mission/controller/ThermalController.cpp

@@ -126,105 +126,70 @@ void ThermalController::performControlOperation() {
 
 ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_HEATSPREADER,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_MISSIONBOARD,
-                           new PoolEntry<float>({1.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_4K_CAMERA,
-                           new PoolEntry<float>({2.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DAC_HEATSPREADER,
-                           new PoolEntry<float>({3.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_STARTRACKER,
-                           new PoolEntry<float>({4.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW1, new PoolEntry<float>({5.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DRO, new PoolEntry<float>({6.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_SCEX, new PoolEntry<float>({7.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_X8, new PoolEntry<float>({8.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_HPA, new PoolEntry<float>({9.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TX_MODUL,
-                           new PoolEntry<float>({10.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MPA, new PoolEntry<float>({11.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_ACU, new PoolEntry<float>({12.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLPCDU_HEATSPREADER,
-                           new PoolEntry<float>({13.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TCS_BOARD,
-                           new PoolEntry<float>({14.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MAGNETTORQUER,
-                           new PoolEntry<float>({15.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_0, &tmp1075Tcs0);
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_1, &tmp1075Tcs1);
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_0, &tmp1075PlPcdu0);
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_1, &tmp1075PlPcdu1);
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_IF_BOARD, &tmp1075IfBrd);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_PLOC_HEATSPREADER, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_PLOC_MISSIONBOARD, new PoolEntry<float>({1.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_4K_CAMERA, new PoolEntry<float>({2.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_DAC_HEATSPREADER, new PoolEntry<float>({3.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_STARTRACKER, new PoolEntry<float>({4.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_RW1, new PoolEntry<float>({5.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_DRO, new PoolEntry<float>({6.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_SCEX, new PoolEntry<float>({7.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_X8, new PoolEntry<float>({8.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_HPA, new PoolEntry<float>({9.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TX_MODUL, new PoolEntry<float>({10.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_MPA, new PoolEntry<float>({11.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_ACU, new PoolEntry<float>({12.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_PLPCDU_HEATSPREADER, new PoolEntry<float>({13.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TCS_BOARD, new PoolEntry<float>({14.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_MAGNETTORQUER, new PoolEntry<float>({15.0}));
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_TCS_0, &tmp1075Tcs0);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_TCS_1, &tmp1075Tcs1);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_PLPCDU_0, &tmp1075PlPcdu0);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_PLPCDU_1, &tmp1075PlPcdu1);
+  localDataPoolMap.emplace(tcsCtrl::SENSOR_TMP1075_IF_BOARD, &tmp1075IfBrd);
 
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_0_N_LOC_XFYFZM_PT_XF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_6_R_LOC_XFYBZM_PT_XF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_1_N_LOC_XBYFZM_PT_XB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_7_R_LOC_XBYBZM_PT_XB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_2_N_LOC_XFYBZB_PT_YB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_8_R_LOC_XBYBZB_PT_YB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_3_N_LOC_XFYBZF_PT_YF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_9_R_LOC_XBYBZB_PT_YF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_4_N_LOC_XMYFZF_PT_ZF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_10_N_LOC_XMYBZF_PT_ZF,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_5_N_LOC_XFYMZB_PT_ZB,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_11_R_LOC_XBYMZB_PT_ZB,
-                           new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_0_N_LOC_XFYFZM_PT_XF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_6_R_LOC_XFYBZM_PT_XF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_1_N_LOC_XBYFZM_PT_XB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_7_R_LOC_XBYBZM_PT_XB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_2_N_LOC_XFYBZB_PT_YB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_8_R_LOC_XBYBZB_PT_YB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_3_N_LOC_XFYBZF_PT_YF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_9_R_LOC_XBYBZB_PT_YF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_4_N_LOC_XMYFZF_PT_ZF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_10_N_LOC_XMYBZF_PT_ZF, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_5_N_LOC_XFYMZB_PT_ZB, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::SUS_11_R_LOC_XBYMZB_PT_ZB, new PoolEntry<float>({0.0}));
 
-  localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::COMPONENT_RW, new PoolEntry<float>({0.0}));
 
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_Q7S, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_1,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_2,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_3,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_4,
-                           new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW1, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW2, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW3, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW4, new PoolEntry<int32_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_STAR_TRACKER,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_SYRLINKS_POWER_AMPLIFIER,
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_SYRLINKS_BASEBAND_BOARD,
-                           new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGT, new PoolEntry<int16_t>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ACU, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_PDU1, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_PDU2, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_1_P60DOCK, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_2_P60DOCK, new PoolEntry<float>({0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_0_SIDE_A,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_1_SIDE_A,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_2_SIDE_B,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_3_SIDE_B,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGM_0_SIDE_A,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGM_2_SIDE_B,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ADC_PAYLOAD_PCDU,
-                           new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::HEATER_SWITCH_LIST, &heaterSwitchStates);
-  localDataPoolMap.emplace(thermalControllerDefinitions::HEATER_CURRENT, &heaterCurrent);
+  localDataPoolMap.emplace(tcsCtrl::TEMP_Q7S, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_1, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_2, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_3, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::BATTERY_TEMP_4, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_RW1, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_RW2, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_RW3, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_RW4, new PoolEntry<int32_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_STAR_TRACKER, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_SYRLINKS_POWER_AMPLIFIER, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_SYRLINKS_BASEBAND_BOARD, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_MGT, new PoolEntry<int16_t>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_ACU, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_PDU1, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_PDU2, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_1_P60DOCK, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_2_P60DOCK, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_0_SIDE_A, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_1_SIDE_A, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_2_SIDE_B, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_GYRO_3_SIDE_B, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_MGM_0_SIDE_A, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_MGM_2_SIDE_B, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::TEMP_ADC_PAYLOAD_PCDU, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(tcsCtrl::HEATER_SWITCH_LIST, &heaterSwitchStates);
+  localDataPoolMap.emplace(tcsCtrl::HEATER_CURRENT, &heaterCurrent);
 
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), false, 10.0));
@@ -239,12 +204,14 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
 
 LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
   switch (sid.ownerSetId) {
-    case thermalControllerDefinitions::SENSOR_TEMPERATURES:
+    case tcsCtrl::SENSOR_TEMPERATURES:
       return &sensorTemperatures;
-    case thermalControllerDefinitions::SUS_TEMPERATURES:
+    case tcsCtrl::SUS_TEMPERATURES:
       return &susTemperatures;
-    case thermalControllerDefinitions::DEVICE_TEMPERATURES:
+    case tcsCtrl::DEVICE_TEMPERATURES:
       return &deviceTemperatures;
+    case tcsCtrl::HEATER_SET:
+      return &heaterInfo;
     default:
       return nullptr;
   }

mission/controller/ThermalController.h

@@ -77,10 +77,10 @@ class ThermalController : public ExtendedControllerBase {
 
   HeaterHandler& heaterHandler;
 
-  thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
-  thermalControllerDefinitions::SusTemperatures susTemperatures;
-  thermalControllerDefinitions::DeviceTemperatures deviceTemperatures;
-  thermalControllerDefinitions::HeaterInfo heaterInfo;
+  tcsCtrl::SensorTemperatures sensorTemperatures;
+  tcsCtrl::SusTemperatures susTemperatures;
+  tcsCtrl::DeviceTemperatures deviceTemperatures;
+  tcsCtrl::HeaterInfo heaterInfo;
   lp_vec_t<int16_t, 9> currentVecPdu2 =
       lp_vec_t<int16_t, 9>(gp_id_t(objects::PDU2_HANDLER, PDU::pool::PDU_CURRENTS));
 

mission/controller/controllerdefinitions/ThermalControllerDefinitions.h

@@ -6,9 +6,9 @@
 
 #include "devices/heaterSwitcherList.h"
 
-namespace thermalControllerDefinitions {
+namespace tcsCtrl {
 
-enum SetIds : uint32_t {
+enum SetId : uint32_t {
   SENSOR_TEMPERATURES = 0,
   DEVICE_TEMPERATURES = 1,
   SUS_TEMPERATURES = 2,
@@ -219,6 +219,6 @@ class HeaterInfo : public StaticLocalDataSet<12> {
   lp_var_t<int16_t> heaterCurrent = lp_var_t<int16_t>(sid.objectId, PoolIds::HEATER_CURRENT, this);
 };
 
-}  // namespace thermalControllerDefinitions
+}  // namespace tcsCtrl
 
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_THERMALCONTROLLERDEFINITIONS_H_ */

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");
   }
-  heaterMutex = MutexFactory::instance()->createMutex();
-  if (heaterMutex == nullptr) {
+  heaterHealthAndStateMutex = MutexFactory::instance()->createMutex();
+  if (heaterHealthAndStateMutex == nullptr) {
     throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
   }
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
@@ -114,7 +114,7 @@ void HeaterHandler::readCommandQueue() {
       continue;
     }
     result = modeHelper.handleModeCommand(&command);
-    if(result == returnvalue::OK) {
+    if (result == returnvalue::OK) {
       continue;
     }
   } while (result == returnvalue::OK);
@@ -141,7 +141,11 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
   auto action = static_cast<SwitchAction>(data[1]);
   // Always accepts OFF commands
   if (action == SwitchAction::SET_SWITCH_ON) {
-    HasHealthIF::HealthState health = heater.healthDevice->getHealth();
+    HasHealthIF::HealthState health;
+    {
+      MutexGuard mg(heaterHealthAndStateMutex);
+      health = heater.healthDevice->getHealth();
+    }
     if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
         health == HasHealthIF::NEEDS_RECOVERY) {
       return HasHealthIF::OBJECT_NOT_HEALTHY;
@@ -264,7 +268,10 @@ void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
         triggerEvent(GPIO_PULL_HIGH_FAILED, result);
       } else {
         triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
-        heater.switchState = ON;
+        {
+          MutexGuard mg(heaterHealthAndStateMutex);
+          heater.switchState = ON;
+        }
       }
     } else {
       triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
@@ -311,10 +318,9 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
                  << " low" << std::endl;
       triggerEvent(GPIO_PULL_LOW_FAILED, result);
     } else {
-      result = heaterMutex->lockMutex();
-      heater.switchState = OFF;
-      if (result == returnvalue::OK) {
-        heaterMutex->unlockMutex();
+      {
+        MutexGuard mg(heaterHealthAndStateMutex);
+        heater.switchState = OFF;
       }
       triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
       // When all switches are off, also main line switch will be turned off
@@ -339,7 +345,7 @@ void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
 }
 
 HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers switchNr) const {
-  MutexGuard mg(heaterMutex);
+  MutexGuard mg(heaterHealthAndStateMutex);
   return heaterVec.at(switchNr).switchState;
 }
 
@@ -354,8 +360,16 @@ ReturnValue_t HeaterHandler::switchHeater(heater::Switchers heater, SwitchState
 
 void HeaterHandler::announceMode(bool recursive) {
   triggerEvent(MODE_INFO, mode, submode);
+
+  SwitchState states[helper.heaters.size()];
+  {
+    MutexGuard mg(heaterHealthAndStateMutex);
+    for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
+      states[idx] = heaterVec[idx].switchState;
+    }
+  }
   for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
-    if (heaterVec[idx].switchState == SWITCH_ON) {
+    if (states[idx] == ON) {
       EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_ON, 0);
     } else {
       EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_OFF,
@@ -386,7 +400,7 @@ object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectI
 
 bool HeaterHandler::allSwitchesOff() {
   bool allSwitchesOrd = false;
-  MutexGuard mg(heaterMutex);
+  MutexGuard mg(heaterHealthAndStateMutex);
   /* 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;
@@ -419,7 +433,7 @@ 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(heaterMutex);
+    MutexGuard mg(heaterHealthAndStateMutex);
     return healthDev->getHealth();
   }
   return HasHealthIF::HealthState::FAULTY;

mission/devices/HeaterHandler.h

@@ -135,7 +135,7 @@ class HeaterHandler : public ExecutableObjectIF,
 
   HeaterMap heaterVec = {};
 
-  MutexIF* heaterMutex = nullptr;
+  MutexIF* heaterHealthAndStateMutex = nullptr;
 
   HeaterHelper helper;
   ModeHelper modeHelper;

tmtc

@@ -1 +1 @@
-Subproject commit 556060a3f3e204e7a171385d31a3ec409755c6b1
+Subproject commit d1f96cb83d287ea6f7714631fa944eb2c7fe17b8