starting file system handler

bsp_q7s/memory/FileSystemHandler.cpp

@@ -15,9 +15,28 @@ FileSystemHandler::~FileSystemHandler() {
 
 ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
     while(true) {
+        try {
+            fileSystemHandlerLoop();
+        }
+        catch(std::bad_alloc& e) {
+            // Restart OBSW, hints at a memory leak
+            sif::error << "Allocation error in FileSystemHandler::performOperation"
+                    << e.what() << std::endl;
+            // TODO: If we trigger an event, it might not get sent because were restarting
+            // Set up an error file or a special flag in the scratch buffer.
+            // TODO: CoreController: Implement function to restart OBC
+        }
+    }
+}
+
+
+void FileSystemHandler::fileSystemHandlerLoop() {
     CommandMessage filemsg;
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     while(true) {
+        if(opCounter % 5 == 0) {
+            fileSystemCheckup();
+        }
         result = mq->receiveMessage(&filemsg);
         if(result == MessageQueueIF::EMPTY) {
             break;
@@ -36,6 +55,7 @@ ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
             break;
         }
         }
+        opCounter++;
     }
 
     // This task will have a low priority and will run permanently in the background
@@ -43,12 +63,60 @@ ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
     // messages permanently
     TaskFactory::instance()->delayTask(1000);
 }
+
+void FileSystemHandler::fileSystemCheckup() {
+    SdCardManager::SdStatusPair statusPair;
+    sdcMan->getSdCardActiveStatus(statusPair);
+    sd::SdCard preferredSdCard;
+    sdcMan->getPreferredSdCard(preferredSdCard);
+    if((preferredSdCard == sd::SdCard::SLOT_0) and
+            (statusPair.first == sd::SdStatus::MOUNTED)) {
+        currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
+    }
+    if((preferredSdCard == sd::SdCard::SLOT_1) and
+            (statusPair.second == sd::SdStatus::MOUNTED)) {
+        currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
+    }
+    else {
+        std::string sdString;
+        if(preferredSdCard == sd::SdCard::SLOT_0) {
+            sdString = "0";
+        }
+        else {
+            sdString = "1";
+        }
+        sif::warning << "FileSystemHandler::performOperation: Inconsistent" <<
+                " state detected. Preferred SD card is " << sdString <<
+                " but does not appear to be mounted. Attempting fix.." << std::endl;
+        // This function will appear to fix the inconsistent state
+        ReturnValue_t result = sdcMan->sanitizeState(&preferredSdCard, &statusPair);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            // Oh no. Trigger medium severity event
+            sif::error << "Fix failed" << std::endl;
+        }
+    }
 }
 
 MessageQueueId_t FileSystemHandler::getCommandQueue() const {
     return mq->getId();
 }
 
+ReturnValue_t FileSystemHandler::initialize() {
+    sdcMan = SdCardManager::instance();
+    sd::SdCard preferredSdCard;
+    ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    if(preferredSdCard == sd::SdCard::SLOT_0) {
+        currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
+    }
+    else if(preferredSdCard == sd::SdCard::SLOT_1) {
+        currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const char *filename,
         const uint8_t *data, size_t size, uint16_t packetNumber, void *args) {
     return HasReturnvaluesIF::RETURN_OK;
@@ -63,3 +131,11 @@ ReturnValue_t FileSystemHandler::deleteFile(const char *repositoryPath, const ch
         void *args) {
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, void *args) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath, void *args) {
+    return HasReturnvaluesIF::RETURN_OK;
+}

bsp_q7s/memory/FileSystemHandler.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
 #define BSP_Q7S_MEMORY_FILESYSTEMHANDLER_H_
 
+#include <bsp_q7s/memory/SdCardManager.h>
 #include "OBSWConfig.h"
 
 #include "fsfw/ipc/MessageQueueIF.h"
@@ -19,6 +20,8 @@ public:
 
     ReturnValue_t performOperation(uint8_t) override;
 
+    ReturnValue_t initialize() override;
+
     /**
      * Function to get the MessageQueueId_t of the implementing object
      * @return MessageQueueId_t of the object
@@ -27,8 +30,13 @@ public:
 
 private:
     MessageQueueIF* mq = nullptr;
-    std::string currentMountPrefix;
+    std::string currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
     static constexpr uint32_t FS_MAX_QUEUE_SIZE = config::OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE;
+    SdCardManager* sdcMan = nullptr;
+    uint8_t opCounter = 0;
+
+    void fileSystemHandlerLoop();
+    void fileSystemCheckup();
 
     ReturnValue_t appendToFile(const char* repositoryPath,
             const char* filename, const uint8_t* data, size_t size,
@@ -38,6 +46,8 @@ private:
             size_t size = 0, void* args = nullptr) override;
     ReturnValue_t deleteFile(const char* repositoryPath,
             const char* filename, void* args = nullptr) override;
+    ReturnValue_t createDirectory(const char* repositoryPath, void* args = nullptr) override;
+    ReturnValue_t removeDirectory(const char* repositoryPath, void* args = nullptr) override;
 };
 
 

bsp_q7s/memory/SdCardManager.cpp

@@ -7,6 +7,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <fstream>
+#include <memory>
 #include <filesystem>
 
 SdCardManager* SdCardManager::factoryInstance = nullptr;
@@ -225,6 +226,28 @@ ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t SdCardManager::sanitizeState(sd::SdCard* prefSdCard, SdStatusPair* statusPair) {
+    if(prefSdCard == nullptr) {
+        prefSdCard = std::make_unique<sd::SdCard>(sd::SdCard::SLOT_0).get();
+        getPreferredSdCard(*prefSdCard);
+    }
+    if(statusPair == nullptr) {
+        statusPair = std::make_unique<SdStatusPair>().get();
+        getSdCardActiveStatus(*statusPair);
+    }
+
+    auto sanitizerFunc = [&](sd::SdCard prefSdCard) {
+        if(statusPair->first == sd::SdStatus::ON) {
+            return mountSdCard(prefSdCard);
+        }
+        else {
+            return switchOnSdCard(prefSdCard, true, statusPair);
+        }
+    };
+
+    return sanitizerFunc(*prefSdCard);
+}
+
 void SdCardManager::processSdStatusLine(std::pair<sd::SdStatus, sd::SdStatus> &active,
         std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
     using namespace std;

bsp_q7s/memory/SdCardManager.h

@@ -132,6 +132,19 @@ public:
      */
     ReturnValue_t unmountSdCard(sd::SdCard sdCard);
 
+    /**
+     * In case that there is a discrepancy between the preferred SD card and the currently
+     * mounted one, this function will sanitize the state by attempting to mount the
+     * currently preferred SD card. If the caller already has state information, it can be
+     * passed into the function.
+     * @param prefSdCard    Preferred SD card captured with #getPreferredSdCard
+     * @param statusPair    Current SD card status capture with #getSdCardActiveStatus
+     * @throws std::bad_alloc if one of the two arguments was a nullptr and an allocation failed
+     * @return
+     */
+    ReturnValue_t sanitizeState(sd::SdCard* prefSdCard = nullptr,
+            SdStatusPair* statusPair = nullptr);
+
 private:
     SdCardManager();
 

fsfw

@@ -1 +1 @@
-Subproject commit eef2fd3b7ac764f06ed5d9a3c97c894d92a515fa
+Subproject commit 323577cdc69ee2d863e6e61cebd71a8aa75c6d2b