Merge pull request 'Non Blocking SD Card Initialization' (#75) from mueller/non-blocking-sd-card-init into develop

Reviewed-on: #75
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

bsp_q7s/core/CoreController.cpp

@@ -4,7 +4,9 @@
 #include "watchdogConf.h"
 
 #include "fsfw/FSFWVersion.h"
+#include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/osal/linux/Timer.h"
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #else
@@ -23,8 +25,8 @@ 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),
+        ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
-                    opDivider(5) {
+        opDivider(5) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     try {
         result = initWatchdogFifo();
@@ -32,15 +34,20 @@ CoreController::CoreController(object_id_t objectId):
             sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" <<
                     std::endl;
         }
-        result = initSdCard();
+        sdcMan = SdCardManager::instance();
-        if(result != HasReturnvaluesIF::RETURN_OK) {
+        if(sdcMan == nullptr) {
-            sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
+            sif::error << "CoreController::CoreController: SD card manager invalid!" << std::endl;
         }
+
+        if(not BLOCKING_SD_INIT) {
+            sdcMan->setBlocking(false);
+        }
+        sdStateMachine();
+
         result = initBootCopy();
         if(result != HasReturnvaluesIF::RETURN_OK) {
             sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
         }
-
     }
     catch(const std::filesystem::filesystem_error& e) {
         sif::error << "CoreController::CoreController: Failed with exception " <<
@@ -54,6 +61,7 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 
 void CoreController::performControlOperation() {
     performWatchdogControlOperation();
+    sdStateMachine();
 }
 
 ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@@ -74,6 +82,7 @@ ReturnValue_t CoreController::initialize() {
                 "count failed" << std::endl;
     }
 
+    sdStateMachine();
     return ExtendedControllerBase::initialize();
 }
 
@@ -82,35 +91,36 @@ ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t CoreController::initSdCard() {
+ReturnValue_t CoreController::initSdCardBlocking() {
-#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
-    sif::info << "No SD card initialization will be performed" << std::endl;
-    return HasReturnvaluesIF::RETURN_OK;
-#else
-    SdCardManager* sdcMan = SdCardManager::instance();
-    if(sdcMan == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
     // 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;
     }
+#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
+    sif::info << "No SD card initialization will be performed" << std::endl;
+    return HasReturnvaluesIF::RETURN_OK;
+#else
 
-    auto statusPair = SdCardManager::SdStatusPair(sd::SdStatus::OFF, sd::SdStatus::OFF);
+    result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
-    result = sdcMan->getSdCardActiveStatus(statusPair);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Getting SD card activity status failed" << std::endl;
     }
 
 #if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
-    return sdCardColdRedundantInit(sdcMan, statusPair);
+    determinePreferredSdCard();
+    updateSdInfoOther();
+    sif::info << "Cold redundant SD card configuration, preferred SD card: " <<
+            static_cast<int>(sdInfo.pref) << std::endl;
+    result = sdColdRedundantBlockingInit();
+    // Update status file
+    sdcMan->updateSdCardStateFile();
+    return result;
 #elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
     sif::info << "Hot redundant SD card configuration" << std::endl;
-
+    sdCardSetup(sd::SdCard::SLOT_0, sd::SdState::MOUNTED, "0", false);
-    setUpSdCard(sd::SdCard::SLOT_0, sdStatus.first, "0");
+    sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
-    setUpSdCard(sd::SdCard::SLOT_1, sdStatus.second, "1");
     // Update status file
     sdcMan->updateSdCardStateFile();
     return HasReturnvaluesIF::RETURN_OK;
@@ -120,10 +130,332 @@ ReturnValue_t CoreController::initSdCard() {
 
 }
 
-ReturnValue_t CoreController::sdCardSetup(SdCardManager& sdcMan,
+ReturnValue_t CoreController::sdStateMachine() {
-        SdCardManager::SdStatusPair& statusPair,sd::SdCard sdCard, sd::SdStatus status,
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-        std::string sdString) {
+    SdCardManager::Operations operation;
+
+    if(sdInfo.state == SdStates::IDLE) {
+        // Nothing to do
+        return result;
+    }
+
+    if(sdInfo.state == SdStates::START) {
+        // Init will be performed by separate function
+        if(BLOCKING_SD_INIT) {
+            sdInfo.state = SdStates::IDLE;
+            sdInfo.initFinished = true;
+            return result;
+        }
+        else {
+            // Still update SD state file
+#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
+            sdInfo.state = SdStates::UPDATE_INFO;
+#else
+            sdInfo.cycleCount = 0;
+            sdInfo.commandExecuted = false;
+            sdInfo.state = SdStates::GET_INFO;
+#endif
+        }
+    }
+
+    // This lambda checks the non-blocking operation and assigns the new state on success.
+    // It returns true for an operation success and false otherwise
+    auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess,
+            uint16_t maxCycleCount, std::string opPrintout) {
+        SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
+        if(status == SdCardManager::OpStatus::SUCCESS) {
+            sdInfo.state = newStateOnSuccess;
+            sdInfo.commandExecuted = false;
+            sdInfo.cycleCount = 0;
+            return true;
+        }
+        else if(sdInfo.cycleCount > 4) {
+            sif::warning << "CoreController::sdInitStateMachine: " << opPrintout <<
+                    " takes too long" << std::endl;
+            return false;
+        }
+        return false;
+    };
+
+    if(sdInfo.state == SdStates::GET_INFO) {
+        if(not sdInfo.commandExecuted) {
+            // Create update status file
+            result = sdcMan->updateSdCardStateFile();
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                sif::warning << "CoreController::initialize: Updating SD card state file failed"
+                        << std::endl;
+            }
+            sdInfo.commandExecuted = true;
+        }
+        else {
+            nonBlockingOpChecking(SdStates::SET_STATE_SELF, 4, "Updating SDC file");
+        }
+    }
+
+    if(sdInfo.state == SdStates::SET_STATE_SELF) {
+        if(not sdInfo.commandExecuted) {
+            result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
+            determinePreferredSdCard();
+            updateSdInfoOther();
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                sif::warning << "Getting SD card activity status failed" << std::endl;
+            }
+#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
+            sif::info << "Cold redundant SD card configuration, preferred SD card: " <<
+                    static_cast<int>(sdInfo.pref) << std::endl;
+#endif
+            if(sdInfo.prefState == sd::SdState::MOUNTED) {
+#if OBSW_VERBOSE_LEVEL >= 1
+                std::string mountString;
+                if(sdInfo.pref == sd::SdCard::SLOT_0) {
+                    mountString = SdCardManager::SD_0_MOUNT_POINT;
+                }
+                else {
+                    mountString = SdCardManager::SD_1_MOUNT_POINT;
+                }
+                sif::info << "SD card " << sdInfo.prefChar << " already on and mounted at " <<
+                        mountString << std::endl;
+#endif
+                sdInfo.state = SdStates::DETERMINE_OTHER;
+            }
+            else if(sdInfo.prefState == sd::SdState::OFF) {
+                sdCardSetup(sdInfo.pref, sd::SdState::ON, sdInfo.prefChar, false);
+                sdInfo.commandExecuted = true;
+            }
+            else if(sdInfo.prefState == sd::SdState::ON) {
+                sdInfo.state = SdStates::MOUNT_SELF;
+            }
+        }
+        else {
+            if(nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
+                sdInfo.prefState = sd::SdState::ON;
+                currentStateSetter(sdInfo.pref, sd::SdState::ON);
+            }
+        }
+    }
+
+    if(sdInfo.state == SdStates::MOUNT_SELF) {
+        if(not sdInfo.commandExecuted) {
+            result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
+            sdInfo.commandExecuted = true;
+        }
+        else {
+            if(nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
+                sdInfo.prefState = sd::SdState::MOUNTED;
+                currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
+            }
+        }
+    }
+
+    if(sdInfo.state == SdStates::DETERMINE_OTHER) {
+        // Determine whether any additional operations have to be done for the other SD card
+        // 1. Cold redundant case: Other SD card needs to be unmounted and switched off
+        // 2. Hot redundant case: Other SD card needs to be mounted and switched on
+#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
+        if(sdInfo.otherState == sd::SdState::ON) {
+            sdInfo.state = SdStates::SET_STATE_OTHER;
+        }
+        else if(sdInfo.otherState == sd::SdState::MOUNTED) {
+            sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
+        }
+        else {
+            // Is already off, update info, but with a small delay
+            sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
+        }
+#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
+        if(sdInfo.otherState == sd::SdState::OFF) {
+            sdInfo.state = SdStates::SET_STATE_OTHER;
+        }
+        else if(sdInfo.otherState == sd::SdState::ON) {
+            sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
+        }
+        else {
+            // Is already on and mounted, update info
+            sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
+        }
+#endif
+    }
+
+    if(sdInfo.state == SdStates::SET_STATE_OTHER) {
+        // Set state of other SD card to ON or OFF, depending on redundancy mode
+#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
+        if(not sdInfo.commandExecuted) {
+            result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
+            sdInfo.commandExecuted = true;
+        }
+        else {
+            if(nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
+                    "Switching off other SD card")) {
+                sdInfo.otherState = sd::SdState::OFF;
+                currentStateSetter(sdInfo.other, sd::SdState::OFF);
+            }
+        }
+#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
+        if(not sdInfo.commandExecuted) {
+            result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
+            sdInfo.commandExecuted = true;
+        }
+        else {
+            if(nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
+                    "Switching on other SD card")) {
+                sdInfo.otherState = sd::SdState::ON;
+                currentStateSetter(sdInfo.other, sd::SdState::ON);
+            }
+        }
+#endif
+    }
+
+    if(sdInfo.state == SdStates::MOUNT_UNMOUNT_OTHER) {
+        // Mount or unmount other SD card, depending on redundancy mode
+#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
+        if(not sdInfo.commandExecuted) {
+            result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
+            sdInfo.commandExecuted = true;
+        }
+        else {
+            if(nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
+                sdInfo.otherState = sd::SdState::ON;
+                currentStateSetter(sdInfo.other, sd::SdState::ON);
+            }
+        }
+#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
+        if(not sdInfo.commandExecuted) {
+            result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
+            sdInfo.commandExecuted = true;
+        }
+        else {
+            if(nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
+                sdInfo.otherState = sd::SdState::MOUNTED;
+                currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
+            }
+        }
+#endif
+    }
+
+    if(sdInfo.state == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
+        sdInfo.state = SdStates::UPDATE_INFO;
+    }
+    else if(sdInfo.state == SdStates::UPDATE_INFO) {
+        // It is assumed that all tasks are running by the point this section is reached.
+        // Therefore, perform this operation in blocking mode because it does not take long
+        // and the ready state of the SD card is available sooner
+        sdcMan->setBlocking(true);
+        // Update status file
+        result = sdcMan->updateSdCardStateFile();
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "CoreController::initialize: Updating SD card state file failed"
+                    << std::endl;
+        }
+        sdInfo.commandExecuted = false;
+        sdInfo.state = SdStates::IDLE;
+        sdInfo.cycleCount = 0;
+        sdcMan->setBlocking(false);
+        sdcMan->getSdCardActiveStatus(sdInfo.currentState);
+        if(not sdInfo.initFinished) {
+            updateSdInfoOther();
+            sdInfo.initFinished = true;
+            sif::info << "SD card initialization finished" << std::endl;
+        }
+    }
+
+    if(sdInfo.state == SdStates::SET_STATE_FROM_COMMAND) {
+        if(not sdInfo.commandExecuted) {
+            executeNextExternalSdCommand();
+        }
+        else {
+            checkExternalSdCommandStatus();
+        }
+    }
+
+    sdInfo.cycleCount++;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CoreController::executeNextExternalSdCommand() {
+    std::string sdChar;
+    sd::SdState currentStateOfCard = sd::SdState::OFF;
+    if(sdInfo.commandedCard == sd::SdCard::SLOT_0) {
+        sdChar = "0";
+        currentStateOfCard = sdInfo.currentState.first;
+    }
+    else {
+        sdChar = "1";
+        currentStateOfCard = sdInfo.currentState.second;
+    }
+    if(currentStateOfCard == sd::SdState::OFF) {
+        if(sdInfo.commandedState == sd::SdState::ON) {
+            sdInfo.currentlyCommandedState = sdInfo.commandedState;
+        }
+        else if(sdInfo.commandedState == sd::SdState::MOUNTED) {
+            sdInfo.currentlyCommandedState = sd::SdState::ON;
+        }
+        else {
+            // SD card is already on target state
+            sdInfo.commandFinished = true;
+            sdInfo.state = SdStates::IDLE;
+        }
+    }
+    else if(currentStateOfCard == sd::SdState::ON) {
+        if(sdInfo.commandedState == sd::SdState::OFF or
+                sdInfo.commandedState == sd::SdState::MOUNTED) {
+            sdInfo.currentlyCommandedState = sdInfo.commandedState;
+        }
+        else {
+            // Already on target state
+            sdInfo.commandFinished = true;
+            sdInfo.state = SdStates::IDLE;
+        }
+    }
+    else if(currentStateOfCard == sd::SdState::MOUNTED) {
+        if(sdInfo.commandedState == sd::SdState::ON) {
+            sdInfo.currentlyCommandedState = sdInfo.commandedState;
+        }
+        else if(sdInfo.commandedState == sd::SdState::OFF) {
+            // This causes an unmount in sdCardSetup
+            sdInfo.currentlyCommandedState = sd::SdState::ON;
+        }
+        else {
+            sdInfo.commandFinished = true;
+        }
+    }
+    sdCardSetup(sdInfo.commandedCard, sdInfo.commandedState, sdChar);
+    sdInfo.commandExecuted = true;
+}
+
+void CoreController::checkExternalSdCommandStatus() {
+    SdCardManager::Operations operation;
+    SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
+    if(status == SdCardManager::OpStatus::SUCCESS) {
+        if(sdInfo.currentlyCommandedState == sdInfo.commandedState) {
+            sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
+            sdInfo.commandFinished = true;
+        }
+        else {
+            // stay on same state machine state because the target state was not reached yet.
+            sdInfo.cycleCount = 0;
+        }
+        currentStateSetter(sdInfo.commandedCard, sdInfo.currentlyCommandedState);
+        sdInfo.commandExecuted = false;
+    }
+    else if(sdInfo.cycleCount > 4) {
+        sif::warning << "CoreController::sdStateMachine: Commanding SD state "
+                "takes too long" << std::endl;
+    }
+}
+
+void CoreController::currentStateSetter(sd::SdCard sdCard, sd::SdState newState) {
+    if(sdCard == sd::SdCard::SLOT_0) {
+        sdInfo.currentState.first = newState;
+    }
+    else {
+        sdInfo.currentState.second = newState;
+    }
+}
+
+ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetState,
+        std::string sdChar, bool printOutput) {
     std::string mountString;
+    sdcMan->setPrintCommandOutput(printOutput);
     if(sdCard == sd::SdCard::SLOT_0) {
         mountString = SdCardManager::SD_0_MOUNT_POINT;
     }
@@ -131,27 +463,63 @@ ReturnValue_t CoreController::sdCardSetup(SdCardManager& sdcMan,
         mountString = SdCardManager::SD_1_MOUNT_POINT;
     }
 
-    if(status == sd::SdStatus::OFF) {
+    sd::SdState state = sd::SdState::OFF;
-        sif::info << "Switching on and mounting SD card " << sdString << " at " <<
+    if(sdCard == sd::SdCard::SLOT_0) {
-                mountString << std::endl;
+        state = sdInfo.currentState.first;
-        return sdcMan.switchOnSdCard(sdCard, true, &statusPair);
-    }
-    else if(status == sd::SdStatus::ON) {
-        sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
-        return sdcMan.mountSdCard(sdCard);
     }
     else {
-        if(std::filesystem::exists(mountString)) {
+        state = sdInfo.currentState.second;
-            sif::info << "SD card " << sdString << " already on and mounted at " <<
-                    mountString << std::endl;
-            return SdCardManager::ALREADY_MOUNTED;
-        }
-        sif::error << "SD card mounted but expected mount point " << mountString << " not found!"
-                << std::endl;
-        return SdCardManager::MOUNT_ERROR;
     }
+    if(state == sd::SdState::MOUNTED) {
+        if(targetState == sd::SdState::OFF) {
+            sif::info << "Switching off SD card " << sdChar << std::endl;
+            return sdcMan->switchOffSdCard(sdCard, true, &sdInfo.currentState);
+        }
+        else if(targetState == sd::SdState::ON) {
+            sif::info << "Unmounting SD card " << sdChar << std::endl;
+            return sdcMan->unmountSdCard(sdCard);
+        }
+        else {
+            if(std::filesystem::exists(mountString)) {
+                sif::info << "SD card " << sdChar << " already on and mounted at " <<
+                        mountString << std::endl;
+                return SdCardManager::ALREADY_MOUNTED;
+            }
+            sif::error << "SD card mounted but expected mount point " <<
+                    mountString << " not found!" << std::endl;
+            return SdCardManager::MOUNT_ERROR;
+        }
+    }
+
+    if(state == sd::SdState::OFF) {
+        if(targetState == sd::SdState::MOUNTED) {
+            sif::info << "Switching on and mounting SD card " << sdChar << " at " <<
+                    mountString << std::endl;
+            return sdcMan->switchOnSdCard(sdCard, true, &sdInfo.currentState);
+        }
+        else if(targetState == sd::SdState::ON) {
+            sif::info << "Switching on SD card " << sdChar << std::endl;
+            return sdcMan->switchOnSdCard(sdCard, false, &sdInfo.currentState);
+        }
+    }
+
+    else if(state == sd::SdState::ON) {
+        if(targetState == sd::SdState::MOUNTED) {
+            sif::info << "Mounting SD card " << sdChar << " at " << mountString << std::endl;
+            return sdcMan->mountSdCard(sdCard);
+        }
+        else if(targetState == sd::SdState::OFF) {
+            sif::info << "Switching off SD card " << sdChar << std::endl;
+            return sdcMan->switchOffSdCard(sdCard, false, &sdInfo.currentState);
+        }
+    }
+    else {
+        sif::warning << "CoreController::sdCardSetup: Invalid state for this call" << std::endl;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
+
 ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
         const uint8_t *data, size_t size) {
     switch(actionId) {
@@ -168,7 +536,15 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
 }
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
-    ReturnValue_t result = initVersionFile();
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    if(BLOCKING_SD_INIT) {
+        ReturnValue_t result = initSdCardBlocking();
+        if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_MOUNTED) {
+            sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
+        }
+    }
+    sdStateMachine();
+    result = initVersionFile();
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
     }
@@ -176,69 +552,30 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
     return result;
 }
 
-ReturnValue_t CoreController::sdCardColdRedundantInit(SdCardManager* sdcMan,
+ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
-        SdCardManager::SdStatusPair& statusPair) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
-    ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        if(result == scratch::KEY_NOT_FOUND) {
-            sif::warning << "CoreController::sdCardInit: "
-                    "Preferred SD card not set. Setting to 0" << std::endl;
-            sdcMan->setPreferredSdCard(preferredSdCard);
-        }
-        else {
-            sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
-                    "information from the scratch buffer" << std::endl;
-        }
-    }
-    std::string preferredString;
-    sd::SdStatus preferredStatus = sd::SdStatus::OFF;
 
-    sd::SdStatus otherStatus = sd::SdStatus::OFF;
+    result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
-    std::string otherString;
-    sd::SdCard otherSdc = sd::SdCard::SLOT_0;
-
-    if(preferredSdCard == sd::SdCard::SLOT_0) {
-        preferredStatus = statusPair.first;
-        preferredString = "0";
-        otherSdc = sd::SdCard::SLOT_1;
-        otherStatus = statusPair.second;
-        otherString = "1";
-    }
-    else {
-        preferredString = "1";
-        preferredStatus = statusPair.second;
-        otherStatus = statusPair.first;
-        otherSdc = sd::SdCard::SLOT_0;
-        otherString = "0";
-    }
-
-    sif::info << "Cold redundant SD card configuration, preferred SD card " <<
-            preferredString << std::endl;
-
-    result = sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
     if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "Setting up preferred card " << otherString <<
+        sif::warning << "Setting up preferred card " << sdInfo.otherChar <<
                 " in cold redundant mode failed" << std::endl;
         // Try other SD card and mark set up operation as failed
-        sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
+        sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
         result = HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
+    if(result != HasReturnvaluesIF::RETURN_FAILED and sdInfo.otherState != sd::SdState::OFF) {
-        sif::info << "Switching off secondary SD card " << otherString << std::endl;
+        sif::info << "Switching off secondary SD card " << sdInfo.otherChar << std::endl;
-        // Switch off other SD card in cold redundant mode if setting up preferred one walked
+        // Switch off other SD card in cold redundant mode if setting up preferred one worked
         // without issues
-        result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &statusPair);
+        ReturnValue_t result2 = sdcMan->switchOffSdCard(sdInfo.other,
-        if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
+                sdInfo.otherState, &sdInfo.currentState);
-            sif::warning << "Switching off secondary SD card " << otherString <<
+        if(result2 != HasReturnvaluesIF::RETURN_OK and result2 != SdCardManager::ALREADY_OFF) {
+            sif::warning << "Switching off secondary SD card " << sdInfo.otherChar <<
                     " in cold redundant mode failed" << std::endl;
         }
     }
-
+    return result;
-    // Update status file
-    sdcMan->updateSdCardStateFile();
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t CoreController::incrementAllocationFailureCount() {
@@ -379,6 +716,7 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
     if(RFlag) {
         oss << "R";
     }
+
     oss << " " << repoName << " > " << targetFileName;
     int result = std::system(oss.str().c_str());
     if(result != 0) {
@@ -493,6 +831,48 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
     return HasActionsIF::EXECUTION_FINISHED;
 }
 
+CoreController::~CoreController() {
+}
+
+void CoreController::determinePreferredSdCard() {
+    if(sdInfo.pref == sd::SdCard::NONE) {
+        ReturnValue_t result = sdcMan->getPreferredSdCard(sdInfo.pref);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            if(result == scratch::KEY_NOT_FOUND) {
+                sif::warning << "CoreController::sdCardInit: "
+                        "Preferred SD card not set. Setting to 0" << std::endl;
+                sdcMan->setPreferredSdCard(sdInfo.pref);
+            }
+            else {
+                sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
+                        "information from the scratch buffer" << std::endl;
+            }
+        }
+    }
+}
+
+void CoreController::updateSdInfoOther() {
+    if(sdInfo.pref == sd::SdCard::SLOT_0) {
+        sdInfo.prefChar = "0";
+        sdInfo.otherChar = "1";
+        sdInfo.otherState =  sdInfo.currentState.second;
+        sdInfo.prefState = sdInfo.currentState.first;
+        sdInfo.other = sd::SdCard::SLOT_1;
+
+    }
+    else {
+        sdInfo.prefChar = "1";
+        sdInfo.otherChar = "0";
+        sdInfo.otherState = sdInfo.currentState.first;
+        sdInfo.prefState = sdInfo.currentState.second;
+        sdInfo.other = sd::SdCard::SLOT_0;
+    }
+}
+
+bool CoreController::sdInitFinished() const {
+    return sdInfo.initFinished;
+}
+
 void CoreController::performWatchdogControlOperation() {
     // Only perform each fifth iteration
     if(watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {

bsp_q7s/core/CoreController.h

@@ -8,6 +8,8 @@
 #include "events/subsystemIdRanges.h"
 
 
+class Timer;
+class SdCardManager;
 
 class CoreController: public ExtendedControllerBase {
 public:
@@ -32,6 +34,7 @@ public:
 
 
     CoreController(object_id_t objectId);
+    virtual~ CoreController();
 
     ReturnValue_t initialize() override;
 
@@ -45,6 +48,7 @@ public:
 
     static ReturnValue_t incrementAllocationFailureCount();
     static void getCurrentBootCopy(Chip& chip, Copy& copy);
+    bool sdInitFinished() const;
 
 private:
     static Chip currentChip;
@@ -56,11 +60,65 @@ private:
     ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                 uint32_t *msToReachTheMode);
 
-    ReturnValue_t initSdCard();
+    // States for SD state machine, which is used in non-blocking mode
-    ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair,
+    enum class SdStates {
-            sd::SdCard sdCard, sd::SdStatus status, std::string sdString);
+        NONE,
-    ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan,
+        START,
-            SdCardManager::SdStatusPair& statusPair);
+        GET_INFO,
+        SET_STATE_SELF,
+        MOUNT_SELF,
+        // Determine operations for other SD card, depending on redundancy configuration
+        DETERMINE_OTHER,
+        SET_STATE_OTHER,
+        // Mount or unmount other
+        MOUNT_UNMOUNT_OTHER,
+        // Skip period because the shell command used to generate the info file sometimes is
+        // missing the last performed operation if executed too early
+        SKIP_CYCLE_BEFORE_INFO_UPDATE,
+        UPDATE_INFO,
+        // SD initialization done
+        IDLE,
+        // Used if SD switches or mount commands are issued via telecommand
+        SET_STATE_FROM_COMMAND,
+    };
+    static constexpr bool BLOCKING_SD_INIT = false;
+
+    SdCardManager* sdcMan = nullptr;
+
+    ReturnValue_t initSdCardBlocking();
+    ReturnValue_t sdStateMachine();
+
+    struct SdInfo {
+        sd::SdCard pref = sd::SdCard::NONE;
+        sd::SdState prefState = sd::SdState::OFF;
+        sd::SdCard other = sd::SdCard::NONE;
+        sd::SdState otherState = sd::SdState::OFF;
+        std::string prefChar = "0";
+        std::string otherChar = "1";
+        SdStates state = SdStates::START;
+        // Used to track whether a command was executed
+        bool commandExecuted = true;
+        bool initFinished = false;
+        SdCardManager::SdStatePair currentState;
+        uint16_t cycleCount = 0;
+        // These two flags are related to external commanding
+        bool commandIssued = false;
+        bool commandFinished = false;
+        sd::SdState currentlyCommandedState = sd::SdState::OFF;
+        sd::SdCard commandedCard = sd::SdCard::NONE;
+        sd::SdState commandedState = sd::SdState::OFF;
+    };
+
+    SdInfo sdInfo;
+
+    void updateSdInfoOther();
+    ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
+            bool printOutput = true);
+    ReturnValue_t sdColdRedundantBlockingInit();
+    void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
+    void determinePreferredSdCard();
+    void executeNextExternalSdCommand();
+    void checkExternalSdCommandStatus();
 
     ReturnValue_t initVersionFile();
     ReturnValue_t initBootCopy();

bsp_q7s/memory/FileSystemHandler.cpp

@@ -41,7 +41,9 @@ void FileSystemHandler::fileSystemHandlerLoop() {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     while(true) {
         if(opCounter % 5 == 0) {
-            fileSystemCheckup();
+            if(coreCtrl->sdInitFinished()) {
+                fileSystemCheckup();
+            }
         }
         result = mq->receiveMessage(&filemsg);
         if(result == MessageQueueIF::EMPTY) {
@@ -72,16 +74,16 @@ void FileSystemHandler::fileSystemHandlerLoop() {
 }
 
 void FileSystemHandler::fileSystemCheckup() {
-    SdCardManager::SdStatusPair statusPair;
+    SdCardManager::SdStatePair statusPair;
     sdcMan->getSdCardActiveStatus(statusPair);
     sd::SdCard preferredSdCard;
     sdcMan->getPreferredSdCard(preferredSdCard);
     if((preferredSdCard == sd::SdCard::SLOT_0) and
-            (statusPair.first == sd::SdStatus::MOUNTED)) {
+            (statusPair.first == sd::SdState::MOUNTED)) {
         currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
     }
     else if((preferredSdCard == sd::SdCard::SLOT_1) and
-            (statusPair.second == sd::SdStatus::MOUNTED)) {
+            (statusPair.second == sd::SdState::MOUNTED)) {
         currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
     }
     else {
@@ -111,6 +113,11 @@ MessageQueueId_t FileSystemHandler::getCommandQueue() const {
 }
 
 ReturnValue_t FileSystemHandler::initialize() {
+    coreCtrl = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
+    if(coreCtrl == nullptr) {
+        sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle" <<
+                std::endl;
+    }
     sdcMan = SdCardManager::instance();
     sd::SdCard preferredSdCard;
     ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);

bsp_q7s/memory/FileSystemHandler.h

@@ -11,6 +11,8 @@
 
 #include <string>
 
+class CoreController;
+
 class FileSystemHandler: public SystemObject,
         public ExecutableObjectIF,
         public HasFileSystemIF {
@@ -47,6 +49,7 @@ public:
             void* args = nullptr) override;
 
 private:
+    CoreController* coreCtrl = nullptr;
     MessageQueueIF* mq = nullptr;
     std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
     static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;

bsp_q7s/memory/SdCardManager.cpp

@@ -1,3 +1,4 @@
+#include <fsfw/osal/linux/Timer.h>
 #include "SdCardManager.h"
 #include "scratchApi.h"
 
@@ -6,13 +7,16 @@
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
+#include <unistd.h>
+
 #include <fstream>
 #include <memory>
 #include <filesystem>
+#include <cstring>
 
 SdCardManager* SdCardManager::factoryInstance = nullptr;
 
-SdCardManager::SdCardManager() {
+SdCardManager::SdCardManager(): cmdExecutor(256) {
 }
 
 SdCardManager::~SdCardManager() {
@@ -30,11 +34,19 @@ SdCardManager* SdCardManager::instance() {
 }
 
 ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
-        SdStatusPair* statusPair) {
+        SdStatePair* statusPair) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    std::unique_ptr<SdStatusPair> sdStatusPtr;
+    if(doMountSdCard) {
+        if(not blocking) {
+            sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
+                    " not configured for blocking operation. "
+                    "Forcing blocking mode.." << std::endl;
+            blocking = true;
+        }
+    }
+    std::unique_ptr<SdStatePair> sdStatusPtr;
     if(statusPair == nullptr) {
-        sdStatusPtr = std::make_unique<SdStatusPair>();
+        sdStatusPtr = std::make_unique<SdStatePair>();
         statusPair = sdStatusPtr.get();
         result = getSdCardActiveStatus(*statusPair);
         if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -49,39 +61,35 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    sd::SdStatus targetStatus;
+    sd::SdState currentState;
     if(sdCard == sd::SdCard::SLOT_0) {
-        targetStatus = statusPair->first;
+        currentState = statusPair->first;
     }
     else if(sdCard == sd::SdCard::SLOT_1) {
-        targetStatus = statusPair->second;
+        currentState = statusPair->second;
     }
     else {
         // Should not happen
-        targetStatus = sd::SdStatus::OFF;
+        currentState = sd::SdState::OFF;
     }
 
-    auto switchCall = [&]() {
+    if(currentState == sd::SdState::ON) {
-        if(targetStatus == sd::SdStatus::ON) {
+        if(not doMountSdCard) {
-            if(not doMountSdCard) {
+            return ALREADY_ON;
-                return ALREADY_ON;
-            }
-            else {
-                return mountSdCard(sdCard);
-            }
-        }
-        else if(targetStatus == sd::SdStatus::MOUNTED) {
-            return ALREADY_MOUNTED;
-        }
-        else if(targetStatus == sd::SdStatus::OFF) {
-            return setSdCardState(sdCard, true);
         }
         else {
-            return HasReturnvaluesIF::RETURN_FAILED;
+            return mountSdCard(sdCard);
         }
-    };
+    }
-
+    else if(currentState == sd::SdState::MOUNTED) {
-    result = switchCall();
+        result = ALREADY_MOUNTED;
+    }
+    else if(currentState == sd::SdState::OFF) {
+        result = setSdCardState(sdCard, true);
+    }
+    else {
+        result = HasReturnvaluesIF::RETURN_FAILED;
+    }
 
     if(result != HasReturnvaluesIF::RETURN_OK or not doMountSdCard) {
         return result;
@@ -91,12 +99,19 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
 }
 
 ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
-        SdStatusPair* statusPair) {
+        SdStatePair* statusPair) {
-    std::pair<sd::SdStatus, sd::SdStatus> active;
+    std::pair<sd::SdState, sd::SdState> active;
     ReturnValue_t result = getSdCardActiveStatus(active);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
+    if(doUnmountSdCard) {
+        if(not blocking) {
+            sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
+                    " not configured for blocking operation. Forcing blocking mode.." << std::endl;
+            blocking = true;
+        }
+    }
     // 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"
@@ -104,12 +119,12 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     if(sdCard == sd::SdCard::SLOT_0) {
-        if(active.first == sd::SdStatus::OFF) {
+        if(active.first == sd::SdState::OFF) {
             return ALREADY_OFF;
         }
     }
     else if(sdCard == sd::SdCard::SLOT_1) {
-        if(active.second == sd::SdStatus::OFF) {
+        if(active.second == sd::SdState::OFF) {
             return ALREADY_OFF;
         }
     }
@@ -126,6 +141,9 @@ ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSd
 
 ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
     using namespace std;
+    if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
+        return CommandExecutor::COMMAND_PENDING;
+    }
     string sdstring = "";
     string statestring = "";
     if(sdCard == sd::SdCard::SLOT_0) {
@@ -135,23 +153,24 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
         sdstring = "1";
     }
     if(on) {
+        currentOp = Operations::SWITCHING_ON;
         statestring = "on";
     }
     else {
+        currentOp = Operations::SWITCHING_OFF;
         statestring = "off";
     }
     ostringstream command;
     command << "q7hw sd set " << sdstring << " " << statestring;
-    int result = system(command.str().c_str());
+    cmdExecutor.load(command.str(), blocking, printCmdOutput);
-    if(result == 0) {
+    ReturnValue_t result = cmdExecutor.execute();
-        return HasReturnvaluesIF::RETURN_OK;
+    if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
+        utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
     }
-    sif::warning << "SdCardManager::setSdCardState: system call failed with code " <<
+    return result;
-            result << std::endl;
-    return SYSTEM_CALL_ERROR;
 }
 
-ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatusPair& active) {
+ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
     using namespace std;
     if(not filesystem::exists(SD_STATE_FILE)) {
         return STATUS_FILE_NEXISTS;
@@ -174,6 +193,9 @@ ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatusPair& active) {
 
 ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
     using namespace std;
+    if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
+        return CommandExecutor::COMMAND_PENDING;
+    }
     if(sdCard == sd::SdCard::BOTH) {
         sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
                 << std::endl;
@@ -195,16 +217,22 @@ ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
         return MOUNT_ERROR;
     }
 
-    string sdMountCommand = "mount " + mountDev + " " + mountPoint;
+    if(not blocking) {
-    int result = system(sdMountCommand.c_str());
+        currentOp = Operations::MOUNTING;
-    if (result != 0) {
-        utility::handleSystemError(result, "SdCardManager::mountSdCard");
-        return SYSTEM_CALL_ERROR;
     }
-    return HasReturnvaluesIF::RETURN_OK;
+    string sdMountCommand = "mount " + mountDev + " " + mountPoint;
+    cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
+    ReturnValue_t result = cmdExecutor.execute();
+    if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
+        utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
+    }
+    return result;
 }
 
 ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
+    if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
+        return CommandExecutor::COMMAND_PENDING;
+    }
     using namespace std;
     if(sdCard == sd::SdCard::BOTH) {
         sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
@@ -229,34 +257,53 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
         sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
     }
     string sdUnmountCommand = "umount " + mountPoint;
-    int result = system(sdUnmountCommand.c_str());
+    if(not blocking) {
-    if (result != 0) {
+        currentOp = Operations::UNMOUNTING;
-        utility::handleSystemError(result, "SdCardManager::unmountSdCard");
-        return SYSTEM_CALL_ERROR;
     }
-    return HasReturnvaluesIF::RETURN_OK;
+    cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
+    ReturnValue_t result = cmdExecutor.execute();
+    if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
+        utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
+    }
+    return result;
 }
 
-ReturnValue_t SdCardManager::sanitizeState(SdStatusPair* statusPair, sd::SdCard prefSdCard) {
+ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
-    std::unique_ptr<SdStatusPair> sdStatusPtr;
+    std::unique_ptr<SdStatePair> sdStatusPtr;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    // Enforce blocking operation for now. Be careful to reset it when returning prematurely!
+    bool resetNonBlockingState = false;
+    if(not this->blocking) {
+        blocking = true;
+        resetNonBlockingState = true;
+    }
     if(prefSdCard == sd::SdCard::NONE) {
-        ReturnValue_t result = getPreferredSdCard(prefSdCard);
+        result = getPreferredSdCard(prefSdCard);
         if(result != HasReturnvaluesIF::RETURN_OK) {}
     }
     if(statusPair == nullptr) {
-        sdStatusPtr = std::make_unique<SdStatusPair>();
+        sdStatusPtr = std::make_unique<SdStatePair>();
         statusPair = sdStatusPtr.get();
         getSdCardActiveStatus(*statusPair);
     }
 
-    if(statusPair->first == sd::SdStatus::ON) {
+    if(statusPair->first == sd::SdState::ON) {
-        return mountSdCard(prefSdCard);
+        result =  mountSdCard(prefSdCard);
     }
 
-    return switchOnSdCard(prefSdCard, true, statusPair);
+    result = switchOnSdCard(prefSdCard, true, statusPair);
+    if(resetNonBlockingState) {
+        blocking = false;
+    }
+    return result;
 }
 
-void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &active,
+void SdCardManager::resetState() {
+    cmdExecutor.reset();
+    currentOp = Operations::IDLE;
+}
+
+void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState> &active,
         std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
     using namespace std;
     istringstream iss(line);
@@ -278,28 +325,28 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &a
 
             if(word == "on") {
                 if(currentSd == sd::SdCard::SLOT_0) {
-                    active.first = sd::SdStatus::ON;
+                    active.first = sd::SdState::ON;
                 }
                 else {
-                    active.second = sd::SdStatus::ON;
+                    active.second = sd::SdState::ON;
                 }
             }
             else if (word == "off") {
                 if(currentSd == sd::SdCard::SLOT_0) {
-                    active.first = sd::SdStatus::OFF;
+                    active.first = sd::SdState::OFF;
                 }
                 else {
-                    active.second = sd::SdStatus::OFF;
+                    active.second = sd::SdState::OFF;
                 }
             }
         }
 
         if(mountLine) {
             if(currentSd == sd::SdCard::SLOT_0) {
-                active.first = sd::SdStatus::MOUNTED;
+                active.first = sd::SdState::MOUNTED;
             }
             else {
-                active.second = sd::SdStatus::MOUNTED;
+                active.second = sd::SdState::MOUNTED;
             }
         }
 
@@ -329,15 +376,17 @@ ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
 }
 
 ReturnValue_t SdCardManager::updateSdCardStateFile() {
+    if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
+        return CommandExecutor::COMMAND_PENDING;
+    }
     // Use q7hw utility and pipe the command output into the state file
     std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
-    int result = std::system(updateCmd.c_str());
+    cmdExecutor.load(updateCmd, blocking, printCmdOutput);
-    if(result == 0) {
+    ReturnValue_t result = cmdExecutor.execute();
-        return HasReturnvaluesIF::RETURN_OK;
+    if(blocking and result != HasReturnvaluesIF::RETURN_OK) {
+        utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
     }
-    sif::warning << "SdCardManager::updateSdCardStateFile: system call failed with code " <<
+    return result;
-            result << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
@@ -354,3 +403,56 @@ std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
         return SD_1_MOUNT_POINT;
     }
 }
+
+SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations &currentOp) {
+    CommandExecutor::States state = cmdExecutor.getCurrentState();
+    if(state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
+        return OpStatus::IDLE;
+    }
+    currentOp = this->currentOp;
+    bool bytesRead = false;
+
+#if OBSW_ENABLE_TIMERS == 1
+    Timer timer;
+    timer.setTimer(100);
+    uint32_t remainingTimeMs = 0;
+#endif
+    while(true) {
+        ReturnValue_t result = cmdExecutor.check(bytesRead);
+        // This timer can prevent deadlocks due to missconfigurations
+#if OBSW_ENABLE_TIMERS == 1
+        timer.getTimer(&remainingTimeMs);
+        if(remainingTimeMs == 0) {
+            sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
+            return OpStatus::FAIL;
+        }
+#endif
+        switch(result) {
+        case(CommandExecutor::BYTES_READ): {
+            continue;
+        }
+        case(CommandExecutor::EXECUTION_FINISHED): {
+            return OpStatus::SUCCESS;
+        }
+        case(HasReturnvaluesIF::RETURN_OK): {
+            return OpStatus::ONGOING;
+        }
+        case(HasReturnvaluesIF::RETURN_FAILED): {
+            return OpStatus::FAIL;
+        }
+        default: {
+            sif::warning << "SdCardManager::checkCurrentOp: Unhandled case" << std::endl;
+        }
+        }
+    }
+}
+
+void SdCardManager::setBlocking(bool blocking) {
+    this->blocking = blocking;
+}
+
+void SdCardManager::setPrintCommandOutput(bool print) {
+    this->printCmdOutput = print;
+
+}
+

bsp_q7s/memory/SdCardManager.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
 #define BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
 
+#include <fsfw/osal/linux/CommandExecutor.h>
 #include "definitions.h"
 #include "returnvalues/classIds.h"
 #include "events/subsystemIdRanges.h"
@@ -8,10 +9,13 @@
 #include "fsfw/events/Event.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
+#include <poll.h>
+
 #include <cstdint>
 #include <utility>
 #include <string>
 #include <optional>
+#include <array>
 
 class MutexIF;
 
@@ -22,16 +26,34 @@ class MutexIF;
 class SdCardManager {
     friend class SdCardAccess;
 public:
-    using SdStatusPair = std::pair<sd::SdStatus, sd::SdStatus>;
+    enum class Operations {
+        SWITCHING_ON,
+        SWITCHING_OFF,
+        MOUNTING,
+        UNMOUNTING,
+        IDLE
+    };
+
+    enum class OpStatus {
+        IDLE,
+        TIMEOUT,
+        ONGOING,
+        SUCCESS,
+        FAIL
+    };
+
+    using SdStatePair = std::pair<sd::SdState, sd::SdState>;
 
     static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
 
-    static constexpr ReturnValue_t ALREADY_ON =
+    static constexpr ReturnValue_t OP_ONGOING =
             HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
-    static constexpr ReturnValue_t ALREADY_MOUNTED  =
+    static constexpr ReturnValue_t ALREADY_ON =
             HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 1);
-    static constexpr ReturnValue_t ALREADY_OFF =
+    static constexpr ReturnValue_t ALREADY_MOUNTED  =
             HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 2);
+    static constexpr ReturnValue_t ALREADY_OFF =
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 3);
     static constexpr ReturnValue_t STATUS_FILE_NEXISTS =
             HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 10);
     static constexpr ReturnValue_t STATUS_FILE_FORMAT_INVALID =
@@ -42,6 +64,8 @@ public:
             HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 13);
     static constexpr ReturnValue_t SYSTEM_CALL_ERROR =
             HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 14);
+    static constexpr ReturnValue_t POPEN_CALL_ERROR =
+            HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 15);
 
     static constexpr uint8_t SUBSYSTEM_ID =  SUBSYSTEM_ID::FILE_SYSTEM;
 
@@ -90,7 +114,7 @@ public:
      *           SYSTEM_CALL_ERROR on system error
      */
     ReturnValue_t switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard = true,
-            SdStatusPair* statusPair = nullptr);
+            SdStatePair* statusPair = nullptr);
 
     /**
      * Switch off the specified SD card.
@@ -102,13 +126,15 @@ public:
      *           SYSTEM_CALL_ERROR on system error
      */
     ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
-            SdStatusPair* statusPair = nullptr);
+            SdStatePair* statusPair = nullptr);
 
     /**
      * Update the state file or creates one if it does not exist. You need to call this
      * function before calling #sdCardActive
-     * @return - RETURN_OK if the state file was updated successfully
+     * @return
-     *         - SYSTEM_CALL_ERROR if the call to create the status file failed
+     *  - RETURN_OK if the state file was updated successfully
+     *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
+     *  - RETURN_FAILED: blocking command failed
      */
     ReturnValue_t updateSdCardStateFile();
 
@@ -123,7 +149,7 @@ public:
      *           should call #updateSdCardStateFile again in that case
      *         - STATUS_FILE_NEXISTS if the status file does not exist
      */
-    ReturnValue_t getSdCardActiveStatus(SdStatusPair& active);
+    ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
 
     /**
      * Mount the specified SD card. This is necessary to use it.
@@ -143,13 +169,13 @@ public:
      * 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.
+     * passed into the function. For now, this operation will be enforced in blocking mode.
      * @param statusPair    Current SD card status capture with #getSdCardActiveStatus
      * @param prefSdCard    Preferred SD card captured with #getPreferredSdCard
      * @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
      * @return
      */
-    ReturnValue_t sanitizeState(SdStatusPair* statusPair = nullptr,
+    ReturnValue_t sanitizeState(SdStatePair* statusPair = nullptr,
             sd::SdCard prefSdCard = sd::SdCard::NONE);
 
     /**
@@ -159,12 +185,27 @@ public:
      * @return
      */
     std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE);
+
+    OpStatus checkCurrentOp(Operations& currentOp);
+
+    /**
+     * If there are issues with the state machine, it can be reset with this function
+     */
+    void resetState();
+
+    void setBlocking(bool blocking);
+    void setPrintCommandOutput(bool print);
 private:
+    CommandExecutor cmdExecutor;
+    Operations currentOp = Operations::IDLE;
+    bool blocking = false;
+    bool printCmdOutput = true;
+
     SdCardManager();
 
     ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
 
-    void processSdStatusLine(SdStatusPair& active, std::string& line, uint8_t& idx,
+    void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
             sd::SdCard& currentSd);
 
     std::string currentPrefix;

bsp_q7s/memory/definitions.h

@@ -5,7 +5,7 @@
 
 namespace sd {
 
-enum SdStatus: uint8_t {
+enum SdState: uint8_t {
     OFF = 0,
     ON = 1,
     // A mounted SD card is on as well

fsfw

@@ -1 +1 @@
-Subproject commit 133820f463645164c203e72f0acd078eb002e159
+Subproject commit 22e29144b6783a824b310204c76fa413eb94f331

linux/fsfwconfig/OBSWConfig.h.in

@@ -22,6 +22,10 @@
 debugging. */
 #define OBSW_VERBOSE_LEVEL              1
 
+//! Timers can mess up the code when debugging
+//! TODO: Enable for mission code, disable for debug code
+#define OBSW_ENABLE_TIMERS              0
+
 #define OBSW_PRINT_MISSED_DEADLINES     1
 #define OBSW_ADD_TEST_CODE              1
 #define OBSW_ADD_TEST_PST               1

mission/devices/PlocUpdater.cpp

@@ -174,7 +174,7 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
 }
 
 bool PlocUpdater::isSdCardMounted(sd::SdCard sdCard) {
-    SdCardManager::SdStatusPair active;
+    SdCardManager::SdStatePair active;
     ReturnValue_t result = sdcMan->getSdCardActiveStatus(active);
     if (result != RETURN_OK) {
         sif::debug << "PlocUpdater::isSdCardMounted: Failed to get SD card active state";

tmtc

@@ -1 +1 @@
-Subproject commit 547b4b213704a72a884c2871debeea0461c7704f
+Subproject commit 3e8626bfafa561510323bf8fe3963bc2860950ed