From 37feaa0a549c1d3da21ba57dcc513e2edbb0e592 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 13:26:02 +0200
Subject: [PATCH 01/11] sd card is now mounted as well

---
 bsp_q7s/core/CoreController.cpp  |  7 +++++--
 bsp_q7s/memory/SdCardManager.cpp | 13 +++++++++++--
 bsp_q7s/memory/SdCardManager.h   | 19 ++++++++++++-------
 3 files changed, 28 insertions(+), 11 deletions(-)

diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index ced75056..421a96d9 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -41,7 +41,10 @@ ReturnValue_t CoreController::initialize() {
     sif::info << "Switching on SD card " << printoutString << ".." << std::endl;
 
     result = SdCardManager::instance()->switchOnSdCard(preferredSdCard, true);
-    if(result == SdCardManager::ALREADY_ON) {
+    if(result == SdCardManager::ALREADY_MOUNTED) {
+        sif::info << "SD card " << printoutString << " is already on and mounted" << std::endl;
+    }
+    else if(result == SdCardManager::ALREADY_ON) {
         sif::info << "SD card " << printoutString << " is already on" << std::endl;
     }
     else if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -49,7 +52,7 @@ ReturnValue_t CoreController::initialize() {
                 << std::endl;
     }
     else {
-        sif::info << "SD card " << printoutString << " was switched on" << std::endl;
+        sif::info << "SD card " << printoutString << " was switched on and mounted" << std::endl;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/bsp_q7s/memory/SdCardManager.cpp b/bsp_q7s/memory/SdCardManager.cpp
index 9c47f0de..232000a3 100644
--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@@ -39,9 +39,18 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
         return result;
     }
     if(sdCard == sd::SdCard::SLOT_0) {
-        if(active.first == sd::SdStatus::ON or active.first == sd::SdStatus::MOUNTED) {
-            return ALREADY_ON;
+        if(active.first == sd::SdStatus::MOUNTED) {
+            return ALREADY_MOUNTED;
         }
+        else if(active.first == sd::SdStatus::ON) {
+            if(not doMountSdCard) {
+                return ALREADY_ON;
+            }
+            else {
+                return mountSdCard(sdCard);
+            }
+        }
+
     }
     else if(sdCard == sd::SdCard::SLOT_1) {
         if(active.second == sd::SdStatus::ON or active.second == sd::SdStatus::MOUNTED) {
diff --git a/bsp_q7s/memory/SdCardManager.h b/bsp_q7s/memory/SdCardManager.h
index 810536fe..b3a33d42 100644
--- a/bsp_q7s/memory/SdCardManager.h
+++ b/bsp_q7s/memory/SdCardManager.h
@@ -21,17 +21,22 @@ class SdCardManager {
 public:
     static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
 
-    static constexpr ReturnValue_t ALREADY_ON = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
-    static constexpr ReturnValue_t ALREADY_OFF = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
-    static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
+    static constexpr ReturnValue_t ALREADY_ON =
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
+    static constexpr ReturnValue_t ALREADY_MOUNTED  =
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
+    static constexpr ReturnValue_t ALREADY_OFF =
             HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
+    static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
     static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
-            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
-    static constexpr ReturnValue_t MOUNT_ERROR = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 4);
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 11);
+    static constexpr ReturnValue_t MOUNT_ERROR =
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 12);
     static constexpr ReturnValue_t UNMOUNT_ERROR =
-            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 5);
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
     static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
-            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 6);
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
 
     // C++17 does not support constexpr std::string yet
     static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";

From 9284398b8bccdb83544bd84d4362a61c23ac544b Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 14:32:20 +0200
Subject: [PATCH 02/11] cold redundant and hot redundant configuration

---
 bsp_q7s/boardconfig/q7sConfig.h.in |  11 +++
 bsp_q7s/core/CoreController.cpp    | 127 +++++++++++++++++++++++------
 bsp_q7s/core/CoreController.h      |   2 +
 bsp_q7s/memory/SdCardManager.cpp   |  42 ++++++----
 bsp_q7s/memory/SdCardManager.h     |   8 +-
 bsp_q7s/memory/definitions.h       |   2 +-
 bsp_q7s/memory/scratchApi.h        |   2 +
 7 files changed, 149 insertions(+), 45 deletions(-)

diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in
index 9bed2a4a..92c47994 100644
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@@ -4,6 +4,17 @@
 #include <cstdint>
 
 #cmakedefine01 Q7S_SIMPLE_MODE
+
+#define Q7S_SD_NONE                     0
+#define Q7S_SD_COLD_REDUNDANT           1
+#define Q7S_SD_HOT_REDUNDANT            2
+// The OBSW will perform different actions to set up the SD cards depending on the flag set here
+// Set to Q7S_SD_NONE: Don't do anything
+// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and 
+//     turn off the second SD card if it is on
+// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them  
+#define Q7S_SD_CARD_CONFIG              1
+
 #define Q7S_ADD_RTD_DEVICES             0
 
 /* Only one of those 2 should be enabled! */
diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 421a96d9..f7f907d0 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -1,8 +1,10 @@
 #include "CoreController.h"
+#include "q7sConfig.h"
+
 #include "../memory/SdCardManager.h"
 
 CoreController::CoreController(object_id_t objectId):
-        ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
+ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
 }
 
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
@@ -22,15 +24,19 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
 }
 
 ReturnValue_t CoreController::initialize() {
-    // Find a way to store this non-volatile outside of SD cards (ProASIC?)
-    sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
-    std::string printoutString;
-    if(preferredSdCard == sd::SdCard::SLOT_0) {
-        printoutString = "0";
-    }
-    else {
-        printoutString = "1";
-    }
+    return sdCardInit();
+}
+
+ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
+        uint32_t *msToReachTheMode) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CoreController::sdCardInit() {
+#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
+    sif::info << "No SD card initialization will be performed" << std::endl;
+    return HasReturnvaluesIF::RETURN_OK;
+#else
     // Creator or update status file
     ReturnValue_t result = SdCardManager::instance()->updateSdCardStateFile();
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -38,26 +44,99 @@ ReturnValue_t CoreController::initialize() {
                 << std::endl;
     }
 
-    sif::info << "Switching on SD card " << printoutString << ".." << std::endl;
+    SdCardManager* sdcMan = SdCardManager::instance();
+    auto sdStatus = std::pair<sd::SdStatus, sd::SdStatus>(sd::SdStatus::OFF, sd::SdStatus::OFF);
+    result = sdcMan->getSdCardActiveStatus(sdStatus);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Getting SD card activity status failed" << std::endl;
+    }
 
-    result = SdCardManager::instance()->switchOnSdCard(preferredSdCard, true);
-    if(result == SdCardManager::ALREADY_MOUNTED) {
-        sif::info << "SD card " << printoutString << " is already on and mounted" << std::endl;
-    }
-    else if(result == SdCardManager::ALREADY_ON) {
-        sif::info << "SD card " << printoutString << " is already on" << std::endl;
-    }
-    else if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "CoreController::initialize: Turning SD card on failed"
+#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
+    sif::info << "Cold redundant SD card configuration" << std::endl;
+    sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
+    result = sdcMan->getPreferredSdCard(preferredSdCard);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Could not get prefered SD card information from the scratch buffer"
                 << std::endl;
     }
+    sd::SdCard otherSdc = sd::SdCard::SLOT_0;
+    std::string printoutString;
+    std::string otherString;
+    if(preferredSdCard == sd::SdCard::SLOT_0) {
+        printoutString = "0";
+        otherSdc = sd::SdCard::SLOT_1;
+        otherString = "1";
+    }
     else {
-        sif::info << "SD card " << printoutString << " was switched on and mounted" << std::endl;
+        printoutString = "1";
+        otherSdc = sd::SdCard::SLOT_0;
+        otherString = "0";
+    }
+
+    sd::SdStatus targetStatus = sd::SdStatus::OFF;
+    if(preferredSdCard == sd::SdCard::SLOT_0) {
+        targetStatus = sdStatus.first;
+    }
+    else if(preferredSdCard == sd::SdCard::SLOT_1) {
+        targetStatus = sdStatus.second;
+    }
+
+    if(targetStatus == sd::SdStatus::MOUNTED) {
+        sif::info << "SD card " << printoutString << " is already switched on and mounted" <<
+                std::endl;
+        result = HasReturnvaluesIF::RETURN_OK;
+    }
+    else if(targetStatus == sd::SdStatus::ON) {
+        sif::info << "Mounting SD card " << printoutString << std::endl;
+        result = sdcMan->mountSdCard(preferredSdCard);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Mounting SD card failed" << std::endl;
+        }
+    }
+    else if(targetStatus == sd::SdStatus::OFF) {
+        sif::info << "Switching on and mounting SD card " << printoutString << std::endl;
+        result = sdcMan->switchOnSdCard(preferredSdCard, true);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Switching on and mounting SD card failed" << std::endl;
+        }
+    }
+
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        // This should not happen.. Switch on other SD card for now
+        sdcMan->switchOnSdCard(otherSdc, true);
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    sif::info << "Switching off SD card " << otherString << std::endl;
+    // Switch off other SD card in cold-redundant mode
+    result = sdcMan->switchOffSdCard(otherSdc, true);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Switching off SD card " << otherString << " failed" << std::endl;
     }
     return HasReturnvaluesIF::RETURN_OK;
-}
+#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
+    sif::info << "Hot redundant SD card configuration" << std::endl;
 
-ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
-        uint32_t *msToReachTheMode) {
+    // Use a lambda to avoid duplicate code
+    auto setUpSdCard = [sdcMan](sd::SdCard sdCard, sd::SdStatus status, std::string sdString) {
+        if(status == sd::SdStatus::OFF) {
+            sif::info << "Switching on and mounting SD card " << sdString << std::endl;
+            sdcMan->switchOnSdCard(sdCard, true);
+        }
+        else if(status == sd::SdStatus::ON) {
+            sif::info << "Mounting SD card " << sdString << std::endl;
+            sdcMan->mountSdCard(sdCard);
+        }
+        else {
+            sif::info << "SD card " << sdString << " already on and mounted" << std::endl;
+        }
+    };
+
+    setUpSdCard(sd::SdCard::SLOT_0, sdStatus.first, "0");
+    setUpSdCard(sd::SdCard::SLOT_1, sdStatus.second, "1");
     return HasReturnvaluesIF::RETURN_OK;
+#endif
+
+#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
+
 }
diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h
index 674ed073..940a9097 100644
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@@ -17,6 +17,8 @@ private:
     LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
     ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                 uint32_t *msToReachTheMode);
+
+    ReturnValue_t sdCardInit();
 };
 
 
diff --git a/bsp_q7s/memory/SdCardManager.cpp b/bsp_q7s/memory/SdCardManager.cpp
index 232000a3..1e9968b5 100644
--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@@ -1,4 +1,6 @@
 #include "SdCardManager.h"
+#include "scratchApi.h"
+
 #include "linux/utility/utility.h"
 
 #include "fsfw/ipc/MutexFactory.h"
@@ -28,7 +30,7 @@ SdCardManager* SdCardManager::instance() {
 
 ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard) {
     std::pair<sd::SdStatus, sd::SdStatus> active;
-    ReturnValue_t result = sdCardActive(active);
+    ReturnValue_t result = getSdCardActiveStatus(active);
     // 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"
@@ -67,7 +69,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
 
 ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard) {
     std::pair<sd::SdStatus, sd::SdStatus> active;
-    ReturnValue_t result = sdCardActive(active);
+    ReturnValue_t result = getSdCardActiveStatus(active);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
@@ -99,8 +101,9 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
 }
 
 ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
-    std::string sdstring = "";
-    std::string statestring = "";
+    using namespace std;
+    string sdstring = "";
+    string statestring = "";
     if(sdCard == sd::SdCard::SLOT_0) {
         sdstring = "0";
     }
@@ -113,9 +116,9 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
     else {
         statestring = "off";
     }
-    std::ostringstream command;
+    ostringstream command;
     command << "q7hw sd set " << sdstring << " " << statestring;
-    int result = std::system(command.str().c_str());
+    int result = system(command.str().c_str());
     if(result == 0) {
         return HasReturnvaluesIF::RETURN_OK;
     }
@@ -124,7 +127,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
     return SYSTEM_CALL_ERROR;
 }
 
-ReturnValue_t SdCardManager::sdCardActive(std::pair<sd::SdStatus, sd::SdStatus>& active) {
+ReturnValue_t SdCardManager::getSdCardActiveStatus(std::pair<sd::SdStatus, sd::SdStatus>& active) {
     using namespace std;
     if(not filesystem::exists(SD_STATE_FILE)) {
         return STATUS_FILE_NEXISTS;
@@ -152,8 +155,8 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
                 << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    std::string mountDev;
-    std::string mountPoint;
+    string mountDev;
+    string mountPoint;
     if(sdCard == sd::SdCard::SLOT_0) {
         mountDev = SD_0_DEV_NAME;
         mountPoint = SD_0_MOUNT_POINT;
@@ -162,7 +165,7 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
         mountDev = SD_0_DEV_NAME;
         mountPoint = SD_1_MOUNT_POINT;
     }
-    if(not std::filesystem::exists(mountDev)) {
+    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;
@@ -197,6 +200,7 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
         sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
     }
     string sdUnmountCommand = "umount " + mountPoint;
+    sif::debug << sdUnmountCommand << std::endl;
     int result = system(sdUnmountCommand.c_str());
     if (result != 0) {
         utility::handleSystemError(result, "SdCardManager::unmountSdCard");
@@ -260,13 +264,21 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &a
     idx++;
 }
 
-sd::SdCard SdCardManager::getPreferredSdCard() const {
-    //int result = std::system("xsc_scratch read PREFSD > /tmp/pref_sd.txt");
-    return preferredSdCard;
+ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
+    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;
 }
 
-void SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
-    preferredSdCard = sdCard;
+ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
+    if(sdCard == sd::SdCard::BOTH) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
 }
 
 ReturnValue_t SdCardManager::updateSdCardStateFile() {
diff --git a/bsp_q7s/memory/SdCardManager.h b/bsp_q7s/memory/SdCardManager.h
index b3a33d42..35ba1654 100644
--- a/bsp_q7s/memory/SdCardManager.h
+++ b/bsp_q7s/memory/SdCardManager.h
@@ -54,9 +54,9 @@ public:
      */
     static SdCardManager* instance();
 
-    void setPreferredSdCard(sd::SdCard sdCard);
+    ReturnValue_t setPreferredSdCard(sd::SdCard sdCard);
 
-    sd::SdCard getPreferredSdCard() const;
+    ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const;
 
     /**
      * Switch on the specified SD card.
@@ -97,7 +97,7 @@ public:
      *           should call #updateSdCardStateFile again in that case
      *         - STATUS_FILE_NEXISTS if the status file does not exist
      */
-    ReturnValue_t sdCardActive(std::pair<sd::SdStatus, sd::SdStatus>& active);
+    ReturnValue_t getSdCardActiveStatus(std::pair<sd::SdStatus, sd::SdStatus>& active);
 
     /**
      * Mount the specified SD card. This is necessary to use it.
@@ -113,8 +113,6 @@ public:
      */
     ReturnValue_t unmountSdCard(sd::SdCard sdCard);
 
-    sd::SdCard getPreferedSdCard() const;
-
 private:
     SdCardManager();
 
diff --git a/bsp_q7s/memory/definitions.h b/bsp_q7s/memory/definitions.h
index a2d29d9b..546a6585 100644
--- a/bsp_q7s/memory/definitions.h
+++ b/bsp_q7s/memory/definitions.h
@@ -12,7 +12,7 @@ enum SdStatus: uint8_t {
     MOUNTED = 2
 };
 
-enum SdCard {
+enum SdCard: uint8_t {
     SLOT_0,
     SLOT_1,
     BOTH
diff --git a/bsp_q7s/memory/scratchApi.h b/bsp_q7s/memory/scratchApi.h
index 09bf6bab..eceda11a 100644
--- a/bsp_q7s/memory/scratchApi.h
+++ b/bsp_q7s/memory/scratchApi.h
@@ -16,6 +16,8 @@
  */
 namespace scratch {
 
+static constexpr char PREFERED_SDC_KEY[] = "PREFSD";
+
 namespace {
 static uint8_t counter = 0;
 }

From e0cf333a7d7fe5d56fdffefa9bb434660017ed84 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 15:19:06 +0200
Subject: [PATCH 03/11] more bugfixes

---
 bsp_q7s/boardconfig/q7sConfig.h.in |  2 +-
 bsp_q7s/core/CoreController.cpp    | 16 ++++++---
 bsp_q7s/memory/SdCardManager.cpp   | 57 +++++++++++++++++++-----------
 bsp_q7s/memory/SdCardManager.h     | 16 ++++++---
 4 files changed, 60 insertions(+), 31 deletions(-)

diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in
index 92c47994..11dec25c 100644
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@@ -13,7 +13,7 @@
 // Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and 
 //     turn off the second SD card if it is on
 // Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them  
-#define Q7S_SD_CARD_CONFIG              1
+#define Q7S_SD_CARD_CONFIG              Q7S_SD_COLD_REDUNDANT
 
 #define Q7S_ADD_RTD_DEVICES             0
 
diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index f7f907d0..2dcd204c 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -37,14 +37,16 @@ ReturnValue_t CoreController::sdCardInit() {
     sif::info << "No SD card initialization will be performed" << std::endl;
     return HasReturnvaluesIF::RETURN_OK;
 #else
-    // Creator or update status file
-    ReturnValue_t result = SdCardManager::instance()->updateSdCardStateFile();
+    SdCardManager* sdcMan = SdCardManager::instance();
+
+    // 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;
     }
 
-    SdCardManager* sdcMan = SdCardManager::instance();
+
     auto sdStatus = std::pair<sd::SdStatus, sd::SdStatus>(sd::SdStatus::OFF, sd::SdStatus::OFF);
     result = sdcMan->getSdCardActiveStatus(sdStatus);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -113,15 +115,17 @@ ReturnValue_t CoreController::sdCardInit() {
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Switching off SD card " << otherString << " failed" << std::endl;
     }
+    // Update status file
+    sdcMan->updateSdCardStateFile();
     return HasReturnvaluesIF::RETURN_OK;
 #elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
     sif::info << "Hot redundant SD card configuration" << std::endl;
 
     // Use a lambda to avoid duplicate code
-    auto setUpSdCard = [sdcMan](sd::SdCard sdCard, sd::SdStatus status, std::string sdString) {
+    auto setUpSdCard = [&](sd::SdCard sdCard, sd::SdStatus status, std::string sdString) {
         if(status == sd::SdStatus::OFF) {
             sif::info << "Switching on and mounting SD card " << sdString << std::endl;
-            sdcMan->switchOnSdCard(sdCard, true);
+            sdcMan->switchOnSdCard(sdCard, true, &sdStatus);
         }
         else if(status == sd::SdStatus::ON) {
             sif::info << "Mounting SD card " << sdString << std::endl;
@@ -134,6 +138,8 @@ ReturnValue_t CoreController::sdCardInit() {
 
     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
 
diff --git a/bsp_q7s/memory/SdCardManager.cpp b/bsp_q7s/memory/SdCardManager.cpp
index 1e9968b5..537d3e77 100644
--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@@ -28,23 +28,34 @@ SdCardManager* SdCardManager::instance() {
     return SdCardManager::factoryInstance;
 }
 
-ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard) {
-    std::pair<sd::SdStatus, sd::SdStatus> active;
-    ReturnValue_t result = getSdCardActiveStatus(active);
+ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
+        SdStatusPair* statusPair) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    if(statusPair == nullptr) {
+        statusPair = std::make_unique<SdStatusPair>().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;
     }
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
+
+    sd::SdStatus targetStatus;
     if(sdCard == sd::SdCard::SLOT_0) {
-        if(active.first == sd::SdStatus::MOUNTED) {
-            return ALREADY_MOUNTED;
-        }
-        else if(active.first == sd::SdStatus::ON) {
+        targetStatus = statusPair->first;
+    }
+    else if(sdCard == sd::SdCard::SLOT_1) {
+        targetStatus = statusPair->second;
+    }
+
+    auto switchCall = [&]() {
+        if(targetStatus == sd::SdStatus::ON) {
             if(not doMountSdCard) {
                 return ALREADY_ON;
             }
@@ -52,14 +63,19 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
                 return mountSdCard(sdCard);
             }
         }
-
-    }
-    else if(sdCard == sd::SdCard::SLOT_1) {
-        if(active.second == sd::SdStatus::ON or active.second == sd::SdStatus::MOUNTED) {
-            return ALREADY_ON;
+        else if(targetStatus == sd::SdStatus::MOUNTED) {
+            return ALREADY_MOUNTED;
         }
-    }
-    result = setSdCardState(sdCard, true);
+        else if(targetStatus == sd::SdStatus::OFF) {
+            return setSdCardState(sdCard, true);
+        }
+        else {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    };
+
+    result = switchCall();
+
     if(result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
         return result;
     }
@@ -67,7 +83,8 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
     return mountSdCard(sdCard);
 }
 
-ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard) {
+ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
+        SdStatusPair* statusPair) {
     std::pair<sd::SdStatus, sd::SdStatus> active;
     ReturnValue_t result = getSdCardActiveStatus(active);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -127,7 +144,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
     return SYSTEM_CALL_ERROR;
 }
 
-ReturnValue_t SdCardManager::getSdCardActiveStatus(std::pair<sd::SdStatus, sd::SdStatus>& active) {
+ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatusPair& active) {
     using namespace std;
     if(not filesystem::exists(SD_STATE_FILE)) {
         return STATUS_FILE_NEXISTS;
@@ -162,7 +179,7 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
         mountPoint = SD_0_MOUNT_POINT;
     }
     else if(sdCard == sd::SdCard::SLOT_1) {
-        mountDev = SD_0_DEV_NAME;
+        mountDev = SD_1_DEV_NAME;
         mountPoint = SD_1_MOUNT_POINT;
     }
     if(not filesystem::exists(mountDev)) {
diff --git a/bsp_q7s/memory/SdCardManager.h b/bsp_q7s/memory/SdCardManager.h
index 35ba1654..9a4dcbc5 100644
--- a/bsp_q7s/memory/SdCardManager.h
+++ b/bsp_q7s/memory/SdCardManager.h
@@ -19,6 +19,8 @@ class MutexIF;
 class SdCardManager {
     friend class SdCardAccess;
 public:
+    using SdStatusPair = std::pair<sd::SdStatus, sd::SdStatus>;
+
     static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
 
     static constexpr ReturnValue_t ALREADY_ON =
@@ -63,20 +65,24 @@ public:
      * @param sdCard
      * @param doMountSdCard     Mount the SD card after switching it on, which is necessary
      *                          to use it
+     * @param statusPair        If the status pair is already available, it can be passed here
      * @return - RETURN_OK on success, ALREADY_ON if it is already on,
      *           SYSTEM_CALL_ERROR on system error
      */
-    ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true);
+    ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
+            SdStatusPair* statusPair = nullptr);
 
     /**
      * Switch off the specified SD card.
      * @param sdCard
      * @param doUnmountSdCard   Unmount the SD card before switching the card off, which makes
      *                          the operation safer
+     * @param statusPair        If the status pair is already available, it can be passed here
      * @return - RETURN_OK on success, ALREADY_ON if it is already on,
      *           SYSTEM_CALL_ERROR on system error
      */
-    ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true);
+    ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
+            SdStatusPair* statusPair = nullptr);
 
     /**
      * Update the state file or creates one if it does not exist. You need to call this
@@ -97,7 +103,7 @@ public:
      *           should call #updateSdCardStateFile again in that case
      *         - STATUS_FILE_NEXISTS if the status file does not exist
      */
-    ReturnValue_t getSdCardActiveStatus(std::pair<sd::SdStatus, sd::SdStatus>& active);
+    ReturnValue_t getSdCardActiveStatus(SdStatusPair& active);
 
     /**
      * Mount the specified SD card. This is necessary to use it.
@@ -120,8 +126,8 @@ private:
 
     sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
 
-    void processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus>& active,
-            std::string& line, uint8_t& idx, sd::SdCard& currentSd);
+    void processSdStatusLine(SdStatusPair& active, std::string& line, uint8_t& idx,
+            sd::SdCard& currentSd);
 
     static SdCardManager* factoryInstance;
 };

From ec2f15cf54f26fc6017c2d327188b69335743a7a Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 15:52:13 +0200
Subject: [PATCH 04/11] some refactoring

---
 bsp_q7s/core/CoreController.cpp  | 112 +++++++++++++++----------------
 bsp_q7s/memory/SdCardManager.cpp |   1 -
 2 files changed, 56 insertions(+), 57 deletions(-)

diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 2dcd204c..93df63a7 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -46,96 +46,96 @@ ReturnValue_t CoreController::sdCardInit() {
                 << std::endl;
     }
 
-
     auto sdStatus = std::pair<sd::SdStatus, sd::SdStatus>(sd::SdStatus::OFF, sd::SdStatus::OFF);
     result = sdcMan->getSdCardActiveStatus(sdStatus);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Getting SD card activity status failed" << std::endl;
     }
 
+    // Use a lambda to avoid duplicate code
+    auto setUpSdCard = [&](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, &sdStatus);
+        }
+        else if(status == sd::SdStatus::ON) {
+            sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
+            return sdcMan->mountSdCard(sdCard);
+        }
+        else {
+            sif::info << "SD card " << sdString << " already on and mounted at " <<
+                    mountString << std::endl;
+            return SdCardManager::ALREADY_MOUNTED;
+        }
+    };
+
 #if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
-    sif::info << "Cold redundant SD card configuration" << std::endl;
     sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
     result = sdcMan->getPreferredSdCard(preferredSdCard);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Could not get prefered SD card information from the scratch buffer"
                 << std::endl;
     }
-    sd::SdCard otherSdc = sd::SdCard::SLOT_0;
-    std::string printoutString;
+    std::string preferredString;
+    sd::SdStatus preferredStatus = sd::SdStatus::OFF;
+
+    sd::SdStatus otherStatus = sd::SdStatus::OFF;
     std::string otherString;
+    sd::SdCard otherSdc = sd::SdCard::SLOT_0;
+
+    sif::info << "Cold redundant SD card configuration, preferred SD card " <<
+            preferredString << std::endl;
+
     if(preferredSdCard == sd::SdCard::SLOT_0) {
-        printoutString = "0";
+        preferredStatus = sdStatus.first;
+        preferredString = "0";
         otherSdc = sd::SdCard::SLOT_1;
+        otherStatus = sdStatus.second;
         otherString = "1";
     }
     else {
-        printoutString = "1";
+        preferredString = "1";
+        preferredStatus = sdStatus.second;
+        otherStatus = sdStatus.first;
         otherSdc = sd::SdCard::SLOT_0;
         otherString = "0";
     }
 
-    sd::SdStatus targetStatus = sd::SdStatus::OFF;
-    if(preferredSdCard == sd::SdCard::SLOT_0) {
-        targetStatus = sdStatus.first;
-    }
-    else if(preferredSdCard == sd::SdCard::SLOT_1) {
-        targetStatus = sdStatus.second;
+    result = setUpSdCard(preferredSdCard, preferredStatus, preferredString);
+    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
+        setUpSdCard(otherSdc, otherStatus, otherString);
+        result = HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    if(targetStatus == sd::SdStatus::MOUNTED) {
-        sif::info << "SD card " << printoutString << " is already switched on and mounted" <<
-                std::endl;
-        result = HasReturnvaluesIF::RETURN_OK;
-    }
-    else if(targetStatus == sd::SdStatus::ON) {
-        sif::info << "Mounting SD card " << printoutString << std::endl;
-        result = sdcMan->mountSdCard(preferredSdCard);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            sif::warning << "Mounting SD card failed" << std::endl;
-        }
-    }
-    else if(targetStatus == sd::SdStatus::OFF) {
-        sif::info << "Switching on and mounting SD card " << printoutString << std::endl;
-        result = sdcMan->switchOnSdCard(preferredSdCard, true);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            sif::warning << "Switching on and mounting SD card failed" << std::endl;
+    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, &sdStatus);
+        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;
         }
     }
 
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        // This should not happen.. Switch on other SD card for now
-        sdcMan->switchOnSdCard(otherSdc, true);
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    sif::info << "Switching off SD card " << otherString << std::endl;
-    // Switch off other SD card in cold-redundant mode
-    result = sdcMan->switchOffSdCard(otherSdc, true);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "Switching off SD card " << otherString << " failed" << std::endl;
-    }
     // Update status file
     sdcMan->updateSdCardStateFile();
     return HasReturnvaluesIF::RETURN_OK;
 #elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
     sif::info << "Hot redundant SD card configuration" << std::endl;
 
-    // Use a lambda to avoid duplicate code
-    auto setUpSdCard = [&](sd::SdCard sdCard, sd::SdStatus status, std::string sdString) {
-        if(status == sd::SdStatus::OFF) {
-            sif::info << "Switching on and mounting SD card " << sdString << std::endl;
-            sdcMan->switchOnSdCard(sdCard, true, &sdStatus);
-        }
-        else if(status == sd::SdStatus::ON) {
-            sif::info << "Mounting SD card " << sdString << std::endl;
-            sdcMan->mountSdCard(sdCard);
-        }
-        else {
-            sif::info << "SD card " << sdString << " already on and mounted" << std::endl;
-        }
-    };
-
     setUpSdCard(sd::SdCard::SLOT_0, sdStatus.first, "0");
     setUpSdCard(sd::SdCard::SLOT_1, sdStatus.second, "1");
     // Update status file
diff --git a/bsp_q7s/memory/SdCardManager.cpp b/bsp_q7s/memory/SdCardManager.cpp
index 537d3e77..b37f1195 100644
--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@@ -217,7 +217,6 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
         sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
     }
     string sdUnmountCommand = "umount " + mountPoint;
-    sif::debug << sdUnmountCommand << std::endl;
     int result = system(sdUnmountCommand.c_str());
     if (result != 0) {
         utility::handleSystemError(result, "SdCardManager::unmountSdCard");

From 89b6eb8943140b15e31d63440565fc75a9fd4f4d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 15:58:43 +0200
Subject: [PATCH 05/11] some more fixes

---
 bsp_q7s/core/CoreController.cpp  | 10 +++++-----
 bsp_q7s/memory/SdCardAccess.cpp  |  2 +-
 bsp_q7s/memory/SdCardAccess.h    |  2 +-
 bsp_q7s/memory/SdCardManager.cpp |  2 +-
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 93df63a7..c4863260 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -4,7 +4,7 @@
 #include "../memory/SdCardManager.h"
 
 CoreController::CoreController(object_id_t objectId):
-ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
+        ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
 }
 
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
@@ -82,7 +82,7 @@ ReturnValue_t CoreController::sdCardInit() {
     sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
     result = sdcMan->getPreferredSdCard(preferredSdCard);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "Could not get prefered SD card information from the scratch buffer"
+        sif::warning << "Could not get preferred SD card information from the scratch buffer"
                 << std::endl;
     }
     std::string preferredString;
@@ -92,9 +92,6 @@ ReturnValue_t CoreController::sdCardInit() {
     std::string otherString;
     sd::SdCard otherSdc = sd::SdCard::SLOT_0;
 
-    sif::info << "Cold redundant SD card configuration, preferred SD card " <<
-            preferredString << std::endl;
-
     if(preferredSdCard == sd::SdCard::SLOT_0) {
         preferredStatus = sdStatus.first;
         preferredString = "0";
@@ -110,6 +107,9 @@ ReturnValue_t CoreController::sdCardInit() {
         otherString = "0";
     }
 
+    sif::info << "Cold redundant SD card configuration, preferred SD card " <<
+            preferredString << std::endl;
+
     result = setUpSdCard(preferredSdCard, preferredStatus, preferredString);
     if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Setting up preferred card " << otherString <<
diff --git a/bsp_q7s/memory/SdCardAccess.cpp b/bsp_q7s/memory/SdCardAccess.cpp
index 92837787..55efde98 100644
--- a/bsp_q7s/memory/SdCardAccess.cpp
+++ b/bsp_q7s/memory/SdCardAccess.cpp
@@ -2,6 +2,6 @@
 
 #include "fsfw/ipc/MutexGuard.h"
 
-SdCardAccess::SdCardAccess(sd::SdCard sdCard) {
+SdCardAccess::SdCardAccess() {
 
 }
diff --git a/bsp_q7s/memory/SdCardAccess.h b/bsp_q7s/memory/SdCardAccess.h
index 8128b122..38dc3336 100644
--- a/bsp_q7s/memory/SdCardAccess.h
+++ b/bsp_q7s/memory/SdCardAccess.h
@@ -5,7 +5,7 @@
 
 class SdCardAccess {
 public:
-    SdCardAccess(sd::SdCard sdCard);
+    SdCardAccess();
 private:
 };
 
diff --git a/bsp_q7s/memory/SdCardManager.cpp b/bsp_q7s/memory/SdCardManager.cpp
index b37f1195..36d8f67b 100644
--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@@ -90,7 +90,7 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
     if(result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
-    // Not allowed, this function turns on off SD card
+    // 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;

From 91ff9f3f684871f276808ba61141870509c17298 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 16:32:14 +0200
Subject: [PATCH 06/11] FS queue size configurable

---
 bsp_q7s/memory/CMakeLists.txt        |  1 -
 bsp_q7s/memory/FileSystemHandler.cpp |  2 +-
 bsp_q7s/memory/FileSystemHandler.h   |  6 ++++++
 bsp_q7s/memory/SdCardAccess.cpp      |  7 -------
 bsp_q7s/memory/SdCardAccess.h        | 13 -------------
 bsp_q7s/memory/SdCardManager.h       | 15 +++++++++++++--
 linux/fsfwconfig/OBSWConfig.h.in     |  2 ++
 7 files changed, 22 insertions(+), 24 deletions(-)
 delete mode 100644 bsp_q7s/memory/SdCardAccess.cpp
 delete mode 100644 bsp_q7s/memory/SdCardAccess.h

diff --git a/bsp_q7s/memory/CMakeLists.txt b/bsp_q7s/memory/CMakeLists.txt
index ada948fb..6c7d0a94 100644
--- a/bsp_q7s/memory/CMakeLists.txt
+++ b/bsp_q7s/memory/CMakeLists.txt
@@ -1,6 +1,5 @@
 target_sources(${TARGET_NAME} PRIVATE
     FileSystemHandler.cpp
-    SdCardAccess.cpp
     SdCardManager.cpp
     scratchApi.cpp
 )
\ No newline at end of file
diff --git a/bsp_q7s/memory/FileSystemHandler.cpp b/bsp_q7s/memory/FileSystemHandler.cpp
index 5f7e0435..473a5167 100644
--- a/bsp_q7s/memory/FileSystemHandler.cpp
+++ b/bsp_q7s/memory/FileSystemHandler.cpp
@@ -6,7 +6,7 @@
 
 FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
         SystemObject(fileSystemHandler) {
-    mq = QueueFactory::instance()->createMessageQueue(50);
+    mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
 }
 
 FileSystemHandler::~FileSystemHandler() {
diff --git a/bsp_q7s/memory/FileSystemHandler.h b/bsp_q7s/memory/FileSystemHandler.h
index 04cea3dc..803e52b7 100644
--- a/bsp_q7s/memory/FileSystemHandler.h
+++ b/bsp_q7s/memory/FileSystemHandler.h
@@ -1,11 +1,15 @@
 #ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
 #define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
 
+#include "OBSWConfig.h"
+
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/memory/HasFileSystemIF.h"
 
+#include <string>
+
 class FileSystemHandler: public SystemObject,
         public ExecutableObjectIF,
         public HasFileSystemIF {
@@ -23,6 +27,8 @@ public:
 
 private:
     MessageQueueIF* mq = nullptr;
+    std::string currentMountPrefix;
+    static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
 
     ReturnValue_t appendToFile(const char* repositoryPath,
             const char* filename, const uint8_t* data, size_t size,
diff --git a/bsp_q7s/memory/SdCardAccess.cpp b/bsp_q7s/memory/SdCardAccess.cpp
deleted file mode 100644
index 55efde98..00000000
--- a/bsp_q7s/memory/SdCardAccess.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-#include "SdCardAccess.h"
-
-#include "fsfw/ipc/MutexGuard.h"
-
-SdCardAccess::SdCardAccess() {
-
-}
diff --git a/bsp_q7s/memory/SdCardAccess.h b/bsp_q7s/memory/SdCardAccess.h
deleted file mode 100644
index 38dc3336..00000000
--- a/bsp_q7s/memory/SdCardAccess.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef BSP_Q7S_MEMORY_SDCARDACCESS_H_
-#define BSP_Q7S_MEMORY_SDCARDACCESS_H_
-
-#include "definitions.h"
-
-class SdCardAccess {
-public:
-    SdCardAccess();
-private:
-};
-
-
-#endif /* BSP_Q7S_MEMORY_SDCARDACCESS_H_ */
diff --git a/bsp_q7s/memory/SdCardManager.h b/bsp_q7s/memory/SdCardManager.h
index 9a4dcbc5..d47b5322 100644
--- a/bsp_q7s/memory/SdCardManager.h
+++ b/bsp_q7s/memory/SdCardManager.h
@@ -56,8 +56,21 @@ public:
      */
     static SdCardManager* instance();
 
+    /**
+     * Set the preferred SD card which will determine which SD card will be used as the primary
+     * SD card in hot redundant and cold redundant mode. This function will not switch the
+     * SD cards which are currently on and mounted, this needs to be implemented by
+     * an upper layer by using #switchOffSdCard , #switchOnSdCard and #updateSdCardStateFile
+     * @param sdCard
+     * @return
+     */
     ReturnValue_t setPreferredSdCard(sd::SdCard sdCard);
 
+    /**
+     * Get the currently configured preferred SD card
+     * @param sdCard
+     * @return
+     */
     ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const;
 
     /**
@@ -124,8 +137,6 @@ private:
 
     ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
 
-    sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
-
     void processSdStatusLine(SdStatusPair& active, std::string& line, uint8_t& idx,
             sd::SdCard& currentSd);
 
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index a5a439ab..ef6b419d 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -14,6 +14,8 @@
 #include "commonConfig.h"
 #include "OBSWVersion.h"
 
+#define OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE  50
+
 /* These defines should be disabled for mission code but are useful for
 debugging. */
 #define OBSW_VERBOSE_LEVEL              1

From 74fdd90c073f2ad7ee273868008b430d841ae892 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 17:23:32 +0200
Subject: [PATCH 07/11] starting file system handler

---
 bsp_q7s/memory/FileSystemHandler.cpp | 126 +++++++++++++++++++++------
 bsp_q7s/memory/FileSystemHandler.h   |  12 ++-
 bsp_q7s/memory/SdCardManager.cpp     |  23 +++++
 bsp_q7s/memory/SdCardManager.h       |  13 +++
 fsfw                                 |   2 +-
 5 files changed, 149 insertions(+), 27 deletions(-)

diff --git a/bsp_q7s/memory/FileSystemHandler.cpp b/bsp_q7s/memory/FileSystemHandler.cpp
index 473a5167..ba64a991 100644
--- a/bsp_q7s/memory/FileSystemHandler.cpp
+++ b/bsp_q7s/memory/FileSystemHandler.cpp
@@ -15,33 +15,85 @@ FileSystemHandler::~FileSystemHandler() {
 
 ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
     while(true) {
-        CommandMessage filemsg;
-        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-        while(true) {
-            result = mq->receiveMessage(&filemsg);
-            if(result == MessageQueueIF::EMPTY) {
-                break;
-            }
-            else if(result != HasReturnvaluesIF::RETURN_FAILED) {
-                sif::warning << "FileSystemHandler::performOperation: Message reception failed!"
-                        << std::endl;
-                break;
-            }
-            Command_t command = filemsg.getCommand();
-            switch(command) {
-            case(GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
-                break;
-            }
-            case(GenericFileSystemMessage::CMD_CREATE_FILE): {
-                break;
-            }
-            }
+        try {
+            fileSystemHandlerLoop();
         }
+        catch(std::bad_alloc& e) {
+            // Restart OBSW, hints at a memory leak
+            sif::error << "Allocation error in FileSystemHandler::performOperation"
+                    << e.what() << std::endl;
+            // TODO: If we trigger an event, it might not get sent because were restarting
+            // Set up an error file or a special flag in the scratch buffer.
+            // TODO: CoreController: Implement function to restart OBC
+        }
+    }
+}
 
-        // This task will have a low priority and will run permanently in the background
-        // so we will just run in a permanent loop here and check file system
-        // messages permanently
-        TaskFactory::instance()->delayTask(1000);
+
+void FileSystemHandler::fileSystemHandlerLoop() {
+    CommandMessage filemsg;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    while(true) {
+        if(opCounter % 5 == 0) {
+            fileSystemCheckup();
+        }
+        result = mq->receiveMessage(&filemsg);
+        if(result == MessageQueueIF::EMPTY) {
+            break;
+        }
+        else if(result != HasReturnvaluesIF::RETURN_FAILED) {
+            sif::warning << "FileSystemHandler::performOperation: Message reception failed!"
+                    << std::endl;
+            break;
+        }
+        Command_t command = filemsg.getCommand();
+        switch(command) {
+        case(GenericFileSystemMessage::CMD_CREATE_DIRECTORY): {
+            break;
+        }
+        case(GenericFileSystemMessage::CMD_CREATE_FILE): {
+            break;
+        }
+        }
+        opCounter++;
+    }
+
+    // This task will have a low priority and will run permanently in the background
+    // so we will just run in a permanent loop here and check file system
+    // messages permanently
+    TaskFactory::instance()->delayTask(1000);
+}
+
+void FileSystemHandler::fileSystemCheckup() {
+    SdCardManager::SdStatusPair statusPair;
+    sdcMan->getSdCardActiveStatus(statusPair);
+    sd::SdCard preferredSdCard;
+    sdcMan->getPreferredSdCard(preferredSdCard);
+    if((preferredSdCard == sd::SdCard::SLOT_0) and
+            (statusPair.first == sd::SdStatus::MOUNTED)) {
+        currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
+    }
+    if((preferredSdCard == sd::SdCard::SLOT_1) and
+            (statusPair.second == sd::SdStatus::MOUNTED)) {
+        currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
+    }
+    else {
+        std::string sdString;
+        if(preferredSdCard == sd::SdCard::SLOT_0) {
+            sdString = "0";
+        }
+        else {
+            sdString = "1";
+        }
+        sif::warning << "FileSystemHandler::performOperation: Inconsistent" <<
+                " state detected. Preferred SD card is " << sdString <<
+                " but does not appear to be mounted. Attempting fix.." << std::endl;
+        // This function will appear to fix the inconsistent state
+        ReturnValue_t result = sdcMan->sanitizeState(&preferredSdCard, &statusPair);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            // Oh no. Trigger medium severity event
+            sif::error << "Fix failed" << std::endl;
+        }
     }
 }
 
@@ -49,6 +101,22 @@ MessageQueueId_t FileSystemHandler::getCommandQueue() const {
     return mq->getId();
 }
 
+ReturnValue_t FileSystemHandler::initialize() {
+    sdcMan = SdCardManager::instance();
+    sd::SdCard preferredSdCard;
+    ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    if(preferredSdCard == sd::SdCard::SLOT_0) {
+        currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
+    }
+    else if(preferredSdCard == sd::SdCard::SLOT_1) {
+        currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const char *filename,
         const uint8_t *data, size_t size, uint16_t packetNumber, void *args) {
     return HasReturnvaluesIF::RETURN_OK;
@@ -63,3 +131,11 @@ ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const ch
         void *args) {
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, void *args) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath, void *args) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/bsp_q7s/memory/FileSystemHandler.h b/bsp_q7s/memory/FileSystemHandler.h
index 803e52b7..9d3285b1 100644
--- a/bsp_q7s/memory/FileSystemHandler.h
+++ b/bsp_q7s/memory/FileSystemHandler.h
@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
 #define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
 
+#include <bsp_q7s/memory/SdCardManager.h>
 #include "OBSWConfig.h"
 
 #include "fsfw/ipc/MessageQueueIF.h"
@@ -19,6 +20,8 @@ public:
 
     ReturnValue_t performOperation(uint8_t) override;
 
+    ReturnValue_t initialize() override;
+
     /**
      * Function to get the MessageQueueId_t of the implementing object
      * @return MessageQueueId_t of the object
@@ -27,8 +30,13 @@ public:
 
 private:
     MessageQueueIF* mq = nullptr;
-    std::string currentMountPrefix;
+    std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
     static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
+    SdCardManager* sdcMan = nullptr;
+    uint8_t opCounter = 0;
+
+    void fileSystemHandlerLoop();
+    void fileSystemCheckup();
 
     ReturnValue_t appendToFile(const char* repositoryPath,
             const char* filename, const uint8_t* data, size_t size,
@@ -38,6 +46,8 @@ private:
             size_t size = 0, void* args = nullptr) override;
     ReturnValue_t deleteFile(const char* repositoryPath,
             const char* filename, void* args = nullptr) override;
+    ReturnValue_t createDirectory(const char* repositoryPath, void* args = nullptr) override;
+    ReturnValue_t removeDirectory(const char* repositoryPath, void* args = nullptr) override;
 };
 
 
diff --git a/bsp_q7s/memory/SdCardManager.cpp b/bsp_q7s/memory/SdCardManager.cpp
index 36d8f67b..5a50665b 100644
--- a/bsp_q7s/memory/SdCardManager.cpp
+++ b/bsp_q7s/memory/SdCardManager.cpp
@@ -7,6 +7,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <fstream>
+#include <memory>
 #include <filesystem>
 
 SdCardManager* SdCardManager::factoryInstance = nullptr;
@@ -225,6 +226,28 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t SdCardManager::sanitizeState(sd::SdCard* prefSdCard, SdStatusPair* statusPair) {
+    if(prefSdCard == nullptr) {
+        prefSdCard = std::make_unique<sd::SdCard>(sd::SdCard::SLOT_0).get();
+        getPreferredSdCard(*prefSdCard);
+    }
+    if(statusPair == nullptr) {
+        statusPair = std::make_unique<SdStatusPair>().get();
+        getSdCardActiveStatus(*statusPair);
+    }
+
+    auto sanitizerFunc = [&](sd::SdCard prefSdCard) {
+        if(statusPair->first == sd::SdStatus::ON) {
+            return mountSdCard(prefSdCard);
+        }
+        else {
+            return switchOnSdCard(prefSdCard, true, statusPair);
+        }
+    };
+
+    return sanitizerFunc(*prefSdCard);
+}
+
 void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &active,
         std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
     using namespace std;
diff --git a/bsp_q7s/memory/SdCardManager.h b/bsp_q7s/memory/SdCardManager.h
index d47b5322..966e6e2a 100644
--- a/bsp_q7s/memory/SdCardManager.h
+++ b/bsp_q7s/memory/SdCardManager.h
@@ -132,6 +132,19 @@ public:
      */
     ReturnValue_t unmountSdCard(sd::SdCard sdCard);
 
+    /**
+     * In case that there is a discrepancy between the preferred SD card and the currently
+     * mounted one, this function will sanitize the state by attempting to mount the
+     * currently preferred SD card. If the caller already has state information, it can be
+     * passed into the function.
+     * @param prefSdCard    Preferred SD card captured with #getPreferredSdCard
+     * @param statusPair    Current SD card status capture with #getSdCardActiveStatus
+     * @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
+     * @return
+     */
+    ReturnValue_t sanitizeState(sd::SdCard* prefSdCard = nullptr,
+            SdStatusPair* statusPair = nullptr);
+
 private:
     SdCardManager();
 
diff --git a/fsfw b/fsfw
index eef2fd3b..323577cd 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit eef2fd3b7ac764f06ed5d9a3c97c894d92a515fa
+Subproject commit 323577cdc69ee2d863e6e61cebd71a8aa75c6d2b

From 64aadf5e1e7224e87ec9981d62e37a024c44f9ac Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 17:39:36 +0200
Subject: [PATCH 08/11] continued functions to create/delete dir

---
 bsp_q7s/memory/FileSystemHandler.cpp | 37 ++++++++++++++++++++++++++--
 bsp_q7s/memory/FileSystemHandler.h   |  3 ++-
 fsfw                                 |  2 +-
 3 files changed, 38 insertions(+), 4 deletions(-)

diff --git a/bsp_q7s/memory/FileSystemHandler.cpp b/bsp_q7s/memory/FileSystemHandler.cpp
index ba64a991..12c3a20b 100644
--- a/bsp_q7s/memory/FileSystemHandler.cpp
+++ b/bsp_q7s/memory/FileSystemHandler.cpp
@@ -4,6 +4,8 @@
 #include "fsfw/memory/GenericFileSystemMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
 
+#include <filesystem>
+
 FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
         SystemObject(fileSystemHandler) {
     mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
@@ -133,9 +135,40 @@ ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const ch
 }
 
 ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, void *args) {
-    return HasReturnvaluesIF::RETURN_OK;
+    std::string fullPath = currentMountPrefix + std::string(repositoryPath);
+    if(std::filesystem::exists(fullPath)) {
+        return DIRECTORY_ALREADY_EXISTS;
+    }
+    if(std::filesystem::create_directory(fullPath)) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    sif::warning << "Creating directory " << fullPath << " failed" << std::endl;
+    return GENERIC_FILE_ERROR;
 }
 
-ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath, void *args) {
+ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
+        bool deleteRecurively, void *args) {
+    std::string fullPath = currentMountPrefix + std::string(repositoryPath);
+    if(not std::filesystem::exists(fullPath)) {
+        return DIRECTORY_DOES_NOT_EXIST;
+    }
+    std::error_code err;
+    if(not deleteRecurively) {
+        if(std::filesystem::remove(fullPath, err)) {
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+        else {
+            // Check error code. Most probably denied permissions because folder is not empty
+        }
+    }
+    else {
+        if(std::filesystem::remove_all(fullPath, err)) {
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+        else {
+            // Check error code
+        }
+    }
+
     return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/bsp_q7s/memory/FileSystemHandler.h b/bsp_q7s/memory/FileSystemHandler.h
index 9d3285b1..4f82566d 100644
--- a/bsp_q7s/memory/FileSystemHandler.h
+++ b/bsp_q7s/memory/FileSystemHandler.h
@@ -47,7 +47,8 @@ private:
     ReturnValue_t deleteFile(const char* repositoryPath,
             const char* filename, void* args = nullptr) override;
     ReturnValue_t createDirectory(const char* repositoryPath, void* args = nullptr) override;
-    ReturnValue_t removeDirectory(const char* repositoryPath, void* args = nullptr) override;
+    ReturnValue_t removeDirectory(const char* repositoryPath,  bool deleteRecurively = false,
+            void* args = nullptr) override;
 };
 
 
diff --git a/fsfw b/fsfw
index 323577cd..da8a4470 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 323577cdc69ee2d863e6e61cebd71a8aa75c6d2b
+Subproject commit da8a4470734808bed4d872e47c192af694382c41

From d903da109eca66bab2849ad5be1e7a89504c2544 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 17:41:13 +0200
Subject: [PATCH 09/11] added builder functions for full paths

---
 bsp_q7s/memory/FileSystemHandler.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/bsp_q7s/memory/FileSystemHandler.cpp b/bsp_q7s/memory/FileSystemHandler.cpp
index 12c3a20b..02788b81 100644
--- a/bsp_q7s/memory/FileSystemHandler.cpp
+++ b/bsp_q7s/memory/FileSystemHandler.cpp
@@ -121,16 +121,25 @@ ReturnValue_t FileSystemHandler::initialize() {
 
 ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const char *filename,
         const uint8_t *data, size_t size, uint16_t packetNumber, void *args) {
+    // A double slash between repo and filename should not be an issue, so add it in any case
+    std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
+            std::string(filename);
     return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t FileSystemHandler::createFile(const char *repositoryPath, const char *filename,
         const uint8_t *data, size_t size, void *args) {
+    // A double slash between repo and filename should not be an issue, so add it in any case
+    std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
+            std::string(filename);
     return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const char *filename,
         void *args) {
+    // A double slash between repo and filename should not be an issue, so add it in any case
+    std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
+            std::string(filename);
     return HasReturnvaluesIF::RETURN_OK;
 }
 

From 6c2c1e6552bdd6531d099bd5d19c450a9d317577 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 12 Jul 2021 17:50:01 +0200
Subject: [PATCH 10/11] minor changes

---
 bsp_q7s/memory/FileSystemHandler.cpp | 3 ++-
 bsp_q7s/memory/FileSystemHandler.h   | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/bsp_q7s/memory/FileSystemHandler.cpp b/bsp_q7s/memory/FileSystemHandler.cpp
index 02788b81..1519b92b 100644
--- a/bsp_q7s/memory/FileSystemHandler.cpp
+++ b/bsp_q7s/memory/FileSystemHandler.cpp
@@ -93,7 +93,8 @@ void FileSystemHandler::fileSystemCheckup() {
         // This function will appear to fix the inconsistent state
         ReturnValue_t result = sdcMan->sanitizeState(&preferredSdCard, &statusPair);
         if(result != HasReturnvaluesIF::RETURN_OK) {
-            // Oh no. Trigger medium severity event
+            // Oh no.
+            // TODO: Trigger medium severity event
             sif::error << "Fix failed" << std::endl;
         }
     }
diff --git a/bsp_q7s/memory/FileSystemHandler.h b/bsp_q7s/memory/FileSystemHandler.h
index 4f82566d..886fa574 100644
--- a/bsp_q7s/memory/FileSystemHandler.h
+++ b/bsp_q7s/memory/FileSystemHandler.h
@@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
 #define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
 
-#include <bsp_q7s/memory/SdCardManager.h>
+#include "SdCardManager.h"
 #include "OBSWConfig.h"
 
 #include "fsfw/ipc/MessageQueueIF.h"

From 69855bb3161eb93e8867fd0d44a9e4f63f2c1f41 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 15 Jul 2021 17:55:07 +0200
Subject: [PATCH 11/11] fsfw and fsfw_hal update

---
 fsfw     | 2 +-
 fsfw_hal | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fsfw b/fsfw
index da8a4470..516e3c0f 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit da8a4470734808bed4d872e47c192af694382c41
+Subproject commit 516e3c0f9f5944081d724773a6743e2319f95979
diff --git a/fsfw_hal b/fsfw_hal
index 8ff09c95..1eda4874 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 8ff09c95a69f1f43fec6104d6cce1e788b2b870d
+Subproject commit 1eda4874cda2a31443c435fc671fd5cae8236660