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bugfixes and improvements
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- Tests finished
This commit is contained in:
Robin Müller
2022-04-08 11:22:16 +02:00
parent 45007d726d
commit 4a6840f098
12 changed files with 144 additions and 118 deletions
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87
bsp_q7s/core/CoreController.cpp
View File

@ -1,6 +1,9 @@
#include "CoreController.h"
#include <fsfw/events/EventManager.h>
#include <fsfw/ipc/QueueFactory.h>
#include <algorithm>
#include "OBSWConfig.h"
#include "OBSWVersion.h"
@ -8,7 +11,6 @@
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/version.h"
#include "watchdogConf.h"
#include <algorithm>
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
@ -22,6 +24,7 @@
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "bsp_q7s/xadc/Xadc.h"
#include "linux/utility/utility.h"
xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
@ -51,6 +54,7 @@ CoreController::CoreController(object_id_t objectId)
} catch (const std::filesystem::filesystem_error &e) {
sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
}
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
@ -62,10 +66,10 @@ void CoreController::performControlOperation() {
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getEvent()) {
case(GpsHyperion::GPS_FIX_CHANGE): {
gpsFix = static_cast<GpsHyperion::FixMode>(event.getParameter2());
break;
}
case (GpsHyperion::GPS_FIX_CHANGE): {
gpsFix = static_cast<GpsHyperion::FixMode>(event.getParameter2());
break;
}
}
}
performWatchdogControlOperation();
@ -90,8 +94,10 @@ LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) {
}
ReturnValue_t CoreController::initialize() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Base init failed" << std::endl;
}
result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Setting up alloc failure "
@ -102,18 +108,23 @@ ReturnValue_t CoreController::initialize() {
sdStateMachine();
triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
EventManagerIF* eventManager = ObjectManager::instance()->get<EventManagerIF>(
objects::EVENT_MANAGER);
EventManagerIF *eventManager =
ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (eventManager == nullptr or eventQueue == nullptr) {
sif::warning << "CoreController::initialize: No valid event manager found or "
"queue invalid"
<< std::endl;
}
result = eventManager->registerListener(eventQueue->getId());
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Registering as event listener failed" << std::endl;
}
result = eventManager->subscribeToEvent(this->getCommandQueue(),
event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
if(result != HasReturnvaluesIF::RETURN_OK) {
result = eventManager->subscribeToEvent(eventQueue->getId(),
event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
}
return ExtendedControllerBase::initialize();
return RETURN_OK;
}
ReturnValue_t CoreController::initializeAfterTaskCreation() {
@ -661,8 +672,7 @@ ReturnValue_t CoreController::initVersionFile() {
fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);
std::string systemString = "System: " + unameLine;
std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string versionFilePath = mountPrefix + VERSION_FILE;
std::string versionFilePath = currMntPrefix + VERSION_FILE;
std::fstream versionFile;
if (not std::filesystem::exists(versionFilePath)) {
@ -1220,15 +1230,17 @@ void CoreController::performWatchdogControlOperation() {
}
void CoreController::performMountedSdCardOperations() {
currMntPrefix = sdcMan->getCurrentMountPrefix();
if (doPerformMountedSdCardOps) {
bool sdCardMounted = false;
sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
if (sdCardMounted) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + "/" + CONF_FOLDER;
std::string path = currMntPrefix + "/" + CONF_FOLDER;
if (not std::filesystem::exists(path)) {
std::filesystem::create_directory(path);
}
initVersionFile();
initClockFromTimeFile();
performRebootFileHandling(false);
doPerformMountedSdCardOps = false;
}
@ -1238,7 +1250,7 @@ void CoreController::performMountedSdCardOperations() {
void CoreController::performRebootFileHandling(bool recreateFile) {
using namespace std;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = currMntPrefix + REBOOT_FILE;
if (not std::filesystem::exists(path) or recreateFile) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
@ -1617,7 +1629,7 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
}
void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = currMntPrefix + REBOOT_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
@ -1644,7 +1656,7 @@ void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
}
void CoreController::rewriteRebootFile(RebootFile file) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = currMntPrefix + REBOOT_FILE;
std::ofstream rebootFile(path);
if (rebootFile.is_open()) {
// Initiate reboot file first. Reboot handling will be on on initialization
@ -1681,15 +1693,15 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
}
ReturnValue_t CoreController::timeFileHandler() {
if(gpsFix == GpsHyperion::FixMode::FIX_2D or gpsFix == GpsHyperion::FixMode::FIX_3D) {
if (gpsFix == GpsHyperion::FixMode::FIX_2D or gpsFix == GpsHyperion::FixMode::FIX_3D) {
// It is assumed that the system time is set from the GPS time
timeval currentTime = {};
ReturnValue_t result = Clock::getClock_timeval(&currentTime);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::ofstream timeFile(TIME_FILE);
timeFile << "UNIX SECONDS: " << currentTime.tv_sec;
std::ofstream timeFile(currMntPrefix + TIME_FILE);
timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
}
return RETURN_OK;
}
@ -1697,30 +1709,30 @@ ReturnValue_t CoreController::timeFileHandler() {
ReturnValue_t CoreController::initClockFromTimeFile() {
using namespace GpsHyperion;
using namespace std;
if ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) and
std::filesystem::exists(TIME_FILE)) {
ifstream timeFile(TIME_FILE);
std::string fileName = currMntPrefix + TIME_FILE;
if (std::filesystem::exists(fileName) and
((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
not utility::timeSanityCheck())) {
ifstream timeFile(fileName);
string nextWord;
getline(timeFile, nextWord);
istringstream iss(nextWord);
iss >> nextWord;
if(iss.bad() or nextWord != "UNIX") {
if (iss.bad() or nextWord != "UNIX") {
return RETURN_FAILED;
}
iss >> nextWord;
if(iss.bad() or nextWord != "SECONDS:") {
if (iss.bad() or nextWord != "SECONDS:") {
return RETURN_FAILED;
}
iss >> nextWord;
timeval currentTime = {};
char* checkPtr;
char *checkPtr;
currentTime.tv_sec = strtol(nextWord.c_str(), &checkPtr, 10);
if(iss.bad() or *checkPtr) {
if (iss.bad() or *checkPtr) {
return RETURN_FAILED;
}
Clock::setClock(&currentTime);
return RETURN_OK;
return Clock::setClock(&currentTime);
}
return RETURN_OK;
}
@ -1759,8 +1771,7 @@ void CoreController::readHkData() {
}
}
bool CoreController::isNumber(const std::string& s)
{
return !s.empty() && std::find_if(s.begin(),
s.end(), [](unsigned char c) { return !std::isdigit(c); }) == s.end();
bool CoreController::isNumber(const std::string &s) {
return !s.empty() && std::find_if(s.begin(), s.end(),
[](unsigned char c) { return !std::isdigit(c); }) == s.end();
}

6
bsp_q7s/core/CoreController.h
View File

@ -7,10 +7,10 @@
#include <cstddef>
#include "CoreDefinitions.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
class Timer;
class SdCardManager;
@ -59,8 +59,7 @@ class CoreController : public ExtendedControllerBase {
"/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
const std::string REBOOT_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
const std::string TIME_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
@ -179,6 +178,7 @@ class CoreController : public ExtendedControllerBase {
sd::SdState commandedState = sd::SdState::OFF;
} sdInfo;
RebootFile rebootFile = {};
std::string currMntPrefix;
bool doPerformMountedSdCardOps = true;
/**