Merge remote-tracking branch 'origin/develop' into bugfix_acs_brd_ass

CHANGELOG.md

@@ -16,18 +16,41 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v1.34.0] 2023-03-03
+
+eive-tmtc: v2.16.3
+
+This might include the fix for the race condition where CPU usage jumped to 200 %. The race
+condition was traced to the `Countdown` class, more specifically to the `getUptime` function where
+the `/proc/uptime` file is read.
+
 ## Changed
 
 - Moved polling of all SPI parts to the same PST.
 - Allow quicker transition for the EIVE system component by allowing consecutive TCS and ACS
   component commanding again.
+- Changed a lot of lock guards to use timeouts
+- Queue sizes of TCP/UDP servers increased from 20 to 50
+- Significantly simplified and improved lock guard handling in TCS and ACS board polling
+  tasks.
 
 ## Fixed
 
 - IMTQ: Sets were filled with wrong data, e.g. Raw MTM was filled with calibrated MTM measurements.
 - Set RM3100 dataset to valid.
+- Fixed units in calculation of ACS control laws safe and detumble.
+- Bump FSFW for change in Countdown: Use system clock instead of reading uptime from file
+  to prevent possible race condition.
+- GPS: No fix considered a fault now after 30 minutes instead of 5 hours.
+- SUS Assembly FDIR: Prevent permanent SAFE mode fallbacks by introducing special health
+  handling.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/418/files
 
-# [v1.33.0]
+## Added
+
+- Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
+
+# [v1.33.0] 2023-03-01
 
 eive-tmtc: v2.16.2
 
@@ -41,7 +64,7 @@ eive-tmtc: v2.16.2
 - Linux GPS handler now checks the individual `*_SET` flags when analysing the `gpsd` struct.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/400
 
-# [v1.32.0]
+# [v1.32.0] 2023-02-24
 
 eive-tmtc: v2.16.1
 
@@ -82,7 +105,7 @@ eive-tmtc: v2.16.1
 - `RwDummy` now initializes with a non faulty state
 
 
-# [v1.31.1]
+# [v1.31.1] 2023-02-23
 
 ## Fixed
 
@@ -92,7 +115,7 @@ eive-tmtc: v2.16.1
   for actuator control which lead to a crash.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
 
-# [v1.31.0]
+# [v1.31.0] 2023-02-23
 
 eive-tmtc: v2.16.0
 
@@ -133,7 +156,7 @@ COM PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/364
 - `MekfData` now includes `mekfStatus`
 - `CtrlValData` now includes `tgtRotRate`
 
-# [v1.30.0]
+# [v1.30.0] 2023-02-22
 
 eive-tmtc: v2.14.0
 
@@ -150,7 +173,7 @@ Event IDs for PDEC handler have changed in a breaking manner.
   an event is triggered and the task is delayed for 400 ms.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/393
 
-# [v1.29.1]
+# [v1.29.1] 2023-02-21
 
 ## Fixed
 
@@ -162,7 +185,7 @@ Event IDs for PDEC handler have changed in a breaking manner.
   Issue: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/issues/388
 - Disable stopwatch in MAX31865 polling task
 
-# [v1.29.0]
+# [v1.29.0] 2023-02-21
 
 eive-tmtc: v2.13.0
 
@@ -183,7 +206,7 @@ eive-tmtc: v2.13.0
   will be part of the TCS tree.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/351
 
-# [v1.28.1]
+# [v1.28.1] 2023-02-21
 
 ## Fixed
 

CMakeLists.txt

@@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 33)
+set(OBSW_VERSION_MINOR 34)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 267 translations.
  * @details
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateEvents.h"
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 157 translations.
+ * Contains 158 translations.
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateObjects.h"
 
@@ -142,8 +142,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
-const char *RW_ASS_STRING = "RW_ASS";
+const char *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@@ -439,9 +440,11 @@ const char *translateObject(object_id_t object) {
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
     case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
     case 0x73000006:
       return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73000101:

bsp_q7s/core/ObjectFactory.cpp

@@ -8,6 +8,7 @@
 #include <mission/devices/MgmLis3CustomHandler.h>
 #include <mission/devices/MgmRm3100CustomHandler.h>
 #include <mission/system/objects/CamSwitcher.h>
+#include <mission/system/objects/SyrlinksAssembly.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -579,12 +580,14 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
+  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
+  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
       new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
                           pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
-  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
 #if OBSW_DEBUG_SYRLINKS == 1
   syrlinksHandler->setDebugMode(true);
 #endif

bsp_q7s/core/scheduling.cpp

@@ -150,6 +150,10 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
   }
+  result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
+  }
   result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
@@ -243,9 +247,9 @@ void scheduling::initTasks() {
   }
 #endif /* OBSW_ADD_ACS_HANDLERS */
 #if OBSW_ADD_RW == 1
-  result = acsSysTask->addComponent(objects::RW_ASS);
+  result = acsSysTask->addComponent(objects::RW_ASSY);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
+    scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
   }
 #endif
 #if OBSW_ADD_SUS_BOARD_ASS == 1

bsp_q7s/fs/SdCardManager.cpp

@@ -20,14 +20,14 @@
 SdCardManager* SdCardManager::INSTANCE = nullptr;
 
 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
-  mutex = MutexFactory::instance()->createMutex();
+  sdLock = MutexFactory::instance()->createMutex();
-  ReturnValue_t result = mutex->lockMutex();
+  ReturnValue_t result = sdLock->lockMutex();
   if (result != returnvalue::OK) {
     sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
   }
   uint8_t prefSdRaw = 0;
   result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
-  if (mutex->unlockMutex() != returnvalue::OK) {
+  if (sdLock->unlockMutex() != returnvalue::OK) {
     sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
   }
 
@@ -195,7 +195,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
 
 ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
   using namespace std;
-  MutexGuard mg(mutex);
+  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   if (not filesystem::exists(SD_STATE_FILE)) {
     return STATUS_FILE_NEXISTS;
   }
@@ -378,7 +378,7 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
 }
 
 std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   auto res = mg.getLockResult();
   if (res != returnvalue::OK) {
     sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
@@ -387,7 +387,7 @@ std::optional<sd::SdCard> SdCardManager::getPreferredSdCard() const {
 }
 
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(mutex);
+  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   if (sdCard == sd::SdCard::BOTH) {
     return returnvalue::FAILED;
   }
@@ -399,7 +399,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
     return CommandExecutor::COMMAND_PENDING;
   }
-  MutexGuard mg(mutex);
+  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   // Use q7hw utility and pipe the command output into the state file
   std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
   cmdExecutor.load(updateCmd, blocking, printCmdOutput);
@@ -411,7 +411,7 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
 }
 
 const char* SdCardManager::getCurrentMountPrefix() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   if (currentPrefix.has_value()) {
     return currentPrefix.value().c_str();
   }
@@ -464,7 +464,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
 
 bool SdCardManager::isSdCardUsable(std::optional<sd::SdCard> sdCard) {
   {
-    MutexGuard mg(mutex);
+    MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     if (markedUnusable) {
       return false;
     }
@@ -560,7 +560,7 @@ ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, in
 }
 
 void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
-  MutexGuard mg(mutex);
+  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   sdInfo.active = sdCard;
   if (sdInfo.active == sd::SdCard::SLOT_0) {
     currentPrefix = config::SD_0_MOUNT_POINT;
@@ -570,7 +570,7 @@ void SdCardManager::setActiveSdCard(sd::SdCard sdCard) {
 }
 
 std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
-  MutexGuard mg(mutex);
+  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   if (markedUnusable) {
     return std::nullopt;
   }
@@ -578,6 +578,6 @@ std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
 }
 
 void SdCardManager::markUnusable() {
-  MutexGuard mg(mutex);
+  MutexGuard mg(sdLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   markedUnusable = true;
 }

bsp_q7s/fs/SdCardManager.h

@@ -223,7 +223,10 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   bool sdCardActive = true;
   bool printCmdOutput = true;
   bool markedUnusable = false;
-  MutexIF* mutex = nullptr;
+  MutexIF* sdLock = nullptr;
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t LOCK_TIMEOUT = 40;
+  static constexpr char LOCK_CTX[] = "SdCardManager";
 
   SdCardManager();
 

common/config/eive/objects.h

@@ -142,8 +142,9 @@ enum commonObjects : uint32_t {
   ACS_BOARD_ASS = 0x73000001,
   SUS_BOARD_ASS = 0x73000002,
   TCS_BOARD_ASS = 0x73000003,
-  RW_ASS = 0x73000004,
+  RW_ASSY = 0x73000004,
   CAM_SWITCHER = 0x73000006,
+  SYRLINKS_ASSY = 0x73000007,
   EIVE_SYSTEM = 0x73010000,
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,

fsfw

@@ -1 +1 @@
-Subproject commit 511d07c0c78de7b1850e341dfcf8be7589f3c523
+Subproject commit 33de15205b4560c54a108e35609536374b026c22

generators/bsp_hosted_objects.csv

@@ -134,8 +134,9 @@
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
-0x73000004;RW_ASS
+0x73000004;RW_ASSY
 0x73000006;CAM_SWITCHER
+0x73000007;SYRLINKS_ASSY
 0x73000100;TM_FUNNEL
 0x73000101;PUS_TM_FUNNEL
 0x73000102;CFDP_TM_FUNNEL

generators/bsp_q7s_objects.csv

@@ -139,8 +139,9 @@
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
-0x73000004;RW_ASS
+0x73000004;RW_ASSY
 0x73000006;CAM_SWITCHER
+0x73000007;SYRLINKS_ASSY
 0x73000100;TM_FUNNEL
 0x73000101;PUS_TM_FUNNEL
 0x73000102;CFDP_TM_FUNNEL

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 267 translations.
  * @details
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 161 translations.
+ * Contains 162 translations.
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateObjects.h"
 
@@ -147,8 +147,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
-const char *RW_ASS_STRING = "RW_ASS";
+const char *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@@ -453,9 +454,11 @@ const char *translateObject(object_id_t object) {
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
     case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
     case 0x73000006:
       return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73000101:

linux/devices/AcsBoardPolling.cpp

@@ -4,6 +4,7 @@
 #include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/tasks/SemaphoreFactory.h>
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
 #include <fsfw_hal/linux/UnixFileGuard.h>
@@ -25,20 +26,24 @@ AcsBoardPolling::AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF,
 
 ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
   while (true) {
-    ipcLock->lockMutex();
+    ipcLock->lockMutex(LOCK_TYPE, LOCK_TIMEOUT);
     state = InternalState::IDLE;
     ipcLock->unlockMutex();
     semaphore->acquire();
     // Give all tasks or the PST some time to submit all consecutive requests.
     TaskFactory::delayTask(2);
-    gyroAdisHandler(gyro0Adis);
+    {
-    gyroAdisHandler(gyro2Adis);
+      // Measured to take 0-1 ms in debug build.
-    gyroL3gHandler(gyro1L3g);
+      // Stopwatch watch;
-    gyroL3gHandler(gyro3L3g);
+      gyroAdisHandler(gyro0Adis);
-    mgmRm3100Handler(mgm1Rm3100);
+      gyroAdisHandler(gyro2Adis);
-    mgmRm3100Handler(mgm3Rm3100);
+      gyroL3gHandler(gyro1L3g);
-    mgmLis3Handler(mgm0Lis3);
+      gyroL3gHandler(gyro3L3g);
-    mgmLis3Handler(mgm2Lis3);
+      mgmRm3100Handler(mgm1Rm3100);
+      mgmRm3100Handler(mgm3Rm3100);
+      mgmLis3Handler(mgm0Lis3);
+      mgmLis3Handler(mgm2Lis3);
+    }
     // To prevent task being not reactivated by tardy tasks
     TaskFactory::delayTask(20);
   }
@@ -105,12 +110,10 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       return returnvalue::FAILED;
     }
     auto* req = reinterpret_cast<const acs::Adis1650XRequest*>(sendData);
-    MutexGuard mg(ipcLock);
     if (req->mode != adis.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         adis.type = req->type;
         adis.countdown.setTimeout(adis1650x::START_UP_TIME);
-        adis.countdown.resetTimer();
         if (adis.type == adis1650x::Type::ADIS16507) {
           adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
         } else if (adis.type == adis1650x::Type::ADIS16505) {
@@ -135,7 +138,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       return returnvalue::FAILED;
     }
     auto* req = reinterpret_cast<const acs::GyroL3gRequest*>(sendData);
-    MutexGuard mg(ipcLock);
     if (req->mode != gyro.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
@@ -154,7 +156,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       return returnvalue::FAILED;
     }
     auto* req = reinterpret_cast<const acs::MgmLis3Request*>(sendData);
-    MutexGuard mg(ipcLock);
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
@@ -173,7 +174,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       return returnvalue::FAILED;
     }
     auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
-    MutexGuard mg(ipcLock);
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
@@ -184,45 +184,47 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     }
     return returnvalue::OK;
   };
-  switch (spiCookie->getChipSelectPin()) {
+  {
-    case (gpioIds::MGM_0_LIS3_CS): {
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-      handleLis3Request(mgm0Lis3);
+    switch (spiCookie->getChipSelectPin()) {
-      break;
+      case (gpioIds::MGM_0_LIS3_CS): {
+        handleLis3Request(mgm0Lis3);
+        break;
+      }
+      case (gpioIds::MGM_1_RM3100_CS): {
+        handleRm3100Request(mgm1Rm3100);
+        break;
+      }
+      case (gpioIds::MGM_2_LIS3_CS): {
+        handleLis3Request(mgm2Lis3);
+        break;
+      }
+      case (gpioIds::MGM_3_RM3100_CS): {
+        handleRm3100Request(mgm3Rm3100);
+        break;
+      }
+      case (gpioIds::GYRO_0_ADIS_CS): {
+        handleAdisRequest(gyro0Adis);
+        break;
+      }
+      case (gpioIds::GYRO_2_ADIS_CS): {
+        handleAdisRequest(gyro2Adis);
+        break;
+      }
+      case (gpioIds::GYRO_1_L3G_CS): {
+        handleL3gRequest(gyro1L3g);
+        break;
+      }
+      case (gpioIds::GYRO_3_L3G_CS): {
+        handleL3gRequest(gyro3L3g);
+        break;
+      }
     }
-    case (gpioIds::MGM_1_RM3100_CS): {
+    if (state == InternalState::IDLE) {
-      handleRm3100Request(mgm1Rm3100);
+      state = InternalState::BUSY;
-      break;
-    }
-    case (gpioIds::MGM_2_LIS3_CS): {
-      handleLis3Request(mgm2Lis3);
-      break;
-    }
-    case (gpioIds::MGM_3_RM3100_CS): {
-      handleRm3100Request(mgm3Rm3100);
-      break;
-    }
-    case (gpioIds::GYRO_0_ADIS_CS): {
-      handleAdisRequest(gyro0Adis);
-      break;
-    }
-    case (gpioIds::GYRO_2_ADIS_CS): {
-      handleAdisRequest(gyro2Adis);
-      break;
-    }
-    case (gpioIds::GYRO_1_L3G_CS): {
-      handleL3gRequest(gyro1L3g);
-      break;
-    }
-    case (gpioIds::GYRO_3_L3G_CS): {
-      handleL3gRequest(gyro3L3g);
-      break;
     }
   }
-  MutexGuard mg(ipcLock);
+  semaphore->release();
-  if (state == InternalState::IDLE) {
-    state = InternalState::BUSY;
-    semaphore->release();
-  }
   return returnvalue::OK;
 }
 
@@ -238,7 +240,7 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
   if (spiCookie == nullptr) {
     return returnvalue::FAILED;
   }
-  MutexGuard mg(ipcLock);
+  MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   auto handleAdisReply = [&](GyroAdis& gyro) {
     std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::Adis1650XReply));
     *buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
@@ -294,10 +296,10 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
 
 void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
   ReturnValue_t result;
-  acs::SimpleSensorMode mode;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
-  bool gyroPerformStartup;
+  bool gyroPerformStartup = false;
   {
-    MutexGuard mg(ipcLock);
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = l3g.mode;
     gyroPerformStartup = l3g.performStartup;
   }
@@ -320,7 +322,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
       if (result != returnvalue::OK) {
         l3g.replyResult = returnvalue::OK;
       }
-      MutexGuard mg(ipcLock);
+      MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
       // Cross check configuration as verification that communication is working
       for (uint8_t idx = 0; idx < 5; idx++) {
         if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
@@ -345,7 +347,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
       l3g.replyResult = returnvalue::FAILED;
       return;
     }
-    MutexGuard mg(ipcLock);
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     // The regular read function always returns the full sensor config as well. Use that
     // to verify communications.
     for (uint8_t idx = 0; idx < 5; idx++) {
@@ -440,11 +442,11 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
 
 void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
   ReturnValue_t result;
-  acs::SimpleSensorMode mode;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
   bool cdHasTimedOut = false;
   bool mustPerformStartup = false;
   {
-    MutexGuard mg(ipcLock);
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = gyro.mode;
     cdHasTimedOut = gyro.countdown.hasTimedOut();
     mustPerformStartup = gyro.performStartup;
@@ -478,7 +480,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
         gyro.replyResult = returnvalue::FAILED;
         return;
       }
-      MutexGuard mg(ipcLock);
+      MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
       gyro.ownReply.cfgWasSet = true;
       gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
       gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
@@ -525,7 +527,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
       return;
     }
 
-    MutexGuard mg(ipcLock);
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     gyro.ownReply.dataWasSet = true;
     gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
     gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
@@ -542,10 +544,10 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
 
 void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
   ReturnValue_t result;
-  acs::SimpleSensorMode mode;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
   bool mustPerformStartup = false;
   {
-    MutexGuard mg(ipcLock);
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = mgm.mode;
     mustPerformStartup = mgm.performStartup;
   }
@@ -605,7 +607,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
       return;
     }
     {
-      MutexGuard mg(ipcLock);
+      MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
       mgm.ownReply.dataWasSet = true;
       mgm.ownReply.sensitivity = mgmLis3::getSensitivityFactor(mgmLis3::getSensitivity(mgm.cfg[1]));
       mgm.ownReply.mgmValuesRaw[0] =
@@ -627,7 +629,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
       mgm.replyResult = result;
       return;
     }
-    MutexGuard mg(ipcLock);
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mgm.ownReply.temperatureWasSet = true;
     mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
   }
@@ -635,10 +637,10 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
 
 void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
   ReturnValue_t result;
-  acs::SimpleSensorMode mode;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
   bool mustPerformStartup = false;
   {
-    MutexGuard mg(ipcLock);
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = mgm.mode;
     mustPerformStartup = mgm.performStartup;
   }
@@ -712,7 +714,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
       mgm.replyResult = result;
       return;
     }
-    MutexGuard mg(ipcLock);
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     for (uint8_t idx = 0; idx < 3; idx++) {
       // Hardcoded, but note that the gain depends on the cycle count
       // value which is configurable!

linux/devices/AcsBoardPolling.h

@@ -22,6 +22,9 @@ class AcsBoardPolling : public SystemObject,
  private:
   enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
   MutexIF* ipcLock;
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t LOCK_TIMEOUT = 20;
+  static constexpr char LOCK_CTX[] = "AcsBoardPolling";
   SemaphoreIF* semaphore;
   std::array<uint8_t, 32> cmdBuf;
 

linux/devices/GpsHyperionLinuxController.cpp

@@ -19,9 +19,7 @@
 
 GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool debugHyperionGps)
-    : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
+    : ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {}
-  timeUpdateCd.resetTimer();
-}
 
 GpsHyperionLinuxController::~GpsHyperionLinuxController() {
   gps_stream(&gps, WATCH_DISABLE, nullptr);
@@ -196,8 +194,8 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
     if (mode != MODE_OFF) {
       if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
         sif::warning << "GpsHyperionLinuxController: No mode could be set in allowed "
-                     << maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
+                     << maxTimeToReachFix.getTimeoutMs() / 1000 << " seconds" << std::endl;
-        triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
+        triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.getTimeoutMs());
         oneShotSwitches.cantGetFixSwitch = false;
       }
       modeIsSet = false;

linux/devices/GpsHyperionLinuxController.h

@@ -23,7 +23,8 @@
  */
 class GpsHyperionLinuxController : public ExtendedControllerBase {
  public:
-  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
+  // 30 minutes
+  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 30;
 
   enum ReadModes { SHM = 0, SOCKET = 1 };
 
@@ -79,7 +80,6 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
 
   bool debugHyperionGps = false;
   int32_t noModeSetCntr = 0;
-  Countdown timeUpdateCd = Countdown(60);
 
   // Returns true if the function should be called again or false if other
   // controller handling can be done.

linux/devices/Max31865RtdPolling.cpp

@@ -19,25 +19,19 @@ static constexpr uint8_t BASE_CFG =
 Max31865RtdPolling::Max31865RtdPolling(object_id_t objectId, SpiComIF* lowLevelComIF,
                                        GpioIF* gpioIF)
     : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
-  readerMutex = MutexFactory::instance()->createMutex();
+  readerLock = MutexFactory::instance()->createMutex();
 }
 
 ReturnValue_t Max31865RtdPolling::performOperation(uint8_t operationCode) {
   using namespace MAX31865;
   ReturnValue_t result = returnvalue::OK;
   static_cast<void>(result);
+  // Measured to take 0-1 ms in debug build
   // Stopwatch watch;
-  if (periodicInitHandling()) {
+  periodicInitHandling();
-#if OBSW_RTD_AUTO_MODE == 0
-    // 10 ms delay for VBIAS startup
-    TaskFactory::delayTask(10);
-#endif
-  } else {
-    // No devices usable (e.g. TCS board off)
-    return returnvalue::OK;
-  }
-
 #if OBSW_RTD_AUTO_MODE == 0
+  // 10 ms delay for VBIAS startup
+  TaskFactory::delayTask(10);
   result = periodicReadReqHandling();
   if (result != returnvalue::OK) {
     return result;
@@ -56,19 +50,28 @@ bool Max31865RtdPolling::rtdIsActive(uint8_t idx) {
   return false;
 }
 
-bool Max31865RtdPolling::periodicInitHandling() {
+ReturnValue_t Max31865RtdPolling::periodicInitHandling() {
   using namespace MAX31865;
   ReturnValue_t result = returnvalue::OK;
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
     }
-    MutexGuard mg(readerMutex);
+    bool mustPerformInitHandling = false;
-    if (mg.getLockResult() != returnvalue::OK) {
+    bool doWriteLowThreshold = false;
-      sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
+    bool doWriteHighThreshold = false;
-      return false;
+    {
+      MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+      if (mg.getLockResult() != returnvalue::OK) {
+        sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
+        continue;
+      }
+      mustPerformInitHandling =
+          (rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut();
+      doWriteHighThreshold = rtd->writeHighThreshold;
+      doWriteLowThreshold = rtd->writeLowThreshold;
     }
-    if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
+    if (mustPerformInitHandling) {
       // Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
       // or hardware specific issue where the CS needs to be pulled high and then low again
       // between transfers
@@ -77,13 +80,13 @@ bool Max31865RtdPolling::periodicInitHandling() {
         handleSpiError(rtd, result, "writeCfgReg");
         continue;
       }
-      if (rtd->writeLowThreshold) {
+      if (doWriteLowThreshold) {
         result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
         if (result != returnvalue::OK) {
           handleSpiError(rtd, result, "writeLowThreshold");
         }
       }
-      if (rtd->writeHighThreshold) {
+      if (doWriteHighThreshold) {
         result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
         if (result != returnvalue::OK) {
           handleSpiError(rtd, result, "writeHighThreshold");
@@ -93,38 +96,23 @@ bool Max31865RtdPolling::periodicInitHandling() {
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "clearFaultStatus");
       }
+      MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
       rtd->db.configured = true;
       rtd->db.active = true;
     }
   }
-  bool someRtdUsable = false;
+  return returnvalue::OK;
-  for (auto& rtd : rtds) {
-    if (rtd == nullptr) {
-      continue;
-    }
-    if (rtdIsActive(rtd->idx)) {
-#if OBSW_RTD_AUTO_MODE == 0
-      result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
-#endif
-      someRtdUsable = true;
-    }
-  }
-  return someRtdUsable;
 }
 
 ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
   using namespace MAX31865;
+  updateActiveRtdsArray();
   // Now request one shot config for all active RTDs
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
     }
-    MutexGuard mg(readerMutex);
+    if (activeRtdsArray[rtd->idx]) {
-    if (mg.getLockResult() != returnvalue::OK) {
-      sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
-      return returnvalue::FAILED;
-    }
-    if (rtdIsActive(rtd->idx)) {
       ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "writeCfgReg");
@@ -139,17 +127,13 @@ ReturnValue_t Max31865RtdPolling::periodicReadReqHandling() {
 ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
   using namespace MAX31865;
   auto result = returnvalue::OK;
+  updateActiveRtdsArray();
   // Now read the RTD values
   for (auto& rtd : rtds) {
     if (rtd == nullptr) {
       continue;
     }
-    MutexGuard mg(readerMutex);
+    if (activeRtdsArray[rtd->idx]) {
-    if (mg.getLockResult() != returnvalue::OK) {
-      sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
-      return returnvalue::FAILED;
-    }
-    if (rtdIsActive(rtd->idx)) {
       // Please note that using the manual CS lock wrapper here is problematic. Might be a SPI
       // or hardware specific issue where the CS needs to be pulled high and then low again
       // between transfers
@@ -166,6 +150,7 @@ ReturnValue_t Max31865RtdPolling::periodicReadHandling() {
         handleSpiError(rtd, result, "readRtdVal");
         continue;
       }
+      MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
       if (faultBitSet) {
         rtd->db.faultBitSet = faultBitSet;
       }
@@ -200,7 +185,7 @@ ReturnValue_t Max31865RtdPolling::initializeInterface(CookieIF* cookie) {
     throw std::invalid_argument("Invalid RTD index");
   }
   rtds[rtdCookie->idx] = rtdCookie;
-  MutexGuard mg(readerMutex);
+  MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   if (dbLen == 0) {
     dbLen = rtdCookie->db.getSerializedSize();
   }
@@ -212,16 +197,19 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
   if (cookie == nullptr) {
     return returnvalue::FAILED;
   }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  if (rtdCookie == nullptr) {
+    return returnvalue::FAILED;
+  }
   // Empty command.. don't fail for now
   if (sendLen < 1) {
     return returnvalue::OK;
   }
-  MutexGuard mg(readerMutex);
+  MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   if (mg.getLockResult() != returnvalue::OK) {
     sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
     return returnvalue::FAILED;
   }
-  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
   uint8_t cmdRaw = sendData[0];
   if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
     sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
@@ -240,7 +228,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
     case (EiveMax31855::RtdCommands::ON): {
       if (not rtdCookie->on) {
         rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
-        rtdCookie->cd.resetTimer();
         rtdCookie->on = true;
         rtdCookie->db.active = false;
         rtdCookie->db.configured = false;
@@ -253,7 +240,6 @@ ReturnValue_t Max31865RtdPolling::sendMessage(CookieIF* cookie, const uint8_t* s
     case (EiveMax31855::RtdCommands::ACTIVE): {
       if (not rtdCookie->on) {
         rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
-        rtdCookie->cd.resetTimer();
         rtdCookie->on = true;
         rtdCookie->db.active = true;
         rtdCookie->db.configured = false;
@@ -312,15 +298,15 @@ ReturnValue_t Max31865RtdPolling::requestReceiveMessage(CookieIF* cookie, size_t
 
 ReturnValue_t Max31865RtdPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
                                                       size_t* size) {
-  MutexGuard mg(readerMutex);
-  if (mg.getLockResult() != returnvalue::OK) {
-    // TODO: Emit warning
-    return returnvalue::FAILED;
-  }
   auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
   if (rtdCookie == nullptr) {
     return returnvalue::FAILED;
   }
+  MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  if (mg.getLockResult() != returnvalue::OK) {
+    // TODO: Emit warning
+    return returnvalue::FAILED;
+  }
   uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
   size_t serLen = 0;
   auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
@@ -461,6 +447,18 @@ ReturnValue_t Max31865RtdPolling::readNFromReg(SpiCookie* cookie, uint8_t reg, s
   return returnvalue::OK;
 }
 
+ReturnValue_t Max31865RtdPolling::updateActiveRtdsArray() {
+  MutexGuard mg(readerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  if (mg.getLockResult() != returnvalue::OK) {
+    sif::warning << "Max31865RtdReader::periodicReadHandling: Mutex lock failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  for (const auto& rtd : rtds) {
+    activeRtdsArray[rtd->idx] = rtdIsActive(rtd->idx);
+  }
+  return returnvalue::OK;
+}
+
 ReturnValue_t Max31865RtdPolling::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
                                                  const char* ctx) {
   cookie->db.spiErrorCount.value += 1;

linux/devices/Max31865RtdPolling.h

@@ -47,8 +47,12 @@ class Max31865RtdPolling : public SystemObject,
  private:
   std::vector<Max31865ReaderCookie*> rtds;
   std::array<uint8_t, 4> cmdBuf = {};
+  std::array<bool, 12> activeRtdsArray{};
   size_t dbLen = 0;
-  MutexIF* readerMutex;
+  MutexIF* readerLock;
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t LOCK_TIMEOUT = 20;
+  static constexpr char LOCK_CTX[] = "Max31865RtdPolling";
 
   SpiComIF* comIF;
   GpioIF* gpioIF;
@@ -56,7 +60,7 @@ class Max31865RtdPolling : public SystemObject,
   uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
   MutexIF* csLock = nullptr;
 
-  bool periodicInitHandling();
+  ReturnValue_t periodicInitHandling();
   ReturnValue_t periodicReadReqHandling();
   ReturnValue_t periodicReadHandling();
 
@@ -81,6 +85,8 @@ class Max31865RtdPolling : public SystemObject,
   ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
   ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
 
+  ReturnValue_t updateActiveRtdsArray();
+
   ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
 };
 

linux/devices/RwPollingTask.cpp

@@ -220,7 +220,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
   }
   pullCsLow(gpioId, gpioIF);
   bool lastByteWasFrameMarker = false;
-  Countdown cd(3000);
+  Countdown cd(2000);
   size_t readIdx = 0;
 
   while (true) {

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 267 translations.
  * @details
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 161 translations.
+ * Contains 162 translations.
- * Generated on: 2023-03-01 18:34:32
+ * Generated on: 2023-03-02 17:08:11
  */
 #include "translateObjects.h"
 
@@ -147,8 +147,9 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
-const char *RW_ASS_STRING = "RW_ASS";
+const char *RW_ASSY_STRING = "RW_ASSY";
 const char *CAM_SWITCHER_STRING = "CAM_SWITCHER";
+const char *SYRLINKS_ASSY_STRING = "SYRLINKS_ASSY";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *PUS_TM_FUNNEL_STRING = "PUS_TM_FUNNEL";
 const char *CFDP_TM_FUNNEL_STRING = "CFDP_TM_FUNNEL";
@@ -453,9 +454,11 @@ const char *translateObject(object_id_t object) {
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
     case 0x73000004:
-      return RW_ASS_STRING;
+      return RW_ASSY_STRING;
     case 0x73000006:
       return CAM_SWITCHER_STRING;
+    case 0x73000007:
+      return SYRLINKS_ASSY_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73000101:

mission/config/comCfg.cpp

@@ -9,12 +9,12 @@ MutexIF* DATARATE_LOCK = nullptr;
 MutexIF* lazyLock();
 
 com::Datarate com::getCurrentDatarate() {
-  MutexGuard mg(lazyLock());
+  MutexGuard mg(lazyLock(), MutexIF::TimeoutType::WAITING, 20, "com");
   return DATARATE_CFG_RAW;
 }
 
 void com::setCurrentDatarate(com::Datarate newRate) {
-  MutexGuard mg(lazyLock());
+  MutexGuard mg(lazyLock(), MutexIF::TimeoutType::WAITING, 20, "com");
   DATARATE_CFG_RAW = newRate;
 }
 

mission/config/torquer.h

@@ -9,6 +9,9 @@ namespace torquer {
 // Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down
 // time of the MGT
 static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20;
+static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+static constexpr uint32_t LOCK_TIMEOUT = 20;
+static constexpr char LOCK_CTX[] = "torquer";
 
 MutexIF* lazyLock();
 extern bool TORQUEING;

mission/controller/AcsController.cpp

@@ -157,20 +157,23 @@ void AcsController::performSafe() {
   guidance.getTargetParamsSafe(sunTargetDir, satRateSafe);
   // if MEKF is working
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
-  bool magMomMtqValid = false;
   if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
-    safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
+    result = safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
-                      mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
+                               mgmDataProcessed.magIgrfModel.value,
-                      susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
+                               mgmDataProcessed.magIgrfModel.isValid(),
-                      mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
+                               susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
-                      sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
+                               mekfData.satRotRateMekf.value, mekfData.satRotRateMekf.isValid(),
+                               sunTargetDir, satRateSafe, &errAng, magMomMtq);
   } else {
-    safeCtrl.safeNoMekf(
+    result = safeCtrl.safeNoMekf(
         now, susDataProcessed.susVecTot.value, susDataProcessed.susVecTot.isValid(),
         susDataProcessed.susVecTotDerivative.value, susDataProcessed.susVecTotDerivative.isValid(),
         mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
         mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTotDerivative.isValid(),
-        sunTargetDir, satRateSafe, &errAng, magMomMtq, &magMomMtqValid);
+        sunTargetDir, satRateSafe, &errAng, magMomMtq);
+  }
+  if (result == returnvalue::FAILED) {
+    // ToDo: this should never ever happen or we are dead. prob add an event at least
   }
 
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs);
@@ -429,7 +432,8 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
                                               uint16_t rampTime) {
   {
     PoolReadGuard pg(&dipoleSet);
-    MutexGuard mg(torquer::lazyLock());
+    MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
+                  torquer::LOCK_CTX);
     torquer::NEW_ACTUATION_FLAG = true;
     dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
   }

mission/controller/acs/control/Detumble.cpp

@@ -1,11 +1,3 @@
-
-/*
- * Detumble.cpp
- *
- *  Created on: 17 Aug 2022
- *      Author: Robin Marquardt
- */
-
 #include "Detumble.h"
 
 #include <fsfw/globalfunctions/constants.h>
@@ -31,6 +23,12 @@ ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
   if (!magRateValid || !magFieldValid) {
     return DETUMBLE_NO_SENSORDATA;
   }
+
+  // change unit from uT to T
+  double magFieldT[3] = {0, 0, 0}, magRateT[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3);
+  VectorOperations<double>::mulScalar(magRate, 1e-6, magRateT, 3);
+
   double gain = detumbleParameter->gainD;
   double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
   VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);

mission/controller/acs/control/SafeCtrl.cpp

@@ -32,15 +32,13 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
                                  double *magFieldModel, bool magFieldModelValid,
                                  double *sunDirModel, bool sunDirModelValid, double *satRateMekf,
                                  bool rateMekfValid, double *sunDirRef, double *satRatRef,
-                                 double *outputAngle, double *outputMagMomB, bool *outputValid) {
+                                 double *outputAngle, double *outputMagMomB) {
   if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) {
-    *outputValid = false;
     return SAFECTRL_MEKF_INPUT_INVALID;
   }
 
-  double kRate = 0, kAlign = 0;
+  double kRate = safeModeControllerParameters->k_rate_mekf;
-  kRate = safeModeControllerParameters->k_rate_mekf;
+  double kAlign = safeModeControllerParameters->k_align_mekf;
-  kAlign = safeModeControllerParameters->k_align_mekf;
 
   //	Calc sunDirB ,magFieldB with mekf output and model
   double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -49,22 +47,22 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
   MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
   MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);
 
-  double crossSun[3] = {0, 0, 0};
+  // change unit from uT to T
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
 
+  double crossSun[3] = {0, 0, 0};
   VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
   double normCrossSun = VectorOperations<double>::norm(crossSun, 3);
 
   //	calc angle alpha between sunDirRef and sunDIr
-  double alpha = 0, dotSun = 0;
+  double dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
-  dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
+  double alpha = acos(dotSun);
-  alpha = acos(dotSun);
 
   //	Law Torque calculations
   double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
          torqueAll[3] = {0, 0, 0};
 
-  double scalarFac = 0;
+  double scalarFac = kAlign * alpha / normCrossSun;
-  scalarFac = kAlign * alpha / normCrossSun;
   VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);
 
   double rateSafeMode[3] = {0, 0, 0};
@@ -82,39 +80,38 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
   VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);
 
   *outputAngle = alpha;
-  *outputValid = true;
-
   return returnvalue::OK;
 }
 
 // Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
-void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
+ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid,
-                          bool sunRateBValid, double *magFieldB, bool magFieldBValid,
+                                   double *sunRateB, bool sunRateBValid, double *magFieldB,
-                          double *magRateB, bool magRateBValid, double *sunDirRef,
+                                   bool magFieldBValid, double *magRateB, bool magRateBValid,
-                          double *satRateRef, double *outputAngle, double *outputMagMomB,
+                                   double *sunDirRef, double *satRateRef, double *outputAngle,
-                          bool *outputValid) {
+                                   double *outputMagMomB) {
   // Check for invalid Inputs
   if (!susDirBValid || !magFieldBValid || !magRateBValid) {
-    *outputValid = false;
+    return returnvalue::FAILED;
-    return;
   }
 
+  // change unit from uT to T
+  double magFieldBT[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
+
   // normalize sunDir and magDir
   double magDirB[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(magFieldB, magDirB, 3);
+  VectorOperations<double>::normalize(magFieldBT, magDirB, 3);
   VectorOperations<double>::normalize(susDirB, susDirB, 3);
 
   // Cosinus angle between sunDir and magDir
   double cosAngleSunMag = VectorOperations<double>::dot(magDirB, susDirB);
 
   // Rate parallel to sun direction and magnetic field direction
-  double rateParaSun = 0, rateParaMag = 0;
+  double dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
-  double dotSunRateMag = 0, dotmagRateSun = 0, rateFactor = 0;
+  double dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
-  dotSunRateMag = VectorOperations<double>::dot(sunRateB, magDirB);
+  double rateFactor = 1 - pow(cosAngleSunMag, 2);
-  dotmagRateSun = VectorOperations<double>::dot(magRateB, susDirB);
+  double rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
-  rateFactor = 1 - pow(cosAngleSunMag, 2);
+  double rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
-  rateParaSun = (dotmagRateSun + cosAngleSunMag * dotSunRateMag) / rateFactor;
-  rateParaMag = (dotSunRateMag + cosAngleSunMag * dotmagRateSun) / rateFactor;
 
   // Full rate or estimate
   double estSatRate[3] = {0, 0, 0};
@@ -130,7 +127,7 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
    * is sufficiently large */
   double angleSunMag = acos(cosAngleSunMag);
   if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
-    return;
+    return returnvalue::FAILED;
   }
 
   // Rate for Torque Calculation
@@ -138,9 +135,8 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
   VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
 
   // Torque Align calculation
-  double kRateNoMekf = 0, kAlignNoMekf = 0;
+  double kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
-  kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
+  double kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
-  kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
 
   double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
   double crossSusSunRef[3] = {0, 0, 0};
@@ -165,11 +161,11 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
   // Magnetic moment
   double magMomB[3] = {0, 0, 0};
   double crossMagFieldTorque[3] = {0, 0, 0};
-  VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
+  VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque);
-  double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
+  double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
   VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
 
   std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));
   *outputAngle = angleAlignErr;
-  *outputValid = true;
+  return returnvalue::OK;
 }

mission/controller/acs/control/SafeCtrl.h

@@ -23,14 +23,12 @@ class SafeCtrl {
                          bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
                          double *satRateMekf, bool rateMekfValid, double *sunDirRef,
                          double *satRatRef,  // From Guidance (!)
-                         double *outputAngle, double *outputMagMomB, bool *outputValid);
+                         double *outputAngle, double *outputMagMomB);
 
-  void safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
+  ReturnValue_t safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
-                  bool sunRateBValid, double *magFieldB, bool magFieldBValid, double *magRateB,
+                           bool sunRateBValid, double *magFieldB, bool magFieldBValid,
-                  bool magRateBValid, double *sunDirRef, double *satRateRef, double *outputAngle,
+                           double *magRateB, bool magRateBValid, double *sunDirRef,
-                  double *outputMagMomB, bool *outputValid);
+                           double *satRateRef, double *outputAngle, double *outputMagMomB);
-
-  void idleSunPointing();  // with reaction wheels
 
  protected:
  private:

mission/core/GenericFactory.cpp

@@ -117,14 +117,16 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
 
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
-  auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto udpBridge =
+      new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50);
   new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
   sif::info << "Created UDP server for TMTC commanding with listener port "
             << udpBridge->getUdpPort() << std::endl;
   udpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_UDP);
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
-  auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
+  auto tcpBridge =
+      new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR, 50);
   TcpTmTcServer::TcpConfig cfg(true, true);
   auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg);
   // TCP is stream based. Use packet ID as start marker when parsing for space packets
@@ -139,9 +141,10 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
       new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR);
   new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
 
-  PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, *tmStore, *ipcStore, 50);
+  PusTmFunnel::FunnelCfg cfdpFunnelCfg(objects::CFDP_TM_FUNNEL, "CfdpTmFunnel", *tmStore, *ipcStore,
+                                       50);
   *cfdpFunnel = new CfdpTmFunnel(cfdpFunnelCfg, config::EIVE_CFDP_APID);
-  PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, *tmStore, *ipcStore,
+  PusTmFunnel::FunnelCfg pusFunnelCfg(objects::PUS_TM_FUNNEL, "PusTmFunnel", *tmStore, *ipcStore,
                                       config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
   *pusFunnel = new PusTmFunnel(pusFunnelCfg, *timeStamper, sdcMan);
 #if OBSW_ADD_TCPIP_SERVERS == 1
@@ -236,7 +239,7 @@ void ObjectFactory::createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t the
                                  std::array<DeviceHandlerBase*, 4> rws,
                                  std::array<object_id_t, 4> rwIds) {
   RwHelper rwHelper(rwIds);
-  auto* rwAss = new RwAssembly(objects::RW_ASS, &pwrSwitcher, theSwitch, rwHelper);
+  auto* rwAss = new RwAssembly(objects::RW_ASSY, &pwrSwitcher, theSwitch, rwHelper);
   for (size_t idx = 0; idx < rwIds.size(); idx++) {
     ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
     if (result != returnvalue::OK) {

mission/devices/HeaterHandler.cpp

@@ -30,8 +30,8 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, H
   if (mainLineSwitcher == nullptr) {
     throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
   }
-  heaterHealthAndStateMutex = MutexFactory::instance()->createMutex();
+  handlerLock = MutexFactory::instance()->createMutex();
-  if (heaterHealthAndStateMutex == nullptr) {
+  if (handlerLock == nullptr) {
     throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
   }
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
@@ -144,7 +144,7 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
   if (action == SwitchAction::SET_SWITCH_ON) {
     HasHealthIF::HealthState health;
     {
-      MutexGuard mg(heaterHealthAndStateMutex);
+      MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
       health = heater.healthDevice->getHealth();
     }
     if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
@@ -270,7 +270,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
       } else {
         triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
         {
-          MutexGuard mg(heaterHealthAndStateMutex);
+          MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
           heater.switchState = ON;
         }
       }
@@ -320,7 +320,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
       triggerEvent(GPIO_PULL_LOW_FAILED, result);
     } else {
       {
-        MutexGuard mg(heaterHealthAndStateMutex);
+        MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
         heater.switchState = OFF;
       }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
@@ -346,7 +346,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
 }
 
 HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
-  MutexGuard mg(heaterHealthAndStateMutex);
+  MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   return heaterVec.at(switchNr).switchState;
 }
 
@@ -396,7 +396,7 @@ object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectI
 
 ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
   {
-    MutexGuard mg(heaterHealthAndStateMutex);
+    MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     if (mg.getLockResult() != returnvalue::OK) {
       return returnvalue::FAILED;
     }
@@ -409,7 +409,7 @@ ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& stat
 
 bool HeaterHandler::allSwitchesOff() {
   bool allSwitchesOrd = false;
-  MutexGuard mg(heaterHealthAndStateMutex);
+  MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   /* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
   for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
     allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
@@ -442,7 +442,7 @@ uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
 HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
   auto* healthDev = heaterVec.at(heater).healthDevice;
   if (healthDev != nullptr) {
-    MutexGuard mg(heaterHealthAndStateMutex);
+    MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     return healthDev->getHealth();
   }
   return HasHealthIF::HealthState::FAULTY;

mission/devices/HeaterHandler.h

@@ -136,7 +136,10 @@ class HeaterHandler : public ExecutableObjectIF,
 
   HeaterMap heaterVec = {};
 
-  MutexIF* heaterHealthAndStateMutex = nullptr;
+  MutexIF* handlerLock = nullptr;
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t LOCK_TIMEOUT = 20;
+  static constexpr char LOCK_CTX[] = "HeaterHandler";
 
   HeaterHelper helper;
   ModeHelper modeHelper;

mission/devices/ImtqHandler.cpp

@@ -214,7 +214,8 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
                    << ", y = " << dipoleSet.yDipole.value << ", z = " << dipoleSet.zDipole.value
                    << ", duration = " << dipoleSet.currentTorqueDurationMs.value << std::endl;
       }
-      MutexGuard mg(torquer::lazyLock());
+      MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
+                    torquer::LOCK_CTX);
       torquer::TORQUEING = true;
       torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
       rawPacket = commandBuffer;
@@ -395,7 +396,7 @@ LocalPoolDataSetBase* ImtqHandler::getDataSetHandle(sid_t sid) {
   } else if (sid == negZselfTestDataset.getSid()) {
     return &negZselfTestDataset;
   } else {
-    sif::error << "IMTQHandler::getDataSetHandle: Invalid sid" << std::endl;
+    sif::error << "ImtqHandler::getDataSetHandle: Invalid SID" << std::endl;
     return nullptr;
   }
 }

mission/devices/PcduHandler.cpp

@@ -18,7 +18,7 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
   auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-  pwrMutex = MutexFactory::instance()->createMutex();
+  pwrLock = MutexFactory::instance()->createMutex();
 }
 
 PCDUHandler::~PCDUHandler() {}
@@ -41,7 +41,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
     if (pg.getReadResult() == returnvalue::OK) {
       if (switcherSet.p60Dock5VStack.value != switchState) {
         triggerEvent(power::SWITCH_HAS_CHANGED, switchState, pcdu::Switches::P60_DOCK_5V_STACK);
-        MutexGuard mg(pwrMutex);
+        MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
         switchStates[pcdu::P60_DOCK_5V_STACK] = switchState;
       }
       switcherSet.p60Dock5VStack.setValid(true);
@@ -179,7 +179,7 @@ void PCDUHandler::updatePdu2SwitchStates() {
       switcherSet.pdu2Switches[idx] = pdu2CoreHk.outputEnables[idx];
     }
     switcherSet.pdu2Switches.setValid(true);
-    MutexGuard mg(pwrMutex);
+    MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH0_Q7S, pdu2CoreHk.outputEnables[Channels::Q7S]);
 
     checkAndUpdatePduSwitch(pdu, Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
@@ -216,7 +216,7 @@ void PCDUHandler::updatePdu1SwitchStates() {
       switcherSet.pdu1Switches[idx] = pdu1CoreHk.outputEnables[idx];
     }
     switcherSet.pdu1Switches.setValid(true);
-    MutexGuard mg(pwrMutex);
+    MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH0_TCS_BOARD_3V3,
                             pdu1CoreHk.outputEnables[Channels::TCS_BOARD_3V3]);
     checkAndUpdatePduSwitch(pdu, Switches::PDU1_CH1_SYRLINKS_12V,
@@ -402,9 +402,11 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
     sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
     return returnvalue::FAILED;
   }
-  pwrMutex->lockMutex();
+  uint8_t currentState = 0;
-  uint8_t currentState = switchStates[switchNr];
+  {
-  pwrMutex->unlockMutex();
+    MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+    currentState = switchStates[switchNr];
+  }
   if (currentState == 1) {
     return PowerSwitchIF::SWITCH_ON;
   } else {

mission/devices/PcduHandler.h

@@ -51,7 +51,10 @@ class PCDUHandler : public PowerSwitchIF,
 
  private:
   uint32_t pstIntervalMs = 0;
-  MutexIF* pwrMutex = nullptr;
+  MutexIF* pwrLock = nullptr;
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t LOCK_TIMEOUT = 20;
+  static constexpr char LOCK_CTX[] = "PcduHandler";
 
   /** Housekeeping manager. Handles updates of local pool variables. */
   LocalDataPoolManager poolManager;

mission/devices/SusHandler.cpp

@@ -37,7 +37,7 @@ void SusHandler::doShutDown() {
     updatePeriodicReply(false, REPLY);
     commandExecuted = false;
     internalState = InternalState::NONE;
-    setMode(_MODE_POWER_DOWN);
+    setMode(MODE_OFF);
   }
 }
 

mission/system/fdir/SyrlinksFdir.cpp

@@ -47,8 +47,8 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
       }
       // else
       if (missedReplyCount.incrementAndCheck()) {
-        // handleRecovery(event->getEvent());
+        handleRecovery(event->getEvent());
-        triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
+        // triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
       }
       break;
     case StorageManagerIF::GET_DATA_FAILED:
@@ -80,7 +80,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) {
       break;
     case Fuse::POWER_BELOW_LOW_LIMIT:
       // Device might got stuck during boot, retry.
-      // handleRecovery(event->getEvent());
+      handleRecovery(event->getEvent());
       triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0);
       break;
       //****Thermal*****

mission/system/objects/CMakeLists.txt

@@ -7,6 +7,7 @@ target_sources(
           TcsSubsystem.cpp
           PayloadSubsystem.cpp
           AcsBoardAssembly.cpp
+          SyrlinksAssembly.cpp
           Stack5VHandler.cpp
           SusAssembly.cpp
           RwAssembly.cpp

mission/system/objects/ComSubsystem.cpp

@@ -30,6 +30,7 @@ void ComSubsystem::performChildOperation() {
   if (countdownActive) {
     checkTransmitterCountdown();
   }
+
   Subsystem::performChildOperation();
 }
 

mission/system/objects/DualLaneAssemblyBase.cpp

@@ -235,3 +235,8 @@ void DualLaneAssemblyBase::setPreferredSide(duallane::Submodes submode) {
   }
   this->defaultSubmode = submode;
 }
+
+ReturnValue_t DualLaneAssemblyBase::checkAndHandleHealthState(Mode_t deviceMode,
+                                                              Submode_t deviceSubmode) {
+  return returnvalue::OK;
+}

mission/system/objects/DualLaneAssemblyBase.h

@@ -75,6 +75,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   MessageQueueId_t getEventReceptionQueue() override;
 
   bool sideSwitchTransition(Mode_t mode, Submode_t submode);
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
 
   /**
    * Implemented by user. Will be called if a full mode operation has finished.

mission/system/objects/Stack5VHandler.cpp

@@ -5,7 +5,7 @@ Stack5VHandler::Stack5VHandler(PowerSwitchIF& switcher) : switcher(switcher) {
 }
 
 ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateStates) {
-  MutexGuard mg(stackLock);
+  MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   if (updateStates) {
     updateInternalStates();
   }
@@ -27,7 +27,7 @@ ReturnValue_t Stack5VHandler::deviceToOn(StackCommander commander, bool updateSt
 }
 
 ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateStates) {
-  MutexGuard mg(stackLock);
+  MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   if (updateStates) {
     updateInternalStates();
   }
@@ -55,12 +55,12 @@ ReturnValue_t Stack5VHandler::deviceToOff(StackCommander commander, bool updateS
 }
 
 bool Stack5VHandler::isSwitchOn() {
-  MutexGuard mg(stackLock);
+  MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   return updateInternalStates();
 }
 
 void Stack5VHandler::update() {
-  MutexGuard mg(stackLock);
+  MutexGuard mg(stackLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
   updateInternalStates();
 }
 

mission/system/objects/Stack5VHandler.h

@@ -21,7 +21,11 @@ class Stack5VHandler {
   void update();
 
  private:
+  static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t LOCK_TIMEOUT = 20;
+
   MutexIF* stackLock;
+  static constexpr char LOCK_CTX[] = "Stack5VHandler";
   PowerSwitchIF& switcher;
   bool switchIsOn = false;
   bool targetState = false;

mission/system/objects/SusAssembly.cpp

@@ -24,6 +24,12 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
     modeTable[idx].setMode(MODE_OFF);
     modeTable[idx].setSubmode(SUBMODE_NONE);
   }
+  if (recoveryState == RecoveryState::RECOVERY_IDLE) {
+    result = checkAndHandleHealthStates(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return returnvalue::OK;
+    }
+  }
   if (recoveryState != RecoveryState::RECOVERY_STARTED) {
     if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
       result = handleNormalOrOnModeCmd(mode, submode);
@@ -148,3 +154,23 @@ void SusAssembly::refreshHelperModes() {
     helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
   }
 }
+
+ReturnValue_t SusAssembly::checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode) {
+  using namespace returnvalue;
+  ReturnValue_t status = returnvalue::OK;
+  auto overwriteHealthForOneDev = [&](object_id_t dev) {
+    HealthState health = healthHelper.healthTable->getHealth(dev);
+    if (health == FAULTY or health == PERMANENT_FAULTY) {
+      overwriteDeviceHealth(dev, health);
+      status = NEED_TO_CHANGE_HEALTH;
+    } else if (health == EXTERNAL_CONTROL) {
+      modeHelper.setForced(true);
+    }
+  };
+  if (deviceSubmode == duallane::DUAL_MODE) {
+    for (uint8_t idx = 0; idx < 12; idx++) {
+      overwriteHealthForOneDev(helper.susIds[idx]);
+    }
+  }
+  return status;
+}

mission/system/objects/SusAssembly.h

@@ -66,6 +66,7 @@ class SusAssembly : public DualLaneAssemblyBase {
   void powerStateMachine(Mode_t mode, Submode_t submode);
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   void refreshHelperModes();
+  ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
 };
 
 #endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */

mission/system/objects/SyrlinksAssembly.cpp

@@ -0,0 +1,57 @@
+#include "SyrlinksAssembly.h"
+
+#include <eive/objects.h>
+
+using namespace returnvalue;
+
+SyrlinksAssembly::SyrlinksAssembly(object_id_t objectId) : AssemblyBase(objectId) {
+  ModeListEntry entry;
+  entry.setObject(objects::SYRLINKS_HANDLER);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  commandTable.insert(entry);
+}
+
+ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  commandTable[0].setMode(mode);
+  commandTable[0].setSubmode(submode);
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  if (recoveryState == RECOVERY_IDLE) {
+    ReturnValue_t result = checkAndHandleHealthState(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return OK;
+    }
+  }
+  executeTable(iter);
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (childrenMap[objects::SYRLINKS_HANDLER].mode != wantedMode) {
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+    return returnvalue::OK;
+  }
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,
+                                                          Submode_t deviceSubmode) {
+  HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health);
+    return NEED_TO_CHANGE_HEALTH;
+  } else if (health == EXTERNAL_CONTROL) {
+    modeHelper.setForced(true);
+  }
+  return OK;
+}
+
+void SyrlinksAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  startTransition(mode, submode);
+}

mission/system/objects/SyrlinksAssembly.h

@@ -0,0 +1,20 @@
+#ifndef MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
+#define MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_
+#include <fsfw/devicehandlers/AssemblyBase.h>
+
+class SyrlinksAssembly : public AssemblyBase {
+ public:
+  SyrlinksAssembly(object_id_t objectId);
+
+ private:
+  FixedArrayList<ModeListEntry, 1> commandTable;
+
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  void handleChildrenLostMode(ReturnValue_t result) override;
+
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
+};
+
+#endif /* MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ */

mission/system/tree/acsModeTree.cpp

@@ -110,7 +110,7 @@ Subsystem& satsystem::acs::init() {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   check(ACS_SUBSYSTEM.addTable(
             TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
@@ -165,7 +165,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
 
   // Build OFF sequence
@@ -207,7 +207,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
         ctxc);
 
@@ -262,7 +262,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
-  iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
                     true),
         ctxc);
@@ -305,7 +305,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build IDLE target
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
   ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
@@ -316,7 +316,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
 
@@ -358,7 +358,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
         ctxc);
@@ -407,7 +407,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
                                &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
@@ -458,7 +458,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   check(ss.addTable(
             TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
@@ -508,7 +508,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
                                &ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),

mission/system/tree/comModeTree.cpp

@@ -105,11 +105,11 @@ void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
   // Build RX Only table. We could track the state of the CCSDS IP core handler
   // as well but I do not think this is necessary because enabling that should
   // not interfere with the Syrlinks Handler.
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc);
 
   // Build RX Only transition 0
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_0.first, &COM_TABLE_RX_ONLY_TRANS_0.second)),
         ctxc);
 
@@ -147,7 +147,7 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build RX and TX low datarate table.
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
       COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
   iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
       COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
@@ -163,7 +163,7 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build TX and RX low transition 1
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
       COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second)),
@@ -199,7 +199,7 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build RX and TX high datarate table.
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
       COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
   iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
       COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
@@ -215,7 +215,7 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build TX and RX high transition 1
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
       COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second)),
@@ -253,7 +253,7 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build RX and TX default datarate table.
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
       COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
   iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_DEFAULT),
       COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
@@ -269,7 +269,7 @@ void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build TX and RX default transition 1
-  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
+  iht(objects::SYRLINKS_ASSY, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
       COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
   check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first,
                                &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second)),

mission/tmtc/TmFunnelBase.cpp

@@ -5,7 +5,7 @@
 #include "fsfw/ipc/QueueFactory.h"
 
 TmFunnelBase::TmFunnelBase(FunnelCfg cfg)
-    : SystemObject(cfg.objectId), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) {
+    : SystemObject(cfg.objectId), name(cfg.name), tmStore(cfg.tmStore), ipcStore(cfg.ipcStore) {
   tmQueue = QueueFactory::instance()->createMessageQueue(cfg.tmMsgDepth);
 }
 
@@ -37,8 +37,7 @@ ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId
           message.setStorageId(storeId);
         } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::error << "PusTmFunnel::handlePacket: Store too full to create data copy"
+          sif::error << name << "::handlePacket: Store too full to create data copy" << std::endl;
-                     << std::endl;
 #endif
         }
       } else {
@@ -48,7 +47,8 @@ ReturnValue_t TmFunnelBase::sendPacketToDestinations(store_address_t origStoreId
     result = tmQueue->sendMessage(dest.queueId, &message);
     if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+      sif::error << name << "::handlePacket: Error sending TM to downlink handler " << dest.name
+                 << std::endl;
 #endif
       tmStore.deleteData(message.getStorageId());
     }

mission/tmtc/TmFunnelBase.h

@@ -12,10 +12,15 @@
 class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
  public:
   struct FunnelCfg {
-    FunnelCfg(object_id_t objId, StorageManagerIF& tmStore, StorageManagerIF& ipcStore,
+    FunnelCfg(object_id_t objId, const char* name, StorageManagerIF& tmStore,
-              uint32_t tmMsgDepth)
+              StorageManagerIF& ipcStore, uint32_t tmMsgDepth)
-        : objectId(objId), tmStore(tmStore), ipcStore(ipcStore), tmMsgDepth(tmMsgDepth) {}
+        : objectId(objId),
+          name(name),
+          tmStore(tmStore),
+          ipcStore(ipcStore),
+          tmMsgDepth(tmMsgDepth) {}
     object_id_t objectId;
+    const char* name;
     StorageManagerIF& tmStore;
     StorageManagerIF& ipcStore;
     uint32_t tmMsgDepth;
@@ -30,6 +35,7 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
   ~TmFunnelBase() override;
 
  protected:
+  const char* name;
   StorageManagerIF& tmStore;
   StorageManagerIF& ipcStore;
 
@@ -43,7 +49,6 @@ class TmFunnelBase : public AcceptsTelemetryIF, public SystemObject {
   };
 
   std::vector<Destination> destinations;
-
   MessageQueueIF* tmQueue = nullptr;
 };
 

tmtc

@@ -1 +1 @@
-Subproject commit 2dd850f0725d37256c17576bf7d3ae4423184044
+Subproject commit 94ae2d16e21ade8f89723b2e62356967a67b171d