bsp_hosted/ObjectFactory.cpp

@@ -7,9 +7,9 @@
 #include <objects/systemObjectList.h>
 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
-#include "fsfw_tests/integration/task/TestTask.h"
 
 #include "OBSWConfig.h"
+#include "fsfw_tests/integration/task/TestTask.h"
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTcPollingTask.h"

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -273,7 +273,7 @@ void Q7STestTask::testGpsDaemonShm() {
 }
 
 void Q7STestTask::testGpsDaemonSocket() {
-  if(gpsmmShmPtr == nullptr) {
+  if (gpsmmShmPtr == nullptr) {
     gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT);
   }
   // The data from the device will generally be read all at once. Therefore, we
@@ -291,17 +291,16 @@ void Q7STestTask::testGpsDaemonSocket() {
     return;
   }
   // Stopwatch watch;
-  gps_data_t *gps = nullptr;
+  gps_data_t* gps = nullptr;
   gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON);
-  if(not gpsmmShmPtr->waiting(50000000)) {
+  if (not gpsmmShmPtr->waiting(50000000)) {
     return;
   }
   gps = gpsmmShmPtr->read();
   if (gps == nullptr) {
     if (gpsReadFailedSwitch) {
       gpsReadFailedSwitch = false;
-      sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed"
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl;
-          << std::endl;
     }
     return;
   }

bsp_q7s/boardtest/Q7STestTask.h

@@ -2,6 +2,7 @@
 #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 
 #include <libgpsmm.h>
+
 #include "test/testtasks/TestTask.h"
 
 class CoreController;

linux/boardtest/LibgpiodTest.cpp

@@ -29,8 +29,8 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
         sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
         return RETURN_FAILED;
       } else {
-        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << static_cast<int>(gpioState)
+        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = "
-                   << std::endl;
+                   << static_cast<int>(gpioState) << std::endl;
       }
       break;
     }

mission/devices/HeaterHandler.cpp

@@ -29,6 +29,10 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, H
   if (mainLineSwitcher == nullptr) {
     throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
   }
+  heaterMutex = MutexFactory::instance()->createMutex();
+  if (heaterMutex == nullptr) {
+    throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
+  }
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -43,9 +47,14 @@ ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
     for (const auto& heater : helper.heaters) {
       heater.first->performOperation(0);
     }
-  } catch(const std::out_of_range& e) {
+    for (const auto& heater : heaterVec) {
+      sif::info << heater.switchState << ",";
+    }
+    sif::info << std::endl;
+  } catch (const std::out_of_range& e) {
     sif::warning << "HeaterHandler::performOperation: "
-        "Out of range error | " << e.what() << std::endl;
+                    "Out of range error | "
+                 << e.what() << std::endl;
   }
   return RETURN_OK;
 }
@@ -77,13 +86,7 @@ ReturnValue_t HeaterHandler::initialize() {
 
 ReturnValue_t HeaterHandler::initializeHeaterMap() {
   for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
-	gpio::Levels level;
+    heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], SwitchState::OFF));
-	gpioInterface->readGpio(helper.heaters[switchNr].second, level);
-	SwitchState initState = SwitchState::OFF;
-	if(level == gpio::Levels::HIGH) {
-
-	}
-    heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], initState));
   }
   return RETURN_OK;
 }
@@ -208,7 +211,7 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
   // Check state of main line switch
   ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
   if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
-    if (checkSwitchState(heaterIdx) == SwitchState::ON) {
+    if (checkSwitchState(heaterIdx) == SwitchState::OFF) {
       gpioId_t gpioId = heater.gpioId;
       result = gpioInterface->pullHigh(gpioId);
       if (result != RETURN_OK) {
@@ -262,7 +265,11 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
                  << " low" << std::endl;
       triggerEvent(GPIO_PULL_LOW_FAILED, result);
     } else {
+      auto result = heaterMutex->lockMutex();
       heater.switchState = OFF;
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        heaterMutex->unlockMutex();
+      }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
       // When all switches are off, also main line switch will be turned off
       if (allSwitchesOff()) {
@@ -284,12 +291,14 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
   heater.active = false;
 }
 
-HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) {
+HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
+  MutexGuard mg(heaterMutex);
   return heaterVec.at(switchNr).switchState;
 }
 
 bool HeaterHandler::allSwitchesOff() {
   bool allSwitchesOrd = false;
+  MutexGuard mg(heaterMutex);
   /* 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;
@@ -301,7 +310,19 @@ MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->g
 
 ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) { return RETURN_OK; }
 
-ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const { return 0; }
+ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
+  ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
+  if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
+    return PowerSwitchIF::SWITCH_OFF;
+  }
+  if (switchNr > 7) {
+    return PowerSwitchIF::RETURN_FAILED;
+  }
+  if (checkSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
+    return PowerSwitchIF::SWITCH_ON;
+  }
+  return PowerSwitchIF::SWITCH_OFF;
+}
 
 ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
 

mission/devices/HeaterHandler.h

@@ -54,22 +54,22 @@ class HeaterHandler : public ExecutableObjectIF,
 
   virtual ~HeaterHandler();
 
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
+  ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
-  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
   /**
    * @brief	This function will be called from the Heater object to check
    * 			the current switch state.
    */
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
+  ReturnValue_t getSwitchState(uint8_t switchNr) const override;
-  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  ReturnValue_t getFuseState(uint8_t fuseNr) const override;
-  virtual uint32_t getSwitchDelayMs(void) const override;
+  uint32_t getSwitchDelayMs(void) const override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  MessageQueueId_t getCommandQueue() const override;
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override;
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
  private:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER;
@@ -113,6 +113,8 @@ class HeaterHandler : public ExecutableObjectIF,
 
   HeaterMap heaterVec = {};
 
+  MutexIF* heaterMutex = nullptr;
+
   HeaterHelper helper;
 
   /** Size of command queue */
@@ -141,7 +143,7 @@ class HeaterHandler : public ExecutableObjectIF,
    * @brief   Returns the state of a switch (ON - true, or OFF - false).
    * @param switchNr  The number of the switch to check.
    */
-  SwitchState checkSwitchState(heater::Switchers switchNr);
+  SwitchState checkSwitchState(heater::Switchers switchNr) const;
 
   /**
    * @brief	This function runs commands waiting for execution.