From a9096a46c0a14419a24c5c4cd35ac56cbcb5b175 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 25 Oct 2022 11:04:24 +0200
Subject: [PATCH] safety mechanism on reboots

---
 bsp_q7s/core/CoreController.cpp |  4 ++++
 bsp_q7s/fs/SdCardManager.cpp    | 12 ++++++++++++
 bsp_q7s/fs/SdCardManager.h      |  3 +++
 3 files changed, 19 insertions(+)

diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 95700148..6b3c08a9 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -3,6 +3,7 @@
 #include <fsfw/events/EventManager.h>
 #include <fsfw/filesystem/HasFileSystemIF.h>
 #include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
 
 #include "OBSWVersion.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -932,6 +933,9 @@ ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
 ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
                                                     bool &protOpPerformed) {
   sdcMan->setBlocking(true);
+  sdcMan->markUnusable();
+  // Wait two seconds to ensure no one uses the SD cards
+  TaskFactory::delayTask(2000);
   // Attempt graceful shutdown by unmounting and switching off SD cards
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
diff --git a/bsp_q7s/fs/SdCardManager.cpp b/bsp_q7s/fs/SdCardManager.cpp
index 42182829..4a6c12a1 100644
--- a/bsp_q7s/fs/SdCardManager.cpp
+++ b/bsp_q7s/fs/SdCardManager.cpp
@@ -460,6 +460,13 @@ void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
 void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
 
 bool SdCardManager::isSdCardUsable(sd::SdCard sdCard) {
+  {
+    MutexGuard mg(mutex);
+    if (markedUnusable) {
+      return false;
+    }
+  }
+
   SdCardManager::SdStatePair active;
   ReturnValue_t result = this->getSdCardsStatus(active);
 
@@ -562,3 +569,8 @@ std::optional<sd::SdCard> SdCardManager::getActiveSdCard() const {
   MutexGuard mg(mutex);
   return sdInfo.active;
 }
+
+void SdCardManager::markUnusable() {
+  MutexGuard mg(mutex);
+  markedUnusable = true;
+}
diff --git a/bsp_q7s/fs/SdCardManager.h b/bsp_q7s/fs/SdCardManager.h
index 52c8ed9b..8ce13dbc 100644
--- a/bsp_q7s/fs/SdCardManager.h
+++ b/bsp_q7s/fs/SdCardManager.h
@@ -214,12 +214,15 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
 
+  void markUnusable();
+
  private:
   CommandExecutor cmdExecutor;
   Operations currentOp = Operations::IDLE;
   bool blocking = false;
   bool sdCardActive = true;
   bool printCmdOutput = true;
+  bool markedUnusable = false;
   MutexIF* mutex = nullptr;
 
   SdCardManager();