eive-obsw/bsp_q7s/core/CoreController.cpp

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#include "CoreController.h"
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#include "OBSWConfig.h"
#include "OBSWVersion.h"
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#include "watchdogConf.h"
#include "fsfw/FSFWVersion.h"
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#include "fsfw/timemanager/Stopwatch.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
#include "fsfw/osal/common/TcpTmTcBridge.h"
#endif
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#include "bsp_q7s/memory/scratchApi.h"
#include "bsp_q7s/memory/SdCardManager.h"
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#include <fcntl.h>
#include <unistd.h>
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#include <filesystem>
CoreController::Chip CoreController::currentChip = Chip::NO_CHIP;
CoreController::Copy CoreController::currentCopy = Copy::NO_COPY;
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CoreController::CoreController(object_id_t objectId):
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
opDivider(5) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
try {
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result = initWatchdogFifo();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" <<
std::endl;
}
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result = initBootCopy();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
}
}
catch(const std::filesystem::filesystem_error& e) {
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sif::error << "CoreController::CoreController: Failed with exception " <<
e.what() << std::endl;
}
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}
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
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}
void CoreController::performControlOperation() {
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performWatchdogControlOperation();
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}
ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
return nullptr;
}
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ReturnValue_t CoreController::initialize() {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Setting up alloc failure "
"count failed" << std::endl;
}
return ExtendedControllerBase::initialize();
}
ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
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ReturnValue_t CoreController::initSdCard() {
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sif::info << "No SD card initialization will be performed" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
#else
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SdCardManager* sdcMan = SdCardManager::instance();
if(sdcMan == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
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// Create update status file
ReturnValue_t result = sdcMan->updateSdCardStateFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
<< std::endl;
}
auto statusPair = SdCardManager::SdStatusPair(sd::SdStatus::OFF, sd::SdStatus::OFF);
result = sdcMan->getSdCardActiveStatus(statusPair);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
return sdCardColdRedundantInit(sdcMan, statusPair);
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
sif::info << "Hot redundant SD card configuration" << std::endl;
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setUpSdCard(sd::SdCard::SLOT_0, sdStatus.first, "0");
setUpSdCard(sd::SdCard::SLOT_1, sdStatus.second, "1");
// Update status file
sdcMan->updateSdCardStateFile();
return HasReturnvaluesIF::RETURN_OK;
#endif
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#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}
ReturnValue_t CoreController::sdCardSetup(SdCardManager& sdcMan,
SdCardManager::SdStatusPair& statusPair,sd::SdCard sdCard, sd::SdStatus status,
std::string sdString) {
std::string mountString;
if(sdCard == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
if(status == sd::SdStatus::OFF) {
sif::info << "Switching on and mounting SD card " << sdString << " at " <<
mountString << std::endl;
return sdcMan.switchOnSdCard(sdCard, true, &statusPair);
}
else if(status == sd::SdStatus::ON) {
sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
return sdcMan.mountSdCard(sdCard);
}
else {
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if(std::filesystem::exists(mountString)) {
sif::info << "SD card " << sdString << " already on and mounted at " <<
mountString << std::endl;
return SdCardManager::ALREADY_MOUNTED;
}
sif::error << "SD card mounted but expected mount point " << mountString << " not found!"
<< std::endl;
return SdCardManager::MOUNT_ERROR;
}
}
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch(actionId) {
case(LIST_DIRECTORY_INTO_FILE): {
return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
}
case(REBOOT_OBC): {
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return actionPerformReboot(data, size);
}
default: {
return HasActionsIF::INVALID_ACTION_ID;
}
}
}
ReturnValue_t CoreController::initializeAfterTaskCreation() {
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// TODO: Do this here because this can take a longer time. Later, use non-blocking mode
// to start doing stuff in ctor and initialize function.
// This operation can take 1-2 seconds on reboot, and around 50-100ms if the SD
// card is already on.
ReturnValue_t result = initSdCard();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
}
result = initVersionFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
}
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initPrint();
return result;
}
ReturnValue_t CoreController::sdCardColdRedundantInit(SdCardManager* sdcMan,
SdCardManager::SdStatusPair& statusPair) {
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sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
if(result != HasReturnvaluesIF::RETURN_OK) {
if(result == scratch::KEY_NOT_FOUND) {
sif::warning << "CoreController::sdCardInit: "
"Preferred SD card not set. Setting to 0" << std::endl;
sdcMan->setPreferredSdCard(preferredSdCard);
}
else {
sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
"information from the scratch buffer" << std::endl;
}
}
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std::string preferredString;
sd::SdStatus preferredStatus = sd::SdStatus::OFF;
sd::SdStatus otherStatus = sd::SdStatus::OFF;
std::string otherString;
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sd::SdCard otherSdc = sd::SdCard::SLOT_0;
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if(preferredSdCard == sd::SdCard::SLOT_0) {
preferredStatus = statusPair.first;
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preferredString = "0";
otherSdc = sd::SdCard::SLOT_1;
otherStatus = statusPair.second;
otherString = "1";
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}
else {
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preferredString = "1";
preferredStatus = statusPair.second;
otherStatus = statusPair.first;
otherSdc = sd::SdCard::SLOT_0;
otherString = "0";
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}
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sif::info << "Cold redundant SD card configuration, preferred SD card " <<
preferredString << std::endl;
result = sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
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if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Setting up preferred card " << otherString <<
" in cold redundant mode failed" << std::endl;
// Try other SD card and mark set up operation as failed
sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
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result = HasReturnvaluesIF::RETURN_FAILED;
}
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if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
sif::info << "Switching off secondary SD card " << otherString << std::endl;
// Switch off other SD card in cold redundant mode if setting up preferred one walked
// without issues
result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &statusPair);
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if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
sif::warning << "Switching off secondary SD card " << otherString <<
" in cold redundant mode failed" << std::endl;
}
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}
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// Update status file
sdcMan->updateSdCardStateFile();
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t CoreController::incrementAllocationFailureCount() {
uint32_t count = 0;
ReturnValue_t result = scratch::readNumber(scratch::ALLOC_FAILURE_COUNT, count);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
count++;
return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
}
ReturnValue_t CoreController::initVersionFile() {
std::string unameFileName = "/tmp/uname_version.txt";
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// TODO: No -v flag for now. If the kernel version is used, need to cut off first few letters
std::string unameCmd = "uname -mnrso > " + unameFileName;
int result = std::system(unameCmd.c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::versionFileInit");
}
std::ifstream unameFile(unameFileName);
std::string unameLine;
if(not std::getline(unameFile, unameLine)) {
sif::warning << "CoreController::versionFileInit: Retrieving uname line failed"
<< std::endl;
}
std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
std::to_string(SW_SUBVERSION) + "." + std::to_string(SW_REVISION);
std::string fullFsfwVersionString = "FSFW: v" + std::to_string(FSFW_VERSION) + "." +
std::to_string(FSFW_SUBVERSION) + "." + std::to_string(FSFW_REVISION);
std::string systemString = "System: " + unameLine;
std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string versionFilePath = mountPrefix + "/conf/version.txt";
std::fstream versionFile;
if(not std::filesystem::exists(versionFilePath)) {
sif::info << "Writing version file " << versionFilePath << ".." << std::endl;
versionFile.open(versionFilePath, std::ios_base::out);
versionFile << fullObswVersionString << std::endl;
versionFile << fullFsfwVersionString << std::endl;
versionFile << systemString << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
// Check whether any version has changed
bool createNewFile = false;
versionFile.open(versionFilePath);
std::string currentVersionString;
uint8_t idx = 0;
while(std::getline(versionFile, currentVersionString)) {
if(idx == 0) {
if(currentVersionString != fullObswVersionString) {
sif::info << "OBSW version changed" << std::endl;
sif::info << "From " << currentVersionString << " to " <<
fullObswVersionString << std::endl;
createNewFile = true;
}
}
else if(idx == 1) {
if(currentVersionString != fullFsfwVersionString) {
sif::info << "FSFW version changed" << std::endl;
sif::info << "From " << currentVersionString << " to " <<
fullFsfwVersionString << std::endl;
createNewFile = true;
}
}
else if(idx == 2) {
if(currentVersionString != systemString) {
sif::info << "System version changed" << std::endl;
sif::info << "Old: " << currentVersionString << std::endl;
sif::info << "New: " << systemString << std::endl;
createNewFile = true;
}
}
else {
sif::warning << "Invalid version file! Rewriting it.." << std::endl;
createNewFile = true;
}
idx++;
}
// Overwrite file if necessary
if(createNewFile) {
sif::info << "Rewriting version.txt file with updated versions.." << std::endl;
versionFile.close();
versionFile.open(versionFilePath, std::ios_base::out | std::ios_base::trunc);
versionFile << fullObswVersionString << std::endl;
versionFile << fullFsfwVersionString << std::endl;
versionFile << systemString << std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
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ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
// TODO: Packet definition for clean deserialization
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
// null termination, at least 7 bytes for minimum target file name /tmp/a with
// null termination.
if(size < 14) {
return HasActionsIF::INVALID_PARAMETERS;
}
// We could also make -l optional, but I can't think of a reason why to not use -l..
// This flag specifies to run ls with -a
bool aFlag = data[0];
data += 1;
// This flag specifies to run ls with -R
bool RFlag = data[1];
data += 1;
size_t remainingSize = size - 2;
// One larger for null termination, which prevents undefined behaviour if the sent
// strings are not 0 terminated properly
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
// Full target file name
std::string repoName(currentCharPtr);
size_t repoLength = repoName.length();
// The other string needs to be at least one letter plus NULL termination to be valid at all
// The first string also needs to be NULL terminated, but the termination is not included
// in the string length, so this is subtracted from the remaining size as well
if(repoLength > remainingSize - 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
// The file length will not include the NULL termination, so we skip it
currentCharPtr += repoLength + 1;
std::string targetFileName(currentCharPtr);
std::ostringstream oss;
oss << "ls -l";
if(aFlag) {
oss << "a";
}
if(RFlag) {
oss << "R";
}
oss << " " << repoName << " > " << targetFileName;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::actionListDirectoryIntoFile");
actionHelper.finish(false, commandedBy, actionId);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::initBootCopy() {
std::string fileName = "/tmp/curr_copy.txt";
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if(not std::filesystem::exists(fileName)) {
// Thils file is created by the systemd service eive-early-config so this should
// not happen normally
std::string cmd = "xsc_boot_copy > " + fileName;
int result = std::system(cmd.c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::initBootCopy");
}
}
std::ifstream file(fileName);
std::string line;
std::getline(file, line);
std::istringstream iss(line);
int value = 0;
iss >> value;
currentChip = static_cast<Chip>(value);
iss >> value;
currentCopy = static_cast<Copy>(value);
return HasReturnvaluesIF::RETURN_OK;
}
void CoreController::getCurrentBootCopy(Chip &chip, Copy &copy) {
// Not really thread-safe but it does not need to be
chip = currentChip;
copy = currentCopy;
}
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ReturnValue_t CoreController::initWatchdogFifo() {
if(not std::filesystem::exists(watchdog::FIFO_NAME)) {
// Still return RETURN_OK for now
sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate" <<
" watchdog" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
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// Open FIFO write only and non-blocking to prevent SW from killing itself.
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
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if(watchdogFifoFd < 0) {
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if(errno == ENXIO) {
watchdogFifoFd = RETRY_FIFO_OPEN;
sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
}
else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " <<
errno << ": " << strerror(errno) << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
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}
return HasReturnvaluesIF::RETURN_OK;
}
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void CoreController::initPrint() {
#if OBSW_VERBOSE_LEVEL >= 1
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
sif::info << "Created UDP server for TMTC commanding with listener port " <<
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UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
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#else
sif::info << "Created TCP server for TMTC commanding with listener port " <<
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TcpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
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#endif
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if(watchdogFifoFd > 0) {
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sif::info << "Opened watchdog FIFO successfully.." << std::endl;
}
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#endif
}
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ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) {
if(size < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
bool rebootSameBootCopy = data[0];
if(rebootSameBootCopy) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "CoreController::actionPerformReboot: Rebooting on current image" << std::endl;
#endif
// Attempt graceful shutdown by unmounting and switching off SD cards
SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
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int result = std::system("xsc_boot_copy -r");
if(result != 0) {
utility::handleSystemError(result, "CoreController::executeAction");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasActionsIF::EXECUTION_FINISHED;
}
if(size < 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "CoreController::actionPerformReboot: Rebooting on " <<
static_cast<int>(data[1]) << " " << static_cast<int>(data[2]) << std::endl;
#endif
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// The second byte in data is the target chip, the third byte is the target copy
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std::string cmdString = "xsc_boot_copy " + std::to_string(data[1]) + " " +
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std::to_string(data[2]);
int result = std::system(cmdString.c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::executeAction");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasActionsIF::EXECUTION_FINISHED;
}
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void CoreController::performWatchdogControlOperation() {
// Only perform each fifth iteration
if(watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
if(watchdogFifoFd == RETRY_FIFO_OPEN) {
// Open FIFO write only and non-blocking
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
if(watchdogFifoFd < 0) {
if(errno == ENXIO) {
watchdogFifoFd = RETRY_FIFO_OPEN;
// No printout for now, would be spam
return;
}
else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME <<
" write-only failed with " << errno << ": " <<
strerror(errno) << std::endl;
return;
}
}
sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
}
else if(watchdogFifoFd > 0) {
// Write to OBSW watchdog FIFO here
const char writeChar = 'a';
ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
if(writtenBytes < 0) {
sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " <<
strerror(errno) << std::endl;
}
}
}
}