eive-obsw/bsp_q7s/memory/SdCardManager.cpp

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#include "SdCardManager.h"
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#include <fsfw/ipc/MutexGuard.h>
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#include <unistd.h>
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#include <cstring>
#include <filesystem>
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#include <fstream>
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#include <memory>
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#include "common/config/commonObjects.h"
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#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "linux/utility/utility.h"
#include "scratchApi.h"
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SdCardManager* SdCardManager::factoryInstance = nullptr;
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SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
mutex = MutexFactory::instance()->createMutex();
}
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SdCardManager::~SdCardManager() {}
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void SdCardManager::create() {
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if (factoryInstance == nullptr) {
factoryInstance = new SdCardManager();
}
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}
SdCardManager* SdCardManager::instance() {
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SdCardManager::create();
return SdCardManager::factoryInstance;
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}
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ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
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SdStatePair* statusPair) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if (doMountSdCard) {
if (not blocking) {
sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
" not configured for blocking operation. "
"Forcing blocking mode.."
<< std::endl;
blocking = true;
}
}
std::unique_ptr<SdStatePair> sdStatusPtr;
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
// Not allowed, this function turns on one SD card
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
sd::SdState currentState;
if (sdCard == sd::SdCard::SLOT_0) {
currentState = statusPair->first;
} else if (sdCard == sd::SdCard::SLOT_1) {
currentState = statusPair->second;
} else {
// Should not happen
currentState = sd::SdState::OFF;
}
if (currentState == sd::SdState::ON) {
if (not doMountSdCard) {
return ALREADY_ON;
} else {
return mountSdCard(sdCard);
}
} else if (currentState == sd::SdState::MOUNTED) {
result = ALREADY_MOUNTED;
} else if (currentState == sd::SdState::OFF) {
result = setSdCardState(sdCard, true);
} else {
result = HasReturnvaluesIF::RETURN_FAILED;
}
if (result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
return result;
}
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return mountSdCard(sdCard);
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}
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ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
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SdStatePair* statusPair) {
std::pair<sd::SdState, sd::SdState> active;
ReturnValue_t result = getSdCardActiveStatus(active);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (doUnmountSdCard) {
if (not blocking) {
sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
" not configured for blocking operation. Forcing blocking mode.."
<< std::endl;
blocking = true;
}
}
// Not allowed, this function turns off one SD card
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (sdCard == sd::SdCard::SLOT_0) {
if (active.first == sd::SdState::OFF) {
return ALREADY_OFF;
}
} else if (sdCard == sd::SdCard::SLOT_1) {
if (active.second == sd::SdState::OFF) {
return ALREADY_OFF;
}
}
if (doUnmountSdCard) {
result = unmountSdCard(sdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
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}
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}
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return setSdCardState(sdCard, false);
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}
ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
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using namespace std;
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
string sdstring = "";
string statestring = "";
if (sdCard == sd::SdCard::SLOT_0) {
sdstring = "0";
} else if (sdCard == sd::SdCard::SLOT_1) {
sdstring = "1";
}
if (on) {
currentOp = Operations::SWITCHING_ON;
statestring = "on";
} else {
currentOp = Operations::SWITCHING_OFF;
statestring = "off";
}
ostringstream command;
command << "q7hw sd set " << sdstring << " " << statestring;
cmdExecutor.load(command.str(), blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
}
return result;
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}
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ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
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using namespace std;
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MutexGuard mg(mutex);
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if (not filesystem::exists(SD_STATE_FILE)) {
return STATUS_FILE_NEXISTS;
}
// Now the file should exist in any case. Still check whether it exists.
fstream sdStatus(SD_STATE_FILE);
if (not sdStatus.good()) {
return STATUS_FILE_NEXISTS;
}
string line;
uint8_t idx = 0;
sd::SdCard currentSd = sd::SdCard::SLOT_0;
// Process status file line by line
while (std::getline(sdStatus, line)) {
processSdStatusLine(active, line, idx, currentSd);
}
return HasReturnvaluesIF::RETURN_OK;
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}
ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
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using namespace std;
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
string mountDev;
string mountPoint;
if (sdCard == sd::SdCard::SLOT_0) {
mountDev = SD_0_DEV_NAME;
mountPoint = SD_0_MOUNT_POINT;
} else if (sdCard == sd::SdCard::SLOT_1) {
mountDev = SD_1_DEV_NAME;
mountPoint = SD_1_MOUNT_POINT;
}
if (not filesystem::exists(mountDev)) {
sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
" turn on the SD card"
<< std::endl;
return MOUNT_ERROR;
}
if (not blocking) {
currentOp = Operations::MOUNTING;
}
string sdMountCommand = "mount " + mountDev + " " + mountPoint;
cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
}
return result;
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}
ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
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if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
using namespace std;
if (sdCard == sd::SdCard::BOTH) {
sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
string mountPoint;
if (sdCard == sd::SdCard::SLOT_0) {
mountPoint = SD_0_MOUNT_POINT;
} else if (sdCard == sd::SdCard::SLOT_1) {
mountPoint = SD_1_MOUNT_POINT;
}
if (not filesystem::exists(mountPoint)) {
sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
<< "does not exist" << std::endl;
return UNMOUNT_ERROR;
}
if (filesystem::is_empty(mountPoint)) {
// The mount point will always exist, but if it is empty, that is strong hint that
// the SD card was not mounted properly. Still proceed with operation.
sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
}
string sdUnmountCommand = "umount " + mountPoint;
if (not blocking) {
currentOp = Operations::UNMOUNTING;
}
cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
}
return result;
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}
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ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
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std::unique_ptr<SdStatePair> sdStatusPtr;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
// Enforce blocking operation for now. Be careful to reset it when returning prematurely!
bool resetNonBlockingState = false;
if (not this->blocking) {
blocking = true;
resetNonBlockingState = true;
}
if (prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
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}
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}
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
}
if (statusPair->first == sd::SdState::ON) {
result = mountSdCard(prefSdCard);
}
result = switchOnSdCard(prefSdCard, true, statusPair);
if (resetNonBlockingState) {
blocking = false;
}
return result;
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}
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void SdCardManager::resetState() {
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cmdExecutor.reset();
currentOp = Operations::IDLE;
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}
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void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
using namespace std;
istringstream iss(line);
string word;
bool slotLine = false;
bool mountLine = false;
while (iss >> word) {
if (word == "Slot") {
slotLine = true;
}
if (word == "Mounted") {
mountLine = true;
}
if (slotLine) {
if (word == "1:") {
currentSd = sd::SdCard::SLOT_1;
}
if (word == "on") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::ON;
} else {
active.second = sd::SdState::ON;
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}
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} else if (word == "off") {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::OFF;
} else {
active.second = sd::SdState::OFF;
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}
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}
}
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if (mountLine) {
if (currentSd == sd::SdCard::SLOT_0) {
active.first = sd::SdState::MOUNTED;
} else {
active.second = sd::SdState::MOUNTED;
}
}
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if (idx > 5) {
sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
"lines and might be invalid!"
<< std::endl;
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}
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}
idx++;
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}
ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
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uint8_t prefSdCard = 0;
ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
sdCard = static_cast<sd::SdCard>(prefSdCard);
return HasReturnvaluesIF::RETURN_OK;
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}
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
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if (sdCard == sd::SdCard::BOTH) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
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}
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ReturnValue_t SdCardManager::updateSdCardStateFile() {
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if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
return CommandExecutor::COMMAND_PENDING;
}
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MutexGuard mg(mutex);
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// 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);
ReturnValue_t result = cmdExecutor.execute();
if (blocking and result != HasReturnvaluesIF::RETURN_OK) {
utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
}
return result;
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}
std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
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if (prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT;
}
}
if (prefSdCard == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
} else {
return SD_1_MOUNT_POINT;
}
}
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SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
CommandExecutor::States state = cmdExecutor.getCurrentState();
if (state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
return OpStatus::IDLE;
}
currentOp = this->currentOp;
bool bytesRead = false;
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#if OBSW_ENABLE_TIMERS == 1
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Timer timer;
timer.setTimer(100);
uint32_t remainingTimeMs = 0;
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#endif
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while (true) {
ReturnValue_t result = cmdExecutor.check(bytesRead);
// This timer can prevent deadlocks due to missconfigurations
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#if OBSW_ENABLE_TIMERS == 1
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timer.getTimer(&remainingTimeMs);
if (remainingTimeMs == 0) {
sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
return OpStatus::FAIL;
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}
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#endif
switch (result) {
case (CommandExecutor::BYTES_READ): {
continue;
}
case (CommandExecutor::EXECUTION_FINISHED): {
return OpStatus::SUCCESS;
}
case (HasReturnvaluesIF::RETURN_OK): {
return OpStatus::ONGOING;
}
case (HasReturnvaluesIF::RETURN_FAILED): {
return OpStatus::FAIL;
}
default: {
sif::warning << "SdCardManager::checkCurrentOp: Unhandled case" << std::endl;
}
}
}
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}
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void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
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void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
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bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
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SdCardManager::SdStatePair active;
ReturnValue_t result = this->getSdCardActiveStatus(active);
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if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
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return false;
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}
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
return true;
} else {
return false;
}
} else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
return true;
} else {
return false;
}
} else {
sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
}
return false;
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}