From a83136515c9614e082166aeb252e1bab96b1132f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 12 Mar 2023 20:51:33 +0100
Subject: [PATCH] command to execute shell command

---
 CHANGELOG.md                    |  4 ++++
 bsp_q7s/core/CoreController.cpp | 31 ++++++++++++++++++++++++++++++-
 bsp_q7s/core/CoreController.h   | 11 +++++++++++
 fsfw                            |  2 +-
 4 files changed, 46 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 69d8cf6a..3606d6eb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,10 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Added
+
+- Added `EXECUTE_SHELL_CMD` action command for `CoreController` to execute arbitrary Linux commands.
+
 # [v1.37.0] 2023-03-11
 
 eive-tmtc: v2.18.1
diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 5c4710d4..702264ab 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -32,7 +32,9 @@ xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, 5), opDivider5(5), opDivider10(10), hkSet(this) {
+    : ExtendedControllerBase(objectId, 5), cmdExecutor(4096), cmdReplyBuf(4096, true), cmdRepliesSizes(128),
+      opDivider5(5), opDivider10(10), hkSet(this) {
+  cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
   try {
     sdcMan = SdCardManager::instance();
     if (sdcMan == nullptr) {
@@ -100,6 +102,19 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   readHkData();
+  if(shellCmdIsExecuting) {
+    bool replyReceived = false;
+    // TODO: We could read the data in the ring buffer and send it as an action data reply.
+    if(cmdExecutor.check(replyReceived) == CommandExecutor::EXECUTION_FINISHED) {
+      actionHelper.finish(true, successRecipient, EXECUTE_SHELL_CMD);
+      shellCmdIsExecuting = false;
+      cmdReplyBuf.clear();
+      while(not cmdRepliesSizes.empty()) {
+        cmdRepliesSizes.pop();
+      }
+      successRecipient = MessageQueueIF::NO_QUEUE;
+    }
+  }
   opDivider5.checkAndIncrement();
   opDivider10.checkAndIncrement();
 }
@@ -301,6 +316,20 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       // Warning: This function will never return, because it reboots the system
       return actionReboot(data, size);
     }
+    case(EXECUTE_SHELL_CMD): {
+      std::string cmd = std::string(cmd, size);
+      if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or shellCmdIsExecuting) {
+        return HasActionsIF::IS_BUSY;
+      }
+      cmdExecutor.load(cmd, false, false);
+      ReturnValue_t result = cmdExecutor.execute();
+      if(result != returnvalue::OK) {
+        return result;
+      }
+      shellCmdIsExecuting = true;
+      successRecipient = commandedBy;
+      return returnvalue::OK;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h
index c5e23d48..fa07ec59 100644
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@@ -1,6 +1,8 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
+#include <fsfw/container/DynamicFIFO.h>
+#include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <libxiphos.h>
 
@@ -98,6 +100,8 @@ class CoreController : public ExtendedControllerBase {
   //! Reboot using the reboot command
   static constexpr ActionId_t REBOOT_OBC = 34;
 
+  static constexpr ActionId_t EXECUTE_SHELL_CMD = 40;
+
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
   static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
@@ -227,6 +231,13 @@ class CoreController : public ExtendedControllerBase {
   } sdCommandingInfo;
 
   RebootFile rebootFile = {};
+
+  CommandExecutor cmdExecutor;
+  SimpleRingBuffer cmdReplyBuf;
+  DynamicFIFO<uint16_t> cmdRepliesSizes;
+  bool shellCmdIsExecuting = false;
+  MessageQueueId_t successRecipient = MessageQueueIF::NO_QUEUE;
+
   std::string currMntPrefix;
   bool timeFileInitDone = false;
   bool performOneShotSdCardOpsSwitch = false;
diff --git a/fsfw b/fsfw
index 4d6f6e6b..9a8d775e 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 4d6f6e6b23b5c0486dad6be8abba7681114a05fe
+Subproject commit 9a8d775eb1a8788ad844215bf2a42d9f707767c0