From 24c050765b73e10849f1c98505385cac2fbb7e8d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 27 Oct 2022 10:51:34 +0200
Subject: [PATCH] countdown to ensure periodic lock checking

---
 linux/obc/PdecHandler.cpp | 5 +++++
 linux/obc/PdecHandler.h   | 3 +++
 2 files changed, 8 insertions(+)

diff --git a/linux/obc/PdecHandler.cpp b/linux/obc/PdecHandler.cpp
index 1530a59a..54f0e1ff 100644
--- a/linux/obc/PdecHandler.cpp
+++ b/linux/obc/PdecHandler.cpp
@@ -167,6 +167,7 @@ ReturnValue_t PdecHandler::irqOperation() {
         if (ret == 0) {
           // No TCs for timeout period
           checkLocks();
+          lockCheckCd.resetTimer();
         } else if (ret >= 1) {
           nb = read(fd, &info, sizeof(info));
           if (nb == static_cast<ssize_t>(sizeof(info))) {
@@ -182,6 +183,10 @@ ReturnValue_t PdecHandler::irqOperation() {
               // Read FAR here
               CURRENT_FAR = readFar();
             }
+            if (lockCheckCd.hasTimedOut()) {
+              checkLocks();
+              lockCheckCd.resetTimer();
+            }
             // Clear interrupts with dummy read
             ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
           }
diff --git a/linux/obc/PdecHandler.h b/linux/obc/PdecHandler.h
index aad3cbdf..be6299fb 100644
--- a/linux/obc/PdecHandler.h
+++ b/linux/obc/PdecHandler.h
@@ -1,6 +1,8 @@
 #ifndef LINUX_OBC_PDECHANDLER_H_
 #define LINUX_OBC_PDECHANDLER_H_
 
+#include <fsfw/timemanager/Countdown.h>
+
 #include "OBSWConfig.h"
 #include "PdecConfig.h"
 #include "fsfw/action/ActionHelper.h"
@@ -200,6 +202,7 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
 
   static uint32_t CURRENT_FAR;
 
+  Countdown lockCheckCd = Countdown(IRQ_TIMEOUT_MS);
   object_id_t tcDestinationId;
 
   AcceptsTelecommandsIF* tcDestination = nullptr;