merged develop

bsp_linux_board/ObjectFactory.cpp

@@ -1,5 +1,5 @@
-#include <fsfw/hal/linux/uart/UartComIF.h>
-#include <fsfw/hal/linux/uart/UartCookie.h>
+#include <fsfw_hal/linux/uart/UartComIF.h>
+#include <fsfw_hal/linux/uart/UartCookie.h>
 #include <mission/devices/GPSHyperionHandler.h>
 #include "ObjectFactory.h"
 
@@ -31,12 +31,12 @@
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 
-#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
-#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
-#include "fsfw/hal/linux/rpi/GpioRPi.h"
-#include "fsfw/hal/common/gpio/GpioCookie.h"
-#include "fsfw/hal/linux/spi/SpiCookie.h"
-#include "fsfw/hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
 
 void Factory::setStaticFrameworkObjectIds() {
     PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;

bsp_q7s/boardtest/FileSystemTest.cpp

@@ -4,6 +4,11 @@
 #include <iostream>
 #include <cstdlib>
 
+enum SdCard {
+    SDC0,
+    SDC1
+};
+
 FileSystemTest::FileSystemTest() {
     using namespace std;
     SdCard sdCard = SdCard::SDC0;

bsp_q7s/boardtest/FileSystemTest.h

@@ -1,11 +1,6 @@
 #ifndef BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_
 #define BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_
 
-enum SdCard {
-    SDC0,
-    SDC1
-};
-
 class FileSystemTest {
 public:
     FileSystemTest();

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -24,8 +24,8 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
     //testScratchApi();
     //testJsonLibDirect();
     //testDummyParams();
-    FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
-    testFileSystemHandlerDirect(opCode);
+    //FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
+    //testFileSystemHandlerDirect(opCode);
     return TestTask::performOneShotAction();
 }
 

bsp_q7s/core/CoreController.cpp

@@ -23,8 +23,8 @@ CoreController::Chip CoreController::currentChip = Chip::NO_CHIP;
 CoreController::Copy CoreController::currentCopy = Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId):
-            ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
-            opDivider(5) {
+                    ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
+                    opDivider(5) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     try {
         result = initWatchdogFifo();
@@ -49,7 +49,7 @@ CoreController::CoreController(object_id_t objectId):
 }
 
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
-    return HasReturnvaluesIF::RETURN_OK;
+    return ExtendedControllerBase::handleCommandMessage(message);
 }
 
 void CoreController::performControlOperation() {
@@ -74,7 +74,7 @@ ReturnValue_t CoreController::initialize() {
                 "count failed" << std::endl;
     }
 
-    return HasReturnvaluesIF::RETURN_OK;
+    return ExtendedControllerBase::initialize();
 }
 
 ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
@@ -159,8 +159,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
         return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
     }
     case(REBOOT_OBC): {
-        return HasReturnvaluesIF::RETURN_OK;
-        break;
+        return actionPerformReboot(data, size);
     }
     default: {
         return HasActionsIF::INVALID_ACTION_ID;
@@ -457,6 +456,43 @@ void CoreController::initPrint() {
 #endif
 }
 
+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);
+        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
+    // The second byte in data is the target chip, the third byte is the target copy
+    std::string cmdString = "xsc_boot_copy " + std::to_string(data[1]) + " " +
+            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;
+}
+
 void CoreController::performWatchdogControlOperation() {
     // Only perform each fifth iteration
     if(watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {

bsp_q7s/core/CoreController.h

@@ -24,7 +24,7 @@ public:
     };
 
     static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-    static constexpr ActionId_t REBOOT_OBC = 1;
+    static constexpr ActionId_t REBOOT_OBC = 32;
 
     static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
@@ -68,6 +68,7 @@ private:
 
     ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
             const uint8_t *data, size_t size);
+    ReturnValue_t actionPerformReboot(const uint8_t *data, size_t size);
 
     void initPrint();
 

bsp_q7s/core/ObjectFactory.cpp

@@ -48,15 +48,15 @@
 #include "mission/utility/TmFunnel.h"
 #include "linux/obc/CCSDSIPCoreBridge.h"
 
-#include "fsfw/hal/linux/uart/UartComIF.h"
-#include "fsfw/hal/linux/uart/UartCookie.h"
-#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
-#include "fsfw/hal/linux/i2c/I2cCookie.h"
-#include "fsfw/hal/linux/i2c/I2cComIF.h"
-#include "fsfw/hal/linux/spi/SpiCookie.h"
-#include "fsfw/hal/linux/spi/SpiComIF.h"
-#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
-#include "fsfw/hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"

bsp_q7s/gpio/gpioCallbacks.cpp

@@ -1,8 +1,8 @@
 #include "gpioCallbacks.h"
 #include <devices/gpioIds.h>
 
-#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
-#include <fsfw/hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 

bsp_q7s/gpio/gpioCallbacks.h

@@ -1,8 +1,8 @@
 #ifndef LINUX_GPIO_GPIOCALLBACKS_H_
 #define LINUX_GPIO_GPIOCALLBACKS_H_
 
-#include <fsfw/hal/common/gpio/gpioDefinitions.h>
-#include <fsfw/hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 
 
 namespace gpioCallbacks {

bsp_q7s/memory/FileSystemHandler.cpp

@@ -226,7 +226,7 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
         else {
             // Check error code. Most probably denied permissions because folder is not empty
             sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
-                    "code" << err.value() << ": " << strerror(err.value()) << std::endl;
+                    "code " << err.value() << ": " << strerror(err.value()) << std::endl;
             if(err.value() == ENOTEMPTY) {
                 return DIRECTORY_NOT_EMPTY;
             }
@@ -242,7 +242,7 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
         }
         else {
             sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
-                    "code" << err.value() << ": " << strerror(err.value()) << std::endl;
+                    "code " << err.value() << ": " << strerror(err.value()) << std::endl;
             // Check error code
             if(err.value() == ENOTEMPTY) {
                 return DIRECTORY_NOT_EMPTY;

bsp_q7s/spi/Q7sSpiComIF.h

@@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_SPI_Q7SSPICOMIF_H_
 #define BSP_Q7S_SPI_Q7SSPICOMIF_H_
 
-#include <fsfw/hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
 
 
 /**

bsp_q7s/spiCallbacks/rwSpiCallback.cpp

@@ -1,8 +1,8 @@
 #include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <mission/devices/RwHandler.h>
-#include <fsfw/hal/linux/spi/SpiCookie.h>
-#include <fsfw/hal/linux/UnixFileGuard.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <fsfw_hal/linux/UnixFileGuard.h>
 #include "devices/gpioIds.h"
 
 namespace rwSpiCallback {

bsp_q7s/spiCallbacks/rwSpiCallback.h

@@ -2,8 +2,8 @@
 #define BSP_Q7S_RW_SPI_CALLBACK_H_
 
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <fsfw/hal/linux/spi/SpiComIF.h>
-#include <fsfw/hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 
 
 namespace rwSpiCallback {

common/config/commonConfig.h.in

@@ -5,6 +5,6 @@
 
 // Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
 // because UDP packets are not allowed in the VPN
-#define OBSW_USE_TMTC_TCP_BRIDGE        0
+#define OBSW_USE_TMTC_TCP_BRIDGE        1
 
 #endif /* COMMON_CONFIG_COMMONCONFIG_H_ */

common/config/spiConf.h

@@ -2,7 +2,7 @@
 #define COMMON_CONFIG_SPICONF_H_
 
 #include <cstdint>
-#include <fsfw/hal/linux/spi/spiDefinitions.h>
+#include <fsfw_hal/linux/spi/spiDefinitions.h>
 
 /**
  * SPI configuration will be contained here to let the device handlers remain independent

fsfw

@@ -1 +1 @@
-Subproject commit 296c587e3de10c579847e04af3176b3acaa2d701
+Subproject commit bb88490cc6cda5474d1d4913452eeb758da8cc25

linux/boardtest/LibgpiodTest.h

@@ -2,8 +2,8 @@
 #define TEST_TESTTASKS_LIBGPIODTEST_H_
 
 #include "TestTask.h"
-#include <fsfw/hal/common/gpio/GpioIF.h>
-#include <fsfw/hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw/objectmanager/SystemObject.h>
 
 /**

linux/boardtest/SpiTestClass.cpp

@@ -8,10 +8,10 @@
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
-#include <fsfw/hal/linux/utility.h>
-#include <fsfw/hal/linux/UnixFileGuard.h>
-#include <fsfw/hal/common/gpio/gpioDefinitions.h>
-#include <fsfw/hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/linux/utility.h>
+#include <fsfw_hal/linux/UnixFileGuard.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 
 #include <linux/spi/spidev.h>
 #include <fcntl.h>

linux/boardtest/SpiTestClass.h

@@ -1,8 +1,8 @@
 #ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
 #define LINUX_BOARDTEST_SPITESTCLASS_H_
 
-#include <fsfw/hal/common/gpio/GpioIF.h>
-#include <fsfw/hal/linux/spi/SpiCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>
 
 #include <vector>

linux/devices/HeaterHandler.cpp

@@ -4,7 +4,7 @@
 
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 
 HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
         CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :

linux/devices/HeaterHandler.h

@@ -11,7 +11,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <fsfw/hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 #include <unordered_map>
 
 /**

linux/devices/SolarArrayDeploymentHandler.cpp

@@ -3,7 +3,7 @@
 #include <devices/powerSwitcherList.h>
 #include <devices/gpioIds.h>
 
-#include <fsfw/hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 

linux/devices/SolarArrayDeploymentHandler.h

@@ -9,7 +9,7 @@
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <fsfw/hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 #include <unordered_map>
 
 /**

linux/devices/SusHandler.cpp

@@ -2,7 +2,7 @@
 #include "OBSWConfig.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
 
 SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
         LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :

linux/devices/SusHandler.h

@@ -3,7 +3,7 @@
 
 #include "devicedefinitions/SusDefinitions.h"
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
 
 /**
  * @brief	This is the device handler class for the SUS sensor. The sensor is

linux/fsfwconfig/devices/gpioIds.h

@@ -1,7 +1,7 @@
 #ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
 #define FSFWCONFIG_DEVICES_GPIOIDS_H_
 
-#include <fsfw/hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 
 namespace gpioIds {
 	enum gpioId_t {

linux/obc/CCSDSIPCoreBridge.h

@@ -3,8 +3,8 @@
 
 #include "OBSWConfig.h"
 #include <fsfw/tmtcservices/TmTcBridge.h>
-#include <fsfw/hal/common/gpio/gpioDefinitions.h>
-#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
 
 #include <cstring>
 

mission/devices/GyroADIS16507Handler.cpp

@@ -4,10 +4,10 @@
 #include "GyroADIS16507Handler.h"
 
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
-#include "fsfw/hal/linux/utility.h"
-#include "fsfw/hal/linux/spi/SpiCookie.h"
-#include "fsfw/hal/linux/spi/SpiComIF.h"
-#include "fsfw/hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
 #include <sys/ioctl.h>
 #include <unistd.h>
 #endif

mission/devices/PlocSupervisorHandler.h

@@ -4,7 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/devices/devicedefinitions/PlocSupervisorDefinitions.h>
 #include <cstring>
-#include <fsfw/hal/linux/uart/UartComIF.h>
+#include <fsfw_hal/linux/uart/UartComIF.h>
 
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by

mission/devices/RwHandler.h

@@ -3,7 +3,7 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/devices/devicedefinitions/RwDefinitions.h>
-#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
 #include <string.h>
 
 /**