rudimentary SD commanding interface

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -16,16 +16,6 @@
 /** Other flags                                                    */
 /*******************************************************************/
 
-#define Q7S_SD_NONE                                 0
-#define Q7S_SD_COLD_REDUNDANT                       1
-#define Q7S_SD_HOT_REDUNDANT                        2
-// The OBSW will perform different actions to set up the SD cards depending on the flag set here
-// Set to Q7S_SD_NONE: Don't do anything
-// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and 
-//     turn off the second SD card if it is on
-// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them  
-#define Q7S_SD_CARD_CONFIG                          Q7S_SD_COLD_REDUNDANT
-
 // Probably better if this is disabled for mission code. Convenient for development
 #define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
 

bsp_q7s/core/CoreController.cpp

@@ -62,6 +62,8 @@ CoreController::CoreController(object_id_t objectId)
   eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
 }
 
+CoreController::~CoreController() {}
+
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
   return ExtendedControllerBase::handleCommandMessage(message);
 }
@@ -141,8 +143,8 @@ ReturnValue_t CoreController::initialize() {
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
   ReturnValue_t result = returnvalue::OK;
-  sdInfo.pref = sdcMan->getPreferredSdCard();
-  sdcMan->setActiveSdCard(sdInfo.pref);
+  sdInfo.active = sdcMan->getPreferredSdCard();
+  sdcMan->setActiveSdCard(sdInfo.active);
   currMntPrefix = sdcMan->getCurrentMountPrefix();
   if (BLOCKING_SD_INIT) {
     ReturnValue_t result = initSdCardBlocking();
@@ -209,6 +211,33 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
     case (OBSW_UPDATE_FROM_TMP): {
       return executeSwUpdate(SwUpdateSources::TMP_DIR, data, size);
     }
+    case (SWITCH_TO_SD_0): {
+      if (not startSdStateMachine(sd::SdCard::SLOT_0, SdCfgMode::COLD_REDUNDANT)) {
+        return HasActionsIF::IS_BUSY;
+      }
+      return returnvalue::OK;
+    }
+    case (SWITCH_TO_SD_1): {
+      if (not startSdStateMachine(sd::SdCard::SLOT_1, SdCfgMode::COLD_REDUNDANT)) {
+        return HasActionsIF::IS_BUSY;
+      }
+      return returnvalue::OK;
+    }
+    case (SWITCH_TO_BOTH_SD_CARDS): {
+      // An active SD still needs to be specified because the system needs to know which SD
+      // card to use for regular operations like telemetry storage.
+      if (size != 1) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      if (data[0] != 0 and data[1] != 1) {
+        return HasActionsIF::INVALID_PARAMETERS;
+      }
+      auto active = static_cast<sd::SdCard>(data[0]);
+      if (not startSdStateMachine(active, SdCfgMode::HOT_REDUNDANT)) {
+        return HasActionsIF::IS_BUSY;
+      }
+      return returnvalue::OK;
+    }
     case (SWITCH_IMG_LOCK): {
       if (size != 3) {
         return HasActionsIF::INVALID_PARAMETERS;
@@ -256,60 +285,59 @@ ReturnValue_t CoreController::initSdCardBlocking() {
   if (result != returnvalue::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 returnvalue::OK;
-#else
+  if (sdInfo.cfgMode == SdCfgMode::PASSIVE) {
+    sif::info << "No SD card initialization will be performed" << std::endl;
+    return returnvalue::OK;
+  }
 
   result = sdcMan->getSdCardsStatus(sdInfo.currentState);
   if (result != returnvalue::OK) {
     sif::warning << "Getting SD card activity status failed" << std::endl;
   }
 
-#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
-  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);
-  sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
-  // Update status file
-  sdcMan->updateSdCardStateFile();
+  if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
+    updateSdInfoOther();
+    sif::info << "Cold redundant SD card configuration, preferred SD card: "
+              << static_cast<int>(sdInfo.active) << std::endl;
+    result = sdColdRedundantBlockingInit();
+    // Update status file
+    sdcMan->updateSdCardStateFile();
+    return result;
+  }
+  if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
+    sif::info << "Hot redundant SD card configuration" << std::endl;
+    sdCardSetup(sd::SdCard::SLOT_0, sd::SdState::MOUNTED, "0", false);
+    sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
+    // Update status file
+    sdcMan->updateSdCardStateFile();
+  }
   return returnvalue::OK;
-#endif
-
-#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
 }
 
 ReturnValue_t CoreController::sdStateMachine() {
   ReturnValue_t result = returnvalue::OK;
   SdCardManager::Operations operation;
 
-  if (sdInfo.state == SdStates::IDLE) {
+  if (sdFsmState == SdStates::IDLE) {
     // Nothing to do
     return result;
   }
 
-  if (sdInfo.state == SdStates::START) {
+  if (sdFsmState == SdStates::START) {
     // Init will be performed by separate function
     if (BLOCKING_SD_INIT) {
-      sdInfo.state = SdStates::IDLE;
+      sdFsmState = 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
+      if (sdInfo.cfgMode == SdCfgMode::PASSIVE) {
+        sdFsmState = SdStates::UPDATE_INFO;
+      } else {
+        sdInfo.cycleCount = 0;
+        sdInfo.commandExecuted = false;
+        sdFsmState = SdStates::GET_INFO;
+      }
     }
   }
 
@@ -319,7 +347,7 @@ ReturnValue_t CoreController::sdStateMachine() {
                                    std::string opPrintout) {
     SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
     if (status == SdCardManager::OpStatus::SUCCESS) {
-      sdInfo.state = newStateOnSuccess;
+      sdFsmState = newStateOnSuccess;
       sdInfo.commandExecuted = false;
       sdInfo.cycleCount = 0;
       return true;
@@ -331,9 +359,9 @@ ReturnValue_t CoreController::sdStateMachine() {
     return false;
   };
 
-  if (sdInfo.state == SdStates::GET_INFO) {
+  if (sdFsmState == SdStates::GET_INFO) {
     if (not sdInfo.commandExecuted) {
-      // Create update status file
+      // Create updated status file
       result = sdcMan->updateSdCardStateFile();
       if (result != returnvalue::OK) {
         sif::warning << "CoreController::initialize: Updating SD card state file failed"
@@ -345,139 +373,141 @@ ReturnValue_t CoreController::sdStateMachine() {
     }
   }
 
-  if (sdInfo.state == SdStates::SET_STATE_SELF) {
+  if (sdFsmState == SdStates::SET_STATE_SELF) {
     if (not sdInfo.commandExecuted) {
       result = sdcMan->getSdCardsStatus(sdInfo.currentState);
-      sdInfo.pref = sdcMan->getPreferredSdCard();
       updateSdInfoOther();
-      if (sdInfo.pref != sd::SdCard::SLOT_0 and sdInfo.pref != sd::SdCard::SLOT_1) {
+      if (sdInfo.active != sd::SdCard::SLOT_0 and sdInfo.active != sd::SdCard::SLOT_1) {
         sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
-        sdInfo.pref = sd::SdCard::SLOT_0;
+        sdInfo.active = sd::SdCard::SLOT_0;
       }
       if (result != returnvalue::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 (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
+        sif::info << "Cold redundant SD card configuration, preferred SD card: "
+                  << static_cast<int>(sdInfo.active) << std::endl;
+      }
+      if (sdInfo.activeState == sd::SdState::MOUNTED) {
 #if OBSW_VERBOSE_LEVEL >= 1
         std::string mountString;
-        if (sdInfo.pref == sd::SdCard::SLOT_0) {
+        if (sdInfo.active == sd::SdCard::SLOT_0) {
           mountString = config::SD_0_MOUNT_POINT;
         } else {
           mountString = config::SD_1_MOUNT_POINT;
         }
-        sif::info << "SD card " << sdInfo.prefChar << " already on and mounted at " << mountString
+        sif::info << "SD card " << sdInfo.activeChar << " 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);
+        sdcMan->setActiveSdCard(sdInfo.active);
+        sdFsmState = SdStates::DETERMINE_OTHER;
+      } else if (sdInfo.activeState == sd::SdState::OFF) {
+        sdCardSetup(sdInfo.active, sd::SdState::ON, sdInfo.activeChar, false);
         sdInfo.commandExecuted = true;
-      } else if (sdInfo.prefState == sd::SdState::ON) {
-        sdInfo.state = SdStates::MOUNT_SELF;
+      } else if (sdInfo.activeState == sd::SdState::ON) {
+        sdFsmState = SdStates::MOUNT_SELF;
       }
     } else {
       if (nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
-        sdInfo.prefState = sd::SdState::ON;
-        currentStateSetter(sdInfo.pref, sd::SdState::ON);
+        sdInfo.activeState = sd::SdState::ON;
+        currentStateSetter(sdInfo.active, sd::SdState::ON);
       }
     }
   }
 
-  if (sdInfo.state == SdStates::MOUNT_SELF) {
+  if (sdFsmState == SdStates::MOUNT_SELF) {
     if (not sdInfo.commandExecuted) {
-      result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
+      result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
       sdInfo.commandExecuted = true;
     } else {
       if (nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
-        sdInfo.prefState = sd::SdState::MOUNTED;
-        currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
+        sdcMan->setActiveSdCard(sdInfo.active);
+        sdInfo.activeState = sd::SdState::MOUNTED;
+        currentStateSetter(sdInfo.active, sd::SdState::MOUNTED);
       }
     }
   }
 
-  if (sdInfo.state == SdStates::DETERMINE_OTHER) {
+  if (sdFsmState == 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;
+    if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
+      if (sdInfo.otherState == sd::SdState::ON) {
+        sdFsmState = SdStates::SET_STATE_OTHER;
+      } else if (sdInfo.otherState == sd::SdState::MOUNTED) {
+        sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
+      } else {
+        // Is already off, update info, but with a small delay
+        sdFsmState = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
+      }
+    } else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
+      if (sdInfo.otherState == sd::SdState::OFF) {
+        sdFsmState = SdStates::SET_STATE_OTHER;
+      } else if (sdInfo.otherState == sd::SdState::ON) {
+        sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
+      } else {
+        // Is already on and mounted, update info
+        sdFsmState = 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) {
+  if (sdFsmState == 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);
+    if (sdInfo.cfgMode == SdCfgMode::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);
+        }
+      }
+    } else if (sdInfo.cfgMode == SdCfgMode::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);
+        }
       }
     }
-#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) {
+  if (sdFsmState == 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);
+    if (sdInfo.cfgMode == SdCfgMode::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);
+        }
+      }
+    } else if (sdInfo.cfgMode == SdCfgMode::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);
+        }
       }
     }
-#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) {
+  if (sdFsmState == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
+    sdFsmState = SdStates::UPDATE_INFO;
+  } else if (sdFsmState == 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
@@ -488,10 +518,15 @@ ReturnValue_t CoreController::sdStateMachine() {
       sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
     }
     sdInfo.commandExecuted = false;
-    sdInfo.state = SdStates::IDLE;
+    sdFsmState = SdStates::IDLE;
     sdInfo.cycleCount = 0;
     sdcMan->setBlocking(false);
     sdcMan->getSdCardsStatus(sdInfo.currentState);
+    if (sdCommandingInfo.cmdPending) {
+      sdCommandingInfo.cmdPending = false;
+      actionHelper.finish(true, sdCommandingInfo.commander, sdCommandingInfo.actionId,
+                          returnvalue::OK);
+    }
     if (not sdInfo.initFinished) {
       updateSdInfoOther();
       sdInfo.initFinished = true;
@@ -499,81 +534,10 @@ ReturnValue_t CoreController::sdStateMachine() {
     }
   }
 
-  if (sdInfo.state == SdStates::SET_STATE_FROM_COMMAND) {
-    if (not sdInfo.commandExecuted) {
-      executeNextExternalSdCommand();
-    } else {
-      checkExternalSdCommandStatus();
-    }
-  }
-
   sdInfo.cycleCount++;
   return returnvalue::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;
@@ -645,12 +609,12 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
 ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
   ReturnValue_t result = returnvalue::OK;
 
-  result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
+  result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
   if (result != SdCardManager::ALREADY_MOUNTED and result != returnvalue::OK) {
     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(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
+    sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
     result = returnvalue::FAILED;
   }
 
@@ -967,21 +931,19 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
   return result;
 }
 
-CoreController::~CoreController() {}
-
 void CoreController::updateSdInfoOther() {
-  if (sdInfo.pref == sd::SdCard::SLOT_0) {
-    sdInfo.prefChar = "0";
+  if (sdInfo.active == sd::SdCard::SLOT_0) {
+    sdInfo.activeChar = "0";
     sdInfo.otherChar = "1";
     sdInfo.otherState = sdInfo.currentState.second;
-    sdInfo.prefState = sdInfo.currentState.first;
+    sdInfo.activeState = sdInfo.currentState.first;
     sdInfo.other = sd::SdCard::SLOT_1;
 
-  } else if (sdInfo.pref == sd::SdCard::SLOT_1) {
-    sdInfo.prefChar = "1";
+  } else if (sdInfo.active == sd::SdCard::SLOT_1) {
+    sdInfo.activeChar = "1";
     sdInfo.otherChar = "0";
     sdInfo.otherState = sdInfo.currentState.first;
-    sdInfo.prefState = sdInfo.currentState.second;
+    sdInfo.activeState = sdInfo.currentState.second;
     sdInfo.other = sd::SdCard::SLOT_0;
   } else {
     sif::warning << "CoreController::updateSdInfoOther: Invalid SD card passed" << std::endl;
@@ -1254,7 +1216,7 @@ void CoreController::performWatchdogControlOperation() {
 void CoreController::performMountedSdCardOperations() {
   auto mountedSdCardOp = [&](bool &mntSwitch, sd::SdCard sdCard, std::string mntPoint) {
     if (mntSwitch) {
-      bool sdCardMounted = sdcMan->isSdCardMounted(sdCard);
+      bool sdCardMounted = sdcMan->isSdCardUsable(sdCard);
       if (sdCardMounted and not performOneShotSdCardOpsSwitch) {
         std::ostringstream path;
         path << mntPoint << "/" << CONF_FOLDER;
@@ -1269,7 +1231,7 @@ void CoreController::performMountedSdCardOperations() {
       mntSwitch = false;
     }
   };
-  if (sdInfo.pref == sd::SdCard::SLOT_1) {
+  if (sdInfo.active == sd::SdCard::SLOT_1) {
     mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, config::SD_1_MOUNT_POINT);
     mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, config::SD_0_MOUNT_POINT);
   } else {
@@ -1283,13 +1245,15 @@ ReturnValue_t CoreController::performSdCardCheck() {
   bool mountedReadOnly = false;
   SdCardManager::SdStatePair active;
   sdcMan->getSdCardsStatus(active);
+  if (sdFsmState != SdStates::IDLE) {
+    return returnvalue::OK;
+  }
   auto sdCardCheck = [&](sd::SdCard sdCard) {
     ReturnValue_t result = sdcMan->isSdCardMountedReadOnly(sdCard, mountedReadOnly);
     if (result != returnvalue::OK) {
       sif::error << "CoreController::performSdCardCheck: Could not check "
                     "read-only mount state"
                  << std::endl;
-      mountedReadOnly = true;
     }
     if (mountedReadOnly) {
       int linuxErrno = 0;
@@ -1986,6 +1950,17 @@ ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const u
   return HasActionsIF::EXECUTION_FINISHED;
 }
 
+bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode) {
+  if (sdFsmState != SdStates::IDLE or sdCommandingInfo.cmdPending) {
+    return false;
+  }
+  sdFsmState = SdStates::START;
+  sdInfo.active = targetActiveSd;
+  sdInfo.cfgMode = mode;
+  sdCommandingInfo.cmdPending = true;
+  return true;
+}
+
 bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();

bsp_q7s/core/CoreController.h

@@ -79,6 +79,10 @@ class CoreController : public ExtendedControllerBase {
   static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
   static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
 
+  static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
+  static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
+  static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
+
   //! Reboot using the xsc_boot_copy command
   static constexpr ActionId_t XSC_REBOOT_OBC = 32;
   static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
@@ -164,9 +168,7 @@ class CoreController : public ExtendedControllerBase {
     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,
+    IDLE
   };
 
   enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
@@ -176,27 +178,31 @@ class CoreController : public ExtendedControllerBase {
   SdCardManager* sdcMan = nullptr;
   MessageQueueIF* eventQueue = nullptr;
 
-  struct SdInfo {
-    sd::SdCard pref = sd::SdCard::NONE;
+  SdStates sdFsmState = SdStates::START;
+  enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
+
+  struct SdFsmParams {
+    SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
+    sd::SdCard active = sd::SdCard::NONE;
     sd::SdCard other = sd::SdCard::NONE;
-    sd::SdState prefState = sd::SdState::OFF;
+    sd::SdState activeState = sd::SdState::OFF;
     sd::SdState otherState = sd::SdState::OFF;
-    std::string prefChar = "0";
+    std::string activeChar = "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;
     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;
+
+  struct SdCommanding {
+    bool cmdPending = false;
+    MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
+    DeviceCommandId_t actionId;
+  } sdCommandingInfo;
+
   RebootFile rebootFile = {};
   std::string currMntPrefix;
   bool performOneShotSdCardOpsSwitch = true;
@@ -227,6 +233,7 @@ class CoreController : public ExtendedControllerBase {
   ReturnValue_t initBootCopy();
   ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();
+  bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode);
   void initPrint();
 
   ReturnValue_t sdStateMachine();

bsp_q7s/fs/FilesystemHelper.cpp

@@ -16,13 +16,13 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
     return returnvalue::FAILED;
   }
   if (path.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 0 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }
   } else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
              std::string(config::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
       sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }

bsp_q7s/fs/SdCardManager.cpp

@@ -213,6 +213,9 @@ ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
   while (std::getline(sdStatus, line)) {
     processSdStatusLine(active, line, idx, currentSd);
   }
+  if (active.first != sd::SdState::MOUNTED && active.second != sd::SdState::MOUNTED) {
+    sdCardActive = false;
+  }
   return returnvalue::OK;
 }
 
@@ -466,7 +469,7 @@ void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
 
 void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
 
-bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
+bool SdCardManager::isSdCardUsable(sd::SdCard sdCard) {
   SdCardManager::SdStatePair active;
   ReturnValue_t result = this->getSdCardsStatus(active);
 
@@ -496,8 +499,10 @@ ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& re
   std::ostringstream command;
   if (sdcard == sd::SdCard::SLOT_0) {
     command << "grep -q '" << config::SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
-  } else {
+  } else if (sdcard == sd::SdCard::SLOT_1) {
     command << "grep -q '" << config::SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
+  } else {
+    return returnvalue::FAILED;
   }
   ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
   if (result != returnvalue::OK) {

bsp_q7s/fs/SdCardManager.h

@@ -206,7 +206,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    *
    * @return  true if mounted, otherwise false
    */
-  bool isSdCardMounted(sd::SdCard sdCard) override;
+  bool isSdCardUsable(sd::SdCard sdCard) override;
 
   ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
 
@@ -218,6 +218,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   CommandExecutor cmdExecutor;
   Operations currentOp = Operations::IDLE;
   bool blocking = false;
+  bool sdCardActive = true;
   bool printCmdOutput = true;
   MutexIF* mutex = nullptr;
 

linux/devices/startracker/StrHelper.cpp

@@ -543,13 +543,13 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
 #ifdef XIPHOS_Q7S
 ReturnValue_t StrHelper::checkPath(std::string name) {
   if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
       sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }
   } else if (name.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
              std::string(config::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+    if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
       sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
       return SD_NOT_MOUNTED;
     }

mission/devices/PayloadPcduHandler.cpp

@@ -492,7 +492,7 @@ void PayloadPcduHandler::checkAdcValues() {
 void PayloadPcduHandler::checkJsonFileInit() {
   if (not jsonFileInitComplete) {
     sd::SdCard activeSd = sdcMan->getActiveSdCard();
-    if (sdcMan->isSdCardMounted(activeSd)) {
+    if (sdcMan->isSdCardUsable(activeSd)) {
       params.initialize(sdcMan->getCurrentMountPrefix());
       jsonFileInitComplete = true;
     }

mission/memory/SdCardMountedIF.h

@@ -9,7 +9,7 @@ class SdCardMountedIF {
  public:
   virtual ~SdCardMountedIF(){};
   virtual std::string getCurrentMountPrefix() const = 0;
-  virtual bool isSdCardMounted(sd::SdCard sdCard) = 0;
+  virtual bool isSdCardUsable(sd::SdCard sdCard) = 0;
   virtual sd::SdCard getPreferredSdCard() const = 0;
   virtual void setActiveSdCard(sd::SdCard sdCard) = 0;
   virtual sd::SdCard getActiveSdCard() const = 0;

unittest/rebootLogic/src/CoreController.cpp

@@ -21,7 +21,7 @@ CoreController::CoreController() {
 
 void CoreController::performRebootFileHandling(bool recreateFile) {
   using namespace std;
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
   if (not std::filesystem::exists(path) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
@@ -400,7 +400,7 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
 }
 
 void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
   // Disable the reboot file mechanism
   parseRebootFile(path, rebootFile);
   if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
@@ -427,7 +427,7 @@ void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
 }
 
 void CoreController::rewriteRebootFile(RebootFile file) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
   std::ofstream rebootFile(path);
   if (rebootFile.is_open()) {
     // Initiate reboot file first. Reboot handling will be on on initialization
@@ -450,7 +450,7 @@ 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(sdInfo.active) + REBOOT_FILE;
       // Disable the reboot file mechanism
       parseRebootFile(path, rebootFile);
       if (data[0] == 0) {
@@ -490,7 +490,7 @@ 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(sdInfo.active) + REBOOT_FILE;
       // Disable the reboot file mechanism
       parseRebootFile(path, rebootFile);
       rebootFile.maxCount = data[0];
@@ -504,7 +504,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
 }
 
 void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
   // Disable the reboot file mechanism
   parseRebootFile(path, rebootFile);
   if (tgtChip == xsc::CHIP_0) {

unittest/rebootLogic/src/CoreController.h

@@ -66,9 +66,9 @@ class CoreController {
   void rewriteRebootFile(RebootFile file);
 
  private:
-  struct SdInfo {
-    sd::SdCard pref = sd::SdCard::NONE;
-    sd::SdState prefState = sd::SdState::OFF;
+  struct SdFsmParams {
+    sd::SdCard active = sd::SdCard::NONE;
+    sd::SdState activeState = sd::SdState::OFF;
     sd::SdCard other = sd::SdCard::NONE;
     sd::SdState otherState = sd::SdState::OFF;
   } sdInfo;