Merge remote-tracking branch 'origin/develop' into continue_tcs_tests
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10
CHANGELOG.md
10
CHANGELOG.md
@ -24,13 +24,23 @@ will consitute of a breaking change warranting a new major release:
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## Changed
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- Added additional logic for SDC state machine so that the SD cards are marked unusable when
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the active SD card is switched or there is a transition from hot redundant to cold redundant mode.
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This gives other tasks some time to register the SD cards being unusable, and therefore provides
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a way for them to perform any re-initialization tasks necessary after SD card switches.
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- TCS controller now only has an OFF mode and an ON mode
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- Allow specifying custom OBSW update filename. This allowed keeping a cleaner file structure
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where each update has a name including the version
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- The files extracted during an update process are deleted after the update was performed to keep
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the update directory cleaner.
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## Added
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- TCS controller: SUBMODE_NO_HEATER_CTRL (1) added for ON mode. If this submode is
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commanded, all heaters will be switched off and then no further heater
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commanding will be done.
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- Fixed a bug in persistent TM store, where the active file was not reset of SD card switches.
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SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
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# [v1.44.0] 2023-04-07
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@ -440,6 +440,19 @@ ReturnValue_t CoreController::sdStateMachine() {
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}
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result = sdcMan->getSdCardsStatus(sdInfo.currentState);
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updateInternalSdInfo();
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auto currentlyActiveSdc = sdcMan->getActiveSdCard();
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// Used/active SD card switches, so mark SD card unusable so other tasks have some time
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// registering the unavailable SD card.
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if (not currentlyActiveSdc.has_value() or
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((currentlyActiveSdc.value() == sd::SdCard::SLOT_0) and
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(sdInfo.active == sd::SdCard::SLOT_1)) or
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((currentlyActiveSdc.value() == sd::SdCard::SLOT_1) and
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(sdInfo.active == sd::SdCard::SLOT_0))) {
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sdInfo.lockSdCardUsage = true;
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}
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if (sdInfo.lockSdCardUsage) {
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sdcMan->markUnusable();
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}
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if (sdInfo.active != sd::SdCard::SLOT_0 and sdInfo.active != sd::SdCard::SLOT_1) {
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sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
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sdInfo.active = sd::SdCard::SLOT_0;
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@ -451,7 +464,11 @@ ReturnValue_t CoreController::sdStateMachine() {
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sif::info << "Cold redundant SD card configuration, target SD card: "
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<< static_cast<int>(sdInfo.active) << std::endl;
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}
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SdStates tgtState = SdStates::IDLE;
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bool skipCycles = sdInfo.lockSdCardUsage;
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// Need to do different things depending on state of SD card which will be active.
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if (sdInfo.activeState == sd::SdState::MOUNTED) {
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// Already mounted, so we can perform handling of the other side.
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#if OBSW_VERBOSE_LEVEL >= 1
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std::string mountString;
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if (sdInfo.active == sd::SdCard::SLOT_0) {
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@ -464,21 +481,51 @@ ReturnValue_t CoreController::sdStateMachine() {
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#endif
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sdcMan->setActiveSdCard(sdInfo.active);
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currMntPrefix = sdcMan->getCurrentMountPrefix();
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sdFsmState = SdStates::DETERMINE_OTHER;
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tgtState = SdStates::DETERMINE_OTHER;
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} else if (sdInfo.activeState == sd::SdState::OFF) {
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// It's okay to do the delay after swichting active SD on, no one can use it anyway..
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sdCardSetup(sdInfo.active, sd::SdState::ON, sdInfo.activeChar, false);
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sdInfo.commandPending = true;
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// Do not skip cycles here, would mess up the state machine. We skip the cycles after
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// the SD card was switched on.
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skipCycles = false;
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// Remain on the current state.
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tgtState = sdFsmState;
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} else if (sdInfo.activeState == sd::SdState::ON) {
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sdFsmState = SdStates::MOUNT_SELF;
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// We can do the delay before mounting where applicable.
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tgtState = SdStates::MOUNT_SELF;
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}
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if (skipCycles) {
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sdFsmState = SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED;
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fsmStateAfterDelay = tgtState;
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sdInfo.skippedCyclesCount = 0;
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} else {
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sdFsmState = tgtState;
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}
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} else {
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if (nonBlockingSdcOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
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sdInfo.activeState = sd::SdState::ON;
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currentStateSetter(sdInfo.active, sd::SdState::ON);
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// Skip the two cycles now.
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if (sdInfo.lockSdCardUsage) {
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sdFsmState = SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED;
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fsmStateAfterDelay = SdStates::MOUNT_SELF;
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sdInfo.skippedCyclesCount = 0;
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}
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}
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}
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}
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if (sdFsmState == SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED) {
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sdInfo.skippedCyclesCount++;
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// Count to three because this branch will run in the same FSM cycle.
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if (sdInfo.skippedCyclesCount == 3) {
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sdFsmState = fsmStateAfterDelay;
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fsmStateAfterDelay = SdStates::IDLE;
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sdInfo.skippedCyclesCount = 0;
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}
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}
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if (sdFsmState == SdStates::MOUNT_SELF) {
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if (not sdInfo.commandPending) {
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result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
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@ -529,6 +576,11 @@ ReturnValue_t CoreController::sdStateMachine() {
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"Switching off other SD card")) {
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sdInfo.otherState = sd::SdState::OFF;
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currentStateSetter(sdInfo.other, sd::SdState::OFF);
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} else {
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// Continue.. avoid being stuck here..
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sdFsmState = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
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sdInfo.otherState = sd::SdState::OFF;
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currentStateSetter(sdInfo.other, sd::SdState::OFF);
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}
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}
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} else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
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@ -540,6 +592,11 @@ ReturnValue_t CoreController::sdStateMachine() {
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"Switching on other SD card")) {
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sdInfo.otherState = sd::SdState::ON;
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currentStateSetter(sdInfo.other, sd::SdState::ON);
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} else {
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// Contnue.. avoid being stuck here.
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sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
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sdInfo.otherState = sd::SdState::ON;
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currentStateSetter(sdInfo.other, sd::SdState::ON);
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}
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}
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}
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@ -583,6 +640,8 @@ ReturnValue_t CoreController::sdStateMachine() {
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sif::warning << "CoreController: Updating SD card state file failed" << std::endl;
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}
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updateInternalSdInfo();
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// Mark usable again in any case.
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sdcMan->markUsable();
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sdInfo.commandPending = false;
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sdFsmState = SdStates::IDLE;
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sdInfo.cycleCount = 0;
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@ -1925,7 +1984,14 @@ ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const u
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} else if (sourceDir == SwUpdateSources::TMP_DIR) {
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prefixPath = path("/tmp");
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}
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path archivePath = prefixPath / path(config::OBSW_UPDATE_ARCHIVE_FILE_NAME);
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path archivePath;
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// It is optionally possible to supply the source file path
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if (size > 2) {
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archivePath = prefixPath / std::string(reinterpret_cast<const char *>(data + 2), size - 2);
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} else {
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archivePath = prefixPath / path(config::OBSW_UPDATE_ARCHIVE_FILE_NAME);
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}
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sif::info << "Updating with archive path " << archivePath << std::endl;
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std::error_code e;
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if (not exists(archivePath, e)) {
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return HasFileSystemIF::FILE_DOES_NOT_EXIST;
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@ -2012,6 +2078,10 @@ ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const u
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cmd.str("");
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cmd.clear();
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// Remove the extracted files to keep directories clean.
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std::filesystem::remove(strippedImagePath, e);
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std::filesystem::remove(obswVersionFilePath, e);
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// TODO: This takes a long time and will block the core controller.. Maybe use command executor?
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// For now dont care..
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cmd << "writeprotect " << std::to_string(data[0]) << " " << std::to_string(data[1]) << " 1";
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@ -2032,6 +2102,11 @@ bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mo
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}
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sdFsmState = SdStates::START;
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sdInfo.active = targetActiveSd;
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// If we are going from 2 SD cards to one, lock SD card usage in any case because 1 SD card is
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// going off.
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if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT and mode == SdCfgMode::COLD_REDUNDANT) {
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sdInfo.lockSdCardUsage = true;
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}
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sdInfo.cfgMode = mode;
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sdCommandingInfo.actionId = actionId;
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sdCommandingInfo.commander = commander;
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@ -130,6 +130,7 @@ class CoreController : public ExtendedControllerBase {
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NONE,
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START,
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UPDATE_SD_INFO_START,
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SKIP_TWO_CYCLES_IF_SD_LOCKED,
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MOUNT_SELF,
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// Determine operations for other SD card, depending on redundancy configuration
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DETERMINE_OTHER,
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@ -152,6 +153,7 @@ class CoreController : public ExtendedControllerBase {
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MessageQueueIF* eventQueue = nullptr;
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SdStates sdFsmState = SdStates::START;
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SdStates fsmStateAfterDelay = SdStates::IDLE;
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enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
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struct SdFsmParams {
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@ -163,10 +165,16 @@ class CoreController : public ExtendedControllerBase {
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sd::SdState activeState = sd::SdState::OFF;
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sd::SdState otherState = sd::SdState::OFF;
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std::pair<bool, bool> mountSwitch = {true, true};
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// This flag denotes that the SD card usage is locked. This is relevant if SD cards go off
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// to leave appliation using the SD cards some time to detect the SD card is not usable anymore.
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// This is relevant if the active SD card is being switched. The SD card will also be locked
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// when going from hot-redundant mode to cold-redundant mode.
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bool lockSdCardUsage = false;
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bool commandPending = true;
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bool initFinished = false;
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SdCardManager::SdStatePair currentState;
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uint16_t cycleCount = 0;
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uint16_t skippedCyclesCount = 0;
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} sdInfo;
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struct SdCommanding {
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@ -68,6 +68,7 @@ void ObjectFactory::produce(void* args) {
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#else
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createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
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#endif
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satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
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dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
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MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
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markedUnusable = true;
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}
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void SdCardManager::markUsable() {
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MutexGuard mg(defaultLock, LOCK_TYPE, OTHER_TIMEOUT, LOCK_CTX);
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markedUnusable = false;
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}
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ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
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void markUnusable();
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void markUsable();
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private:
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CommandExecutor cmdExecutor;
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@ -338,6 +338,8 @@ ReturnValue_t PersistentTmStore::createMostRecentFile(std::optional<uint8_t> suf
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ReturnValue_t PersistentTmStore::initializeTmStore() {
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Clock::getClock_timeval(¤tTv);
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updateBaseDir();
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// Reset active file, base directory might have changed.
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activeFile = std::nullopt;
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return assignAndOrCreateMostRecentFile();
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}
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