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

CHANGELOG.md

@@ -16,27 +16,45 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Added
+
+- Add IMTQ assembly
+
+# [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
 
 ## Added
 
 - Added Syrlinks Assembly object to allow recovery handling and to fix faulty FDIR behaviour.
 
-## Added
+# [v1.33.0] 2023-03-01
-
-- Add IMTQ assembly
-
-# [v1.33.0]
 
 eive-tmtc: v2.16.2
 
@@ -50,7 +68,7 @@ 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
 
@@ -91,7 +109,7 @@ eive-tmtc: v2.16.1
 - `RwDummy` now initializes with a non faulty state
 
 
-# [v1.31.1]
+# [v1.31.1] 2023-02-23
 
 ## Fixed
 
@@ -101,7 +119,7 @@ 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
 
@@ -142,7 +160,7 @@ 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
 
@@ -159,7 +177,7 @@ 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
 
@@ -171,7 +189,7 @@ 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
 
@@ -192,7 +210,7 @@ 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_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();
 

fsfw

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

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) {

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

@@ -432,7 +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/SafeCtrl.cpp

@@ -84,21 +84,23 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
 }
 
 // Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
-ReturnValue_t 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,
+                                   double *outputMagMomB) {
   // Check for invalid Inputs
   if (!susDirBValid || !magFieldBValid || !magRateBValid) {
     return returnvalue::FAILED;
   }
 
   // change unit from uT to T
-  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
+  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
@@ -159,8 +161,8 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
   // 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));

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

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;

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/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;

tmtc

@@ -1 +1 @@
-Subproject commit 77fbcede10d44fd15dc7d5d1b3965f06c6a8e7fc
+Subproject commit 94ae2d16e21ade8f89723b2e62356967a67b171d