Merge branch 'develop' into meier/pdec-config-persistent

bsp_q7s/core/CoreController.cpp

@@ -49,6 +49,8 @@ CoreController::CoreController(object_id_t objectId)
     }
 
     getCurrentBootCopy(CURRENT_CHIP, CURRENT_COPY);
+
+    initClockFromTimeFile();
   } catch (const std::filesystem::filesystem_error &e) {
     sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
   }
@@ -159,6 +161,9 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   }
   sdcMan->setActiveSdCard(sdInfo.active);
   currMntPrefix = sdcMan->getCurrentMountPrefix();
+  if (currMntPrefix == "") {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
   if (BLOCKING_SD_INIT) {
     result = initSdCardBlocking();
     if (result != returnvalue::OK and result != SdCardManager::ALREADY_MOUNTED) {
@@ -1266,10 +1271,12 @@ void CoreController::performMountedSdCardOperations() {
       if (result != returnvalue::OK) {
         sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
       }
-      initClockFromTimeFile();
+      if (not timeFileInitDone) {
+        initClockFromTimeFile();
+      }
       performRebootFileHandling(false);
     }
-    timeFileHandler();
+    backupTimeFileHandler();
   };
   bool someSdCardActive = false;
   if (sdInfo.active == sd::SdCard::SLOT_0 and sdcMan->isSdCardUsable(sd::SdCard::SLOT_0)) {
@@ -1783,7 +1790,7 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
   rewriteRebootFile(rebootFile);
 }
 
-ReturnValue_t CoreController::timeFileHandler() {
+ReturnValue_t CoreController::backupTimeFileHandler() {
   // Always set time. We could only set it if it is updated by GPS, but then the backup time would
   // become obsolete on GPS problems.
   if (opDivider10.check()) {
@@ -1793,14 +1800,14 @@ ReturnValue_t CoreController::timeFileHandler() {
     if (result != returnvalue::OK) {
       return result;
     }
-    std::string fileName = currMntPrefix + TIME_FILE;
+    std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
     std::ofstream timeFile(fileName);
     if (not timeFile.good()) {
       sif::error << "CoreController::timeFileHandler: Error opening time file: " << strerror(errno)
                  << std::endl;
       return returnvalue::FAILED;
     }
-    timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
+    timeFile << "UNIX SECONDS: " << currentTime.tv_sec + BOOT_OFFSET_SECONDS << std::endl;
   }
   return returnvalue::OK;
 }
@@ -1808,8 +1815,8 @@ ReturnValue_t CoreController::timeFileHandler() {
 ReturnValue_t CoreController::initClockFromTimeFile() {
   using namespace GpsHyperion;
   using namespace std;
-  std::string fileName = currMntPrefix + TIME_FILE;
-  if (std::filesystem::exists(fileName) and
+  std::string fileName = currMntPrefix + BACKUP_TIME_FILE;
+  if (sdcMan->isSdCardUsable(std::nullopt) and std::filesystem::exists(fileName) and
       ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
        not utility::timeSanityCheck())) {
     ifstream timeFile(fileName);
@@ -1837,6 +1844,7 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
     sif::info << "Setting system time from time files: " << std::put_time(time, "%c %Z")
               << std::endl;
 #endif
+    timeFileInitDone = true;
     return Clock::setClock(&currentTime);
   }
   return returnvalue::OK;

bsp_q7s/core/CoreController.h

@@ -58,13 +58,14 @@ class CoreController : public ExtendedControllerBase {
 
   static constexpr char VERSION_FILE_NAME[] = "version.txt";
   static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
-  static constexpr char TIME_FILE_NAME[] = "time.txt";
+  static constexpr char TIME_FILE_NAME[] = "time_backup.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);
+  const std::string BACKUP_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";
@@ -160,6 +161,7 @@ class CoreController : public ExtendedControllerBase {
   bool sdInitFinished() const;
 
  private:
+  static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
   static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t MUTEX_TIMEOUT = 20;
   // Designated value for rechecking FIFO open
@@ -221,6 +223,7 @@ class CoreController : public ExtendedControllerBase {
 
   RebootFile rebootFile = {};
   std::string currMntPrefix;
+  bool timeFileInitDone = false;
   bool performOneShotSdCardOpsSwitch = false;
   uint8_t shortSdCardCdCounter = 0;
 #if OBSW_THREAD_TRACING == 1
@@ -258,7 +261,7 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t initClockFromTimeFile();
   ReturnValue_t performSdCardCheck();
-  ReturnValue_t timeFileHandler();
+  ReturnValue_t backupTimeFileHandler();
   ReturnValue_t initBootCopyFile();
   ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();

bsp_q7s/core/scheduling.cpp

@@ -187,14 +187,12 @@ void scheduling::initTasks() {
   }
 #endif
 
-#if OBSW_ADD_GPS_CTRL == 1
   PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
       "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = gpsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
-#endif /* OBSW_ADD_GPS_CTRL */
 
 #if OBSW_ADD_RW == 1
   PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
@@ -378,9 +376,7 @@ void scheduling::initTasks() {
 #if OBSW_ADD_RW == 1
   rwPolling->startTask();
 #endif
-#if OBSW_ADD_GPS_CTRL == 1
   gpsTask->startTask();
-#endif
   acsSysTask->startTask();
   if (not tcsSystemTask->isEmpty()) {
     tcsSystemTask->startTask();

bsp_q7s/em/emObjectFactory.cpp

@@ -3,6 +3,7 @@
 #include <fsfw/power/DummyPowerSwitcher.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/system/tree/system.h>
+#include <mission/utility/DummySdCardManager.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/core/CoreController.h"
@@ -22,7 +23,8 @@ void ObjectFactory::produce(void* args) {
   HealthTableIF* healthTable = nullptr;
   PusTmFunnel* pusFunnel = nullptr;
   CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance());
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;

bsp_q7s/fmObjectFactory.cpp

@@ -18,7 +18,8 @@ void ObjectFactory::produce(void* args) {
   HealthTableIF* healthTable = nullptr;
   PusTmFunnel* pusFunnel = nullptr;
   CfdpTmFunnel* cfdpFunnel = nullptr;
-  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel);
+  ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
+                                       *SdCardManager::instance());
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   SerialComIF* uartComIF = nullptr;

bsp_q7s/fs/SdCardManager.cpp

@@ -410,9 +410,12 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   return result;
 }
 
-const std::string& SdCardManager::getCurrentMountPrefix() const {
+const char* SdCardManager::getCurrentMountPrefix() const {
   MutexGuard mg(mutex);
-  return currentPrefix;
+  if (currentPrefix.has_value()) {
+    return currentPrefix.value().c_str();
+  }
+  return nullptr;
 }
 
 SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {

bsp_q7s/fs/SdCardManager.h

@@ -187,7 +187,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param prefSdCardPtr
    * @return
    */
-  const std::string& getCurrentMountPrefix() const override;
+  const char* getCurrentMountPrefix() const override;
 
   OpStatus checkCurrentOp(Operations& currentOp);
 
@@ -232,7 +232,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   void processSdStatusLine(SdStatePair& active, std::string& line, uint8_t& idx,
                            sd::SdCard& currentSd);
 
-  std::string currentPrefix;
+  std::optional<std::string> currentPrefix;
 
   static SdCardManager* INSTANCE;
 };

bsp_q7s/fs/helpers.cpp

@@ -3,6 +3,9 @@
 std::filesystem::path fshelpers::getPrefixedPath(SdCardManager &man,
                                                  std::filesystem::path pathWihtoutPrefix) {
   auto prefix = man.getCurrentMountPrefix();
+  if (prefix == nullptr) {
+    return pathWihtoutPrefix;
+  }
   auto resPath = prefix / pathWihtoutPrefix;
   return resPath;
 }