Merge branch 'mueller/reboot-file-handling' into mueller/plpcdu-sus-updates

README.md

@@ -441,12 +441,24 @@ Beagle Bone Black for download here
 Download it and unzip it somewhere in the Xilinx installation folder.
 You can use the following command if `wget` can be used or for CI/CD:
 
-```
+```sh
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
+wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
 ```
 
 Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
 
+### Updating system root for CI
+
+If the system root is updated, it needs to be manually updated on the buggy file server.
+If access on `buggy.irs.uni-stuttgart.de` is possible with `ssh` and the rootfs in the cloud
+[was updated](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs&fileid=831849)
+as well, you can update the rootfs like this:
+
+```sh
+cd /var/www/eive/tools
+wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
+```
+
 ## Setting up UNIX environment for real-time functionalities
 
 Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities 

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -170,15 +170,15 @@ void Q7STestTask::testProtHandler() {
   bool opPerformed = false;
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   // If any chips are unlocked, lock them here
-  result = coreController->setBootCopyProtection(
+  result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
-      CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true, opPerformed, true);
+                                                 opPerformed, true);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
 
   // unlock own copy
-  result = coreController->setBootCopyProtection(
+  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
-      CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false, opPerformed, true);
+                                                 opPerformed, true);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -191,8 +191,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // lock own copy
-  result = coreController->setBootCopyProtection(
+  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-      CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true, opPerformed, true);
+                                                 opPerformed, true);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -205,8 +205,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // unlock specific copy
-  result = coreController->setBootCopyProtection(
+  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
-      CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false, opPerformed, true);
+                                                 opPerformed, true);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }
@@ -219,8 +219,8 @@ void Q7STestTask::testProtHandler() {
   }
 
   // lock specific copy
-  result = coreController->setBootCopyProtection(
+  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
-      CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true, opPerformed, true);
+                                                 opPerformed, true);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
   }

bsp_q7s/core/CoreController.cpp

@@ -22,8 +22,8 @@
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "bsp_q7s/memory/scratchApi.h"
 
-CoreController::Chip CoreController::CURRENT_CHIP = Chip::NO_CHIP;
+xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
-CoreController::Copy CoreController::CURRENT_COPY = Copy::NO_COPY;
+xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), opDivider(5) {
@@ -59,6 +59,7 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 void CoreController::performControlOperation() {
   performWatchdogControlOperation();
   sdStateMachine();
+  performRebootFileHandling(false);
 }
 
 ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@@ -79,6 +80,8 @@ ReturnValue_t CoreController::initialize() {
   }
 
   sdStateMachine();
+
+  triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
   return ExtendedControllerBase::initialize();
 }
 
@@ -104,6 +107,59 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   return result;
 }
 
+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 (SWITCH_REBOOT_FILE_HANDLING): {
+      if (size < 1) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+      // Disable the reboot file mechanism
+      parseRebootFile(path, rebootFile);
+      if (data[0] == 0) {
+        rebootFile.enabled = false;
+        rewriteRebootFile(rebootFile);
+      } else if (data[0] == 1) {
+        rebootFile.enabled = true;
+        rewriteRebootFile(rebootFile);
+      } else {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (RESET_ALL_REBOOT_COUNTERS): {
+      resetRebootCount(xsc::ALL_CHIP, xsc::ALL_COPY);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (RESET_REBOOT_COUNTER_00): {
+      resetRebootCount(xsc::CHIP_0, xsc::COPY_0);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (RESET_REBOOT_COUNTER_01): {
+      resetRebootCount(xsc::CHIP_0, xsc::COPY_1);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (RESET_REBOOT_COUNTER_10): {
+      resetRebootCount(xsc::CHIP_1, xsc::COPY_0);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (RESET_REBOOT_COUNTER_11): {
+      resetRebootCount(xsc::CHIP_1, xsc::COPY_1);
+      return HasActionsIF::EXECUTION_FINISHED;
+    }
+    case (REBOOT_OBC): {
+      return actionPerformReboot(data, size);
+    }
+    default: {
+      return HasActionsIF::INVALID_ACTION_ID;
+    }
+  }
+}
+
 ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                uint32_t *msToReachTheMode) {
   return HasReturnvaluesIF::RETURN_OK;
@@ -502,21 +558,6 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-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): {
-      return actionPerformReboot(data, size);
-    }
-    default: {
-      return HasActionsIF::INVALID_ACTION_ID;
-    }
-  }
-}
-
 ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
@@ -691,7 +732,7 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
 
 ReturnValue_t CoreController::initBootCopy() {
   if (not std::filesystem::exists(CURR_COPY_FILE)) {
-    // Thils file is created by the systemd service eive-early-config so this should
+    // This file is created by the systemd service eive-early-config so this should
     // not happen normally
     std::string cmd = "xsc_boot_copy > " + std::string(CURR_COPY_FILE);
     int result = std::system(cmd.c_str());
@@ -699,22 +740,18 @@ ReturnValue_t CoreController::initBootCopy() {
       utility::handleSystemError(result, "CoreController::initBootCopy");
     }
   }
-  std::ifstream file(CURR_COPY_FILE);
+
-  std::string line;
+  getCurrentBootCopy(CURRENT_CHIP, CURRENT_COPY);
-  std::getline(file, line);
-  std::istringstream iss(line);
-  int value = 0;
-  iss >> value;
-  CURRENT_CHIP = static_cast<Chip>(value);
-  iss >> value;
-  CURRENT_COPY = static_cast<Copy>(value);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void CoreController::getCurrentBootCopy(Chip &chip, Copy &copy) {
+void CoreController::getCurrentBootCopy(xsc::Chip &chip, xsc::Copy &copy) {
+  xsc_libnor_chip_t xscChip;
+  xsc_libnor_copy_t xscCopy;
+  xsc_boot_get_chip_copy(&xscChip, &xscCopy);
   // Not really thread-safe but it does not need to be
-  chip = CURRENT_CHIP;
+  chip = static_cast<xsc::Chip>(xscChip);
-  copy = CURRENT_COPY;
+  copy = static_cast<xsc::Copy>(xscCopy);
 }
 
 ReturnValue_t CoreController::initWatchdogFifo() {
@@ -761,8 +798,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
     SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
     SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
     // If any boot copies are unprotected
-    ReturnValue_t retval =
+    ReturnValue_t retval = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-        setBootCopyProtection(Chip::SELF_CHIP, Copy::SELF_COPY, true, protOpPerformed, false);
+                                                 protOpPerformed, false);
     if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
       sif::info << "Running slot was writeprotected before reboot" << std::endl;
     }
@@ -773,7 +810,7 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
     }
     return HasActionsIF::EXECUTION_FINISHED;
   }
-  if (size < 3) {
+  if (size < 3 or (data[1] > 1 or data[2] > 1)) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -784,21 +821,53 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   // Check that the target chip and copy is writeprotected first
   generateChipStateFile();
   // If any boot copies are unprotected, protect them here
-  ReturnValue_t retval = setBootCopyProtection(
+  auto tgtChip = static_cast<xsc::Chip>(data[1]);
-      static_cast<Chip>(data[1]), static_cast<Copy>(data[2]), true, protOpPerformed, false);
+  auto tgtCopy = static_cast<xsc::Copy>(data[2]);
+
+  ReturnValue_t retval =
+      setBootCopyProtection(static_cast<xsc::Chip>(data[1]), static_cast<xsc::Copy>(data[2]), true,
+                            protOpPerformed, false);
   if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
     sif::info << "Target slot was writeprotected before reboot" << std::endl;
   }
 
-  // The second byte in data is the target chip, the third byte is the target copy
+  switch (tgtChip) {
-  std::string cmdString =
+    case (xsc::Chip::CHIP_0): {
-      "xsc_boot_copy " + std::to_string(data[1]) + " " + std::to_string(data[2]);
+      switch (tgtCopy) {
-  int result = std::system(cmdString.c_str());
+        case (xsc::Copy::COPY_0): {
-  if (result != 0) {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
-    utility::handleSystemError(result, "CoreController::executeAction");
+          break;
-    return HasReturnvaluesIF::RETURN_FAILED;
         }
-  return HasActionsIF::EXECUTION_FINISHED;
+        case (xsc::Copy::COPY_1): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
+          break;
+        }
+        default: {
+          break;
+        }
+      }
+      break;
+    }
+    case (xsc::Chip::CHIP_1): {
+      switch (tgtCopy) {
+        case (xsc::Copy::COPY_0): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
+          break;
+        }
+        case (xsc::Copy::COPY_1): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
+          break;
+        }
+        default: {
+          break;
+        }
+      }
+      break;
+    }
+    default:
+      break;
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 CoreController::~CoreController() {}
@@ -852,8 +921,8 @@ ReturnValue_t CoreController::generateChipStateFile() {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t CoreController::setBootCopyProtection(Chip targetChip, Copy targetCopy, bool protect,
+ReturnValue_t CoreController::setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy,
-                                                    bool &protOperationPerformed,
+                                                    bool protect, bool &protOperationPerformed,
                                                     bool updateProtFile) {
   bool allChips = false;
   bool allCopies = false;
@@ -862,14 +931,14 @@ ReturnValue_t CoreController::setBootCopyProtection(Chip targetChip, Copy target
   protOperationPerformed = false;
 
   switch (targetChip) {
-    case (Chip::ALL_CHIP): {
+    case (xsc::Chip::ALL_CHIP): {
       allChips = true;
       break;
     }
-    case (Chip::NO_CHIP): {
+    case (xsc::Chip::NO_CHIP): {
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Chip::SELF_CHIP): {
+    case (xsc::Chip::SELF_CHIP): {
       selfChip = true;
       targetChip = CURRENT_CHIP;
       break;
@@ -879,14 +948,14 @@ ReturnValue_t CoreController::setBootCopyProtection(Chip targetChip, Copy target
     }
   }
   switch (targetCopy) {
-    case (Copy::ALL_COPY): {
+    case (xsc::Copy::ALL_COPY): {
       allCopies = true;
       break;
     }
-    case (Copy::NO_COPY): {
+    case (xsc::Copy::NO_COPY): {
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case (Copy::SELF_COPY): {
+    case (xsc::Copy::SELF_COPY): {
       selfCopy = true;
       targetCopy = CURRENT_COPY;
       break;
@@ -909,10 +978,10 @@ ReturnValue_t CoreController::setBootCopyProtection(Chip targetChip, Copy target
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-int CoreController::handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
+int CoreController::handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy,
-                                              bool &protOperationPerformed, bool selfChip,
+                                              bool protect, bool &protOperationPerformed,
-                                              bool selfCopy, bool allChips, bool allCopies,
+                                              bool selfChip, bool selfCopy, bool allChips,
-                                              uint8_t arrIdx) {
+                                              bool allCopies, uint8_t arrIdx) {
   bool currentProt = protArray[arrIdx];
   std::ostringstream oss;
   bool performOp = false;
@@ -925,22 +994,22 @@ int CoreController::handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy,
       return 1;
     }
   }
-  Chip currentChip;
+  xsc::Chip currentChip;
-  Copy currentCopy;
+  xsc::Copy currentCopy;
   oss << "writeprotect ";
   if (arrIdx == 0 or arrIdx == 1) {
     oss << "0 ";
-    currentChip = Chip::CHIP_0;
+    currentChip = xsc::Chip::CHIP_0;
   } else {
     oss << "1 ";
-    currentChip = Chip::CHIP_1;
+    currentChip = xsc::Chip::CHIP_1;
   }
   if (arrIdx == 0 or arrIdx == 2) {
     oss << "0 ";
-    currentCopy = Copy::COPY_0;
+    currentCopy = xsc::Copy::COPY_0;
   } else {
     oss << "1 ";
-    currentCopy = Copy::COPY_1;
+    currentCopy = xsc::Copy::COPY_1;
   }
   if (protect) {
     oss << "1";
@@ -1035,29 +1104,29 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
   uint8_t wordIdx = 0;
   uint8_t arrayIdx = 0;
   istringstream iss(nextLine);
-  Chip currentChip = Chip::CHIP_0;
+  xsc::Chip currentChip = xsc::Chip::CHIP_0;
-  Copy currentCopy = Copy::COPY_0;
+  xsc::Copy currentCopy = xsc::Copy::COPY_0;
   while (iss >> word) {
     if (wordIdx == 1) {
-      currentChip = static_cast<Chip>(stoi(word));
+      currentChip = static_cast<xsc::Chip>(stoi(word));
     }
     if (wordIdx == 3) {
-      currentCopy = static_cast<Copy>(stoi(word));
+      currentCopy = static_cast<xsc::Copy>(stoi(word));
     }
 
     if (wordIdx == 3) {
-      if (currentChip == Chip::CHIP_0) {
+      if (currentChip == xsc::Chip::CHIP_0) {
-        if (currentCopy == Copy::COPY_0) {
+        if (currentCopy == xsc::Copy::COPY_0) {
           arrayIdx = 0;
-        } else if (currentCopy == Copy::COPY_1) {
+        } else if (currentCopy == xsc::Copy::COPY_1) {
           arrayIdx = 1;
         }
       }
 
-      else if (currentChip == Chip::CHIP_1) {
+      else if (currentChip == xsc::Chip::CHIP_1) {
-        if (currentCopy == Copy::COPY_0) {
+        if (currentCopy == xsc::Copy::COPY_0) {
           arrayIdx = 2;
-        } else if (currentCopy == Copy::COPY_1) {
+        } else if (currentCopy == xsc::Copy::COPY_1) {
           arrayIdx = 3;
         }
       }
@@ -1103,3 +1172,363 @@ void CoreController::performWatchdogControlOperation() {
     }
   }
 }
+
+void CoreController::performRebootFileHandling(bool recreateFile) {
+  bool sdCardMounted = false;
+  if (not recreateFile and doPerformRebootFileHandling) {
+    sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
+  }
+  if ((doPerformRebootFileHandling and sdCardMounted) or recreateFile) {
+    using namespace std;
+    if (recreateFile) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
+#endif
+    }
+    std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+    if (not std::filesystem::exists(path) or recreateFile) {
+      rebootFile.enabled = true;
+      rebootFile.img00Cnt = 0;
+      rebootFile.img01Cnt = 0;
+      rebootFile.img10Cnt = 0;
+      rebootFile.img11Cnt = 0;
+      rebootFile.lastChip = xsc::Chip::CHIP_0;
+      rebootFile.lastCopy = xsc::Copy::COPY_0;
+      rebootFile.bootFlag = false;
+      rewriteRebootFile(rebootFile);
+    } else {
+      if (not parseRebootFile(path, rebootFile)) {
+        performRebootFileHandling(true);
+      }
+    }
+
+    if (rebootFile.bootFlag) {
+      // Trigger event to inform ground that a reboot was triggered
+      uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
+      uint32_t p2 = rebootFile.img00Cnt << 24 | rebootFile.img01Cnt << 16 |
+                    rebootFile.img10Cnt << 8 | rebootFile.img11Cnt;
+      triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, p2);
+      // Clear the boot flag
+      rebootFile.bootFlag = false;
+    }
+
+    switch (CURRENT_CHIP) {
+      case (xsc::CHIP_0): {
+        switch (CURRENT_COPY) {
+          case (xsc::COPY_0): {
+            rebootFile.img00Cnt++;
+            break;
+          }
+          case (xsc::COPY_1): {
+            rebootFile.img01Cnt++;
+            break;
+          }
+          default: {
+            break;
+          }
+        }
+        break;
+      }
+      case (xsc::CHIP_1): {
+        switch (CURRENT_COPY) {
+          case (xsc::COPY_0): {
+            rebootFile.img10Cnt++;
+            break;
+          }
+          case (xsc::COPY_1): {
+            rebootFile.img11Cnt++;
+            break;
+          }
+          default: {
+            break;
+          }
+        }
+        break;
+      }
+      default: {
+        break;
+      }
+    }
+    if (CURRENT_CHIP == xsc::CHIP_0 and CURRENT_COPY == xsc::COPY_0) {
+    }
+    if (rebootFile.relevantBootCnt > rebootFile.maxCount) {
+      // Reboot to other image
+      bool doReboot = false;
+      determineAndExecuteReboot(rebootFile, doReboot, rebootFile.lastChip, rebootFile.lastCopy);
+      if (doReboot) {
+        rebootFile.bootFlag = true;
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::info << "Boot counter for image " << CURRENT_CHIP << " " << CURRENT_COPY
+                  << "too high. Rebooting to " << rebootFile.lastChip << " " << rebootFile.lastCopy
+                  << std::endl;
+#endif
+        rewriteRebootFile(rebootFile);
+        xsc_boot_copy(static_cast<xsc_libnor_chip_t>(rebootFile.lastChip),
+                      static_cast<xsc_libnor_copy_t>(rebootFile.lastCopy));
+      }
+    } else {
+      rewriteRebootFile(rebootFile);
+    }
+    doPerformRebootFileHandling = false;
+  }
+}
+
+void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot,
+                                               xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
+  tgtChip = xsc::CHIP_0;
+  tgtCopy = xsc::COPY_0;
+  needsReboot = false;
+  if ((CURRENT_COPY == xsc::COPY_0) and (CURRENT_CHIP == xsc::CHIP_0) and
+      (rf.img00Cnt >= rf.maxCount)) {
+    needsReboot = true;
+    if (rf.img01Cnt >= rf.maxCount) {
+      if (rf.img10Cnt >= rf.maxCount) {
+        if (rf.img11Cnt >= rf.maxCount) {
+          // Can't really do much here. Stay on image
+          sif::warning << "All reboot counts too high, but already on fallback image" << std::endl;
+          return;
+        } else {
+          tgtChip = xsc::CHIP_1;
+          tgtCopy = xsc::COPY_1;
+        }
+      } else {
+        tgtChip = xsc::CHIP_0;
+        tgtCopy = xsc::COPY_1;
+      }
+    } else {
+      tgtCopy = xsc::COPY_1;
+    }
+  }
+  if ((CURRENT_COPY == xsc::COPY_0) and (CURRENT_CHIP == xsc::CHIP_1) and
+      (rf.img01Cnt >= rf.maxCount)) {
+    needsReboot = true;
+    if (rf.img00Cnt >= rf.maxCount) {
+      if (rf.img10Cnt >= rf.maxCount) {
+        if (rf.img11Cnt >= rf.maxCount) {
+          // Reboot to fallback image
+        } else {
+          tgtChip = xsc::CHIP_1;
+          tgtCopy = xsc::COPY_1;
+        }
+      } else {
+        tgtChip = xsc::CHIP_1;
+        tgtCopy = xsc::COPY_0;
+      }
+    } else {
+      // Reboot on fallback image
+    }
+  }
+  if ((CURRENT_COPY == xsc::COPY_1) and (CURRENT_CHIP == xsc::CHIP_0) and
+      (rf.img10Cnt >= rf.maxCount)) {
+    needsReboot = true;
+    if (rf.img11Cnt >= rf.maxCount) {
+      if (rf.img00Cnt >= rf.maxCount) {
+        if (rf.img01Cnt >= rf.maxCount) {
+          // Reboot to fallback image
+        } else {
+          tgtChip = xsc::CHIP_0;
+          tgtCopy = xsc::COPY_1;
+        }
+      } else {
+        tgtChip = xsc::CHIP_0;
+        tgtCopy = xsc::COPY_0;
+      }
+    } else {
+      tgtChip = xsc::CHIP_1;
+      tgtCopy = xsc::COPY_1;
+    }
+  }
+  if ((CURRENT_COPY == xsc::COPY_1) and (CURRENT_CHIP == xsc::CHIP_1) and
+      (rf.img11Cnt >= rf.maxCount)) {
+    needsReboot = true;
+    if (rf.img10Cnt >= rf.maxCount) {
+      if (rf.img00Cnt >= rf.maxCount) {
+        if (rf.img01Cnt >= rf.maxCount) {
+          // Reboot to fallback image
+        } else {
+          tgtChip = xsc::CHIP_0;
+          tgtCopy = xsc::COPY_1;
+        }
+      } else {
+        tgtChip = xsc::CHIP_0;
+        tgtCopy = xsc::COPY_0;
+      }
+    } else {
+      tgtChip = xsc::CHIP_1;
+      tgtCopy = xsc::COPY_0;
+    }
+  }
+}
+
+bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
+  using namespace std;
+  std::string selfMatch;
+  if (CURRENT_CHIP == xsc::CHIP_0) {
+    if (CURRENT_COPY == xsc::COPY_0) {
+      selfMatch = "00";
+    } else {
+      selfMatch = "01";
+    }
+  } else {
+    if (CURRENT_COPY == xsc::COPY_0) {
+      selfMatch = "10";
+    } else {
+      selfMatch = "11";
+    }
+  }
+  ifstream file(path);
+  string word;
+  string line;
+  uint8_t lineIdx = 0;
+  while (std::getline(file, line)) {
+    istringstream iss(line);
+    switch (lineIdx) {
+      case 0: {
+        iss >> word;
+        if (word.find("on:") == string::npos) {
+          // invalid file
+          return false;
+        }
+        iss >> rf.enabled;
+        break;
+      }
+      case 1: {
+        iss >> word;
+        if (word.find("maxcnt:") == string::npos) {
+          return false;
+        }
+        iss >> rf.maxCount;
+        break;
+      }
+      case 2: {
+        iss >> word;
+        if (word.find("img00:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img00Cnt;
+        if (word.find(selfMatch) != string::npos) {
+          rf.relevantBootCnt = rf.img00Cnt;
+        }
+        break;
+      }
+      case 3: {
+        iss >> word;
+        if (word.find("img01:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img01Cnt;
+        if (word.find(selfMatch) != string::npos) {
+          rf.relevantBootCnt = rf.img01Cnt;
+        }
+        break;
+      }
+      case 4: {
+        iss >> word;
+        if (word.find("img10:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img10Cnt;
+        if (word.find(selfMatch) != string::npos) {
+          rf.relevantBootCnt = rf.img10Cnt;
+        }
+        break;
+      }
+      case 5: {
+        iss >> word;
+        if (word.find("img11:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img11Cnt;
+        if (word.find(selfMatch) != string::npos) {
+          rf.relevantBootCnt = rf.img11Cnt;
+        }
+        break;
+      }
+      case 6: {
+        iss >> word;
+        if (word.find("bootflag:") == string::npos) {
+          return false;
+        }
+        iss >> rf.bootFlag;
+        break;
+      }
+      case 7: {
+        iss >> word;
+        if (word.find("bootflag:") == string::npos) {
+          return false;
+        }
+        break;
+      }
+      case 8: {
+        iss >> word;
+        uint8_t copyRaw = 0;
+        uint8_t chipRaw = 0;
+        if (word.find("last:") == string::npos) {
+          return false;
+        }
+        iss >> chipRaw;
+        if (iss.fail()) {
+          return false;
+        }
+        iss >> copyRaw;
+        if (iss.fail()) {
+          return false;
+        }
+
+        if (chipRaw > 1 or copyRaw > 1) {
+          return false;
+        }
+        rf.lastChip = static_cast<xsc::Chip>(chipRaw);
+        rf.lastCopy = static_cast<xsc::Copy>(copyRaw);
+      }
+    }
+    if (iss.fail()) {
+      return false;
+    }
+    lineIdx++;
+  }
+  if (lineIdx < 8) {
+    return false;
+  }
+  return true;
+}
+
+void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  // Disable the reboot file mechanism
+  parseRebootFile(path, rebootFile);
+  if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
+    rebootFile.img00Cnt = 0;
+    rebootFile.img01Cnt = 0;
+    rebootFile.img10Cnt = 0;
+    rebootFile.img11Cnt = 0;
+  } else {
+    if (tgtChip == xsc::CHIP_0) {
+      if (tgtCopy == xsc::COPY_0) {
+        rebootFile.img00Cnt = 0;
+      } else {
+        rebootFile.img01Cnt = 0;
+      }
+    } else {
+      if (tgtCopy == xsc::COPY_0) {
+        rebootFile.img10Cnt = 0;
+      } else {
+        rebootFile.img11Cnt = 0;
+      }
+    }
+  }
+  rewriteRebootFile(rebootFile);
+}
+
+void CoreController::rewriteRebootFile(RebootFile file) {
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::ofstream rebootFile(path);
+  if (rebootFile.is_open()) {
+    // Initiate reboot file first. Reboot handling will be on on initialization
+    rebootFile << "on: " << file.enabled << "\nmaxcnt: " << file.maxCount
+               << "\nimg00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
+               << "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt
+               << "\nbootflag: " << file.bootFlag << "\nlast: " << file.lastChip << " "
+               << file.lastCopy << "\n";
+  }
+}

bsp_q7s/core/CoreController.h

@@ -2,6 +2,9 @@
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include <libxiphos.h>
+
+#include <cstddef>
 
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
@@ -10,24 +13,64 @@
 class Timer;
 class SdCardManager;
 
+namespace xsc {
+
+enum Chip : uint8_t { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
+enum Copy : uint8_t { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
+
+}  // namespace xsc
+
+struct RebootFile {
+  static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
+
+  bool enabled = false;
+  size_t maxCount = DEFAULT_MAX_BOOT_CNT;
+  uint8_t img00Cnt = 0;
+  uint8_t img01Cnt = 0;
+  uint8_t img10Cnt = 0;
+  uint8_t img11Cnt = 0;
+  uint8_t relevantBootCnt = 0;
+  bool bootFlag = false;
+  xsc::Chip lastChip = xsc::Chip::CHIP_0;
+  xsc::Copy lastCopy = xsc::Copy::COPY_0;
+};
+
 class CoreController : public ExtendedControllerBase {
  public:
-  enum Chip : uint8_t { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
+  static xsc::Chip CURRENT_CHIP;
-
+  static xsc::Copy CURRENT_COPY;
-  enum Copy : uint8_t { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
 
   static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
   static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
   static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
-  static constexpr char VERSION_FILE[] = "/conf/sd_status";
+  static constexpr char VERSION_FILE[] = "/conf/version.txt";
+  static constexpr char REBOOT_FILE[] = "/conf/reboot.txt";
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
+  static constexpr ActionId_t RESET_ALL_REBOOT_COUNTERS = 6;
+  static constexpr ActionId_t RESET_REBOOT_COUNTER_00 = 7;
+  static constexpr ActionId_t RESET_REBOOT_COUNTER_01 = 8;
+  static constexpr ActionId_t RESET_REBOOT_COUNTER_10 = 9;
+  static constexpr ActionId_t RESET_REBOOT_COUNTER_11 = 10;
+  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 11;
+
   static constexpr ActionId_t REBOOT_OBC = 32;
   static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
   static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT]  Software reboot occured. Can also be a systemd reboot.
+  //! P1: Current Chip, P2: Current Copy
+  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
+  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
+  //! P2: Each byte is the respective reboot count for the slots
+  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
+      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
+  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
+  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
 
   CoreController(object_id_t objectId);
   virtual ~CoreController();
@@ -48,7 +91,7 @@ class CoreController : public ExtendedControllerBase {
    */
   static ReturnValue_t generateChipStateFile();
   static ReturnValue_t incrementAllocationFailureCount();
-  static void getCurrentBootCopy(Chip& chip, Copy& copy);
+  static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
 
   ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
 
@@ -63,15 +106,12 @@ class CoreController : public ExtendedControllerBase {
    * @param updateProtFile Specify whether the protection info file is updated
    * @return
    */
-  ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy, bool protect,
+  ReturnValue_t setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
                                       bool& protOperationPerformed, bool updateProtFile = true);
 
   bool sdInitFinished() const;
 
  private:
-  static Chip CURRENT_CHIP;
-  static Copy CURRENT_COPY;
-
   // Designated value for rechecking FIFO open
   static constexpr int RETRY_FIFO_OPEN = -2;
   int watchdogFifoFd = 0;
@@ -122,6 +162,8 @@ class CoreController : public ExtendedControllerBase {
     sd::SdState commandedState = sd::SdState::OFF;
   };
   SdInfo sdInfo;
+  RebootFile rebootFile = {};
+  bool doPerformRebootFileHandling = true;
 
   /**
    * Index 0: Chip 0 Copy 0
@@ -152,6 +194,7 @@ class CoreController : public ExtendedControllerBase {
   void determinePreferredSdCard();
   void executeNextExternalSdCommand();
   void checkExternalSdCommandStatus();
+  void performRebootFileHandling(bool recreateFile);
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
@@ -160,9 +203,14 @@ class CoreController : public ExtendedControllerBase {
   void performWatchdogControlOperation();
 
   ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
-  int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
+  int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
                                 bool& protOperationPerformed, bool selfChip, bool selfCopy,
                                 bool allChips, bool allCopies, uint8_t arrIdx);
+  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
+                                 xsc::Copy& tgtCopy);
+  void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
+  bool parseRebootFile(std::string path, RebootFile& file);
+  void rewriteRebootFile(RebootFile file);
 };
 
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

bsp_q7s/memory/SdCardManager.cpp

@@ -7,6 +7,7 @@
 #include <fstream>
 #include <memory>
 
+#include "common/config/commonObjects.h"
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "linux/utility/utility.h"
@@ -14,7 +15,7 @@
 
 SdCardManager* SdCardManager::factoryInstance = nullptr;
 
-SdCardManager::SdCardManager() : cmdExecutor(256) {}
+SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {}
 
 SdCardManager::~SdCardManager() {}
 

bsp_q7s/memory/SdCardManager.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
 #define BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
 
+#include <fsfw/objectmanager/SystemObject.h>
 #include <poll.h>
 
 #include <array>
@@ -23,7 +24,7 @@ class MutexIF;
  * @brief   Manages handling of SD cards like switching them on or off or getting the current
  *          state
  */
-class SdCardManager: public SdCardMountedIF {
+class SdCardManager: public SystemObject, public SdCardMountedIF {
   friend class SdCardAccess;
 
  public:
@@ -55,6 +56,7 @@ class SdCardManager: public SdCardMountedIF {
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
 
   static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
+  static constexpr Event MOUNTED_SD_CARD = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 
   // C++17 does not support constexpr std::string yet
   static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";

cmake/Q7SCrossCompileConfig.cmake

@@ -81,8 +81,19 @@ set(CMAKE_PREFIX_PATH
 	# "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
 )
 
+set(C_FLAGS
+    -mcpu=cortex-a9
+    -mfpu=neon-vfpv3
+    -mfloat-abi=hard
+    ${COMMON_FLAGS}
+    -lgpiod
+    -lxiphos
+)
+
+string (REPLACE ";" " " C_FLAGS "${C_FLAGS}")
+
 set(CMAKE_C_FLAGS 
-	"-mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard ${COMMON_FLAGS} -lgpiod" 
+    ${C_FLAGS}
 	CACHE STRING "C flags for Q7S"
 )
 set(CMAKE_CXX_FLAGS 

unittest/rebootLogic/.gitignore

@@ -0,0 +1 @@
+/build

unittest/rebootLogic/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.0.0)
+project(reboot-logic VERSION 0.1.0)
+
+include(CTest)
+enable_testing()
+
+add_executable(reboot-logic main.cpp)
+
+set(CPACK_PROJECT_NAME ${PROJECT_NAME})
+set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+include(CPack)

unittest/rebootLogic/main.cpp

@@ -0,0 +1,5 @@
+#include <iostream>
+
+int main(int, char**) {
+    std::cout << "Hello, world!\n";
+}