Merge branch 'develop' into continue_tcs_tests

CHANGELOG.md

@@ -25,6 +25,9 @@ will consitute of a breaking change warranting a new major release:
 ## Added
 
 - Add a way for the MAX31865 RTD handlers to recognize faulty/broken/off sensor devices.
+- Add parameter interface for core controller
+- Allow setting the preferred SD card via the new parameter interface of the core controller
+  with domain ID 0 and unque ID 0.
 
 # [v1.44.1] 2023-04-12
 

bsp_q7s/core/CoreController.cpp

@@ -40,7 +40,8 @@ CoreController::CoreController(object_id_t objectId, bool enableHkSet)
       cmdRepliesSizes(128),
       opDivider5(5),
       opDivider10(10),
-      hkSet(this) {
+      hkSet(this),
+      paramHelper(this) {
   cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
   try {
     sdcMan = SdCardManager::instance();
@@ -88,6 +89,10 @@ CoreController::CoreController(object_id_t objectId, bool enableHkSet)
 CoreController::~CoreController() {}
 
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
+  ReturnValue_t result = paramHelper.handleParameterMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
   return ExtendedControllerBase::handleCommandMessage(message);
 }
 
@@ -154,6 +159,11 @@ ReturnValue_t CoreController::initialize() {
                  << std::endl;
   }
 
+  result = paramHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
   sdStateMachine();
 
   triggerEvent(core::REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
@@ -2124,7 +2134,38 @@ void CoreController::announceBootCounts() {
                totalBootCount & 0xffffffff);
 }
 
+MessageQueueId_t CoreController::getCommandQueue() const {
+  return ExtendedControllerBase::getCommandQueue();
+}
+
 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();
 }
+
+ReturnValue_t CoreController::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                                           ParameterWrapper *parameterWrapper,
+                                           const ParameterWrapper *newValues,
+                                           uint16_t startAtIndex) {
+  if (domainId != 0) {
+    return HasParametersIF::INVALID_DOMAIN_ID;
+  }
+  if (uniqueIdentifier >= ParamId::NUM_IDS) {
+    return HasParametersIF::INVALID_IDENTIFIER_ID;
+  }
+  uint8_t newPrefSd;
+  ReturnValue_t result = newValues->getElement(&newPrefSd);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  // Only SD card 0 (0) and 1 (1) are allowed values.
+  if (newPrefSd > 1) {
+    return HasParametersIF::INVALID_VALUE;
+  }
+  result = sdcMan->setPreferredSdCard(static_cast<sd::SdCard>(newPrefSd));
+  if (result != returnvalue::OK) {
+    return returnvalue::FAILED;
+  }
+  parameterWrapper->set(prefSdRaw);
+  return returnvalue::OK;
+}

bsp_q7s/core/CoreController.h

@@ -4,6 +4,8 @@
 #include <fsfw/container/DynamicFIFO.h>
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include <fsfw/parameters/ParameterHelper.h>
+#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <libxiphos.h>
 #include <mission/acs/archive/GPSDefinitions.h>
 #include <mission/utility/trace.h>
@@ -48,8 +50,10 @@ struct RebootFile {
   xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
 };
 
-class CoreController : public ExtendedControllerBase {
+class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
+  enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
+
   static xsc::Chip CURRENT_CHIP;
   static xsc::Copy CURRENT_COPY;
 
@@ -152,6 +156,7 @@ class CoreController : public ExtendedControllerBase {
   SdCardManager* sdcMan = nullptr;
   MessageQueueIF* eventQueue = nullptr;
 
+  uint8_t prefSdRaw = sd::SdCard::SLOT_0;
   SdStates sdFsmState = SdStates::START;
   SdStates fsmStateAfterDelay = SdStates::IDLE;
   enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
@@ -216,10 +221,16 @@ class CoreController : public ExtendedControllerBase {
 
   core::HkSet hkSet;
 
+  ParameterHelper paramHelper;
+
 #if OBSW_SD_CARD_MUST_BE_ON == 1
   bool remountAttemptFlag = true;
 #endif
 
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
+                             uint16_t startAtIndex) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;