eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into mueller/split-pdu1-pdu2-sets

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This commit is contained in:
Robin Müller
2022-04-11 08:55:25 +02:00
parent 8f0d0917ab 6a875d5f0b
commit f05922e19e
15 changed files with 938 additions and 752 deletions
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108
bsp_q7s/core/CoreController.cpp
View File

@ -1,6 +1,7 @@
#include "CoreController.h"
#include <fsfw/events/EventManager.h>
#include <fsfw/ipc/QueueFactory.h>
#include "OBSWConfig.h"
#include "OBSWVersion.h"
@ -16,11 +17,13 @@
#include <fcntl.h>
#include <unistd.h>
#include <algorithm>
#include <filesystem>
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/memory/scratchApi.h"
#include "bsp_q7s/xadc/Xadc.h"
#include "linux/utility/utility.h"
xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
@ -50,6 +53,7 @@ CoreController::CoreController(object_id_t objectId)
} catch (const std::filesystem::filesystem_error &e) {
sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
}
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
@ -57,6 +61,16 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
}
void CoreController::performControlOperation() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getEvent()) {
case (GpsHyperion::GPS_FIX_CHANGE): {
gpsFix = static_cast<GpsHyperion::FixMode>(event.getParameter2());
break;
}
}
}
performWatchdogControlOperation();
sdStateMachine();
performMountedSdCardOperations();
@ -79,8 +93,10 @@ LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) {
}
ReturnValue_t CoreController::initialize() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Base init failed" << std::endl;
}
result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Setting up alloc failure "
@ -91,7 +107,23 @@ ReturnValue_t CoreController::initialize() {
sdStateMachine();
triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
return ExtendedControllerBase::initialize();
EventManagerIF *eventManager =
ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (eventManager == nullptr or eventQueue == nullptr) {
sif::warning << "CoreController::initialize: No valid event manager found or "
"queue invalid"
<< std::endl;
}
result = eventManager->registerListener(eventQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Registering as event listener failed" << std::endl;
}
result = eventManager->subscribeToEvent(eventQueue->getId(),
event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
}
return RETURN_OK;
}
ReturnValue_t CoreController::initializeAfterTaskCreation() {
@ -639,8 +671,7 @@ ReturnValue_t CoreController::initVersionFile() {
fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);
std::string systemString = "System: " + unameLine;
std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string versionFilePath = mountPrefix + VERSION_FILE;
std::string versionFilePath = currMntPrefix + VERSION_FILE;
std::fstream versionFile;
if (not std::filesystem::exists(versionFilePath)) {
@ -1198,24 +1229,27 @@ void CoreController::performWatchdogControlOperation() {
}
void CoreController::performMountedSdCardOperations() {
currMntPrefix = sdcMan->getCurrentMountPrefix();
if (doPerformMountedSdCardOps) {
bool sdCardMounted = false;
sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
if (sdCardMounted) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + "/" + CONF_FOLDER;
std::string path = currMntPrefix + "/" + CONF_FOLDER;
if (not std::filesystem::exists(path)) {
std::filesystem::create_directory(path);
}
initVersionFile();
initClockFromTimeFile();
performRebootFileHandling(false);
doPerformMountedSdCardOps = false;
}
}
timeFileHandler();
}
void CoreController::performRebootFileHandling(bool recreateFile) {
using namespace std;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = currMntPrefix + REBOOT_FILE;
if (not std::filesystem::exists(path) or recreateFile) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
@ -1594,7 +1628,7 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
}
void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = currMntPrefix + REBOOT_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
@ -1621,7 +1655,7 @@ void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
}
void CoreController::rewriteRebootFile(RebootFile file) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = currMntPrefix + REBOOT_FILE;
std::ofstream rebootFile(path);
if (rebootFile.is_open()) {
// Initiate reboot file first. Reboot handling will be on on initialization
@ -1657,6 +1691,57 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
rewriteRebootFile(rebootFile);
}
ReturnValue_t CoreController::timeFileHandler() {
if (gpsFix == GpsHyperion::FixMode::FIX_2D or gpsFix == GpsHyperion::FixMode::FIX_3D) {
// It is assumed that the system time is set from the GPS time
timeval currentTime = {};
ReturnValue_t result = Clock::getClock_timeval(&currentTime);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::ofstream timeFile(currMntPrefix + TIME_FILE);
timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
}
return RETURN_OK;
}
ReturnValue_t CoreController::initClockFromTimeFile() {
using namespace GpsHyperion;
using namespace std;
std::string fileName = currMntPrefix + TIME_FILE;
if (std::filesystem::exists(fileName) and
((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
not utility::timeSanityCheck())) {
ifstream timeFile(fileName);
string nextWord;
getline(timeFile, nextWord);
istringstream iss(nextWord);
iss >> nextWord;
if (iss.bad() or nextWord != "UNIX") {
return RETURN_FAILED;
}
iss >> nextWord;
if (iss.bad() or nextWord != "SECONDS:") {
return RETURN_FAILED;
}
iss >> nextWord;
timeval currentTime = {};
char *checkPtr;
currentTime.tv_sec = strtol(nextWord.c_str(), &checkPtr, 10);
if (iss.bad() or *checkPtr) {
return RETURN_FAILED;
}
#if OBSW_VERBOSE_LEVEL >= 1
time_t timeRaw = currentTime.tv_sec;
std::tm *time = std::gmtime(&timeRaw);
sif::info << "Setting system time from time files: " << std::put_time(time, "%c %Z")
<< std::endl;
#endif
return Clock::setClock(&currentTime);
}
return RETURN_OK;
}
void CoreController::readHkData() {
ReturnValue_t result = RETURN_OK;
result = hkSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
@ -1690,3 +1775,8 @@ void CoreController::readHkData() {
return;
}
}
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();
}

10
bsp_q7s/core/CoreController.h
View File

@ -10,6 +10,7 @@
#include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
class Timer;
class SdCardManager;
@ -53,10 +54,12 @@ class CoreController : public ExtendedControllerBase {
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 ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
@ -126,6 +129,7 @@ class CoreController : public ExtendedControllerBase {
// Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
// States for SD state machine, which is used in non-blocking mode
enum class SdStates {
@ -151,6 +155,7 @@ class CoreController : public ExtendedControllerBase {
static constexpr bool BLOCKING_SD_INIT = false;
SdCardManager* sdcMan = nullptr;
MessageQueueIF* eventQueue = nullptr;
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
@ -173,6 +178,7 @@ class CoreController : public ExtendedControllerBase {
sd::SdState commandedState = sd::SdState::OFF;
} sdInfo;
RebootFile rebootFile = {};
std::string currMntPrefix;
bool doPerformMountedSdCardOps = true;
/**
@ -192,6 +198,9 @@ class CoreController : public ExtendedControllerBase {
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
void performMountedSdCardOperations();
ReturnValue_t initVersionFile();
ReturnValue_t initClockFromTimeFile();
ReturnValue_t timeFileHandler();
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
ReturnValue_t initSdCardBlocking();
@ -226,6 +235,7 @@ class CoreController : public ExtendedControllerBase {
bool parseRebootFile(std::string path, RebootFile& file);
void rewriteRebootFile(RebootFile file);
void readHkData();
bool isNumber(const std::string& s);
};
#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */