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extneded state machine for commanding support
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This commit is contained in:
Robin Müller 2021-08-08 01:24:18 +02:00
parent 1c0ea5cbb1
commit f50b9de4a5
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GPG Key ID: 11D4952C8CCEF814
2 changed files with 138 additions and 38 deletions
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147
bsp_q7s/core/CoreController.cpp
View File

@ -135,13 +135,27 @@ ReturnValue_t CoreController::initSdCardBlocking() {
}
ReturnValue_t CoreController::sdStateMachine() {
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sif::info << "No SD card initialization will be performed" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
#else
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
SdCardManager::Operations operation;
if(sdInfo.state == SdStates::IDLE) {
// Nothing to do
return result;
}
if(sdInfo.state == SdStates::START) {
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sif::info << "No SD card initialization will be performed" << std::endl;
sdInfo.state == SdStates::IDLE;
sdInfo.initFinished = true;
#else
sdInfo.cycleCount = 0;
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::GET_INFO;
}
// This lambda checks the non-blocking operation and assigns the new state on success.
// It returns true for an operation success and false otherwise
auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess,
uint16_t maxCycleCount, std::string opPrintout) {
SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
@ -149,28 +163,16 @@ ReturnValue_t CoreController::sdStateMachine() {
sdInfo.state = newStateOnSuccess;
sdInfo.commandExecuted = false;
sdInfo.cycleCount = 0;
return true;
}
else if(sdInfo.cycleCount > 4) {
sif::warning << "CoreController::sdInitStateMachine: " << opPrintout <<
" takes too long" << std::endl;
return false;
}
return false;
};
auto currentStateSetter = [&](sd::SdCard sdCard, sd::SdState newState) {
if(sdCard == sd::SdCard::SLOT_0) {
sdInfo.currentState.first = newState;
}
else {
sdInfo.currentState.second = newState;
}
};
if(sdInfo.state == SdStates::START) {
sdInfo.cycleCount = 0;
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::GET_INFO;
}
if(sdInfo.state == SdStates::GET_INFO) {
if(not sdInfo.commandExecuted) {
// Create update status file
@ -222,11 +224,12 @@ ReturnValue_t CoreController::sdStateMachine() {
sdInfo.commandExecuted = true;
}
else {
nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card");
if(nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
sdInfo.prefState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
}
}
}
if(sdInfo.state == SdStates::DETERMINE_OTHER) {
// Determine whether any additional operations have to be done for the other SD card
@ -265,11 +268,12 @@ ReturnValue_t CoreController::sdStateMachine() {
sdInfo.commandExecuted = true;
}
else {
nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
"Switching off other SD card");
if(nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
"Switching off other SD card")) {
sdInfo.otherState = sd::SdState::OFF;
currentStateSetter(sdInfo.other, sd::SdState::OFF);
}
}
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
if(not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
@ -282,7 +286,6 @@ ReturnValue_t CoreController::sdStateMachine() {
currentStateSetter(sdInfo.other, sd::SdState::ON);
}
#endif
}
if(sdInfo.state == SdStates::MOUNT_UNMOUNT_OTHER) {
@ -293,20 +296,22 @@ ReturnValue_t CoreController::sdStateMachine() {
sdInfo.commandExecuted = true;
}
else {
nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card");
if(nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
}
}
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
if(not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
sdInfo.commandExecuted = true;
}
else {
nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card");
if(nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
sdInfo.otherState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
}
}
#endif
}
@ -325,7 +330,7 @@ ReturnValue_t CoreController::sdStateMachine() {
<< std::endl;
}
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::DONE;
sdInfo.state = SdStates::IDLE;
sdInfo.cycleCount = 0;
sdcMan->setBlocking(false);
sdcMan->getSdCardActiveStatus(sdInfo.currentState);
@ -336,11 +341,100 @@ ReturnValue_t CoreController::sdStateMachine() {
}
}
if(sdInfo.state == SdStates::SET_STATE_FROM_COMMAND) {
if(not sdInfo.commandExecuted) {
executeNextExternalSdCommand();
}
else {
checkExternalSdCommandStatus();
}
}
sdInfo.cycleCount++;
return HasReturnvaluesIF::RETURN_OK;
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}
void CoreController::executeNextExternalSdCommand() {
std::string sdChar;
sd::SdState currentStateOfCard = sd::SdState::OFF;
if(sdInfo.commandedCard == sd::SdCard::SLOT_0) {
sdChar = "0";
currentStateOfCard = sdInfo.currentState.first;
}
else {
sdChar = "1";
currentStateOfCard = sdInfo.currentState.second;
}
if(currentStateOfCard == sd::SdState::OFF) {
if(sdInfo.commandedState == sd::SdState::ON) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
}
else if(sdInfo.commandedState == sd::SdState::MOUNTED) {
sdInfo.currentlyCommandedState = sd::SdState::ON;
}
else {
// SD card is already on target state
sdInfo.commandFinished = true;
sdInfo.state = SdStates::IDLE;
}
}
else if(currentStateOfCard == sd::SdState::ON) {
if(sdInfo.commandedState == sd::SdState::OFF or
sdInfo.commandedState == sd::SdState::MOUNTED) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
}
else {
// Already on target state
sdInfo.commandFinished = true;
sdInfo.state = SdStates::IDLE;
}
}
else if(currentStateOfCard == sd::SdState::MOUNTED) {
if(sdInfo.commandedState == sd::SdState::ON) {
sdInfo.currentlyCommandedState = sdInfo.commandedState;
}
else if(sdInfo.commandedState == sd::SdState::OFF) {
// This causes an unmount in sdCardSetup
sdInfo.currentlyCommandedState = sd::SdState::ON;
}
else {
sdInfo.commandFinished = true;
}
}
sdCardSetup(sdInfo.commandedCard, sdInfo.commandedState, sdChar);
sdInfo.commandExecuted = true;
}
void CoreController::checkExternalSdCommandStatus() {
SdCardManager::Operations operation;
SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
if(status == SdCardManager::OpStatus::SUCCESS) {
if(sdInfo.currentlyCommandedState == sdInfo.commandedState) {
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
sdInfo.commandFinished = true;
}
else {
// stay on same state machine state because the target state was not reached yet.
sdInfo.cycleCount = 0;
}
currentStateSetter(sdInfo.commandedCard, sdInfo.currentlyCommandedState);
sdInfo.commandExecuted = false;
}
else if(sdInfo.cycleCount > 4) {
sif::warning << "CoreController::sdStateMachine: Commanding SD state "
"takes too long" << std::endl;
}
}
void CoreController::currentStateSetter(sd::SdCard sdCard, sd::SdState newState) {
if(sdCard == sd::SdCard::SLOT_0) {
sdInfo.currentState.first = newState;
}
else {
sdInfo.currentState.second = newState;
}
}
ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetState,
std::string sdChar, bool printOutput) {
@ -610,6 +704,7 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
if(RFlag) {
oss << "R";
}
oss << " " << repoName << " > " << targetFileName;
int result = std::system(oss.str().c_str());
if(result != 0) {

13
bsp_q7s/core/CoreController.h
View File

@ -77,12 +77,9 @@ private:
SKIP_CYCLE_BEFORE_INFO_UPDATE,
UPDATE_INFO,
// SD initialization done
DONE,
IDLE,
// Used if SD switches or mount commands are issued via telecommand
SET_STATE_FROM_COMMAND,
MOUNT_FROM_COMMAND,
UNMOUNT_FROM_COMMAND,
};
static constexpr bool BLOCKING_SD_INIT = false;
@ -99,10 +96,15 @@ private:
std::string prefChar = "0";
std::string otherChar = "1";
SdStates state = SdStates::START;
// Used to track whether a command was executed
bool commandExecuted = true;
bool initFinished = false;
SdCardManager::SdStatePair currentState;
uint16_t cycleCount = 0;
// These two flags are related to external commanding
bool commandIssued = false;
bool commandFinished = false;
sd::SdState currentlyCommandedState = sd::SdState::OFF;
sd::SdCard commandedCard = sd::SdCard::NONE;
sd::SdState commandedState = sd::SdState::OFF;
};
@ -113,7 +115,10 @@ private:
ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
bool printOutput = true);
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void determinePreferredSdCard();
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
ReturnValue_t initVersionFile();
ReturnValue_t initBootCopy();