diff --git a/CHANGELOG b/CHANGELOG
index 85245b177..98ff383e5 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -19,9 +19,14 @@ a C file without issues
 
 - New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
 
+### Device Handler Base
+
+- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
+that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
+
 ### Events
 
 - makeEvent function: Now takes three input parameters instead of two and
 allows setting a unique ID. Event.cpp source file removed, functions now
 defined in header directly. Namespaces renamed. Functions declared `constexpr`
-now
\ No newline at end of file
+now
diff --git a/devicehandlers/AcceptsDeviceResponsesIF.h b/devicehandlers/AcceptsDeviceResponsesIF.h
index 8dc69de4f..8e13ba0c0 100644
--- a/devicehandlers/AcceptsDeviceResponsesIF.h
+++ b/devicehandlers/AcceptsDeviceResponsesIF.h
@@ -1,23 +1,19 @@
-/**
- * @file	AcceptsDeviceResponsesIF.h
- * @brief	This file defines the AcceptsDeviceResponsesIF class.
- * @date	15.05.2013
- * @author	baetz
- */
-
-#ifndef ACCEPTSDEVICERESPONSESIF_H_
-#define ACCEPTSDEVICERESPONSESIF_H_
+#ifndef FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
+#define FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 
+/**
+ * This interface is used by the device handler to send a device response
+ * to the queue ID, which is returned in the implemented abstract method.
+ */
 class AcceptsDeviceResponsesIF {
 public:
 	/**
 	 * Default empty virtual destructor.
 	 */
-	virtual ~AcceptsDeviceResponsesIF() {
-}
-virtual MessageQueueId_t getDeviceQueue() = 0;
+	virtual ~AcceptsDeviceResponsesIF() {}
+	virtual MessageQueueId_t getDeviceQueue() = 0;
 };
 
-#endif /* ACCEPTSDEVICERESPONSESIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_ */
diff --git a/devicehandlers/AssemblyBase.cpp b/devicehandlers/AssemblyBase.cpp
index 8b3f7f4dc..46b2211ae 100644
--- a/devicehandlers/AssemblyBase.cpp
+++ b/devicehandlers/AssemblyBase.cpp
@@ -2,10 +2,10 @@
 
 AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
 		uint16_t commandQueueDepth) :
-		SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth), internalState(
-				STATE_NONE), recoveryState(RECOVERY_IDLE), recoveringDevice(
-				childrenMap.end()), targetMode(MODE_OFF), targetSubmode(
-				SUBMODE_NONE) {
+		SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
+		internalState(STATE_NONE), recoveryState(RECOVERY_IDLE),
+		recoveringDevice(childrenMap.end()), targetMode(MODE_OFF),
+		targetSubmode(SUBMODE_NONE) {
 	recoveryOffTimer.setTimeout(POWER_OFF_TIME_MS);
 }
 
@@ -165,9 +165,8 @@ ReturnValue_t AssemblyBase::checkChildrenState() {
 }
 
 ReturnValue_t AssemblyBase::checkChildrenStateOff() {
-	for (std::map<object_id_t, ChildInfo>::iterator iter = childrenMap.begin();
-			iter != childrenMap.end(); iter++) {
-		if (checkChildOff(iter->first) != RETURN_OK) {
+	for (const auto& childIter: childrenMap) {
+		if (checkChildOff(childIter.first) != RETURN_OK) {
 			return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
 		}
 	}
diff --git a/devicehandlers/AssemblyBase.h b/devicehandlers/AssemblyBase.h
index bd2e8fada..353d5f899 100644
--- a/devicehandlers/AssemblyBase.h
+++ b/devicehandlers/AssemblyBase.h
@@ -1,10 +1,30 @@
-#ifndef ASSEMBLYBASE_H_
-#define ASSEMBLYBASE_H_
+#ifndef FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
+#define FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
 
-#include "../container/FixedArrayList.h"
 #include "DeviceHandlerBase.h"
+#include "../container/FixedArrayList.h"
 #include "../subsystem/SubsystemBase.h"
 
+/**
+ * @brief   Base class to implement reconfiguration and failure handling for
+ *          redundant devices by monitoring their modes health states.
+ * @details
+ * Documentation: Dissertation Baetz p.156, 157.
+ *
+ * This class reduces the complexity of controller components which would
+ * otherwise be needed for the handling of redundant devices.
+ *
+ * The template class monitors mode and health state of its children
+ * and checks availability of devices on every detected change.
+ * AssemblyBase does not implement any redundancy logic by itself, but provides
+ * adaptation points for implementations to do so. Since most monitoring
+ * activities rely on mode and health state only and are therefore
+ * generic, it is sufficient for subclasses to provide:
+ *
+ * 1. check logic when active-> checkChildrenStateOn
+ * 2. transition logic to change the mode -> commandChildren
+ *
+ */
 class AssemblyBase: public SubsystemBase {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ASSEMBLY_BASE;
@@ -16,10 +36,41 @@ public:
 	static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE =
 			MAKE_RETURN_CODE(0xa1);
 
-	AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
+	AssemblyBase(object_id_t objectId, object_id_t parentId,
+	        uint16_t commandQueueDepth = 8);
 	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,
+     * or using executeTable()
+     * @param mode
+     * @param submode
+     * @return
+     *    - @c RETURN_OK if ok
+     *    - @c NEED_SECOND_STEP if children need to be commanded again
+     */
+    virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
+
+    /**
+     * Check whether desired assembly mode was achieved by checking the modes
+     * or/and health states of child device handlers.
+     * The assembly template class will also call this function if a health
+     * or mode change of a child device handler was detected.
+     * @param wantedMode
+     * @param wantedSubmode
+     * @return
+     */
+    virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
+            Submode_t wantedSubmode) = 0;
+
+    virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
+            Submode_t submode) = 0;
+
 	enum InternalState {
 		STATE_NONE,
 		STATE_OVERWRITE_HEALTH,
@@ -36,6 +87,7 @@ protected:
 		RECOVERY_WAIT
 	} recoveryState; //!< Indicates if one of the children requested a recovery.
 	ChildrenMap::iterator recoveringDevice;
+
 	/**
 	 * the mode the current transition is trying to achieve.
 	 * Can be different from the modehelper.commandedMode!
@@ -61,8 +113,8 @@ protected:
 	bool handleChildrenChanged();
 
 	/**
-	 * This method is called if the children changed its mode in a way that the current
-	 * mode can't be kept.
+	 * This method is called if the children changed its mode in a way that
+	 * the current mode can't be kept.
 	 * Default behavior is to go to MODE_OFF.
 	 * @param result The failure code which was returned by checkChildrenState.
 	 */
@@ -75,9 +127,6 @@ protected:
 	ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode);
 
-	virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
-			Submode_t submode) = 0;
-
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 
 	virtual void doStartTransition(Mode_t mode, Submode_t submode);
@@ -90,24 +139,6 @@ protected:
 
 	void sendHealthCommand(MessageQueueId_t sendTo, HealthState health);
 
-	//SHOULDDO: Change that OVERWRITE_HEALTH may be returned (or return internalState directly?)
-	/**
-	 * command children to reach mode,submode
-	 *
-	 * set #commandsOutstanding correctly, or use executeTable()
-	 *
-	 * @param mode
-	 * @param submode
-	 * @return
-	 *    - @c RETURN_OK if ok
-	 *    - @c NEED_SECOND_STEP if children need to be commanded again
-	 */
-	virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
-
-	//SHOULDDO: Remove wantedMode, wantedSubmode, as targetMode/submode is available?
-	virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
-			Submode_t wantedSubmode) = 0;
-
 	virtual ReturnValue_t checkChildrenStateOff();
 
 	ReturnValue_t checkChildrenState();
@@ -125,8 +156,9 @@ protected:
 	 * Also sets state to STATE_OVERWRITE_HEATH.
 	 * @param objectId Must be a registered child.
 	 */
-	void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
+	void overwriteDeviceHealth(object_id_t objectId,
+	        HasHealthIF::HealthState oldHealth);
 
 };
 
-#endif /* ASSEMBLYBASE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */
diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index e800cd569..d4ef67ad8 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -1,16 +1,18 @@
+#include "ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
-#include "../devicehandlers/ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		object_id_t parent, FailureIsolationBase* customFdir,
-		size_t cmdQueueSize) :
+		object_id_t hkDestination, uint32_t thermalStatePoolId,
+		uint32_t thermalRequestPoolId,
+		object_id_t parent,
+		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
 		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
 			(customFdir == nullptr? &childHandlerFdir : customFdir),
 			cmdQueueSize),
 		parentId(parent), childHandlerFdir(setObjectId) {
+	this->setHkDestination(hkDestination);
 	this->setThermalStateRequestPoolIds(thermalStatePoolId,
 			thermalRequestPoolId);
 
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index f6bf318a0..eed4c95e2 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -1,17 +1,18 @@
-#ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
-#define FSFW_DEVICES_CHILDHANDLERBASE_H_
+#ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
+#define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 
-#include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
+#include "ChildHandlerFDIR.h"
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
 	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId,
+			CookieIF * cookie, object_id_t hkDestination,
+			uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
 			object_id_t parent = objects::NO_OBJECT,
 			FailureIsolationBase* customFdir = nullptr,
 			size_t cmdQueueSize = 20);
+
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();
@@ -22,5 +23,4 @@ protected:
 
 };
 
-#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
-
+#endif /* FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_ */
diff --git a/devicehandlers/ChildHandlerFDIR.cpp b/devicehandlers/ChildHandlerFDIR.cpp
index 14043a779..cb4c75eaf 100644
--- a/devicehandlers/ChildHandlerFDIR.cpp
+++ b/devicehandlers/ChildHandlerFDIR.cpp
@@ -1,6 +1,7 @@
 #include "ChildHandlerFDIR.h"
 
-ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner, object_id_t faultTreeParent, uint32_t recoveryCount) :
+ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner,
+        object_id_t faultTreeParent, uint32_t recoveryCount) :
 		DeviceHandlerFailureIsolation(owner, faultTreeParent) {
 	recoveryCounter.setFailureThreshold(recoveryCount);
 }
diff --git a/devicehandlers/ChildHandlerFDIR.h b/devicehandlers/ChildHandlerFDIR.h
index ce8445183..13d1345c1 100644
--- a/devicehandlers/ChildHandlerFDIR.h
+++ b/devicehandlers/ChildHandlerFDIR.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
-#define FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
+#ifndef FSFW_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
+#define FSFW_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
 
 #include "DeviceHandlerFailureIsolation.h"
 
diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
index 496cf0d2f..5911bfdb0 100644
--- a/devicehandlers/CookieIF.h
+++ b/devicehandlers/CookieIF.h
@@ -1,11 +1,12 @@
-#ifndef COOKIE_H_
-#define COOKIE_H_
+#ifndef FSFW_DEVICEHANDLER_COOKIE_H_
+#define FSFW_DEVICEHANDLER_COOKIE_H_
+
 #include <cstdint>
 
 /**
  * @brief Physical address type
  */
-typedef std::uint32_t address_t;
+using address_t = uint32_t;
 
 /**
  * @brief 	This datatype is used to identify different connection over a
@@ -16,7 +17,6 @@ typedef std::uint32_t address_t;
  * calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
  * @endcode .
  *
- * [not implemented yet]
  * This cookie is then passed to the child device handlers, which stores the
  * pointer and passes it to the communication interface functions.
  *
@@ -31,4 +31,4 @@ public:
 	virtual ~CookieIF() {};
 };
 
-#endif /* COOKIE_H_ */
+#endif /* FSFW_DEVICEHANDLER_COOKIE_H_ */
diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 11960d8e3..e0b473d36 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,9 +1,10 @@
-#ifndef DEVICECOMMUNICATIONIF_H_
-#define DEVICECOMMUNICATIONIF_H_
+#ifndef FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
+#define FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
 
 #include "CookieIF.h"
+#include "DeviceHandlerIF.h"
+
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstddef>
 /**
  * @defgroup interfaces Interfaces
  * @brief Interfaces for flight software objects
@@ -19,8 +20,8 @@
  * the device handler to allow reuse of these components.
  * @details
  * Documentation: Dissertation Baetz p.138.
- * It works with the assumption that received data
- * is polled by a component. There are four generic steps of device communication:
+ * It works with the assumption that received data  is polled by a component.
+ * There are four generic steps of device communication:
  *
  *   1. Send data to a device
  *   2. Get acknowledgement for sending
@@ -38,24 +39,20 @@ class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	//! Standard Error Codes
+	//! This is returned in readReceivedMessage() if no reply was reived.
+	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0x01);
+
 	//! General protocol error. Define more concrete errors in child handler
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x02);
 	//! If cookie is a null pointer
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x04);
 	// is this needed if there is no open/close call?
 	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x06);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x07);
-	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x08);
-
-	//! Can be used in readReceivedMessage() if no reply was received.
-	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
 
 	virtual ~DeviceCommunicationIF() {}
 
-
 	/**
 	 * @brief Device specific initialization, using the cookie.
 	 * @details
@@ -76,13 +73,13 @@ public:
 	 * by implementing and calling related drivers or wrapper functions.
 	 * @param cookie
 	 * @param data
-	 * @param len
+	 * @param len If this is 0, nothing shall be sent.
 	 * @return
 	 *  - @c RETURN_OK for successfull send
 	 *  - Everything else triggers failure event with returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
-			size_t sendLen) = 0;
+	virtual ReturnValue_t sendMessage(CookieIF *cookie,
+	        const uint8_t * sendData, size_t sendLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetWrite().
@@ -108,7 +105,7 @@ public:
 	 *           returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-			size_t requestLen) = 0;
+	        size_t requestLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetRead().
@@ -124,8 +121,8 @@ public:
 	 *         - Everything else triggers failure event with
 	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			size_t *size) = 0;
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
+	        uint8_t **buffer, size_t *size) = 0;
 };
 
-#endif /* DEVICECOMMUNICATIONIF_H_ */
+#endif /* FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_ */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index e6c15f9e6..b5d43d77d 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -72,8 +72,13 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
+	this->lastStep = this->pstStep;
 
-	if (getComAction() == SEND_WRITE) {
+	if (getComAction() == CommunicationAction::NOTHING) {
+	    return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	if (getComAction() == CommunicationAction::PERFORM_OPERATION) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
 		doStateMachine();
@@ -83,26 +88,29 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		hkSwitcher.performOperation();
 		hkManager.performHkOperation();
 		performOperationHook();
+		return RETURN_OK;
 	}
+
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
+
 	switch (getComAction()) {
-	case SEND_WRITE:
-		if ((cookieInfo.state == COOKIE_UNUSED)) {
+	case CommunicationAction::SEND_WRITE:
+		if (cookieInfo.state == COOKIE_UNUSED) {
+		    // if no external command was specified, build internal command.
 			buildInternalCommand();
 		}
 		doSendWrite();
 		break;
-	case GET_WRITE:
+	case CommunicationAction::GET_WRITE:
 		doGetWrite();
 		break;
-	case SEND_READ:
+	case CommunicationAction::SEND_READ:
 		doSendRead();
 		break;
-	case GET_READ:
+	case CommunicationAction::GET_READ:
 		doGetRead();
-		cookieInfo.state = COOKIE_UNUSED;
 		break;
 	default:
 		break;
@@ -821,24 +829,27 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 }
 
 //Default child implementations
-DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
+DeviceHandlerIF::CommunicationAction DeviceHandlerBase::getComAction() {
 	switch (pstStep) {
 	case 0:
-		return SEND_WRITE;
+		return CommunicationAction::PERFORM_OPERATION;
 		break;
 	case 1:
-		return GET_WRITE;
-		break;
+	    return CommunicationAction::SEND_WRITE;
+	    break;
 	case 2:
-		return SEND_READ;
+		return CommunicationAction::GET_WRITE;
 		break;
 	case 3:
-		return GET_READ;
+		return CommunicationAction::SEND_READ;
+		break;
+	case 4:
+		return CommunicationAction::GET_READ;
 		break;
 	default:
 		break;
 	}
-	return NOTHING;
+	return CommunicationAction::NOTHING;
 }
 
 MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index eda318cb8..627a64238 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -577,6 +577,7 @@ protected:
 
 	/** This is the counter value from performOperation(). */
 	uint8_t pstStep = 0;
+	uint8_t lastStep = 0;
 	uint32_t pstIntervalMs = 0;
 
 	/**
@@ -841,7 +842,7 @@ protected:
 	 * @return The Rmap action to execute in this step
 	 */
 
-	virtual CommunicationAction_t getComAction();
+	virtual CommunicationAction getComAction();
 
 	/**
 	 * Build the device command to send for raw mode.
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index f49663516..9d0535bf2 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -247,6 +247,14 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(
 		}
 		return true;
 	}
+
+	if (owner == nullptr) {
+	    // Configuration error.
+	    sif::error << "DeviceHandlerFailureIsolation::"
+	            << "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
+	    return false;
+	}
+
 	if (owner->getHealth() == HasHealthIF::FAULTY
 			|| owner->getHealth() == HasHealthIF::PERMANENT_FAULTY) {
 		//Ignore all events in case device is already faulty.
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 39a0e39a8..491a2c083 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -1,12 +1,19 @@
-#ifndef DEVICEHANDLERIF_H_
-#define DEVICEHANDLERIF_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
+
+#include "DeviceHandlerMessage.h"
 
 #include "../action/HasActionsIF.h"
-#include "DeviceHandlerMessage.h"
 #include "../events/Event.h"
 #include "../modes/HasModesIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 
+/**
+ * This is used to uniquely identify commands that are sent to a device
+ * The values are defined in the device-specific implementations
+ */
+using DeviceCommandId_t = uint32_t;
+
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
  * @details Includes all expected return values, events and modes.
@@ -15,6 +22,7 @@
 class DeviceHandlerIF {
 public:
 
+
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
@@ -49,6 +57,8 @@ public:
 	//! This is a transitional state which can not be commanded.
 	//! The device handler performs all actions and commands to get the device
 	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+	//! transition if available.
 	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
 	//! It is possible to set the mode to _MODE_TO_ON to use the to on
 	//! transition if available.
@@ -98,7 +108,7 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
 	// Standard codes used when building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
 	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
@@ -131,7 +141,8 @@ public:
 	 *
 	 * This is used by the child class to tell the base class what to do.
 	 */
-	enum CommunicationAction_t: uint8_t {
+	enum CommunicationAction: uint8_t {
+	    PERFORM_OPERATION,
 		SEND_WRITE,//!< Send write
 		GET_WRITE, //!< Get write
 		SEND_READ, //!< Send read
@@ -152,4 +163,4 @@ public:
 
 };
 
-#endif /* DEVICEHANDLERIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */
diff --git a/devicehandlers/DeviceHandlerMessage.cpp b/devicehandlers/DeviceHandlerMessage.cpp
index 564fae213..cb9043db8 100644
--- a/devicehandlers/DeviceHandlerMessage.cpp
+++ b/devicehandlers/DeviceHandlerMessage.cpp
@@ -1,10 +1,6 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "DeviceHandlerMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
-DeviceHandlerMessage::DeviceHandlerMessage() {
-}
-
 store_address_t DeviceHandlerMessage::getStoreAddress(
 		const CommandMessage* message) {
 	return store_address_t(message->getParameter2());
@@ -25,14 +21,6 @@ uint8_t DeviceHandlerMessage::getWiretappingMode(
 	return message->getParameter();
 }
 
-//void DeviceHandlerMessage::setDeviceHandlerDirectCommandMessage(
-//		CommandMessage* message, DeviceCommandId_t deviceCommand,
-//		store_address_t commandParametersStoreId) {
-//	message->setCommand(CMD_DIRECT);
-//	message->setParameter(deviceCommand);
-//	message->setParameter2(commandParametersStoreId.raw);
-//}
-
 void DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(
 		CommandMessage* message, store_address_t rawPacketStoreId) {
 	message->setCommand(CMD_RAW);
@@ -47,7 +35,7 @@ void DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(
 
 void DeviceHandlerMessage::setDeviceHandlerSwitchIoBoardMessage(
 		CommandMessage* message, uint32_t ioBoardIdentifier) {
-	message->setCommand(CMD_SWITCH_IOBOARD);
+	message->setCommand(CMD_SWITCH_ADDRESS);
 	message->setParameter(ioBoardIdentifier);
 }
 
@@ -79,18 +67,17 @@ void DeviceHandlerMessage::setDeviceHandlerDirectCommandReply(
 void DeviceHandlerMessage::clear(CommandMessage* message) {
 	switch (message->getCommand()) {
 	case CMD_RAW:
-//	case CMD_DIRECT:
 	case REPLY_RAW_COMMAND:
 	case REPLY_RAW_REPLY:
 	case REPLY_DIRECT_COMMAND_DATA: {
 		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
 				objects::IPC_STORE);
-		if (ipcStore != NULL) {
+		if (ipcStore != nullptr) {
 			ipcStore->deleteData(getStoreAddress(message));
 		}
 	}
 		/* NO BREAK falls through*/
-	case CMD_SWITCH_IOBOARD:
+	case CMD_SWITCH_ADDRESS:
 	case CMD_WIRETAPPING:
 		message->setCommand(CommandMessage::CMD_NONE);
 		message->setParameter(0);
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index 8d1c94f41..e5da01c8f 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -1,69 +1,56 @@
-#ifndef DEVICEHANDLERMESSAGE_H_
-#define DEVICEHANDLERMESSAGE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
 
 #include "../action/ActionMessage.h"
 #include "../ipc/CommandMessage.h"
 #include "../objectmanager/SystemObjectIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-//SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
+// SHOULDDO: rework the static constructors to name the type of command
+// they are building, maybe even hide setting the commandID.
+
 
 /**
- * This is used to uniquely identify commands that are sent to a device
- *
- * The values are defined in the device-specific implementations
- */
-typedef uint32_t DeviceCommandId_t;
-
-/**
- * The DeviceHandlerMessage is used to send Commands to a DeviceHandlerIF
+ * @brief   The DeviceHandlerMessage is used to send commands to classes
+ *          implementing DeviceHandlerIF
  */
 class DeviceHandlerMessage {
-private:
-	DeviceHandlerMessage();
 public:
+    /**
+     * Instantiation forbidden. Instead, use static functions to operate
+     * on messages.
+     */
+	DeviceHandlerMessage() = delete;
+	virtual ~DeviceHandlerMessage() {}
 
 	/**
 	 * These are the commands that can be sent to a DeviceHandlerBase
 	 */
 	static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
-	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
-//	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
-	static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
-	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID( 4 ); //!< (De)Activates the monitoring of all raw traffic in DeviceHandlers, setParameter is 0 to deactivate, 1 to activate
+	//! Sends a raw command, setParameter is a storeId containing the
+	//! raw packet to send
+	static const Command_t CMD_RAW = MAKE_COMMAND_ID(1);
+	//! Requests a IO-Board switch, setParameter() is the IO-Board identifier
+	static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID(3);
+	//! (De)Activates the monitoring of all raw traffic in DeviceHandlers,
+	//! setParameter is 0 to deactivate, 1 to activate
+	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID(4);
 
-	/*static const Command_t REPLY_SWITCHED_IOBOARD = MAKE_COMMAND_ID(1 );//!< Reply to a @c CMD_SWITCH_IOBOARD, indicates switch was successful, getParameter() contains the board switched to (0: nominal, 1: redundant)
-	 static const Command_t REPLY_CANT_SWITCH_IOBOARD = MAKE_COMMAND_ID( 2);	//!< Reply to a @c CMD_SWITCH_IOBOARD, indicating the switch could not be performed, getParameter() contains the error message
-	 static const Command_t REPLY_WIRETAPPING = MAKE_COMMAND_ID( 3);	//!< Reply to a @c CMD_WIRETAPPING, getParameter() is the current state, 1 enabled, 0 disabled
-
-	 static const Command_t REPLY_COMMAND_WAS_SENT = MAKE_COMMAND_ID(4 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was successfully sent to the device, getParameter() contains the ::DeviceCommandId_t
-	 static const Command_t REPLY_COMMAND_NOT_SUPPORTED = MAKE_COMMAND_ID(5 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t is not supported, getParameter() contains the requested ::DeviceCommand_t, getParameter2() contains the ::DeviceCommandId_t
-	 static const Command_t REPLY_COMMAND_WAS_NOT_SENT = MAKE_COMMAND_ID(6 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was not sent, getParameter contains the RMAP Return code (@see rmap.h), getParameter2() contains the ::DeviceCommandId_t
-
-	 static const Command_t REPLY_COMMAND_ALREADY_SENT = MAKE_COMMAND_ID(7 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t has already been sent to the device and not ye been answered
-	 static const Command_t REPLY_WRONG_MODE_FOR_CMD = MAKE_COMMAND_ID(8 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates that the requested command can not be sent in the curent mode, getParameter() contains the DeviceHandlerCommand_t
-	 static const Command_t REPLY_NO_DATA = MAKE_COMMAND_ID(9 );	//!< Reply to a CMD_RAW or @c CMD_DIRECT, indicates that the ::store_id_t was invalid, getParameter() contains the ::DeviceCommandId_t, getPrameter2() contains the error code
-	 */
-	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS; //!< Signals that a direct command was sent
-	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11 ); //!< Contains a raw command sent to the Device
-	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID( 0x12); //!< Contains a raw reply from the Device, getParameter() is the ObjcetId of the sender, getParameter2() is a ::store_id_t containing the raw packet received
+	//! Signals that a direct command was sent
+	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS;
+	//! Contains a raw command sent to the Device
+	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11);
+	//! Contains a raw reply from the Device, getParameter() is the ObjcetId
+	//! of the sender, getParameter2() is a ::store_id_t containing the
+	//! raw packet received
+	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID(0x12);
 	static const Command_t REPLY_DIRECT_COMMAND_DATA = ActionMessage::DATA_REPLY;
 
-	/**
-	 * Default Destructor
-	 */
-	virtual ~DeviceHandlerMessage() {
-	}
-
 	static store_address_t getStoreAddress(const CommandMessage* message);
 	static uint32_t getDeviceCommandId(const CommandMessage* message);
 	static object_id_t getDeviceObjectId(const CommandMessage *message);
 	static object_id_t getIoBoardObjectId(const CommandMessage* message);
 	static uint8_t getWiretappingMode(const CommandMessage* message);
 
-//	static void setDeviceHandlerDirectCommandMessage(CommandMessage* message,
-//			DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-
 	static void setDeviceHandlerDirectCommandReply(CommandMessage* message,
 			object_id_t deviceObjectid,
 			store_address_t commandParametersStoreId);
@@ -75,11 +62,6 @@ public:
 			object_id_t deviceObjectid, store_address_t rawPacketStoreId,
 			bool isCommand);
 
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, store_address_t rawPacketStoreId);
 	static void setDeviceHandlerWiretappingMessage(CommandMessage* message,
 			uint8_t wiretappingMode);
 	static void setDeviceHandlerSwitchIoBoardMessage(CommandMessage* message,
@@ -88,4 +70,4 @@ public:
 	static void clear(CommandMessage* message);
 };
 
-#endif /* DEVICEHANDLERMESSAGE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_ */
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index 84f926f06..c70f57d6d 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -1,4 +1,3 @@
-#include "../serialize/SerializeAdapter.h"
 #include "DeviceTmReportingWrapper.h"
 #include "../serialize/SerializeAdapter.h"
 
diff --git a/devicehandlers/DeviceTmReportingWrapper.h b/devicehandlers/DeviceTmReportingWrapper.h
index a14c4261d..447e95f2c 100644
--- a/devicehandlers/DeviceTmReportingWrapper.h
+++ b/devicehandlers/DeviceTmReportingWrapper.h
@@ -1,5 +1,5 @@
-#ifndef DEVICETMREPORTINGWRAPPER_H_
-#define DEVICETMREPORTINGWRAPPER_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
+#define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 
 #include "../action/HasActionsIF.h"
 #include "../objectmanager/SystemObjectIF.h"
@@ -24,4 +24,4 @@ private:
 	SerializeIF *data;
 };
 
-#endif /* DEVICETMREPORTINGWRAPPER_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_ */
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index b15e5d2ba..418ed2576 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -13,10 +13,10 @@ HealthDevice::~HealthDevice() {
 }
 
 ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&message);
+		healthHelper.handleHealthCommand(&command);
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/devicehandlers/HealthDevice.h b/devicehandlers/HealthDevice.h
index 53b0ab097..738f0c7ea 100644
--- a/devicehandlers/HealthDevice.h
+++ b/devicehandlers/HealthDevice.h
@@ -1,5 +1,5 @@
-#ifndef HEALTHDEVICE_H_
-#define HEALTHDEVICE_H_
+#ifndef FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_
+#define FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_
 
 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@@ -37,4 +37,4 @@ public:
 	HealthHelper healthHelper;
 };
 
-#endif /* HEALTHDEVICE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_ */
diff --git a/monitoring/AbsLimitMonitor.h b/monitoring/AbsLimitMonitor.h
index 2e60f6f8c..5feb369c0 100644
--- a/monitoring/AbsLimitMonitor.h
+++ b/monitoring/AbsLimitMonitor.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
-#define FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
+#ifndef FSFW_MONITORING_ABSLIMITMONITOR_H_
+#define FSFW_MONITORING_ABSLIMITMONITOR_H_
 
 #include "MonitorBase.h"
 #include <cmath>
@@ -7,9 +7,14 @@
 template<typename T>
 class AbsLimitMonitor: public MonitorBase<T> {
 public:
-	AbsLimitMonitor(object_id_t reporterId, uint8_t monitorId, uint32_t parameterId,
-			uint16_t confirmationLimit, T limit, Event violationEvent = MonitoringIF::VALUE_OUT_OF_RANGE, bool aboveIsViolation = true) :
-			MonitorBase<T>(reporterId, monitorId, parameterId, confirmationLimit), limit(limit), violationEvent(violationEvent), aboveIsViolation(aboveIsViolation) {
+	AbsLimitMonitor(object_id_t reporterId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit, T limit,
+	        Event violationEvent = MonitoringIF::VALUE_OUT_OF_RANGE,
+	        bool aboveIsViolation = true) :
+			MonitorBase<T>(reporterId, monitorId, globalPoolId,
+					confirmationLimit),
+			limit(limit), violationEvent(violationEvent),
+			aboveIsViolation(aboveIsViolation) {
 	}
 	virtual ~AbsLimitMonitor() {
 	}
@@ -32,8 +37,9 @@ public:
 			const ParameterWrapper *newValues, uint16_t startAtIndex) {
 		ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
 				parameterId, parameterWrapper, newValues, startAtIndex);
-		//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
-		if (result != this->INVALID_MATRIX_ID) {
+		// We'll reuse the DOMAIN_ID of MonitorReporter,
+		// as we know the parameterIds used there.
+		if (result != this->INVALID_IDENTIFIER_ID) {
 			return result;
 		}
 		switch (parameterId) {
@@ -41,7 +47,7 @@ public:
 			parameterWrapper->set(this->limit);
 			break;
 		default:
-			return this->INVALID_MATRIX_ID;
+			return this->INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -59,7 +65,9 @@ protected:
 	void sendTransitionEvent(T currentValue, ReturnValue_t state) {
 		switch (state) {
 		case MonitoringIF::OUT_OF_RANGE:
-			EventManagerIF::triggerEvent(this->reportingId, violationEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId,
+			        violationEvent, this->globalPoolId.objectId,
+					this->globalPoolId.localPoolId);
 			break;
 		default:
 			break;
@@ -70,4 +78,4 @@ protected:
 	const bool aboveIsViolation;
 };
 
-#endif /* FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_ */
+#endif /* FSFW_MONITORING_ABSLIMITMONITOR_H_ */
diff --git a/monitoring/HasMonitorsIF.h b/monitoring/HasMonitorsIF.h
index 85d92b6b9..04f634374 100644
--- a/monitoring/HasMonitorsIF.h
+++ b/monitoring/HasMonitorsIF.h
@@ -1,11 +1,5 @@
-/**
- * @file	HasMonitorsIF.h
- * @brief	This file defines the HasMonitorsIF class.
- * @date	28.07.2014
- * @author	baetz
- */
-#ifndef HASMONITORSIF_H_
-#define HASMONITORSIF_H_
+#ifndef FSFW_MONITORING_HASMONITORSIF_H_
+#define FSFW_MONITORING_HASMONITORSIF_H_
 
 #include "../events/EventReportingProxyIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -27,4 +21,4 @@ public:
 	}
 };
 
-#endif /* HASMONITORSIF_H_ */
+#endif /* FSFW_MONITORING_HASMONITORSIF_H_ */
diff --git a/monitoring/LimitMonitor.h b/monitoring/LimitMonitor.h
index 66e6725e8..c4448ceda 100644
--- a/monitoring/LimitMonitor.h
+++ b/monitoring/LimitMonitor.h
@@ -12,13 +12,15 @@
 template<typename T>
 class LimitMonitor: public MonitorBase<T> {
 public:
-	LimitMonitor(object_id_t reporterId, uint8_t monitorId, uint32_t parameterId,
-			uint16_t confirmationLimit, T lowerLimit, T upperLimit,
-			Event belowLowEvent = MonitoringIF::VALUE_BELOW_LOW_LIMIT,
+	LimitMonitor(object_id_t reporterId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit, T lowerLimit,
+			T upperLimit, Event belowLowEvent =
+					MonitoringIF::VALUE_BELOW_LOW_LIMIT,
 			Event aboveHighEvent = MonitoringIF::VALUE_ABOVE_HIGH_LIMIT) :
-			MonitorBase<T>(reporterId, monitorId, parameterId, confirmationLimit), lowerLimit(
-					lowerLimit), upperLimit(upperLimit), belowLowEvent(
-					belowLowEvent), aboveHighEvent(aboveHighEvent) {
+			MonitorBase<T>(reporterId, monitorId, globalPoolId,
+			        confirmationLimit),
+			lowerLimit(lowerLimit), upperLimit(upperLimit),
+			belowLowEvent(belowLowEvent), aboveHighEvent(aboveHighEvent) {
 	}
 	virtual ~LimitMonitor() {
 	}
@@ -41,7 +43,7 @@ public:
 		ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
 				parameterId, parameterWrapper, newValues, startAtIndex);
 		//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
-		if (result != this->INVALID_MATRIX_ID) {
+		if (result != this->INVALID_IDENTIFIER_ID) {
 			return result;
 		}
 		switch (parameterId) {
@@ -52,12 +54,13 @@ public:
 			parameterWrapper->set(this->upperLimit);
 			break;
 		default:
-			return this->INVALID_MATRIX_ID;
+			return this->INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	bool isOutOfLimits() {
-		if (this->oldState == MonitoringIF::ABOVE_HIGH_LIMIT || this->oldState == MonitoringIF::BELOW_LOW_LIMIT) {
+		if (this->oldState == MonitoringIF::ABOVE_HIGH_LIMIT or
+		        this->oldState == MonitoringIF::BELOW_LOW_LIMIT) {
 			return true;
 		} else {
 			return false;
@@ -76,10 +79,12 @@ protected:
 	void sendTransitionEvent(T currentValue, ReturnValue_t state) {
 		switch (state) {
 		case MonitoringIF::BELOW_LOW_LIMIT:
-			EventManagerIF::triggerEvent(this->reportingId, belowLowEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId, belowLowEvent,
+			        this->globalPoolId.objectId, this->globalPoolId.localPoolId);
 			break;
 		case MonitoringIF::ABOVE_HIGH_LIMIT:
-			EventManagerIF::triggerEvent(this->reportingId, aboveHighEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId, aboveHighEvent,
+			        this->globalPoolId.objectId, this->globalPoolId.localPoolId);
 			break;
 		default:
 			break;
diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h
index 5173c4798..530a38409 100644
--- a/monitoring/MonitorBase.h
+++ b/monitoring/MonitorBase.h
@@ -1,39 +1,50 @@
-#ifndef MONITORBASE_H_
-#define MONITORBASE_H_
+#ifndef FSFW_MONITORING_MONITORBASE_H_
+#define FSFW_MONITORING_MONITORBASE_H_
+
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "MonitoringMessageContent.h"
+#include "MonitorReporter.h"
+
+#include "../datapoollocal/LocalPoolVariable.h"
 
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/PIDReader.h"
-#include "../monitoring/LimitViolationReporter.h"
-#include "../monitoring/MonitoringIF.h"
-#include "../monitoring/MonitoringMessageContent.h"
-#include "../monitoring/MonitorReporter.h"
 
 /**
- * Base class for monitoring of parameters.
- * Can be used anywhere, specializations need to implement checkSample and should override sendTransitionEvent.
- * Manages state handling, enabling and disabling of events/reports and forwarding of transition
- * reports via MonitorReporter. In addition, it provides default implementations for fetching the parameter sample from
- * the data pool and a simple confirmation counter.
+ * @brief   Base class for monitoring of parameters.
+ * @details
+ * Can be used anywhere, specializations need to implement checkSample and
+ * should override sendTransitionEvent.
+ * Manages state handling, enabling and disabling of events/reports and
+ * forwarding of transition reports via MonitorReporter.
+ *
+ * In addition, it provides default implementations for fetching the
+ * parameter sample from the data pool and a simple confirmation counter.
  */
 template<typename T>
 class MonitorBase: public MonitorReporter<T> {
 public:
+
 	MonitorBase(object_id_t reporterId, uint8_t monitorId,
-			uint32_t parameterId, uint16_t confirmationLimit) :
-			MonitorReporter<T>(reporterId, monitorId, parameterId, confirmationLimit) {
+	        gp_id_t globalPoolId, uint16_t confirmationLimit):
+	        MonitorReporter<T>(reporterId, monitorId, globalPoolId,
+	                confirmationLimit),
+	        poolVariable(globalPoolId) {
 	}
+
 	virtual ~MonitorBase() {
 	}
+
 	virtual ReturnValue_t check() {
-		//1. Fetch sample of type T, return validity.
+		// 1. Fetch sample of type T, return validity.
 		T sample = 0;
 		ReturnValue_t validity = fetchSample(&sample);
 
-		//2. If returning from fetch != OK, parameter is invalid. Report (if oldState is != invalidity).
+		// 2. If returning from fetch != OK, parameter is invalid.
+		// Report (if oldState is != invalidity).
 		if (validity != HasReturnvaluesIF::RETURN_OK) {
 			this->monitorStateIs(validity, sample, 0);
-			//3. Otherwise, check sample.
 		} else {
+            //3. Otherwise, check sample.
 			this->oldState = doCheck(sample);
 		}
 		return this->oldState;
@@ -43,20 +54,25 @@ public:
 		ReturnValue_t currentState = checkSample(sample, &crossedLimit);
 		return this->monitorStateIs(currentState,sample, crossedLimit);
 	}
-	//Abstract or default.
+
+	// Abstract or default.
 	virtual ReturnValue_t checkSample(T sample, T* crossedLimit) = 0;
 
 protected:
+
 	virtual ReturnValue_t fetchSample(T* sample) {
-		GlobDataSet mySet;
-		PIDReader<T> parameter(this->parameterId, &mySet);
-		mySet.read();
-		if (!parameter.isValid()) {
-			return MonitoringIF::INVALID;
-		}
-		*sample = parameter.value;
-		return HasReturnvaluesIF::RETURN_OK;
+	    ReturnValue_t result = poolVariable.read();
+	    if(result != HasReturnvaluesIF::RETURN_OK) {
+	        return result;
+	    }
+	    if (not poolVariable.isValid()) {
+	        return MonitoringIF::INVALID;
+	    }
+	    *sample = poolVariable.value;
+	    return HasReturnvaluesIF::RETURN_OK;
 	}
+
+	LocalPoolVar<T> poolVariable;
 };
 
-#endif /* MONITORBASE_H_ */
+#endif /* FSFW_MONITORING_MONITORBASE_H_ */
diff --git a/monitoring/MonitorReporter.h b/monitoring/MonitorReporter.h
index ca2b534b9..9028e7e4a 100644
--- a/monitoring/MonitorReporter.h
+++ b/monitoring/MonitorReporter.h
@@ -1,10 +1,12 @@
-#ifndef FRAMEWORK_MONITORING_MONITORREPORTER_H_
-#define FRAMEWORK_MONITORING_MONITORREPORTER_H_
+#ifndef FSFW_MONITORING_MONITORREPORTER_H_
+#define FSFW_MONITORING_MONITORREPORTER_H_
 
-#include "../events/EventManagerIF.h"
 #include "LimitViolationReporter.h"
 #include "MonitoringIF.h"
 #include "MonitoringMessageContent.h"
+
+#include "../datapoollocal/locPoolDefinitions.h"
+#include "../events/EventManagerIF.h"
 #include "../parameters/HasParametersIF.h"
 
 template<typename T>
@@ -14,11 +16,14 @@ public:
 	static const uint8_t ENABLED = 1;
 	static const uint8_t DISABLED = 0;
 
-	MonitorReporter(object_id_t reportingId, uint8_t monitorId, uint32_t parameterId, uint16_t confirmationLimit) :
-			monitorId(monitorId), parameterId(parameterId), reportingId(
-					reportingId), oldState(MonitoringIF::UNCHECKED), reportingEnabled(
-			ENABLED), eventEnabled(ENABLED), currentCounter(0), confirmationLimit(
-					confirmationLimit) {
+	// TODO: Adapt to use SID instead of parameter ID.
+
+	MonitorReporter(object_id_t reportingId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit) :
+			monitorId(monitorId), globalPoolId(globalPoolId),
+			reportingId(reportingId), oldState(MonitoringIF::UNCHECKED),
+			reportingEnabled(ENABLED), eventEnabled(ENABLED), currentCounter(0),
+			confirmationLimit(confirmationLimit) {
 	}
 
 	virtual ~MonitorReporter() {
@@ -63,7 +68,7 @@ public:
 			parameterWrapper->set(this->eventEnabled);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -91,7 +96,7 @@ public:
 
 protected:
 	const uint8_t monitorId;
-	const uint32_t parameterId;
+	const gp_id_t globalPoolId;
 	object_id_t reportingId;
 	ReturnValue_t oldState;
 
@@ -148,7 +153,8 @@ protected:
 		case HasReturnvaluesIF::RETURN_OK:
 			break;
 		default:
-			EventManagerIF::triggerEvent(reportingId, MonitoringIF::MONITOR_CHANGED_STATE, state);
+			EventManagerIF::triggerEvent(reportingId,
+			        MonitoringIF::MONITOR_CHANGED_STATE, state);
 			break;
 		}
 	}
@@ -159,14 +165,15 @@ protected:
 	 * @param crossedLimit The limit crossed (if applicable).
 	 * @param state Current state the monitor is in.
 	 */
-	virtual void sendTransitionReport(T parameterValue, T crossedLimit, ReturnValue_t state) {
-		MonitoringReportContent<T> report(parameterId,
+	virtual void sendTransitionReport(T parameterValue, T crossedLimit,
+	        ReturnValue_t state) {
+		MonitoringReportContent<T> report(globalPoolId,
 				parameterValue, crossedLimit, oldState, state);
 		LimitViolationReporter::sendLimitViolationReport(&report);
 	}
 	ReturnValue_t setToState(ReturnValue_t state) {
 		if (oldState != state && reportingEnabled) {
-			MonitoringReportContent<T> report(parameterId, 0, 0, oldState,
+			MonitoringReportContent<T> report(globalPoolId, 0, 0, oldState,
 					state);
 			LimitViolationReporter::sendLimitViolationReport(&report);
 			oldState = state;
@@ -175,4 +182,4 @@ protected:
 	}
 };
 
-#endif /* FRAMEWORK_MONITORING_MONITORREPORTER_H_ */
+#endif /* FSFW_MONITORING_MONITORREPORTER_H_ */
diff --git a/monitoring/MonitoringIF.h b/monitoring/MonitoringIF.h
index 040539ef1..32c625307 100644
--- a/monitoring/MonitoringIF.h
+++ b/monitoring/MonitoringIF.h
@@ -1,8 +1,8 @@
-#ifndef MONITORINGIF_H_
-#define MONITORINGIF_H_
+#ifndef FSFW_MONITORING_MONITORINGIF_H_
+#define FSFW_MONITORING_MONITORINGIF_H_
 
-#include "../memory/HasMemoryIF.h"
 #include "MonitoringMessage.h"
+#include "../memory/HasMemoryIF.h"
 #include "../serialize/SerializeIF.h"
 
 class MonitoringIF : public SerializeIF {
@@ -64,4 +64,4 @@ public:
 
 
 
-#endif /* MONITORINGIF_H_ */
+#endif /* FSFW_MONITORING_MONITORINGIF_H_ */
diff --git a/monitoring/MonitoringMessageContent.h b/monitoring/MonitoringMessageContent.h
index c82506f3a..44d326565 100644
--- a/monitoring/MonitoringMessageContent.h
+++ b/monitoring/MonitoringMessageContent.h
@@ -3,6 +3,7 @@
 
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
+#include "../datapoollocal/locPoolDefinitions.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerialBufferAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
@@ -16,12 +17,17 @@ void setStaticFrameworkObjectIds();
 }
 
 //PID(uint32_t), TYPE, LIMIT_ID, value,limitValue, previous, later, timestamp
+/**
+ * @brief	Does magic.
+ * @tparam T
+ */
 template<typename T>
 class MonitoringReportContent: public SerialLinkedListAdapter<SerializeIF> {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	SerializeElement<uint8_t> monitorId;
-	SerializeElement<uint32_t> parameterId;
+	SerializeElement<uint32_t> parameterObjectId;
+	SerializeElement<lp_id_t> localPoolId;
 	SerializeElement<T> parameterValue;
 	SerializeElement<T> limitValue;
 	SerializeElement<ReturnValue_t> oldState;
@@ -30,20 +36,23 @@ public:
 	SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
 	TimeStamperIF* timeStamper;
 	MonitoringReportContent() :
-			SerialLinkedListAdapter<SerializeIF>(
-					LinkedElement<SerializeIF>::Iterator(&parameterId)), monitorId(0), parameterId(
-					0), parameterValue(0), limitValue(0), oldState(0), newState(
-					0), rawTimestamp( { 0 }), timestampSerializer(rawTimestamp,
+			SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
+					monitorId(0), parameterObjectId(0),
+					localPoolId(0), parameterValue(0),
+					limitValue(0), oldState(0), newState(0),
+					rawTimestamp( { 0 }), timestampSerializer(rawTimestamp,
 					sizeof(rawTimestamp)), timeStamper(NULL) {
 		setAllNext();
 	}
-	MonitoringReportContent(uint32_t setPID, T value, T limitValue,
+	MonitoringReportContent(gp_id_t globalPoolId, T value, T limitValue,
 			ReturnValue_t oldState, ReturnValue_t newState) :
-			SerialLinkedListAdapter<SerializeIF>(
-					LinkedElement<SerializeIF>::Iterator(&parameterId)), monitorId(0), parameterId(
-					setPID), parameterValue(value), limitValue(limitValue), oldState(
-					oldState), newState(newState), timestampSerializer(rawTimestamp,
-							sizeof(rawTimestamp)), timeStamper(NULL) {
+			SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
+					monitorId(0), parameterObjectId(globalPoolId.objectId),
+					localPoolId(globalPoolId.localPoolId),
+					parameterValue(value), limitValue(limitValue),
+					oldState(oldState), newState(newState),
+					timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
+					timeStamper(NULL) {
 		setAllNext();
 		if (checkAndSetStamper()) {
 			timeStamper->addTimeStamp(rawTimestamp, sizeof(rawTimestamp));
@@ -53,16 +62,16 @@ private:
 
 	static object_id_t timeStamperId;
 	void setAllNext() {
-		parameterId.setNext(&parameterValue);
+		parameterObjectId.setNext(&parameterValue);
 		parameterValue.setNext(&limitValue);
 		limitValue.setNext(&oldState);
 		oldState.setNext(&newState);
 		newState.setNext(&timestampSerializer);
 	}
 	bool checkAndSetStamper() {
-		if (timeStamper == NULL) {
+		if (timeStamper == nullptr) {
 			timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
-			if ( timeStamper == NULL ) {
+			if ( timeStamper == nullptr ) {
 				sif::error << "MonitoringReportContent::checkAndSetStamper: "
 				        "Stamper not found!" << std::endl;
 				return false;
diff --git a/monitoring/TriplexMonitor.h b/monitoring/TriplexMonitor.h
index 9b60aeb63..c4b3c5375 100644
--- a/monitoring/TriplexMonitor.h
+++ b/monitoring/TriplexMonitor.h
@@ -82,7 +82,7 @@ public:
 			parameterWrapper->set(limit);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}