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Merge remote-tracking branch 'origin/mueller/acs-ss-init' into mueller/pl-ss
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This commit is contained in:
Robin Müller
2022-10-17 10:52:05 +02:00
parent aa86bc722f ed7bba2cf5
commit d190165bf3
200 changed files with 4986 additions and 2265 deletions
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642
bsp_q7s/core/CoreController.cpp
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@ -1,9 +1,9 @@
#include "CoreController.h"
#include <fsfw/events/EventManager.h>
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/ipc/QueueFactory.h>
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Stopwatch.h"
@ -20,19 +20,17 @@
#include <algorithm>
#include <filesystem>
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "bsp_q7s/xadc/Xadc.h"
#include "eive/definitions.h"
#include "linux/utility/utility.h"
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, objects::NO_OBJECT, 5),
opDivider5(5),
opDivider10(10),
hkSet(this) {
: ExtendedControllerBase(objectId, 5), opDivider5(5), opDivider10(10), hkSet(this) {
ReturnValue_t result = returnvalue::OK;
try {
result = initWatchdogFifo();
@ -47,7 +45,6 @@ CoreController::CoreController(object_id_t objectId)
if (not BLOCKING_SD_INIT) {
sdcMan->setBlocking(false);
}
sdStateMachine();
result = initBootCopy();
if (result != returnvalue::OK) {
@ -60,6 +57,8 @@ CoreController::CoreController(object_id_t objectId)
eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
}
CoreController::~CoreController() {}
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
@ -139,8 +138,18 @@ ReturnValue_t CoreController::initialize() {
ReturnValue_t CoreController::initializeAfterTaskCreation() {
ReturnValue_t result = returnvalue::OK;
sdInfo.pref = sdcMan->getPreferredSdCard();
sdcMan->setActiveSdCard(sdInfo.pref);
auto sdCard = sdcMan->getPreferredSdCard();
if (not sdCard) {
return returnvalue::FAILED;
}
sdInfo.active = sdCard.value();
if (sdInfo.active == sd::SdCard::NONE) {
sif::error << "CoreController::initializeAfterTaskCreation: "
"Issues getting preferred SD card, setting to 0"
<< std::endl;
sdInfo.active = sd::SdCard::SLOT_0;
}
sdcMan->setActiveSdCard(sdInfo.active);
currMntPrefix = sdcMan->getCurrentMountPrefix();
if (BLOCKING_SD_INIT) {
ReturnValue_t result = initSdCardBlocking();
@ -198,6 +207,47 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
}
return HasActionsIF::EXECUTION_FINISHED;
}
case (OBSW_UPDATE_FROM_SD_0): {
return executeSwUpdate(SwUpdateSources::SD_0, data, size);
}
case (OBSW_UPDATE_FROM_SD_1): {
return executeSwUpdate(SwUpdateSources::SD_1, data, size);
}
case (OBSW_UPDATE_FROM_TMP): {
return executeSwUpdate(SwUpdateSources::TMP_DIR, data, size);
}
case (SWITCH_TO_SD_0): {
if (not startSdStateMachine(sd::SdCard::SLOT_0, SdCfgMode::COLD_REDUNDANT, commandedBy,
actionId)) {
return HasActionsIF::IS_BUSY;
}
// Completion will be reported by SD card state machine
return returnvalue::OK;
}
case (SWITCH_TO_SD_1): {
if (not startSdStateMachine(sd::SdCard::SLOT_1, SdCfgMode::COLD_REDUNDANT, commandedBy,
actionId)) {
return HasActionsIF::IS_BUSY;
}
// Completion will be reported by SD card state machine
return returnvalue::OK;
}
case (SWITCH_TO_BOTH_SD_CARDS): {
// An active SD still needs to be specified because the system needs to know which SD
// card to use for regular operations like telemetry storage.
if (size != 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
if (data[0] != 0 and data[0] != 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
auto active = static_cast<sd::SdCard>(data[0]);
if (not startSdStateMachine(active, SdCfgMode::HOT_REDUNDANT, commandedBy, actionId)) {
return HasActionsIF::IS_BUSY;
}
// Completion will be reported by SD card state machine
return returnvalue::OK;
}
case (SWITCH_IMG_LOCK): {
if (size != 3) {
return HasActionsIF::INVALID_PARAMETERS;
@ -245,60 +295,59 @@ ReturnValue_t CoreController::initSdCardBlocking() {
if (result != returnvalue::OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sif::info << "No SD card initialization will be performed" << std::endl;
return returnvalue::OK;
#else
if (sdInfo.cfgMode == SdCfgMode::PASSIVE) {
sif::info << "No SD card initialization will be performed" << std::endl;
return returnvalue::OK;
}
result = sdcMan->getSdCardsStatus(sdInfo.currentState);
if (result != returnvalue::OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
updateSdInfoOther();
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.pref) << std::endl;
result = sdColdRedundantBlockingInit();
// Update status file
sdcMan->updateSdCardStateFile();
return result;
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
sif::info << "Hot redundant SD card configuration" << std::endl;
sdCardSetup(sd::SdCard::SLOT_0, sd::SdState::MOUNTED, "0", false);
sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
// Update status file
sdcMan->updateSdCardStateFile();
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
updateSdInfoOther();
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.active) << std::endl;
result = sdColdRedundantBlockingInit();
// Update status file
sdcMan->updateSdCardStateFile();
return result;
}
if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
sif::info << "Hot redundant SD card configuration" << std::endl;
sdCardSetup(sd::SdCard::SLOT_0, sd::SdState::MOUNTED, "0", false);
sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
// Update status file
sdcMan->updateSdCardStateFile();
}
return returnvalue::OK;
#endif
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}
ReturnValue_t CoreController::sdStateMachine() {
ReturnValue_t result = returnvalue::OK;
SdCardManager::Operations operation;
if (sdInfo.state == SdStates::IDLE) {
if (sdFsmState == SdStates::IDLE) {
// Nothing to do
return result;
}
if (sdInfo.state == SdStates::START) {
if (sdFsmState == SdStates::START) {
// Init will be performed by separate function
if (BLOCKING_SD_INIT) {
sdInfo.state = SdStates::IDLE;
sdFsmState = SdStates::IDLE;
sdInfo.initFinished = true;
return result;
} else {
// Still update SD state file
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sdInfo.state = SdStates::UPDATE_INFO;
#else
sdInfo.cycleCount = 0;
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::GET_INFO;
#endif
if (sdInfo.cfgMode == SdCfgMode::PASSIVE) {
sdFsmState = SdStates::UPDATE_INFO;
} else {
sdInfo.cycleCount = 0;
sdInfo.commandExecuted = false;
sdFsmState = SdStates::GET_INFO;
}
}
}
@ -308,7 +357,7 @@ ReturnValue_t CoreController::sdStateMachine() {
std::string opPrintout) {
SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
if (status == SdCardManager::OpStatus::SUCCESS) {
sdInfo.state = newStateOnSuccess;
sdFsmState = newStateOnSuccess;
sdInfo.commandExecuted = false;
sdInfo.cycleCount = 0;
return true;
@ -320,9 +369,9 @@ ReturnValue_t CoreController::sdStateMachine() {
return false;
};
if (sdInfo.state == SdStates::GET_INFO) {
if (sdFsmState == SdStates::GET_INFO) {
if (not sdInfo.commandExecuted) {
// Create update status file
// Create updated status file
result = sdcMan->updateSdCardStateFile();
if (result != returnvalue::OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
@ -334,139 +383,143 @@ ReturnValue_t CoreController::sdStateMachine() {
}
}
if (sdInfo.state == SdStates::SET_STATE_SELF) {
if (sdFsmState == SdStates::SET_STATE_SELF) {
if (not sdInfo.commandExecuted) {
result = sdcMan->getSdCardsStatus(sdInfo.currentState);
sdInfo.pref = sdcMan->getPreferredSdCard();
updateSdInfoOther();
if (sdInfo.pref != sd::SdCard::SLOT_0 and sdInfo.pref != sd::SdCard::SLOT_1) {
if (sdInfo.active != sd::SdCard::SLOT_0 and sdInfo.active != sd::SdCard::SLOT_1) {
sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
sdInfo.pref = sd::SdCard::SLOT_0;
sdInfo.active = sd::SdCard::SLOT_0;
}
if (result != returnvalue::OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.pref) << std::endl;
#endif
if (sdInfo.prefState == sd::SdState::MOUNTED) {
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
sif::info << "Cold redundant SD card configuration, target SD card: "
<< static_cast<int>(sdInfo.active) << std::endl;
}
if (sdInfo.activeState == sd::SdState::MOUNTED) {
#if OBSW_VERBOSE_LEVEL >= 1
std::string mountString;
if (sdInfo.pref == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
if (sdInfo.active == sd::SdCard::SLOT_0) {
mountString = config::SD_0_MOUNT_POINT;
} else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
mountString = config::SD_1_MOUNT_POINT;
}
sif::info << "SD card " << sdInfo.prefChar << " already on and mounted at " << mountString
sif::info << "SD card " << sdInfo.activeChar << " already on and mounted at " << mountString
<< std::endl;
#endif
sdInfo.state = SdStates::DETERMINE_OTHER;
} else if (sdInfo.prefState == sd::SdState::OFF) {
sdCardSetup(sdInfo.pref, sd::SdState::ON, sdInfo.prefChar, false);
sdcMan->setActiveSdCard(sdInfo.active);
currMntPrefix = sdcMan->getCurrentMountPrefix();
sdFsmState = SdStates::DETERMINE_OTHER;
} else if (sdInfo.activeState == sd::SdState::OFF) {
sdCardSetup(sdInfo.active, sd::SdState::ON, sdInfo.activeChar, false);
sdInfo.commandExecuted = true;
} else if (sdInfo.prefState == sd::SdState::ON) {
sdInfo.state = SdStates::MOUNT_SELF;
} else if (sdInfo.activeState == sd::SdState::ON) {
sdFsmState = SdStates::MOUNT_SELF;
}
} else {
if (nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
sdInfo.prefState = sd::SdState::ON;
currentStateSetter(sdInfo.pref, sd::SdState::ON);
sdInfo.activeState = sd::SdState::ON;
currentStateSetter(sdInfo.active, sd::SdState::ON);
}
}
}
if (sdInfo.state == SdStates::MOUNT_SELF) {
if (sdFsmState == SdStates::MOUNT_SELF) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
sdInfo.prefState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
sdcMan->setActiveSdCard(sdInfo.active);
currMntPrefix = sdcMan->getCurrentMountPrefix();
sdInfo.activeState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.active, sd::SdState::MOUNTED);
}
}
}
if (sdInfo.state == SdStates::DETERMINE_OTHER) {
if (sdFsmState == SdStates::DETERMINE_OTHER) {
// Determine whether any additional operations have to be done for the other SD card
// 1. Cold redundant case: Other SD card needs to be unmounted and switched off
// 2. Hot redundant case: Other SD card needs to be mounted and switched on
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
if (sdInfo.otherState == sd::SdState::ON) {
sdInfo.state = SdStates::SET_STATE_OTHER;
} else if (sdInfo.otherState == sd::SdState::MOUNTED) {
sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
} else {
// Is already off, update info, but with a small delay
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
if (sdInfo.otherState == sd::SdState::ON) {
sdFsmState = SdStates::SET_STATE_OTHER;
} else if (sdInfo.otherState == sd::SdState::MOUNTED) {
sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
} else {
// Is already off, update info, but with a small delay
sdFsmState = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
}
} else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
if (sdInfo.otherState == sd::SdState::OFF) {
sdFsmState = SdStates::SET_STATE_OTHER;
} else if (sdInfo.otherState == sd::SdState::ON) {
sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
} else {
// Is already on and mounted, update info
sdFsmState = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
}
}
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
if (sdInfo.otherState == sd::SdState::OFF) {
sdInfo.state = SdStates::SET_STATE_OTHER;
} else if (sdInfo.otherState == sd::SdState::ON) {
sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
} else {
// Is already on and mounted, update info
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
}
#endif
}
if (sdInfo.state == SdStates::SET_STATE_OTHER) {
if (sdFsmState == SdStates::SET_STATE_OTHER) {
// Set state of other SD card to ON or OFF, depending on redundancy mode
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
"Switching off other SD card")) {
sdInfo.otherState = sd::SdState::OFF;
currentStateSetter(sdInfo.other, sd::SdState::OFF);
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
"Switching off other SD card")) {
sdInfo.otherState = sd::SdState::OFF;
currentStateSetter(sdInfo.other, sd::SdState::OFF);
}
}
} else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
"Switching on other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
}
}
}
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10, "Switching on other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
}
}
#endif
}
if (sdInfo.state == SdStates::MOUNT_UNMOUNT_OTHER) {
if (sdFsmState == SdStates::MOUNT_UNMOUNT_OTHER) {
// Mount or unmount other SD card, depending on redundancy mode
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
}
}
} else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
sdInfo.otherState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
}
}
}
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
sdInfo.otherState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
}
}
#endif
}
if (sdInfo.state == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
sdInfo.state = SdStates::UPDATE_INFO;
} else if (sdInfo.state == SdStates::UPDATE_INFO) {
if (sdFsmState == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
sdFsmState = SdStates::UPDATE_INFO;
} else if (sdFsmState == SdStates::UPDATE_INFO) {
// It is assumed that all tasks are running by the point this section is reached.
// Therefore, perform this operation in blocking mode because it does not take long
// and the ready state of the SD card is available sooner
@ -477,10 +530,15 @@ ReturnValue_t CoreController::sdStateMachine() {
sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
}
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::IDLE;
sdFsmState = SdStates::IDLE;
sdInfo.cycleCount = 0;
sdcMan->setBlocking(false);
sdcMan->getSdCardsStatus(sdInfo.currentState);
if (sdCommandingInfo.cmdPending) {
sdCommandingInfo.cmdPending = false;
actionHelper.finish(true, sdCommandingInfo.commander, sdCommandingInfo.actionId,
returnvalue::OK);
}
if (not sdInfo.initFinished) {
updateSdInfoOther();
sdInfo.initFinished = true;
@ -488,81 +546,10 @@ ReturnValue_t CoreController::sdStateMachine() {
}
}
if (sdInfo.state == SdStates::SET_STATE_FROM_COMMAND) {
if (not sdInfo.commandExecuted) {
executeNextExternalSdCommand();
} else {
checkExternalSdCommandStatus();
}
}
sdInfo.cycleCount++;
return returnvalue::OK;
}
void CoreController::executeNextExternalSdCommand() {
std::string sdChar;
sd::SdState currentStateOfCard = sd::SdState::OFF;
if (sdInfo.commandedCard == sd::SdCard::SLOT_0) {
sdChar = "0";
currentStateOfCard = sdInfo.currentState.first;
} else {
sdChar = "1";
currentStateOfCard = sdInfo.currentState.second;
}
if (currentStateOfCard == sd::SdState::OFF) {
if (sdInfo.commandedState == sd::SdState::ON) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
} else if (sdInfo.commandedState == sd::SdState::MOUNTED) {
sdInfo.currentlyCommandedState = sd::SdState::ON;
} else {
// SD card is already on target state
sdInfo.commandFinished = true;
sdInfo.state = SdStates::IDLE;
}
} else if (currentStateOfCard == sd::SdState::ON) {
if (sdInfo.commandedState == sd::SdState::OFF or
sdInfo.commandedState == sd::SdState::MOUNTED) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
} else {
// Already on target state
sdInfo.commandFinished = true;
sdInfo.state = SdStates::IDLE;
}
} else if (currentStateOfCard == sd::SdState::MOUNTED) {
if (sdInfo.commandedState == sd::SdState::ON) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
} else if (sdInfo.commandedState == sd::SdState::OFF) {
// This causes an unmount in sdCardSetup
sdInfo.currentlyCommandedState = sd::SdState::ON;
} else {
sdInfo.commandFinished = true;
}
}
sdCardSetup(sdInfo.commandedCard, sdInfo.commandedState, sdChar);
sdInfo.commandExecuted = true;
}
void CoreController::checkExternalSdCommandStatus() {
SdCardManager::Operations operation;
SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
if (status == SdCardManager::OpStatus::SUCCESS) {
if (sdInfo.currentlyCommandedState == sdInfo.commandedState) {
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
sdInfo.commandFinished = true;
} else {
// stay on same state machine state because the target state was not reached yet.
sdInfo.cycleCount = 0;
}
currentStateSetter(sdInfo.commandedCard, sdInfo.currentlyCommandedState);
sdInfo.commandExecuted = false;
} else if (sdInfo.cycleCount > 4) {
sif::warning << "CoreController::sdStateMachine: Commanding SD state "
"takes too long"
<< std::endl;
}
}
void CoreController::currentStateSetter(sd::SdCard sdCard, sd::SdState newState) {
if (sdCard == sd::SdCard::SLOT_0) {
sdInfo.currentState.first = newState;
@ -576,9 +563,9 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
std::string mountString;
sdcMan->setPrintCommandOutput(printOutput);
if (sdCard == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
mountString = config::SD_0_MOUNT_POINT;
} else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
mountString = config::SD_1_MOUNT_POINT;
}
sd::SdState state = sd::SdState::OFF;
@ -634,12 +621,12 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
ReturnValue_t result = returnvalue::OK;
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
if (result != SdCardManager::ALREADY_MOUNTED and result != returnvalue::OK) {
sif::warning << "Setting up preferred card " << sdInfo.otherChar
<< " in cold redundant mode failed" << std::endl;
// Try other SD card and mark set up operation as failed
sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
result = returnvalue::FAILED;
}
@ -956,21 +943,19 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
return result;
}
CoreController::~CoreController() {}
void CoreController::updateSdInfoOther() {
if (sdInfo.pref == sd::SdCard::SLOT_0) {
sdInfo.prefChar = "0";
if (sdInfo.active == sd::SdCard::SLOT_0) {
sdInfo.activeChar = "0";
sdInfo.otherChar = "1";
sdInfo.otherState = sdInfo.currentState.second;
sdInfo.prefState = sdInfo.currentState.first;
sdInfo.activeState = sdInfo.currentState.first;
sdInfo.other = sd::SdCard::SLOT_1;
} else if (sdInfo.pref == sd::SdCard::SLOT_1) {
sdInfo.prefChar = "1";
} else if (sdInfo.active == sd::SdCard::SLOT_1) {
sdInfo.activeChar = "1";
sdInfo.otherChar = "0";
sdInfo.otherState = sdInfo.currentState.first;
sdInfo.prefState = sdInfo.currentState.second;
sdInfo.activeState = sdInfo.currentState.second;
sdInfo.other = sd::SdCard::SLOT_0;
} else {
sif::warning << "CoreController::updateSdInfoOther: Invalid SD card passed" << std::endl;
@ -1241,44 +1226,46 @@ void CoreController::performWatchdogControlOperation() {
}
void CoreController::performMountedSdCardOperations() {
auto mountedSdCardOp = [&](bool &mntSwitch, sd::SdCard sdCard, std::string mntPoint) {
if (mntSwitch) {
bool sdCardMounted = sdcMan->isSdCardMounted(sdCard);
if (sdCardMounted and not performOneShotSdCardOpsSwitch) {
std::ostringstream path;
path << mntPoint << "/" << CONF_FOLDER;
if (not std::filesystem::exists(path.str())) {
std::filesystem::create_directory(path.str());
}
initVersionFile();
initClockFromTimeFile();
performRebootFileHandling(false);
performOneShotSdCardOpsSwitch = true;
auto mountedSdCardOp = [&](sd::SdCard sdCard, std::string mntPoint) {
if (not performOneShotSdCardOpsSwitch) {
std::ostringstream path;
path << mntPoint << "/" << CONF_FOLDER;
if (not std::filesystem::exists(path.str())) {
std::filesystem::create_directory(path.str());
}
mntSwitch = false;
initVersionFile();
initClockFromTimeFile();
performRebootFileHandling(false);
}
timeFileHandler();
};
if (sdInfo.pref == sd::SdCard::SLOT_1) {
mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
} else {
mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
bool someSdCardActive = false;
if (sdInfo.active == sd::SdCard::SLOT_0 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_0)) {
mountedSdCardOp(sd::SdCard::SLOT_0, config::SD_0_MOUNT_POINT);
someSdCardActive = true;
}
if (sdInfo.active == sd::SdCard::SLOT_1 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_1)) {
mountedSdCardOp(sd::SdCard::SLOT_1, config::SD_1_MOUNT_POINT);
someSdCardActive = true;
}
if (someSdCardActive) {
performOneShotSdCardOpsSwitch = true;
}
timeFileHandler();
}
ReturnValue_t CoreController::performSdCardCheck() {
bool mountedReadOnly = false;
SdCardManager::SdStatePair active;
sdcMan->getSdCardsStatus(active);
if (sdFsmState != SdStates::IDLE) {
return returnvalue::OK;
}
auto sdCardCheck = [&](sd::SdCard sdCard) {
ReturnValue_t result = sdcMan->isSdCardMountedReadOnly(sdCard, mountedReadOnly);
if (result != returnvalue::OK) {
sif::error << "CoreController::performSdCardCheck: Could not check "
"read-only mount state"
<< std::endl;
mountedReadOnly = true;
}
if (mountedReadOnly) {
int linuxErrno = 0;
@ -1304,7 +1291,19 @@ ReturnValue_t CoreController::performSdCardCheck() {
if (active.second == sd::SdState::MOUNTED) {
sdCardCheck(sd::SdCard::SLOT_1);
}
#if OBSW_SD_CARD_MUST_BE_ON == 1
// This is FDIR. The core controller will attempt once to get some SD card working
bool someSdCardActive = false;
if ((sdInfo.active == sd::SdCard::SLOT_0 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_0)) or
(sdInfo.active == sd::SdCard::SLOT_1 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_1))) {
someSdCardActive = true;
}
if (not someSdCardActive and remountAttemptFlag) {
triggerEvent(NO_SD_CARD_ACTIVE);
initSdCardBlocking();
remountAttemptFlag = false;
}
#endif
return returnvalue::OK;
}
@ -1845,6 +1844,175 @@ void CoreController::readHkData() {
}
}
const char *CoreController::getXscMountDir(xsc::Chip chip, xsc::Copy copy) {
if (chip == xsc::Chip::CHIP_0) {
if (copy == xsc::Copy::COPY_0) {
return CHIP_0_COPY_0_MOUNT_DIR;
} else if (copy == xsc::Copy::COPY_1) {
return CHIP_0_COPY_1_MOUNT_DIR;
}
} else if (chip == xsc::Chip::CHIP_1) {
if (copy == xsc::Copy::COPY_0) {
return CHIP_1_COPY_0_MOUNT_DIR;
} else if (copy == xsc::Copy::COPY_1) {
return CHIP_1_COPY_1_MOUNT_DIR;
}
}
sif::error << "Invalid chip or copy passed to CoreController::getXscMountDir" << std::endl;
return CHIP_0_COPY_0_MOUNT_DIR;
}
ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const uint8_t *data,
size_t size) {
using namespace std;
using namespace std::filesystem;
// At the very least, chip and copy ID need to be included in the command
if (size < 2) {
return HasActionsIF::INVALID_PARAMETERS;
}
if (data[0] > 1 or data[1] > 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
auto chip = static_cast<xsc::Chip>(data[0]);
auto copy = static_cast<xsc::Copy>(data[1]);
const char *sourceStr = "unknown";
if (sourceDir == SwUpdateSources::SD_0) {
sourceStr = "SD 0";
} else if (sourceDir == SwUpdateSources::SD_1) {
sourceStr = "SD 1";
} else {
sourceStr = "tmp directory";
}
bool sameChipAndCopy = false;
if (chip == CURRENT_CHIP and copy == CURRENT_COPY) {
// This is problematic if the OBSW is running as a systemd service.
// Do not allow for now.
return HasActionsIF::INVALID_PARAMETERS;
// sameChipAndCopy = true;
}
sif::info << "Executing SW update for Chip " << static_cast<int>(data[0]) << " Copy "
<< static_cast<int>(data[1]) << " from " << sourceStr << std::endl;
path prefixPath;
if (sourceDir == SwUpdateSources::SD_0) {
prefixPath = path(config::SD_0_MOUNT_POINT);
} else if (sourceDir == SwUpdateSources::SD_1) {
prefixPath = path(config::SD_1_MOUNT_POINT);
} else if (sourceDir == SwUpdateSources::TMP_DIR) {
prefixPath = path("/tmp");
}
path archivePath = prefixPath / path(config::OBSW_UPDATE_ARCHIVE_FILE_NAME);
if (not exists(archivePath)) {
return HasFileSystemIF::FILE_DOES_NOT_EXIST;
}
ostringstream cmd("tar -xJf", ios::app);
cmd << " " << archivePath << " -C " << prefixPath;
int result = system(cmd.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "CoreController::executeAction: SW Update Decompression");
}
path strippedImagePath = prefixPath / path(config::STRIPPED_OBSW_BINARY_FILE_NAME);
if (!exists(strippedImagePath)) {
// TODO: Custom returnvalue?
return returnvalue::FAILED;
}
path obswVersionFilePath = prefixPath / path(config::OBSW_VERSION_FILE_NAME);
if (!exists(obswVersionFilePath)) {
// TODO: Custom returnvalue?
return returnvalue::FAILED;
}
cmd.str("");
cmd.clear();
path obswDestPath;
path obswVersionDestPath;
if (not sameChipAndCopy) {
cmd << "xsc_mount_copy " << std::to_string(data[0]) << " " << std::to_string(data[1]);
result = system(cmd.str().c_str());
if (result != 0) {
std::string contextString = "CoreController::executeAction: SW Update Mounting " +
std::to_string(data[0]) + " " + std::to_string(data[1]);
utility::handleSystemError(result, contextString);
}
cmd.str("");
cmd.clear();
path xscMountDest(getXscMountDir(chip, copy));
obswDestPath = xscMountDest / path(relative(config::OBSW_PATH, "/"));
obswVersionDestPath = xscMountDest / path(relative(config::OBSW_VERSION_FILE_PATH, "/"));
} else {
obswDestPath = path(config::OBSW_PATH);
obswVersionDestPath = path(config::OBSW_VERSION_FILE_PATH);
cmd << "writeprotect " << std::to_string(CURRENT_CHIP) << " " << std::to_string(CURRENT_COPY)
<< " 0";
result = system(cmd.str().c_str());
if (result != 0) {
std::string contextString = "CoreController::executeAction: Unlocking current chip";
utility::handleSystemError(result, contextString);
}
cmd.str("");
cmd.clear();
}
cmd << "cp " << strippedImagePath << " " << obswDestPath;
result = system(cmd.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "CoreController::executeAction: Copying SW update");
}
cmd.str("");
cmd.clear();
cmd << "cp " << obswVersionFilePath << " " << obswVersionDestPath;
result = system(cmd.str().c_str());
if (result != 0) {
utility::handleSystemError(result, "CoreController::executeAction: Copying SW version file");
}
cmd.str("");
cmd.clear();
// Set correct permission for both files
cmd << "chmod 0755 " << obswDestPath;
result = system(cmd.str().c_str());
if (result != 0) {
utility::handleSystemError(result,
"CoreController::executeAction: Setting SW permissions 0755");
}
cmd.str("");
cmd.clear();
cmd << "chmod 0644 " << obswVersionDestPath;
result = system(cmd.str().c_str());
if (result != 0) {
utility::handleSystemError(
result, "CoreController::executeAction: Setting version file permission 0644");
}
cmd.str("");
cmd.clear();
// TODO: This takes a long time and will block the core controller.. Maybe use command executor?
// For now dont care..
cmd << "writeprotect " << std::to_string(data[0]) << " " << std::to_string(data[1]) << " 1";
result = system(cmd.str().c_str());
if (result != 0) {
std::string contextString = "CoreController::executeAction: Writeprotecting " +
std::to_string(data[0]) + " " + std::to_string(data[1]);
utility::handleSystemError(result, contextString);
}
sif::info << "SW update complete" << std::endl;
return HasActionsIF::EXECUTION_FINISHED;
}
bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode,
MessageQueueId_t commander, DeviceCommandId_t actionId) {
if (sdFsmState != SdStates::IDLE or sdCommandingInfo.cmdPending) {
return false;
}
sdFsmState = SdStates::START;
sdInfo.active = targetActiveSd;
sdInfo.cfgMode = mode;
sdCommandingInfo.actionId = actionId;
sdCommandingInfo.commander = commander;
sdCommandingInfo.cmdPending = true;
return true;
}
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();

65
bsp_q7s/core/CoreController.h
View File

@ -7,7 +7,8 @@
#include <cstddef>
#include "CoreDefinitions.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "OBSWConfig.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
@ -51,22 +52,38 @@ class CoreController : public ExtendedControllerBase {
static constexpr char CHIP_PROT_SCRIPT[] = "get-chip-prot-status.sh";
static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
static constexpr char CONF_FOLDER[] = "conf";
static constexpr char VERSION_FILE_NAME[] = "version.txt";
static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
static constexpr char TIME_FILE_NAME[] = "time.txt";
const std::string VERSION_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
const std::string REBOOT_FILE =
"/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
//! Reboot using the xsc_boot_copy command
static constexpr ActionId_t XSC_REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
@ -86,6 +103,9 @@ class CoreController : public ExtendedControllerBase {
event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
//! [EXPORT] : [COMMENT] No SD card was active. Core controller will attempt to re-initialize
//! a SD card.
static constexpr Event NO_SD_CARD_ACTIVE = event::makeEvent(SUBSYSTEM_ID, 4, severity::HIGH);
CoreController(object_id_t objectId);
virtual ~CoreController();
@ -107,6 +127,7 @@ class CoreController : public ExtendedControllerBase {
static ReturnValue_t generateChipStateFile();
static ReturnValue_t incrementAllocationFailureCount();
static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
static const char* getXscMountDir(xsc::Chip chip, xsc::Copy copy);
ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
@ -151,39 +172,44 @@ class CoreController : public ExtendedControllerBase {
SKIP_CYCLE_BEFORE_INFO_UPDATE,
UPDATE_INFO,
// SD initialization done
IDLE,
// Used if SD switches or mount commands are issued via telecommand
SET_STATE_FROM_COMMAND,
IDLE
};
enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
static constexpr bool BLOCKING_SD_INIT = false;
SdCardManager* sdcMan = nullptr;
MessageQueueIF* eventQueue = nullptr;
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
SdStates sdFsmState = SdStates::START;
enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
struct SdFsmParams {
SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
sd::SdCard active = sd::SdCard::NONE;
sd::SdCard other = sd::SdCard::NONE;
sd::SdState prefState = sd::SdState::OFF;
sd::SdState activeState = sd::SdState::OFF;
sd::SdState otherState = sd::SdState::OFF;
std::string prefChar = "0";
std::string activeChar = "0";
std::string otherChar = "1";
std::pair<bool, bool> mountSwitch = {true, true};
SdStates state = SdStates::START;
// Used to track whether a command was executed
bool commandExecuted = true;
bool initFinished = false;
SdCardManager::SdStatePair currentState;
uint16_t cycleCount = 0;
// These two flags are related to external commanding
bool commandIssued = false;
bool commandFinished = false;
sd::SdState currentlyCommandedState = sd::SdState::OFF;
sd::SdCard commandedCard = sd::SdCard::NONE;
sd::SdState commandedState = sd::SdState::OFF;
} sdInfo;
struct SdCommanding {
bool cmdPending = false;
MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t actionId;
} sdCommandingInfo;
RebootFile rebootFile = {};
std::string currMntPrefix;
bool performOneShotSdCardOpsSwitch = true;
bool performOneShotSdCardOpsSwitch = false;
/**
* Index 0: Chip 0 Copy 0
@ -197,6 +223,10 @@ class CoreController : public ExtendedControllerBase {
core::HkSet hkSet;
#if OBSW_SD_CARD_MUST_BE_ON == 1
bool remountAttemptFlag = true;
#endif
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
Countdown sdCardCheckCd = Countdown(120000);
@ -211,12 +241,15 @@ class CoreController : public ExtendedControllerBase {
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
ReturnValue_t initSdCardBlocking();
bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,
DeviceCommandId_t actionId);
void initPrint();
ReturnValue_t sdStateMachine();
void updateSdInfoOther();
ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
bool printOutput = true);
ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);

137
bsp_q7s/core/InitMission.cpp
View File

@ -1,6 +1,7 @@
#include "bsp_q7s/core/InitMission.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <linux/InitMission.h>
#include <iostream>
#include <vector>
@ -66,16 +67,30 @@ void initmission::initTasks() {
void (*missedDeadlineFunc)(void) = nullptr;
#endif
PeriodicTaskIF* coreController = factory->createPeriodicTask(
PeriodicTaskIF* sysCtrlTask = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreController->addComponent(objects::CORE_CONTROLLER);
result = sysCtrlTask->addComponent(objects::CORE_CONTROLLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
// Could add this to the core controller but the core controller does so many thing that I would
// prefer to have the solar array deployment in a seprate task.
PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
"SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
}
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
"DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
#if OBSW_ADD_TCPIP_BRIDGE == 1
result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
if (result != returnvalue::OK) {
initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
}
#endif
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
@ -84,19 +99,16 @@ void initmission::initTasks() {
if (result != returnvalue::OK) {
initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
if (result != returnvalue::OK) {
initmission::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if (result != returnvalue::OK) {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
#if OBSW_ADD_TCPIP_BRIDGE == 1
// TMTC bridge
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != returnvalue::OK) {
initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
@ -124,42 +136,53 @@ void initmission::initTasks() {
}
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsTask = factory->createPeriodicTask(
#if OBSW_ADD_CFDP_COMPONENTS == 1
PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
"CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = cfdpTask->addComponent(objects::CFDP_HANDLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
}
#endif
PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsTask->addComponent(objects::GPS_CONTROLLER);
#if OBSW_ADD_GPS_CTRL == 1
result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_ACS_HANDLERS */
#endif /* OBSW_ADD_GPS_CTRL */
acsTask->addComponent(objects::ACS_CONTROLLER);
#if OBSW_ADD_ACS_CTRL == 1
acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
#endif
PeriodicTaskIF* sysTask = factory->createPeriodicTask(
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(sysTask);
#if OBSW_ADD_ACS_HANDLERS == 1
result = sysTask->addComponent(objects::ACS_BOARD_ASS);
static_cast<void>(acsSysTask);
#if OBSW_ADD_ACS_BOARD == 1
result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != returnvalue::OK) {
initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
}
#endif /* OBSW_ADD_ACS_HANDLERS */
#if OBSW_ADD_RW == 1
result = sysTask->addComponent(objects::RW_ASS);
result = acsSysTask->addComponent(objects::RW_ASS);
if (result != returnvalue::OK) {
initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
}
#endif
#if OBSW_ADD_SUS_BOARD_ASS == 1
result = sysTask->addComponent(objects::SUS_BOARD_ASS);
result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
if (result != returnvalue::OK) {
initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
}
#endif
result = sysTask->addComponent(objects::ACS_SUBSYSTEM);
result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
if (result != returnvalue::OK) {
initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
}
@ -192,8 +215,7 @@ void initmission::initTasks() {
objects::RTD_14_IC17_TCS_BOARD,
objects::RTD_15_IC18_IMTQ,
};
tcsTask->addComponent(objects::TCS_BOARD_ASS);
tcsTask->addComponent(objects::THERMAL_CONTROLLER);
for (const auto& rtd : rtdIds) {
tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
@ -201,15 +223,25 @@ void initmission::initTasks() {
tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_RTD_DEVICES */
#endif
// FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task
PeriodicTaskIF* fsTask = factory->createPeriodicTask(
"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
"TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
#if OBSW_ADD_RTD_DEVICES == 1
result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
if (result != returnvalue::OK) {
initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
}
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TCS_CTRL == 1
result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
}
#endif
result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
}
#if OBSW_ADD_STAR_TRACKER == 1
@ -247,6 +279,11 @@ void initmission::initTasks() {
initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
}
#endif
#if OBSW_ADD_SCEX_DEVICE == 1
PeriodicTaskIF* scexDevHandler;
PeriodicTaskIF* scexReaderTask;
scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
#endif
std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
@ -272,7 +309,6 @@ void initmission::initTasks() {
tmTcDistributor->startTask();
#if OBSW_ADD_TCPIP_BRIDGE == 1
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
#endif
@ -281,34 +317,43 @@ void initmission::initTasks() {
pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
coreController->startTask();
sysCtrlTask->startTask();
solarArrayDeplTask->startTask();
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector");
#if OBSW_ADD_SCEX_DEVICE == 1
scexDevHandler->startTask();
scexReaderTask->startTask();
#endif
#if OBSW_TEST_CCSDS_BRIDGE == 1
ptmeTestTask->startTask();
#endif
fsTask->startTask();
#if OBSW_ADD_CFDP_COMPONENTS == 1
cfdpTask->startTask();
#endif
#if OBSW_ADD_STAR_TRACKER == 1
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
acsTask->startTask();
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
sysTask->startTask();
acsCtrlTask->startTask();
acsSysTask->startTask();
#if OBSW_ADD_RTD_DEVICES == 1
tcsPollingTask->startTask();
tcsTask->startTask();
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
tcsSystemTask->startTask();
#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector");
#endif
sif::info << "Tasks started.." << std::endl;
}
@ -360,18 +405,6 @@ void initmission::createPstTasks(TaskFactory& factory,
taskVec.push_back(uartPst);
}
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
result = pst::pstGpio(gpioPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
} else {
sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
}
} else {
taskVec.push_back(gpioPst);
}
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);

112
bsp_q7s/core/ObjectFactory.cpp
View File

@ -6,13 +6,13 @@
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h"
#include "ccsdsConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "devices/powerSwitcherList.h"
#include "eive/definitions.h"
#include "fsfw/ipc/QueueFactory.h"
#include "linux/ObjectFactory.h"
#include "linux/boardtest/I2cTestClass.h"
@ -21,6 +21,7 @@
#include "linux/callbacks/gpioCallbacks.h"
#include "linux/csp/CspComIF.h"
#include "linux/devices/GPSHyperionLinuxController.h"
#include "linux/devices/ScexUartReader.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "linux/devices/ploc/PlocMPSoCHandler.h"
@ -35,13 +36,15 @@
#include "linux/obc/Ptme.h"
#include "linux/obc/PtmeConfig.h"
#include "mission/csp/CspCookie.h"
#include "mission/system/objects/RwAssembly.h"
#include "mission/system/fdir/AcsBoardFdir.h"
#include "mission/system/fdir/GomspacePowerFdir.h"
#include "mission/system/fdir/RtdFdir.h"
#include "mission/system/fdir/SusFdir.h"
#include "mission/system/fdir/SyrlinksFdir.h"
#include "tmtc/apid.h"
#include "mission/system/objects/AcsSubsystem.h"
#include "mission/system/objects/RwAssembly.h"
#include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/tree/acsModeTree.h"
#include "tmtc/pusIds.h"
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
@ -232,6 +235,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
PowerSwitchIF* pwrSwitcher) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
@ -331,16 +335,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
AcsBoardFdir* fdir = nullptr;
static_cast<void>(fdir);
#if OBSW_ADD_ACS_HANDLERS == 1
#if OBSW_ADD_ACS_BOARD == 1
std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY);
auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
mgmLis3Handler->setCustomFdir(fdir);
static_cast<void>(mgmLis3Handler);
mgmLis3Handler0->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmLis3Handler0);
#if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true);
@ -351,13 +355,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler =
auto mgmRm3100Handler1 =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
mgmRm3100Handler->setCustomFdir(fdir);
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
static_cast<void>(mgmRm3100Handler);
mgmRm3100Handler1->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmRm3100Handler1);
#if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true);
@ -368,12 +371,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY);
auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
mgmLis3Handler->setCustomFdir(fdir);
mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
static_cast<void>(mgmLis3Handler);
mgmLis3Handler2->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmLis3Handler2);
#if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true);
@ -384,11 +386,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY);
auto* mgmRm3100Handler3 =
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
mgmRm3100Handler->setCustomFdir(fdir);
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
mgmRm3100Handler3->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmRm3100Handler3);
#if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true);
@ -406,8 +409,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
ADIS1650X::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
adisHandler->setParent(objects::ACS_BOARD_ASS);
static_cast<void>(adisHandler);
assemblyChildren.push_back(*adisHandler);
#if OBSW_TEST_ACS == 1
adisHandler->setStartUpImmediately();
adisHandler->setToGoToNormalModeImmediately();
@ -418,12 +420,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
// Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(
auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
gyroL3gHandler->setCustomFdir(fdir);
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
static_cast<void>(gyroL3gHandler);
gyroL3gHandler1->setCustomFdir(fdir);
assemblyChildren.push_back(*gyroL3gHandler1);
#if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true);
@ -439,7 +440,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie, ADIS1650X::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
adisHandler->setParent(objects::ACS_BOARD_ASS);
assemblyChildren.push_back(*adisHandler);
#if OBSW_TEST_ACS == 1
adisHandler->setStartUpImmediately();
adisHandler->setToGoToNormalModeImmediately();
@ -447,11 +448,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
// Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::L3G_TRANSITION_DELAY);
auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
gyroL3gHandler->setCustomFdir(fdir);
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
gyroL3gHandler3->setCustomFdir(fdir);
assemblyChildren.push_back(*gyroL3gHandler3);
#if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true);
@ -473,9 +474,18 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
acsBoardHelper, gpioComIF);
auto acsAss =
new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
static_cast<void>(acsAss);
for (auto& assChild : assemblyChildren) {
ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
if (result != returnvalue::OK) {
sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
<< " failed" << std::endl;
}
}
gpsCtrl->connectModeTreeParent(*acsAss);
acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
}
@ -538,7 +548,8 @@ void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwi
pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
}
void ObjectFactory::createSolarArrayDeploymentComponents() {
void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
GpioIF& gpioIF) {
using namespace gpio;
GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
@ -551,12 +562,14 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
Levels::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
ReturnValue_t result = gpioIF.addGpios(solarArrayDeplCookie);
if (result != returnvalue::OK) {
sif::error << "Adding Solar Array Deployment GPIO cookie failed" << std::endl;
}
// TODO: Find out burn time. For now set to 1000 ms.
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
solarArrayDeplCookie, objects::PCDU_HANDLER,
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
}
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
@ -685,9 +698,16 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
}
RwHelper rwHelper(rwIds);
auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
static_cast<void>(rwAss);
auto* rwAss =
new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
for (uint8_t idx = 0; idx < rws.size(); idx++) {
ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
if (result != returnvalue::OK) {
sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
<< std::endl;
}
}
rwAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
#endif /* OBSW_ADD_RW == 1 */
}
@ -865,6 +885,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
// auto* reader= new ScexUartReader(objects::SCEX_UART_READER);
new UartTestClass(objects::UART_TEST);
#endif
}
@ -879,6 +900,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
starTracker->setPowerSwitcher(pwrSwitcher);
starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
@ -887,6 +909,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V);
imtqHandler->setPowerSwitcher(pwrSwitcher);
imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
static_cast<void>(imtqHandler);
#if OBSW_TEST_IMTQ == 1
imtqHandler->setStartUpImmediately();
@ -908,10 +931,7 @@ void ObjectFactory::createBpxBatteryComponent() {
#endif
}
void ObjectFactory::createMiscComponents() {
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
}
void ObjectFactory::createMiscComponents() { new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); }
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
CommandMessage msg;

2
bsp_q7s/core/ObjectFactory.h
View File

@ -33,7 +33,7 @@ void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTa
void createImtqComponents(PowerSwitchIF* pwrSwitcher);
void createBpxBatteryComponent();
void createStrComponents(PowerSwitchIF* pwrSwitcher);
void createSolarArrayDeploymentComponents();
void createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher, GpioIF& gpioIF);
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);