From bf730060b59ff8694fe7fbea1410507e772cb5d0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 25 Jul 2023 16:25:00 +0200
Subject: [PATCH] SD shutdown handling non-blocking

---
 bsp_q7s/core/CoreController.cpp | 53 ++++++++++++++++++++++++++++++---
 bsp_q7s/core/CoreController.h   |  1 +
 tmtc                            |  2 +-
 3 files changed, 51 insertions(+), 5 deletions(-)

diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 6d8f60c5..60ef389e 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -1229,12 +1229,17 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
   // Ensure that all writes/reads do finish.
   sync();
 
-  // Attempt graceful shutdown by unmounting and switching off SD cards
-  sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
-  sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
+  // Unmount and switch off SD cards. This could possibly fix issues with the SD card and is
+  // the more graceful way to reboot the system.
+  ReturnValue_t result = handleSwitchingSdCardsOffNonBlocking();
+  if(result != returnvalue::OK) {
+    sif::error << "CoreController::gracefulShutdownTasks: Issues unmounting or switching SD cards off"
+        << std::endl;
+  }
+
   // If any boot copies are unprotected.
   // Actually this function only ensures that reboots to the own image are protected..
-  ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+  result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
                                                protOpPerformed, false);
   if (result == returnvalue::OK and protOpPerformed) {
     // TODO: Would be nice to notify operator. But we can't use the filesystem anymore
@@ -2583,6 +2588,46 @@ void CoreController::announceSdInfo(SdCardManager::SdStatePair sdStates) {
   triggerEvent(core::ACTIVE_SD_INFO, p1, p2);
 }
 
+ReturnValue_t CoreController::handleSwitchingSdCardsOffNonBlocking() {
+  Countdown maxWaitTimeCd(6000);
+  Stopwatch watch;
+
+  sdcMan->setBlocking(false);
+  SdCardManager::Operations op;
+  auto waitingForFinish = [&]() {
+    while (sdcMan->checkCurrentOp(op) == SdCardManager::OpStatus::ONGOING) {
+      TaskFactory::delayTask(50);
+      if (maxWaitTimeCd.hasTimedOut()) {
+        return returnvalue::FAILED;
+      }
+    }
+    return returnvalue::OK;
+  };
+
+  sdcMan->unmountSdCard(sd::SdCard::SLOT_0);
+  ReturnValue_t result = waitingForFinish();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  sdcMan->unmountSdCard(sd::SdCard::SLOT_1);
+  result = waitingForFinish();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_0, false);
+  result = waitingForFinish();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_1, false);
+  result = waitingForFinish();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
 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();
diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h
index b6382d36..7c17de6f 100644
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@@ -374,6 +374,7 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
+  ReturnValue_t handleSwitchingSdCardsOffNonBlocking();
   int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
                                 bool& protOperationPerformed, bool selfChip, bool selfCopy,
                                 bool allChips, bool allCopies, uint8_t arrIdx);
diff --git a/tmtc b/tmtc
index a82cbff5..95b69541 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit a82cbff5a83eb37c68234bdeecd3b7d308d65eb1
+Subproject commit 95b69541751c9ea7146e0a342122da83bdb50f29