Merge pull request 'Reboot Command' (#242) from mueller/reboot-cmd into develop

Reviewed-on: #242
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -14,6 +14,8 @@ list yields a list of all related PRs for each release.
 
 ## Added
 
+- Regular reboot command
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242
 - Commands for individual RTD devices
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
 - `RwAssembly` added to system components. Assembly works in principle,

bsp_q7s/core/CoreController.cpp

@@ -212,8 +212,13 @@ 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;
@@ -845,25 +850,18 @@ 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");
@@ -885,12 +883,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   auto tgtChip = static_cast<xsc::Chip>(data[1]);
   auto tgtCopy = static_cast<xsc::Copy>(data[2]);
 
-  ReturnValue_t retval =
-      setBootCopyProtection(static_cast<xsc::Chip>(data[1]), static_cast<xsc::Copy>(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): {
@@ -931,6 +925,30 @@ 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) {
+  sdcMan->setBlocking(true);
+  // Attempt graceful shutdown by unmounting and switching off SD cards
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
+  sdcMan->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() {

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();
 

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -114,7 +114,7 @@ bool Max31865RtdReader::periodicInitHandling() {
 #if OBSW_RTD_AUTO_MODE == 0
       result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
 #endif
-      someRtdUsable =  true;
+      someRtdUsable = true;
     }
   }
   return someRtdUsable;

mission/devices/Max31865EiveHandler.cpp

@@ -123,7 +123,7 @@ void Max31865EiveHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t Max31865EiveHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                 DeviceCommandId_t* foundId, size_t* foundLen) {
-  if(mode == _MODE_POWER_ON or mode == _MODE_WAIT_ON) {
+  if (mode == _MODE_POWER_ON or mode == _MODE_WAIT_ON) {
     return IGNORE_FULL_PACKET;
   }
   if (remainingSize != structLen) {

tmtc

@@ -1 +1 @@
-Subproject commit 9332fb8690de200070e712a70b1fa339d5b6b8d8
+Subproject commit 41f1f4c99a99fd7e0892773fd209ed6273810885