extneded state machine for commanding support
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1c0ea5cbb1
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f50b9de4a5
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@ -135,13 +135,27 @@ ReturnValue_t CoreController::initSdCardBlocking() {
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}
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ReturnValue_t CoreController::sdStateMachine() {
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
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sif::info << "No SD card initialization will be performed" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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#else
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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SdCardManager::Operations operation;
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if(sdInfo.state == SdStates::IDLE) {
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// Nothing to do
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return result;
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}
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if(sdInfo.state == SdStates::START) {
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
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sif::info << "No SD card initialization will be performed" << std::endl;
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sdInfo.state == SdStates::IDLE;
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sdInfo.initFinished = true;
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#else
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sdInfo.cycleCount = 0;
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sdInfo.commandExecuted = false;
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sdInfo.state = SdStates::GET_INFO;
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}
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// This lambda checks the non-blocking operation and assigns the new state on success.
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// It returns true for an operation success and false otherwise
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auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess,
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uint16_t maxCycleCount, std::string opPrintout) {
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SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
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@ -149,28 +163,16 @@ ReturnValue_t CoreController::sdStateMachine() {
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sdInfo.state = newStateOnSuccess;
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sdInfo.commandExecuted = false;
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sdInfo.cycleCount = 0;
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return true;
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}
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else if(sdInfo.cycleCount > 4) {
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sif::warning << "CoreController::sdInitStateMachine: " << opPrintout <<
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" takes too long" << std::endl;
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return false;
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}
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return false;
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};
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auto currentStateSetter = [&](sd::SdCard sdCard, sd::SdState newState) {
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if(sdCard == sd::SdCard::SLOT_0) {
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sdInfo.currentState.first = newState;
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}
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else {
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sdInfo.currentState.second = newState;
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}
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};
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if(sdInfo.state == SdStates::START) {
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sdInfo.cycleCount = 0;
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sdInfo.commandExecuted = false;
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sdInfo.state = SdStates::GET_INFO;
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}
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if(sdInfo.state == SdStates::GET_INFO) {
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if(not sdInfo.commandExecuted) {
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// Create update status file
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@ -222,9 +224,10 @@ ReturnValue_t CoreController::sdStateMachine() {
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sdInfo.commandExecuted = true;
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}
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else {
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nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card");
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sdInfo.prefState = sd::SdState::MOUNTED;
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currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
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if(nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
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sdInfo.prefState = sd::SdState::MOUNTED;
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currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
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}
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}
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}
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@ -265,10 +268,11 @@ ReturnValue_t CoreController::sdStateMachine() {
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sdInfo.commandExecuted = true;
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}
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else {
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nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
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"Switching off other SD card");
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sdInfo.otherState = sd::SdState::OFF;
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currentStateSetter(sdInfo.other, sd::SdState::OFF);
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if(nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
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"Switching off other SD card")) {
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sdInfo.otherState = sd::SdState::OFF;
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currentStateSetter(sdInfo.other, sd::SdState::OFF);
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}
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}
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#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
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if(not sdInfo.commandExecuted) {
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@ -282,7 +286,6 @@ ReturnValue_t CoreController::sdStateMachine() {
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currentStateSetter(sdInfo.other, sd::SdState::ON);
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}
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#endif
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}
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if(sdInfo.state == SdStates::MOUNT_UNMOUNT_OTHER) {
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@ -293,9 +296,10 @@ ReturnValue_t CoreController::sdStateMachine() {
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sdInfo.commandExecuted = true;
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}
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else {
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nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card");
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sdInfo.otherState = sd::SdState::ON;
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currentStateSetter(sdInfo.other, sd::SdState::ON);
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if(nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
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sdInfo.otherState = sd::SdState::ON;
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currentStateSetter(sdInfo.other, sd::SdState::ON);
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}
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}
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#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
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if(not sdInfo.commandExecuted) {
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@ -303,9 +307,10 @@ ReturnValue_t CoreController::sdStateMachine() {
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sdInfo.commandExecuted = true;
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}
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else {
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nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card");
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sdInfo.otherState = sd::SdState::MOUNTED;
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currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
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if(nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
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sdInfo.otherState = sd::SdState::MOUNTED;
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currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
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}
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}
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#endif
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}
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@ -325,7 +330,7 @@ ReturnValue_t CoreController::sdStateMachine() {
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<< std::endl;
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}
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sdInfo.commandExecuted = false;
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sdInfo.state = SdStates::DONE;
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sdInfo.state = SdStates::IDLE;
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sdInfo.cycleCount = 0;
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sdcMan->setBlocking(false);
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sdcMan->getSdCardActiveStatus(sdInfo.currentState);
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@ -336,11 +341,100 @@ ReturnValue_t CoreController::sdStateMachine() {
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}
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}
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if(sdInfo.state == SdStates::SET_STATE_FROM_COMMAND) {
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if(not sdInfo.commandExecuted) {
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executeNextExternalSdCommand();
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}
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else {
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checkExternalSdCommandStatus();
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}
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}
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sdInfo.cycleCount++;
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return HasReturnvaluesIF::RETURN_OK;
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#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
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}
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void CoreController::executeNextExternalSdCommand() {
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std::string sdChar;
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sd::SdState currentStateOfCard = sd::SdState::OFF;
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if(sdInfo.commandedCard == sd::SdCard::SLOT_0) {
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sdChar = "0";
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currentStateOfCard = sdInfo.currentState.first;
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}
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else {
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sdChar = "1";
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currentStateOfCard = sdInfo.currentState.second;
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}
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if(currentStateOfCard == sd::SdState::OFF) {
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if(sdInfo.commandedState == sd::SdState::ON) {
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sdInfo.currentlyCommandedState = sdInfo.commandedState;
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}
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else if(sdInfo.commandedState == sd::SdState::MOUNTED) {
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sdInfo.currentlyCommandedState = sd::SdState::ON;
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}
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else {
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// SD card is already on target state
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sdInfo.commandFinished = true;
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sdInfo.state = SdStates::IDLE;
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}
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}
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else if(currentStateOfCard == sd::SdState::ON) {
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if(sdInfo.commandedState == sd::SdState::OFF or
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sdInfo.commandedState == sd::SdState::MOUNTED) {
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sdInfo.currentlyCommandedState = sdInfo.commandedState;
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}
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else {
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// Already on target state
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sdInfo.commandFinished = true;
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sdInfo.state = SdStates::IDLE;
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}
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}
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else if(currentStateOfCard == sd::SdState::MOUNTED) {
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if(sdInfo.commandedState == sd::SdState::ON) {
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sdInfo.currentlyCommandedState = sdInfo.commandedState;
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}
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else if(sdInfo.commandedState == sd::SdState::OFF) {
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// This causes an unmount in sdCardSetup
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sdInfo.currentlyCommandedState = sd::SdState::ON;
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}
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else {
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sdInfo.commandFinished = true;
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}
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}
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sdCardSetup(sdInfo.commandedCard, sdInfo.commandedState, sdChar);
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sdInfo.commandExecuted = true;
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}
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void CoreController::checkExternalSdCommandStatus() {
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SdCardManager::Operations operation;
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SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
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if(status == SdCardManager::OpStatus::SUCCESS) {
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if(sdInfo.currentlyCommandedState == sdInfo.commandedState) {
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sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
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sdInfo.commandFinished = true;
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}
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else {
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// stay on same state machine state because the target state was not reached yet.
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sdInfo.cycleCount = 0;
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}
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currentStateSetter(sdInfo.commandedCard, sdInfo.currentlyCommandedState);
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sdInfo.commandExecuted = false;
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}
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else if(sdInfo.cycleCount > 4) {
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sif::warning << "CoreController::sdStateMachine: Commanding SD state "
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"takes too long" << std::endl;
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}
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}
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void CoreController::currentStateSetter(sd::SdCard sdCard, sd::SdState newState) {
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if(sdCard == sd::SdCard::SLOT_0) {
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sdInfo.currentState.first = newState;
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}
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else {
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sdInfo.currentState.second = newState;
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}
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}
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ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetState,
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std::string sdChar, bool printOutput) {
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@ -610,6 +704,7 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
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if(RFlag) {
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oss << "R";
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}
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oss << " " << repoName << " > " << targetFileName;
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int result = std::system(oss.str().c_str());
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if(result != 0) {
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@ -77,12 +77,9 @@ private:
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SKIP_CYCLE_BEFORE_INFO_UPDATE,
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UPDATE_INFO,
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// SD initialization done
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DONE,
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IDLE,
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// Used if SD switches or mount commands are issued via telecommand
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SET_STATE_FROM_COMMAND,
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MOUNT_FROM_COMMAND,
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UNMOUNT_FROM_COMMAND,
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};
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static constexpr bool BLOCKING_SD_INIT = false;
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@ -99,10 +96,15 @@ private:
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std::string prefChar = "0";
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std::string otherChar = "1";
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SdStates state = SdStates::START;
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// Used to track whether a command was executed
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bool commandExecuted = true;
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bool initFinished = false;
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SdCardManager::SdStatePair currentState;
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uint16_t cycleCount = 0;
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// These two flags are related to external commanding
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bool commandIssued = false;
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bool commandFinished = false;
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sd::SdState currentlyCommandedState = sd::SdState::OFF;
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sd::SdCard commandedCard = sd::SdCard::NONE;
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sd::SdState commandedState = sd::SdState::OFF;
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};
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@ -113,7 +115,10 @@ private:
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ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
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bool printOutput = true);
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ReturnValue_t sdColdRedundantBlockingInit();
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void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
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void determinePreferredSdCard();
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void executeNextExternalSdCommand();
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void checkExternalSdCommandStatus();
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ReturnValue_t initVersionFile();
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ReturnValue_t initBootCopy();
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