fixed merge conflicts

This commit is contained in:
Jakob Meier
2022-06-05 10:54:46 +02:00
149 changed files with 5366 additions and 2912 deletions

View File

@ -1,20 +1,13 @@
#simple mode
# simple mode
add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
target_sources(${SIMPLE_OBSW_NAME} PUBLIC
main.cpp
)
#I think this is unintentional? (produces linker errors for stuff in /linux)
target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
${LIB_FSFW_NAME}
)
target_sources(${SIMPLE_OBSW_NAME} PUBLIC main.cpp)
# I think this is unintentional? (produces linker errors for stuff in /linux)
target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
add_subdirectory(simple)
target_sources(${OBSW_NAME} PUBLIC
main.cpp
obsw.cpp
)
target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
add_subdirectory(boardtest)
@ -23,11 +16,9 @@ add_subdirectory(comIF)
add_subdirectory(core)
if(EIVE_Q7S_EM)
add_subdirectory(em)
add_subdirectory(em)
else()
target_sources(${OBSW_NAME} PUBLIC
fmObjectFactory.cpp
)
target_sources(${OBSW_NAME} PUBLIC fmObjectFactory.cpp)
endif()
add_subdirectory(memory)

View File

@ -1,12 +1,5 @@
target_sources(${OBSW_NAME} PRIVATE
print.c
)
target_sources(${OBSW_NAME} PRIVATE print.c)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
print.c
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE print.c)
target_include_directories(${OBSW_NAME} PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

View File

@ -4,6 +4,8 @@
namespace q7s {
static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";

View File

@ -1,10 +1,5 @@
target_sources(${OBSW_NAME} PRIVATE
FileSystemTest.cpp
Q7STestTask.cpp
)
target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)
if(EIVE_BUILD_Q7S_SIMPLE_MODE)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
FileSystemTest.cpp
)
endif()
target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)
endif()

View File

@ -1,6 +1,2 @@
target_sources(${OBSW_NAME} PRIVATE
rwSpiCallback.cpp
gnssCallback.cpp
pcduSwitchCb.cpp
q7sGpioCallbacks.cpp
)
target_sources(${OBSW_NAME} PRIVATE rwSpiCallback.cpp gnssCallback.cpp
pcduSwitchCb.cpp q7sGpioCallbacks.cpp)

View File

@ -1,9 +1,14 @@
#include "gnssCallback.h"
#include "devices/gpioIds.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/tasks/TaskFactory.h"
ReturnValue_t gps::triggerGpioResetPin(void* args) {
ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
// At least one byte which denotes which GPS to reset is required
if (len < 1 or actionData == nullptr) {
return HasActionsIF::INVALID_PARAMETERS;
}
ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
if (args == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
@ -12,11 +17,10 @@ ReturnValue_t gps::triggerGpioResetPin(void* args) {
return HasReturnvaluesIF::RETURN_FAILED;
}
gpioId_t gpioId;
if (resetArgs->gnss1) {
gpioId = gpioIds::GNSS_1_NRESET;
} else {
if (actionData[0] == 0) {
gpioId = gpioIds::GNSS_0_NRESET;
} else {
gpioId = gpioIds::GNSS_1_NRESET;
}
resetArgs->gpioComIF->pullLow(gpioId);
TaskFactory::delayTask(resetArgs->waitPeriodMs);

View File

@ -5,14 +5,13 @@
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
struct ResetArgs {
bool gnss1 = false;
LinuxLibgpioIF* gpioComIF = nullptr;
uint32_t waitPeriodMs = 100;
};
namespace gps {
ReturnValue_t triggerGpioResetPin(void* args);
ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
}

View File

@ -44,7 +44,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
GpioIF* gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
MutexIF* mutex = comIf->getCsMutex();
cookie->getMutexParams(timeoutType, timeoutMs);
if (mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;

View File

@ -1,6 +1 @@
target_sources(${OBSW_NAME} PRIVATE
)
target_sources(${OBSW_NAME} PRIVATE)

View File

@ -1,9 +1,4 @@
target_sources(${OBSW_NAME} PRIVATE
CoreController.cpp
InitMission.cpp
ObjectFactory.cpp
)
target_sources(${OBSW_NAME} PRIVATE CoreController.cpp InitMission.cpp
ObjectFactory.cpp)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
InitMission.cpp
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE InitMission.cpp)

View File

@ -56,6 +56,7 @@ CoreController::CoreController(object_id_t objectId)
} catch (const std::filesystem::filesystem_error &e) {
sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
}
sdCardCheckCd.timeOut();
eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
}
@ -77,6 +78,10 @@ void CoreController::performControlOperation() {
performWatchdogControlOperation();
sdStateMachine();
performMountedSdCardOperations();
if (sdCardCheckCd.hasTimedOut()) {
performSdCardCheck();
sdCardCheckCd.resetTimer();
}
readHkData();
opDivider5.checkAndIncrement();
opDivider10.checkAndIncrement();
@ -87,6 +92,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 10.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
@ -133,6 +139,9 @@ ReturnValue_t CoreController::initialize() {
ReturnValue_t CoreController::initializeAfterTaskCreation() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
sdInfo.pref = sdcMan->getPreferredSdCard();
sdcMan->setActiveSdCard(sdInfo.pref);
currMntPrefix = sdcMan->getCurrentMountPrefix();
if (BLOCKING_SD_INIT) {
ReturnValue_t result = initSdCardBlocking();
if (result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_MOUNTED) {
@ -164,7 +173,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
if (size < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
if (data[0] == 0) {
@ -204,15 +213,20 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
if (size < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
rebootFile.maxCount = data[0];
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;
@ -236,13 +250,12 @@ ReturnValue_t CoreController::initSdCardBlocking() {
return HasReturnvaluesIF::RETURN_OK;
#else
result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
result = sdcMan->getSdCardsStatus(sdInfo.currentState);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
determinePreferredSdCard();
updateSdInfoOther();
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.pref) << std::endl;
@ -323,8 +336,8 @@ ReturnValue_t CoreController::sdStateMachine() {
if (sdInfo.state == SdStates::SET_STATE_SELF) {
if (not sdInfo.commandExecuted) {
result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
determinePreferredSdCard();
result = sdcMan->getSdCardsStatus(sdInfo.currentState);
sdInfo.pref = sdcMan->getPreferredSdCard();
updateSdInfoOther();
if (sdInfo.pref != sd::SdCard::SLOT_0 and sdInfo.pref != sd::SdCard::SLOT_1) {
sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
@ -467,7 +480,7 @@ ReturnValue_t CoreController::sdStateMachine() {
sdInfo.state = SdStates::IDLE;
sdInfo.cycleCount = 0;
sdcMan->setBlocking(false);
sdcMan->getSdCardActiveStatus(sdInfo.currentState);
sdcMan->getSdCardsStatus(sdInfo.currentState);
if (not sdInfo.initFinished) {
updateSdInfoOther();
sdInfo.initFinished = true;
@ -844,25 +857,18 @@ 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 +890,8 @@ 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): {
@ -930,27 +932,32 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
return HasReturnvaluesIF::RETURN_FAILED;
}
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(sd::SdCard::SLOT_0);
sdInfo.pref = sd::SdCard::SLOT_0;
} else {
sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
"information from the scratch buffer"
<< std::endl;
}
}
}
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::updateSdInfoOther() {
if (sdInfo.pref == sd::SdCard::SLOT_0) {
sdInfo.prefChar = "0";
@ -1234,24 +1241,73 @@ void CoreController::performWatchdogControlOperation() {
}
void CoreController::performMountedSdCardOperations() {
currMntPrefix = sdcMan->getCurrentMountPrefix();
if (doPerformMountedSdCardOps) {
bool sdCardMounted = false;
sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
if (sdCardMounted) {
std::string path = currMntPrefix + "/" + CONF_FOLDER;
if (not std::filesystem::exists(path)) {
std::filesystem::create_directory(path);
auto mountedSdCardOp = [&](bool &mntSwitch, sd::SdCard sdCard, std::string mntPoint) {
if (mntSwitch) {
bool sdCardMounted = sdcMan->isSdCardMounted(sdCard);
if (sdCardMounted and not performOneShotSdCardOpsSwitch) {
std::ostringstream path;
path << mntPoint << "/" << CONF_FOLDER;
if (not std::filesystem::exists(path.str())) {
std::filesystem::create_directory(path.str());
}
initVersionFile();
initClockFromTimeFile();
performRebootFileHandling(false);
performOneShotSdCardOpsSwitch = true;
}
initVersionFile();
initClockFromTimeFile();
performRebootFileHandling(false);
doPerformMountedSdCardOps = false;
mntSwitch = false;
}
};
if (sdInfo.pref == sd::SdCard::SLOT_1) {
mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
} else {
mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
}
timeFileHandler();
}
ReturnValue_t CoreController::performSdCardCheck() {
bool mountedReadOnly = false;
SdCardManager::SdStatePair active;
sdcMan->getSdCardsStatus(active);
auto sdCardCheck = [&](sd::SdCard sdCard) {
ReturnValue_t result = sdcMan->isSdCardMountedReadOnly(sdCard, mountedReadOnly);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CoreController::performSdCardCheck: Could not check "
"read-only mount state"
<< std::endl;
mountedReadOnly = true;
}
if (mountedReadOnly) {
int linuxErrno = 0;
result = sdcMan->performFsck(sdCard, true, linuxErrno);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CoreController::performSdCardCheck: fsck command on SD Card "
<< static_cast<uint8_t>(sdCard) << " failed with code " << linuxErrno << " | "
<< strerror(linuxErrno);
}
result = sdcMan->remountReadWrite(sdCard);
if (result == HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::performSdCardCheck: Remounted SD Card "
<< static_cast<uint8_t>(sdCard) << " read-write";
} else {
sif::error << "CoreController::performSdCardCheck: Remounting SD Card "
<< static_cast<uint8_t>(sdCard) << " read-write failed";
}
}
};
if (active.first == sd::SdState::MOUNTED) {
sdCardCheck(sd::SdCard::SLOT_0);
}
if (active.second == sd::SdState::MOUNTED) {
sdCardCheck(sd::SdCard::SLOT_1);
}
return RETURN_OK;
}
void CoreController::performRebootFileHandling(bool recreateFile) {
using namespace std;
std::string path = currMntPrefix + REBOOT_FILE;
@ -1677,7 +1733,7 @@ void CoreController::rewriteRebootFile(RebootFile file) {
}
void CoreController::setRebootMechanismLock(bool lock, 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::CHIP_0) {

View File

@ -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;
@ -159,11 +162,12 @@ class CoreController : public ExtendedControllerBase {
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
sd::SdState prefState = sd::SdState::OFF;
sd::SdCard other = sd::SdCard::NONE;
sd::SdState prefState = sd::SdState::OFF;
sd::SdState otherState = sd::SdState::OFF;
std::string prefChar = "0";
std::string otherChar = "1";
std::pair<bool, bool> mountSwitch = {true, true};
SdStates state = SdStates::START;
// Used to track whether a command was executed
bool commandExecuted = true;
@ -179,7 +183,7 @@ class CoreController : public ExtendedControllerBase {
} sdInfo;
RebootFile rebootFile = {};
std::string currMntPrefix;
bool doPerformMountedSdCardOps = true;
bool performOneShotSdCardOpsSwitch = true;
/**
* Index 0: Chip 0 Copy 0
@ -195,12 +199,14 @@ class CoreController : public ExtendedControllerBase {
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
Countdown sdCardCheckCd = Countdown(120000);
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
void performMountedSdCardOperations();
ReturnValue_t initVersionFile();
ReturnValue_t initClockFromTimeFile();
ReturnValue_t performSdCardCheck();
ReturnValue_t timeFileHandler();
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
@ -214,14 +220,16 @@ class CoreController : public ExtendedControllerBase {
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void determinePreferredSdCard();
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
void performRebootFileHandling(bool recreateFile);
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();

View File

@ -1,5 +1,7 @@
#include "bsp_q7s/core/InitMission.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <iostream>
#include <vector>
@ -13,6 +15,7 @@
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"
@ -33,8 +36,16 @@ ObjectManagerIF* objectManager = nullptr;
void initmission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
try {
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
} catch (const std::invalid_argument& e) {
sif::error << "initmission::initMission: Object Construction failed with an "
"invalid argument: "
<< e.what();
std::exit(1);
}
sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
@ -115,7 +126,7 @@ void initmission::initTasks() {
#if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsTask = factory->createPeriodicTask(
"ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsTask->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
@ -124,6 +135,7 @@ void initmission::initTasks() {
PeriodicTaskIF* sysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(sysTask);
#if OBSW_ADD_ACS_HANDLERS == 1
result = sysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
@ -136,19 +148,50 @@ void initmission::initTasks() {
initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
}
#endif
#if OBSW_ADD_SUS_BOARD_ASS == 1
result = sysTask->addComponent(objects::SUS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
}
#endif
#if OBSW_ADD_RTD_DEVICES == 1
result = sysTask->addComponent(objects::TCS_BOARD_ASS);
PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
"TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
}
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
"TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
objects::RTD_0_IC3_PLOC_HEATSPREADER,
objects::RTD_1_IC4_PLOC_MISSIONBOARD,
objects::RTD_2_IC5_4K_CAMERA,
objects::RTD_3_IC6_DAC_HEATSPREADER,
objects::RTD_4_IC7_STARTRACKER,
objects::RTD_5_IC8_RW1_MX_MY,
objects::RTD_6_IC9_DRO,
objects::RTD_7_IC10_SCEX,
objects::RTD_8_IC11_X8,
objects::RTD_9_IC12_HPA,
objects::RTD_10_IC13_PL_TX,
objects::RTD_11_IC14_MPA,
objects::RTD_12_IC15_ACU,
objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
objects::RTD_14_IC17_TCS_BOARD,
objects::RTD_15_IC18_IMTQ,
};
tcsTask->addComponent(objects::TCS_BOARD_ASS);
tcsTask->addComponent(objects::THERMAL_CONTROLLER);
for (const auto& rtd : rtdIds) {
tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_RTD_DEVICES */
// FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task
@ -247,10 +290,12 @@ void initmission::initTasks() {
#if OBSW_ADD_ACS_HANDLERS == 1
acsTask->startTask();
#endif
#if OBSW_ADD_RTD_DEVICES == 1
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
sysTask->startTask();
#endif
#if OBSW_ADD_RTD_DEVICES == 1
tcsPollingTask->startTask();
tcsTask->startTask();
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
@ -384,21 +429,30 @@ void initmission::createPusTasks(TaskFactory& factory,
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
}
taskVec.push_back(pusMedPrio);

View File

@ -3,7 +3,7 @@
#include <vector>
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/definitions.h"
class PeriodicTaskIF;
class TaskFactory;

View File

@ -6,7 +6,6 @@
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h"
#include "ccsdsConfig.h"
@ -93,8 +92,7 @@
#include "mission/tmtc/VirtualChannel.h"
#include "mission/tmtc/TmFunnel.h"
ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;
ResetArgs RESET_ARGS_GNSS;
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@ -103,9 +101,13 @@ void Factory::setStaticFrameworkObjectIds() {
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
#if OBSW_Q7S_EM == 1
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#else
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
// DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#if OBSW_TM_TO_PTME == 1
#endif /* OBSW_Q7S_EM == 1 */
#if OBSW_TM_TO_PTME == 1
TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
#else
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
@ -214,6 +216,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
SpiCookie* spiCookieRadSensor =
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
spiCookieRadSensor, gpioComIF);
static_cast<void>(radSensor);
@ -461,15 +464,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_GPS == 1
debugGps = true;
#endif
resetArgsGnss1.gnss1 = true;
resetArgsGnss1.gpioComIF = gpioComIF;
resetArgsGnss1.waitPeriodMs = 100;
resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100;
auto gpsHandler0 =
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
RESET_ARGS_GNSS.waitPeriodMs = 100;
auto gpsCtrl =
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
@ -481,7 +480,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
}
void ObjectFactory::createHeaterComponents() {
void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
HealthTableIF* healthTable) {
using namespace gpio;
GpioCookie* heaterGpiosCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
@ -522,8 +522,21 @@ void ObjectFactory::createHeaterComponents() {
Levels::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
gpioIF->addGpios(heaterGpiosCookie);
HeaterHelper helper({{
{new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
gpioIds::HEATER_0},
{new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
{new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
{new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
{new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
{new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
{new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
{new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
}});
new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
}
void ObjectFactory::createSolarArrayDeploymentComponents() {

View File

@ -10,7 +10,9 @@ class UartComIF;
class SpiComIF;
class I2cComIF;
class PowerSwitchIF;
class HealthTableIF;
class AcsBoardAssembly;
class GpioIF;
namespace ObjectFactory {
@ -27,7 +29,7 @@ void createTmpComponents();
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
PowerSwitchIF* pwrSwitcher);
void createHeaterComponents();
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
void createImtqComponents(PowerSwitchIF* pwrSwitcher);
void createBpxBatteryComponent();
void createStrComponents(PowerSwitchIF* pwrSwitcher);

View File

@ -1,3 +1 @@
target_sources(${OBSW_NAME} PRIVATE
emObjectFactory.cpp
)
target_sources(${OBSW_NAME} PRIVATE emObjectFactory.cpp)

View File

@ -1,3 +1,5 @@
#include <fsfw/health/HealthTableIF.h>
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
@ -11,7 +13,8 @@
void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects();
HealthTableIF* healthTable = nullptr;
ObjectFactory::produceGenericObjects(&healthTable);
LinuxLibgpioIF* gpioComIF = nullptr;
UartComIF* uartComIF = nullptr;
@ -31,13 +34,17 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
#endif
createHeaterComponents();
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
createSolarArrayDeploymentComponents();
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
#if OBSW_ADD_SYRLINKS == 1
#if OBSW_Q7S_EM == 1
createSyrlinksComponents(nullptr);
#else
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_Q7S_EM == 1 */
#endif /* OBSW_ADD_SYRLINKS == 1 */
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
createPayloadComponents(gpioComIF);
#if OBSW_ADD_MGT == 1

View File

@ -11,7 +11,8 @@
void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects();
HealthTableIF* healthTable = nullptr;
ObjectFactory::produceGenericObjects(&healthTable);
LinuxLibgpioIF* gpioComIF = nullptr;
UartComIF* uartComIF = nullptr;
@ -31,13 +32,13 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
#endif
createHeaterComponents();
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
createSolarArrayDeploymentComponents();
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_ADD_SYRLINKS == 1 */
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
createPayloadComponents(gpioComIF);
#if OBSW_ADD_MGT == 1
@ -61,4 +62,5 @@ void ObjectFactory::produce(void* args) {
#endif /* OBSW_ADD_TEST_CODE == 1 */
createMiscComponents();
createThermalController();
}

View File

@ -1,6 +1,2 @@
target_sources(${OBSW_NAME} PRIVATE
FileSystemHandler.cpp
SdCardManager.cpp
scratchApi.cpp
FilesystemHelper.cpp
)
target_sources(${OBSW_NAME} PRIVATE FileSystemHandler.cpp SdCardManager.cpp
scratchApi.cpp FilesystemHelper.cpp)

View File

@ -70,9 +70,8 @@ void FileSystemHandler::fileSystemHandlerLoop() {
void FileSystemHandler::fileSystemCheckup() {
SdCardManager::SdStatePair statusPair;
sdcMan->getSdCardActiveStatus(statusPair);
sd::SdCard preferredSdCard;
sdcMan->getPreferredSdCard(preferredSdCard);
sdcMan->getSdCardsStatus(statusPair);
sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
if ((preferredSdCard == sd::SdCard::SLOT_0) and (statusPair.first == sd::SdState::MOUNTED)) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
} else if ((preferredSdCard == sd::SdCard::SLOT_1) and
@ -109,11 +108,7 @@ ReturnValue_t FileSystemHandler::initialize() {
<< std::endl;
}
sdcMan = SdCardManager::instance();
sd::SdCard preferredSdCard;
ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
if (preferredSdCard == sd::SdCard::SLOT_0) {
currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
} else if (preferredSdCard == sd::SdCard::SLOT_1) {

View File

@ -16,23 +16,51 @@
#include "linux/utility/utility.h"
#include "scratchApi.h"
SdCardManager* SdCardManager::factoryInstance = nullptr;
SdCardManager* SdCardManager::INSTANCE = nullptr;
SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
mutex = MutexFactory::instance()->createMutex();
ReturnValue_t result = mutex->lockMutex();
if (result != RETURN_OK) {
sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
}
uint8_t prefSdRaw = 0;
result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
result = mutex->unlockMutex();
if (result != RETURN_OK) {
sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
}
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;
setPreferredSdCard(sd::SdCard::SLOT_0);
sdInfo.pref = sd::SdCard::SLOT_0;
} else {
// Should not happen.
// TODO: Maybe trigger event?
sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
"buffer failed"
<< std::endl;
sdInfo.pref = sd::SdCard::SLOT_0;
}
}
sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
}
SdCardManager::~SdCardManager() {}
void SdCardManager::create() {
if (factoryInstance == nullptr) {
factoryInstance = new SdCardManager();
if (INSTANCE == nullptr) {
INSTANCE = new SdCardManager();
}
}
SdCardManager* SdCardManager::instance() {
SdCardManager::create();
return SdCardManager::factoryInstance;
return SdCardManager::INSTANCE;
}
ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
@ -51,7 +79,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
result = getSdCardActiveStatus(*statusPair);
result = getSdCardsStatus(*statusPair);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -98,7 +126,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
SdStatePair* statusPair) {
std::pair<sd::SdState, sd::SdState> active;
ReturnValue_t result = getSdCardActiveStatus(active);
ReturnValue_t result = getSdCardsStatus(active);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -165,7 +193,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
return result;
}
ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
using namespace std;
MutexGuard mg(mutex);
if (not filesystem::exists(SD_STATE_FILE)) {
@ -273,14 +301,14 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
resetNonBlockingState = true;
}
if (prefSdCard == sd::SdCard::NONE) {
result = getPreferredSdCard(prefSdCard);
result = getPreferredSdCard();
if (result != HasReturnvaluesIF::RETURN_OK) {
}
}
if (statusPair == nullptr) {
sdStatusPtr = std::make_unique<SdStatePair>();
statusPair = sdStatusPtr.get();
getSdCardActiveStatus(*statusPair);
getSdCardsStatus(*statusPair);
}
if (statusPair->first == sd::SdState::ON) {
@ -351,20 +379,21 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
idx++;
}
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;
sd::SdCard SdCardManager::getPreferredSdCard() const {
MutexGuard mg(mutex);
auto res = mg.getLockResult();
if (res != RETURN_OK) {
sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
}
sdCard = static_cast<sd::SdCard>(prefSdCard);
return HasReturnvaluesIF::RETURN_OK;
return sdInfo.pref;
}
ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
MutexGuard mg(mutex);
if (sdCard == sd::SdCard::BOTH) {
return HasReturnvaluesIF::RETURN_FAILED;
}
sdInfo.pref = sdCard;
return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
}
@ -383,14 +412,9 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
return result;
}
std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
if (prefSdCard == sd::SdCard::NONE) {
ReturnValue_t result = getPreferredSdCard(prefSdCard);
if (result != HasReturnvaluesIF::RETURN_OK) {
return SD_0_MOUNT_POINT;
}
}
if (prefSdCard == sd::SdCard::SLOT_0) {
std::string SdCardManager::getCurrentMountPrefix() const {
MutexGuard mg(mutex);
if (sdInfo.active == sd::SdCard::SLOT_0) {
return SD_0_MOUNT_POINT;
} else {
return SD_1_MOUNT_POINT;
@ -443,7 +467,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
ReturnValue_t result = this->getSdCardActiveStatus(active);
ReturnValue_t result = this->getSdCardsStatus(active);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
@ -466,3 +490,68 @@ bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
}
return false;
}
ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
std::ostringstream command;
if (sdcard == sd::SdCard::SLOT_0) {
command << "grep -q '" << SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
} else {
command << "grep -q '" << SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
}
ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = cmdExecutor.execute();
if (result != HasReturnvaluesIF::RETURN_OK) {
int exitStatus = cmdExecutor.getLastError();
if (exitStatus == 1) {
readOnly = false;
return RETURN_OK;
}
return result;
}
auto& readVec = cmdExecutor.getReadVector();
size_t readLen = strnlen(readVec.data(), readVec.size());
if (readLen == 0) {
readOnly = false;
}
readOnly = true;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SdCardManager::remountReadWrite(sd::SdCard sdcard) {
std::ostringstream command;
if (sdcard == sd::SdCard::SLOT_0) {
command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << SD_0_MOUNT_POINT;
} else {
command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << SD_1_MOUNT_POINT;
}
ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return cmdExecutor.execute();
}
ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError) {
std::ostringstream command;
if (sdcard == sd::SdCard::SLOT_0) {
command << "fsck -y " << SD_0_DEV_NAME;
} else {
command << "fsck -y " << SD_1_DEV_NAME;
}
ReturnValue_t result = cmdExecutor.load(command.str(), true, printOutput);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = cmdExecutor.execute();
if (result != HasReturnvaluesIF::RETURN_OK) {
linuxError = cmdExecutor.getLastError();
}
return result;
}
void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { sdInfo.active = sdCard; }
sd::SdCard SdCardManager::getActiveSdCard() const { return sdInfo.active; }

View File

@ -24,7 +24,7 @@ class MutexIF;
* @brief Manages handling of SD cards like switching them on or off or getting the current
* state
*/
class SdCardManager : public SystemObject, public SdCardMountedIF {
class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCardMountedIF {
friend class SdCardAccess;
public:
@ -36,6 +36,12 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
using SdStatePair = std::pair<sd::SdState, sd::SdState>;
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
sd::SdCard other = sd::SdCard::NONE;
sd::SdCard active = sd::SdCard::NONE;
} sdInfo;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
@ -91,7 +97,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* @param sdCard
* @return
*/
ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const override;
sd::SdCard getPreferredSdCard() const override;
/**
* Switch on the specified SD card.
@ -138,7 +144,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* should call #updateSdCardStateFile again in that case
* - STATUS_FILE_NEXISTS if the status file does not exist
*/
ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
ReturnValue_t getSdCardsStatus(SdStatePair& active);
/**
* Mount the specified SD card. This is necessary to use it.
@ -146,6 +152,20 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* @return
*/
ReturnValue_t mountSdCard(sd::SdCard sdCard);
/**
* Set the currently active SD card. This does not necessarily mean that the SD card is on or
* mounted
* @param sdCard
*/
void setActiveSdCard(sd::SdCard sdCard) override;
/**
* Get the currently active SD card. This does not necessarily mean that the SD card is on or
* mounted
* @return
*/
sd::SdCard getActiveSdCard() const override;
/**
* Unmount the specified SD card. This is recommended before switching it off. The SD card
* can't be used after it has been unmounted.
@ -173,7 +193,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
* @param prefSdCardPtr
* @return
*/
std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE) override;
std::string getCurrentMountPrefix() const override;
OpStatus checkCurrentOp(Operations& currentOp);
@ -194,6 +214,12 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
*/
bool isSdCardMounted(sd::SdCard sdCard) override;
ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
ReturnValue_t remountReadWrite(sd::SdCard sdcard);
ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
private:
CommandExecutor cmdExecutor;
Operations currentOp = Operations::IDLE;
@ -210,7 +236,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
std::string currentPrefix;
static SdCardManager* factoryInstance;
static SdCardManager* INSTANCE;
};
#endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */

View File

@ -76,12 +76,12 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
int result = std::system(oss.str().c_str());
if (result != 0) {
if (WEXITSTATUS(result) == 1) {
sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
sif::warning << "scratch::readToFile: Key " << name << " does not exist" << std::endl;
// Could not find value
std::remove(filename.c_str());
return KEY_NOT_FOUND;
} else {
utility::handleSystemError(result, "scratch::readNumber");
utility::handleSystemError(result, "scratch::readToFile");
std::remove(filename.c_str());
return HasReturnvaluesIF::RETURN_FAILED;
}

View File

@ -8,14 +8,19 @@
#include "core/InitMission.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h"
#include "q7sConfig.h"
#include "watchdog/definitions.h"
static int OBSW_ALREADY_RUNNING = -2;
#if OBSW_Q7S_EM == 0
static const char* DEV_STRING = "Xiphos Q7S FM";
#else
static const char* DEV_STRING = "Xiphos Q7S EM";
#endif
int obsw::obsw() {
using namespace fsfw;
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
<< std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;

View File

@ -1,3 +1 @@
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
simple.cpp
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE simple.cpp)

View File

@ -1,3 +1 @@
target_sources(${OBSW_NAME} PRIVATE
Xadc.cpp
)
target_sources(${OBSW_NAME} PRIVATE Xadc.cpp)