From 5888d90fbcd0a117f020abb9800ee6f6229eef2b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 29 Apr 2022 11:16:53 +0200 Subject: [PATCH] continued reboot command --- bsp_q7s/core/CoreController.cpp | 53 ++++++++++++++++++++++----------- bsp_q7s/core/CoreController.h | 10 +++++-- 2 files changed, 43 insertions(+), 20 deletions(-) diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp index 208999c2..da6a5807 100644 --- a/bsp_q7s/core/CoreController.cpp +++ b/bsp_q7s/core/CoreController.cpp @@ -211,8 +211,13 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_ rewriteRebootFile(rebootFile); return HasActionsIF::EXECUTION_FINISHED; } + case (XSC_REBOOT_OBC): { + // Warning: This function will never return, because it reboots the system + return actionXscReboot(data, size); + } case (REBOOT_OBC): { - return actionPerformReboot(data, size); + // Warning: This function will never return, because it reboots the system + return actionReboot(data, size); } default: { return HasActionsIF::INVALID_ACTION_ID; @@ -844,25 +849,18 @@ void CoreController::initPrint() { #endif } -ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) { +ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) { if (size < 1) { return HasActionsIF::INVALID_PARAMETERS; } bool rebootSameBootCopy = data[0]; - bool protOpPerformed; + bool protOpPerformed = false; + SdCardManager::instance()->setBlocking(true); 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); - // If any boot copies are unprotected - ReturnValue_t retval = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true, - protOpPerformed, false); - if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) { - sif::info << "Running slot was writeprotected before reboot" << std::endl; - } + gracefulShutdownTasks(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, protOpPerformed); int result = std::system("xsc_boot_copy -r"); if (result != 0) { utility::handleSystemError(result, "CoreController::executeAction"); @@ -884,12 +882,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si auto tgtChip = static_cast(data[1]); auto tgtCopy = static_cast(data[2]); - ReturnValue_t retval = - setBootCopyProtection(static_cast(data[1]), static_cast(data[2]), true, - protOpPerformed, false); - if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) { - sif::info << "Target slot was writeprotected before reboot" << std::endl; - } + // This function can not really fail + gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed); switch (tgtChip) { case (xsc::Chip::CHIP_0): { @@ -930,6 +924,29 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si return HasReturnvaluesIF::RETURN_FAILED; } +ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) { + bool protOpPerformed = false; + gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed); + std::system("reboot"); + return RETURN_OK; +} + +ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, + bool &protOpPerformed) { + // Attempt graceful shutdown by unmounting and switching off SD cards + SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0); + SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1); + // If any boot copies are unprotected + ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true, + protOpPerformed, false); + if (result == HasReturnvaluesIF::RETURN_OK and protOpPerformed) { + // TODO: Would be nice to notify operator. But we can't use the filesystem anymore + // and a reboot is imminent. Use scratch buffer? + sif::info << "Running slot was writeprotected before reboot" << std::endl; + } + return result; +} + CoreController::~CoreController() {} void CoreController::determinePreferredSdCard() { diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h index dee06530..ede76890 100644 --- a/bsp_q7s/core/CoreController.h +++ b/bsp_q7s/core/CoreController.h @@ -67,8 +67,11 @@ class CoreController : public ExtendedControllerBase { static constexpr ActionId_t SWITCH_IMG_LOCK = 7; static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8; - static constexpr ActionId_t REBOOT_OBC = 32; + //! Reboot using the xsc_boot_copy command + static constexpr ActionId_t XSC_REBOOT_OBC = 32; static constexpr ActionId_t MOUNT_OTHER_COPY = 33; + //! Reboot using the reboot command + static constexpr ActionId_t REBOOT_OBC = 34; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE; @@ -221,7 +224,10 @@ class CoreController : public ExtendedControllerBase { 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); + ReturnValue_t actionXscReboot(const uint8_t* data, size_t size); + ReturnValue_t actionReboot(const uint8_t* data, size_t size); + + ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed); void performWatchdogControlOperation();