From a884176773715887f20fd0d2af1c9c40a419ba6b Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 1 Aug 2023 09:26:06 +0200
Subject: [PATCH] improvements for reboot FDIR

---
 mission/system/EiveSystem.cpp | 24 +++++++++++++++++++++---
 mission/system/EiveSystem.h   |  1 +
 2 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/mission/system/EiveSystem.cpp b/mission/system/EiveSystem.cpp
index f17b82cb..b58316d4 100644
--- a/mission/system/EiveSystem.cpp
+++ b/mission/system/EiveSystem.cpp
@@ -196,9 +196,11 @@ void EiveSystem::i2cRecoveryLogic() {
         executeAction(EXECUTE_I2C_REBOOT, MessageQueueIF::NO_QUEUE, nullptr, 0);
       } else {
         triggerEvent(core::I2C_REBOOT);
+        // Some delay to ensure that the event is stored in the persistent TM store as well.
+        TaskFactory::delayTask(500);
         // We already tried an I2C recovery but the bus is still broken.
-        // Send full reboot request to core controller.
-        sendFullRebootCommand();
+        // Send reboot request to core controller.
+        sendSelfRebootCommand();
         return;
       }
     }
@@ -294,8 +296,10 @@ void EiveSystem::pdecRecoveryLogic() {
       // reboot the system.
       if (ptmeResetWasAttempted) {
         triggerEvent(core::PDEC_REBOOT);
+        // Some delay to ensure that the event is stored in the persistent TM store as well.
+        TaskFactory::delayTask(500);
         // Send reboot command.
-        sendFullRebootCommand();
+        sendSelfRebootCommand();
       } else {
         // Try one full PDEC reset.
         CommandMessage msg;
@@ -329,3 +333,17 @@ ReturnValue_t EiveSystem::handleCommandMessage(CommandMessage* message) {
   }
   return Subsystem::handleCommandMessage(message);
 }
+
+ReturnValue_t EiveSystem::sendSelfRebootCommand() {
+  CommandMessage msg;
+  uint8_t data[1];
+  // This option is used to target the same image.
+  data[0] = true;
+  store_address_t storeId;
+  ReturnValue_t result = IPCStore->addData(&storeId, data, sizeof(data));
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  ActionMessage::setCommand(&msg, core::XSC_REBOOT_OBC, storeId);
+  return commandQueue->sendMessage(coreCtrlQueueId, &msg);
+}
diff --git a/mission/system/EiveSystem.h b/mission/system/EiveSystem.h
index 67f11c3e..33b75151 100644
--- a/mission/system/EiveSystem.h
+++ b/mission/system/EiveSystem.h
@@ -63,6 +63,7 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
 
   ReturnValue_t sendFullRebootCommand();
+  ReturnValue_t sendSelfRebootCommand();
 
   void pdecRecoveryLogic();