Merge remote-tracking branch 'origin/develop' into meier/ploc-commands

CHANGELOG.md

@@ -16,10 +16,15 @@ 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.
+
 ## Fixed
 
 - Pointing control of the `AcsController` was still expecting submodes instead of modes.
 - Limitation of RW speeds was done before converting them to the correct unit scale.
+- The Syrlinks task now has a proper name instead of `MAIN_SPI`.
 
 # [v1.37.0] 2023-03-11
 

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;
     }

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;

bsp_q7s/core/scheduling.cpp

@@ -472,9 +472,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
-  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "MAIN_SPI", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = pst::pstSpiAndSyrlinks(spiPst);
+  FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask(
+      "SYRLINKS", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstSyrlinks(syrlinksPst);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
@@ -482,7 +482,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
       sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
     }
   } else {
-    taskVec.push_back(spiPst);
+    taskVec.push_back(syrlinksPst);
   }
 #endif
 

fsfw

@@ -1 +1 @@
-Subproject commit 4d6f6e6b23b5c0486dad6be8abba7681114a05fe
+Subproject commit 9a8d775eb1a8788ad844215bf2a42d9f707767c0

mission/core/pollingSeqTables.cpp

@@ -18,7 +18,7 @@
 #define RPI_TEST_GPS_HANDLER 0
 #endif
 
-ReturnValue_t pst::pstSpiAndSyrlinks(FixedTimeslotTaskIF *thisSequence) {
+ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
 
 #if OBSW_ADD_SYRLINKS == 1

mission/core/pollingSeqTables.h

@@ -47,7 +47,7 @@ struct AcsPstCfg {
  */
 ReturnValue_t pstGompaceCan(FixedTimeslotTaskIF* thisSequence);
 
-ReturnValue_t pstSpiAndSyrlinks(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pstSyrlinks(FixedTimeslotTaskIF* thisSequence);
 
 ReturnValue_t pstTcsAndAcs(FixedTimeslotTaskIF* thisSequence, AcsPstCfg cfg);