptimeOfSwitching = INVALID_UPTIME;
-				if (healthHelper.healthTable->isHealthy(getObjectId())) {
-					if (state == PowerSwitchIF::SWITCH_ON) {
-						triggerEvent(HEATER_STAYED_OFF);
-					} else {
-						triggerEvent(HEATER_STAYED_ON);
-					}
-				}
-				//SHOULDDO MiniOps during switch timeout leads to a faulty switch
-			}
-		}
-	}
+        uint32_t* uptimeOfSwitching) {
+    if (powerSwitcher == NULL) {
+        return;
+    }
+    if (powerSwitcher->getSwitchState(number) == state) {
+        *uptimeOfSwitching = INVALID_UPTIME;
+    } else {
+        if ((*uptimeOfSwitching == INVALID_UPTIME)) {
+            powerSwitcher->sendSwitchCommand(number, state);
+            Clock::getUptime(uptimeOfSwitching);
+        } else {
+            uint32_t currentUptime;
+            Clock::getUptime(&currentUptime);
+            if (currentUptime - *uptimeOfSwitching
+                    > powerSwitcher->getSwitchDelayMs()) {
+                *uptimeOfSwitching = INVALID_UPTIME;
+                if (healthHelper.healthTable->isHealthy(getObjectId())) {
+                    if (state == PowerSwitchIF::SWITCH_ON) {
+                        triggerEvent(HEATER_STAYED_OFF);
+                    } else {
+                        triggerEvent(HEATER_STAYED_ON);
+                    }
+                }
+                //SHOULDDO MiniOps during switch timeout leads to a faulty switch
+            }
+        }
+    }
 }
 
 MessageQueueId_t Heater::getCommandQueue() const {
-	return commandQueue->getId();
+    return commandQueue->getId();
 }
 
 ReturnValue_t Heater::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+    ReturnValue_t result = SystemObject::initialize();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
 
-	EventManagerIF* manager = objectManager->get<EventManagerIF>(
-			objects::EVENT_MANAGER);
-	if (manager == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	result = manager->registerListener(eventQueue->getId());
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+    EventManagerIF* manager = objectManager->get<EventManagerIF>(
+            objects::EVENT_MANAGER);
+    if (manager == NULL) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    result = manager->registerListener(eventQueue->getId());
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
 
-	ConfirmsFailuresIF* pcdu = objectManager->get<ConfirmsFailuresIF>(
-			DeviceHandlerFailureIsolation::powerConfirmationId);
-	if (pcdu == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	pcduQueueId = pcdu->getEventReceptionQueue();
+    ConfirmsFailuresIF* pcdu = objectManager->get<ConfirmsFailuresIF>(
+            DeviceHandlerFailureIsolation::powerConfirmationId);
+    if (pcdu == NULL) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    pcduQueueId = pcdu->getEventReceptionQueue();
 
-	result = manager->subscribeToAllEventsFrom(eventQueue->getId(),
-			getObjectId());
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+    result = manager->subscribeToAllEventsFrom(eventQueue->getId(),
+            getObjectId());
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
 
-	result = parameterHelper.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+    result = parameterHelper.initialize();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
 
-	result = healthHelper.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+    result = healthHelper.initialize();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
 
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void Heater::handleQueue() {
-	CommandMessage command;
-	ReturnValue_t result = commandQueue->receiveMessage(&command);
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&command);
-		if (result == HasReturnvaluesIF::RETURN_OK) {
-			return;
-		}
-		parameterHelper.handleParameterMessage(&command);
-	}
+    CommandMessage command;
+    ReturnValue_t result = commandQueue->receiveMessage(&command);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        result = healthHelper.handleHealthCommand(&command);
+        if (result == HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
+        result = parameterHelper.handleParameterMessage(&command);
+        if (result == HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
+    }
 }
 
 ReturnValue_t Heater::getParameter(uint8_t domainId, uint8_t uniqueId,
         ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
-		uint16_t startAtIndex) {
-	if (domainId != DOMAIN_ID_BASE) {
-		return INVALID_DOMAIN_ID;
-	}
-	switch (uniqueId) {
-	case 0:
-		parameterWrapper->set(heaterOnCountdown.timeout);
-		break;
-	default:
-		return INVALID_IDENTIFIER_ID;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+        uint16_t startAtIndex) {
+    if (domainId != DOMAIN_ID_BASE) {
+        return INVALID_DOMAIN_ID;
+    }
+    switch (uniqueId) {
+    case 0:
+        parameterWrapper->set(heaterOnCountdown.timeout);
+        break;
+    default:
+        return INVALID_IDENTIFIER_ID;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void Heater::handleEventQueue() {
-	EventMessage event;
-	for (ReturnValue_t result = eventQueue->receiveMessage(&event);
-			result == HasReturnvaluesIF::RETURN_OK;
-			result = eventQueue->receiveMessage(&event)) {
-		switch (event.getMessageId()) {
-		case EventMessage::EVENT_MESSAGE:
-			switch (event.getEvent()) {
-			case Fuse::FUSE_WENT_OFF:
-			case HEATER_STAYED_OFF:
-			case HEATER_STAYED_ON://Setting it faulty does not help, but we need to reach a stable state and can check for being faulty before throwing this event again.
-				if (healthHelper.healthTable->isCommandable(getObjectId())) {
-					healthHelper.setHealth(HasHealthIF::FAULTY);
-					internalState = STATE_FAULTY;
-				}
-				break;
-			case PowerSwitchIF::SWITCH_WENT_OFF:
-				internalState = STATE_WAIT;
-				event.setMessageId(EventMessage::CONFIRMATION_REQUEST);
-				if (pcduQueueId != 0) {
-					eventQueue->sendMessage(pcduQueueId, &event);
-				} else {
-					healthHelper.setHealth(HasHealthIF::FAULTY);
-					internalState = STATE_FAULTY;
-				}
-				break;
-			default:
-				return;
-			}
-			break;
-		case EventMessage::YOUR_FAULT:
-			healthHelper.setHealth(HasHealthIF::FAULTY);
-			internalState = STATE_FAULTY;
-			break;
-		case EventMessage::MY_FAULT:
-			//do nothing, we are already in STATE_WAIT and wait for a clear()
-			break;
-		default:
-			return;
-		}
-	}
+    EventMessage event;
+    for (ReturnValue_t result = eventQueue->receiveMessage(&event);
+            result == HasReturnvaluesIF::RETURN_OK;
+            result = eventQueue->receiveMessage(&event)) {
+        switch (event.getMessageId()) {
+        case EventMessage::EVENT_MESSAGE:
+            switch (event.getEvent()) {
+            case Fuse::FUSE_WENT_OFF:
+            case HEATER_STAYED_OFF:
+            // Setting it faulty does not help, but we need to reach a stable state and can check
+            // for being faulty before throwing this event again.
+            case HEATER_STAYED_ON:
+                if (healthHelper.healthTable->isCommandable(getObjectId())) {
+                    healthHelper.setHealth(HasHealthIF::FAULTY);
+                    internalState = STATE_FAULTY;
+                }
+                break;
+            case PowerSwitchIF::SWITCH_WENT_OFF:
+                internalState = STATE_WAIT;
+                event.setMessageId(EventMessage::CONFIRMATION_REQUEST);
+                if (pcduQueueId != 0) {
+                    eventQueue->sendMessage(pcduQueueId, &event);
+                } else {
+                    healthHelper.setHealth(HasHealthIF::FAULTY);
+                    internalState = STATE_FAULTY;
+                }
+                break;
+            default:
+                return;
+            }
+            break;
+            case EventMessage::YOUR_FAULT:
+                healthHelper.setHealth(HasHealthIF::FAULTY);
+                internalState = STATE_FAULTY;
+                break;
+            case EventMessage::MY_FAULT:
+                //do nothing, we are already in STATE_WAIT and wait for a clear()
+                break;
+            default:
+                return;
+        }
+    }
 }
diff --git a/thermal/Heater.h b/thermal/Heater.h
index f83957a2e..19f13c793 100644
--- a/thermal/Heater.h
+++ b/thermal/Heater.h
@@ -1,90 +1,93 @@
-#ifndef FRAMEWORK_THERMAL_HEATER_H_
-#define FRAMEWORK_THERMAL_HEATER_H_
+#ifndef FSFW_THERMAL_HEATER_H_
+#define FSFW_THERMAL_HEATER_H_
 
 #include "../devicehandlers/HealthDevice.h"
 #include "../parameters/ParameterHelper.h"
 #include "../power/PowerSwitchIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
-#include <stdint.h>
-//class RedundantHeater;
+#include <cstdint>
+
 
 class Heater: public HealthDevice, public ReceivesParameterMessagesIF {
-	friend class RedundantHeater;
+    friend class RedundantHeater;
 public:
 
-	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER;
-	static const Event HEATER_ON = MAKE_EVENT(0, severity::INFO);
-	static const Event HEATER_OFF = MAKE_EVENT(1, severity::INFO);
-	static const Event HEATER_TIMEOUT = MAKE_EVENT(2, severity::LOW);
-	static const Event HEATER_STAYED_ON = MAKE_EVENT(3, severity::LOW);
-	static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, severity::LOW);
+    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER;
+    static const Event HEATER_ON = MAKE_EVENT(0, severity::INFO);
+    static const Event HEATER_OFF = MAKE_EVENT(1, severity::INFO);
+    static const Event HEATER_TIMEOUT = MAKE_EVENT(2, severity::LOW);
+    static const Event HEATER_STAYED_ON = MAKE_EVENT(3, severity::LOW);
+    static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, severity::LOW);
 
-	Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1);
-	virtual ~Heater();
+    Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1);
+    virtual ~Heater();
 
-	ReturnValue_t performOperation(uint8_t opCode);
+    ReturnValue_t performOperation(uint8_t opCode);
 
-	ReturnValue_t initialize();
+    ReturnValue_t initialize();
 
-	ReturnValue_t set();
-	void clear(bool passive);
+    ReturnValue_t set();
+    void clear(bool passive);
 
-	void setPowerSwitcher(PowerSwitchIF *powerSwitch);
+    void setPowerSwitcher(PowerSwitchIF *powerSwitch);
 
-	MessageQueueId_t getCommandQueue() const;
+    MessageQueueId_t getCommandQueue() const;
 
-	ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
-	        ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
+    ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
+            ParameterWrapper *parameterWrapper,
+            const ParameterWrapper *newValues, uint16_t startAtIndex);
 
 protected:
-	static const uint32_t INVALID_UPTIME = 0;
+    static const uint32_t INVALID_UPTIME = 0;
 
-	enum InternalState {
-		STATE_ON,
-		STATE_OFF,
-		STATE_PASSIVE,
-		STATE_WAIT_FOR_SWITCHES_ON,
-		STATE_WAIT_FOR_SWITCHES_OFF,
-		STATE_WAIT_FOR_FDIR, //used to avoid doing anything until fdir decided what to do
-		STATE_FAULTY,
-		STATE_WAIT, //used when waiting for system to recover from miniops
-		STATE_EXTERNAL_CONTROL //entered when under external control and a fdir reaction would be triggered. This is useful when leaving external control into an unknown state
-							   //if no fdir reaction is triggered under external control the state is still ok and no need for any special treatment is needed
-	} internalState;
+    enum InternalState {
+        STATE_ON,
+        STATE_OFF,
+        STATE_PASSIVE,
+        STATE_WAIT_FOR_SWITCHES_ON,
+        STATE_WAIT_FOR_SWITCHES_OFF,
+        STATE_WAIT_FOR_FDIR, // Used to avoid doing anything until fdir decided what to do
+        STATE_FAULTY,
+        STATE_WAIT, // Used when waiting for system to recover from miniops
+        // Entered when under external control and a fdir reaction would be triggered.
+        // This is useful when leaving external control into an unknown state
+        STATE_EXTERNAL_CONTROL
+        // If no fdir reaction is triggered under external control the state is still ok and
+        // no need for any special treatment is needed
+    } internalState;
 
-	PowerSwitchIF *powerSwitcher;
-	MessageQueueId_t pcduQueueId;
+    PowerSwitchIF *powerSwitcher;
+    MessageQueueId_t pcduQueueId;
 
-	uint8_t switch0;
-	uint8_t switch1;
+    uint8_t switch0;
+    uint8_t switch1;
 
-	bool wasOn;
+    bool wasOn;
 
-	bool timedOut;
+    bool timedOut;
 
-	bool reactedToBeingFaulty;
+    bool reactedToBeingFaulty;
 
-	bool passive;
+    bool passive;
 
-	MessageQueueIF* eventQueue;
-	Countdown heaterOnCountdown;
-	Countdown switchCountdown;
-	ParameterHelper parameterHelper;
+    MessageQueueIF* eventQueue;
+    Countdown heaterOnCountdown;
+    Countdown switchCountdown;
+    ParameterHelper parameterHelper;
 
-	enum Action {
-		SET, CLEAR
-	} lastAction;
+    enum Action {
+        SET, CLEAR
+    } lastAction;
 
-	void doAction(Action action);
+    void doAction(Action action);
 
-	void setSwitch(uint8_t number, ReturnValue_t state,
-			uint32_t *upTimeOfSwitching);
+    void setSwitch(uint8_t number, ReturnValue_t state,
+            uint32_t *upTimeOfSwitching);
 
-	void handleQueue();
+    void handleQueue();
 
-	void handleEventQueue();
+    void handleEventQueue();
 };
 
-#endif /* FRAMEWORK_THERMAL_HEATER_H_ */
+#endif /* FSFW_THERMAL_HEATER_H_ */

From 864621ee37892cef944e1384d6fde38aa5770e1d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 16:15:30 +0200
Subject: [PATCH 26/32] small fix for linux printout

---
 osal/linux/tcpipHelpers.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/linux/tcpipHelpers.cpp b/osal/linux/tcpipHelpers.cpp
index 3e8f60092..d7c644ecb 100644
--- a/osal/linux/tcpipHelpers.cpp
+++ b/osal/linux/tcpipHelpers.cpp
@@ -99,8 +99,8 @@ void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t s
     sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString <<
             " | " << infoString << std::endl;
 #else
-    sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString,
-            errorSrcString, infoString);
+    sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString.c_str(),
+            errorSrcString.c_str(), infoString.c_str());
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
     if(sleepDuration > 0) {

From a2ba3181b91a5f3657ee8f72b7638cadc27864a4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 16:16:35 +0200
Subject: [PATCH 27/32] small coverity tweak

---
 devicehandlers/HealthDevice.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index 418ed2576..e23dd5b69 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -16,9 +16,9 @@ ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
 	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&command);
+		result = healthHelper.handleHealthCommand(&command);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+	return result;
 }
 
 ReturnValue_t HealthDevice::initialize() {

From 0055d34d9a156f805edf63e9d5970562b372755a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 20 Apr 2021 16:17:37 +0200
Subject: [PATCH 28/32] bugfix found by coverity

---
 timemanager/TimeMessage.cpp | 2 +-
 timemanager/TimeMessage.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/timemanager/TimeMessage.cpp b/timemanager/TimeMessage.cpp
index a1042efe5..66aea0f4d 100644
--- a/timemanager/TimeMessage.cpp
+++ b/timemanager/TimeMessage.cpp
@@ -25,6 +25,6 @@ uint32_t TimeMessage::getCounterValue() {
 	return temp;
 }
 
-size_t TimeMessage::getMinimumMessageSize() {
+size_t TimeMessage::getMinimumMessageSize() const {
 	return this->MAX_SIZE;
 }
diff --git a/timemanager/TimeMessage.h b/timemanager/TimeMessage.h
index f5ac3e14d..00778fb7f 100644
--- a/timemanager/TimeMessage.h
+++ b/timemanager/TimeMessage.h
@@ -11,7 +11,7 @@ protected:
 	 * @brief	This call always returns the same fixed size of the message.
 	 * @return	Returns HEADER_SIZE + \c sizeof(timeval) + sizeof(uint32_t).
 	 */
-	size_t getMinimumMessageSize();
+	size_t getMinimumMessageSize() const override;
 public:
 
 	/**

From 4fb792447e037cabbd4800f40e4fabeb44d6c143 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 20 Apr 2021 17:29:56 +0200
Subject: [PATCH 29/32] Small rearragenment in Heater.cpp

---
 thermal/Heater.cpp |  7 +++----
 thermal/Heater.h   | 16 ++++++++--------
 2 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp
index 8bfa030b9..aeade8d1d 100644
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@@ -5,10 +5,9 @@
 #include "../ipc/QueueFactory.h"
 
 Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) :
-HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher(
-        NULL), pcduQueueId(0), switch0(switch0), switch1(switch1), wasOn(false), timedOut(false),
-        reactedToBeingFaulty(false), passive(false), eventQueue(NULL),
-        heaterOnCountdown(10800000)/*about two orbits*/, parameterHelper(this), lastAction(CLEAR) {
+HealthDevice(objectId, 0), internalState(STATE_OFF), switch0(switch0), switch1(switch1),
+        heaterOnCountdown(10800000)/*about two orbits*/,
+		parameterHelper(this) {
     eventQueue = QueueFactory::instance()->createMessageQueue();
 }
 
diff --git a/thermal/Heater.h b/thermal/Heater.h
index 19f13c793..2caddd852 100644
--- a/thermal/Heater.h
+++ b/thermal/Heater.h
@@ -57,28 +57,28 @@ protected:
         // no need for any special treatment is needed
     } internalState;
 
-    PowerSwitchIF *powerSwitcher;
-    MessageQueueId_t pcduQueueId;
+    PowerSwitchIF *powerSwitcher = nullptr;
+    MessageQueueId_t pcduQueueId = MessageQueueIF::NO_QUEUE;
 
     uint8_t switch0;
     uint8_t switch1;
 
-    bool wasOn;
+    bool wasOn = false;
 
-    bool timedOut;
+    bool timedOut = false;
 
-    bool reactedToBeingFaulty;
+    bool reactedToBeingFaulty = false;
 
-    bool passive;
+    bool passive = false;
 
-    MessageQueueIF* eventQueue;
+    MessageQueueIF* eventQueue = nullptr;
     Countdown heaterOnCountdown;
     Countdown switchCountdown;
     ParameterHelper parameterHelper;
 
     enum Action {
         SET, CLEAR
-    } lastAction;
+    } lastAction = CLEAR;
 
     void doAction(Action action);
 

From 629814bc9ba00112668d0edaa62e0690cb5ead98 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 20 Apr 2021 17:35:28 +0200
Subject: [PATCH 30/32] Just comments

---
 thermal/Heater.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp
index aeade8d1d..770494385 100644
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@@ -224,7 +224,6 @@ void Heater::setSwitch(uint8_t number, ReturnValue_t state,
                         triggerEvent(HEATER_STAYED_ON);
                     }
                 }
-                //SHOULDDO MiniOps during switch timeout leads to a faulty switch
             }
         }
     }
@@ -317,7 +316,7 @@ void Heater::handleEventQueue() {
             switch (event.getEvent()) {
             case Fuse::FUSE_WENT_OFF:
             case HEATER_STAYED_OFF:
-            // Setting it faulty does not help, but we need to reach a stable state and can check
+            // HEATER_STAYED_ON is a setting if faulty does not help, but we need to reach a stable state and can check
             // for being faulty before throwing this event again.
             case HEATER_STAYED_ON:
                 if (healthHelper.healthTable->isCommandable(getObjectId())) {

From 03ef63302b681651daefde2f17421dabda4c6945 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 20 Apr 2021 20:45:15 +0200
Subject: [PATCH 31/32] Replaced Magic Numbers

---
 subsystem/SubsystemBase.cpp | 9 ++++-----
 subsystem/SubsystemBase.h   | 4 ++--
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index bcfa4b0e3..565e0712d 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -5,8 +5,7 @@
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
-		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
-		childrenChangedMode(false),
+		SystemObject(setObjectId), mode(initialMode),
 		commandQueue(QueueFactory::instance()->createMessageQueue(
 		        commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)),
 		healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
@@ -167,16 +166,16 @@ MessageQueueId_t SubsystemBase::getCommandQueue() const {
 }
 
 ReturnValue_t SubsystemBase::initialize() {
-	MessageQueueId_t parentQueue = 0;
+	MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
 	ReturnValue_t result = SystemObject::initialize();
 
 	if (result != RETURN_OK) {
 		return result;
 	}
 
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
+		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}
 		parentQueue = parent->getCommandQueue();
diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h
index b8e4f9029..5d107701d 100644
--- a/subsystem/SubsystemBase.h
+++ b/subsystem/SubsystemBase.h
@@ -56,9 +56,9 @@ protected:
 
 	Mode_t mode;
 
-	Submode_t submode;
+	Submode_t submode = SUBMODE_NONE;
 
-	bool childrenChangedMode;
+	bool childrenChangedMode = false;
 
 	/**
 	 * Always check this against <=0, so you are robust against too many replies

From 06631d06a57c30946563d8726ea9ef9a7e6c1c84 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 20 Apr 2021 22:01:56 +0200
Subject: [PATCH 32/32] Added comments in AssemblyBase and SubsystemBase

---
 devicehandlers/AssemblyBase.h | 22 +++++++++++++++++++---
 subsystem/SubsystemBase.h     | 11 +++++++++++
 2 files changed, 30 insertions(+), 3 deletions(-)

diff --git a/devicehandlers/AssemblyBase.h b/devicehandlers/AssemblyBase.h
index 353d5f899..6cac81b49 100644
--- a/devicehandlers/AssemblyBase.h
+++ b/devicehandlers/AssemblyBase.h
@@ -24,6 +24,13 @@
  * 1. check logic when active-> checkChildrenStateOn
  * 2. transition logic to change the mode -> commandChildren
  *
+ * Important:
+ *
+ * The implementation must call registerChild(object_id_t child)
+ * for all commanded children during initialization.
+ * The implementation must call the initialization function of the base class.
+ * (This will call the function in SubsystemBase)
+ *
  */
 class AssemblyBase: public SubsystemBase {
 public:
@@ -41,9 +48,6 @@ public:
 	virtual ~AssemblyBase();
 
 protected:
-
-    // SHOULDDO: Change that OVERWRITE_HEALTH may be returned
-    // (or return internalState directly?)
     /**
      * Command children to reach [mode,submode] combination
      * Can be done by setting #commandsOutstanding correctly,
@@ -68,6 +72,18 @@ protected:
     virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
             Submode_t wantedSubmode) = 0;
 
+    /**
+     * Check whether a combination of mode and submode is valid.
+     *
+     * Ground Controller like precise return values from HasModesIF.
+     * So, please return any of them.
+     *
+     * @param mode The targeted mode
+     * @param submode The targeted submmode
+     * @return Any information why this combination is invalid from HasModesIF
+     * 			like HasModesIF::INVALID_SUBMODE.
+     * 			On success return HasReturnvaluesIF::RETURN_OK
+     */
     virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
             Submode_t submode) = 0;
 
diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h
index 5d107701d..6b2e9b5fd 100644
--- a/subsystem/SubsystemBase.h
+++ b/subsystem/SubsystemBase.h
@@ -37,6 +37,17 @@ public:
 
 	virtual MessageQueueId_t getCommandQueue() const override;
 
+	/**
+	 * Function to register the child objects.
+	 * Performs a checks if the child does implement HasHealthIF and/or HasModesIF
+	 *
+	 * 	Also adds them to the internal childrenMap.
+	 *
+	 * @param objectId
+	 * @return RETURN_OK if successful
+	 * 		   CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
+	 * 		   COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
+	 */
 	ReturnValue_t registerChild(object_id_t objectId);
 
 	virtual ReturnValue_t initialize() override;