From f8f0032d1e50b41b43c8e1bae70f96e42e6d4def Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 3 Aug 2021 11:18:24 +0200
Subject: [PATCH] reboot feature finished

---
 bsp_q7s/core/CoreController.cpp | 30 ++++++++++++++++++++++++++++--
 bsp_q7s/core/CoreController.h   |  3 ++-
 2 files changed, 30 insertions(+), 3 deletions(-)

diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 72171c65..69c234f5 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -159,8 +159,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
         return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
     }
     case(REBOOT_OBC): {
-        return HasReturnvaluesIF::RETURN_OK;
-        break;
+        return actionPerformReboot(data, size);
     }
     default: {
         return HasActionsIF::INVALID_ACTION_ID;
@@ -457,6 +456,33 @@ void CoreController::initPrint() {
 #endif
 }
 
+ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) {
+    if(size < 1) {
+        return HasActionsIF::INVALID_PARAMETERS;
+    }
+    bool rebootSameBootCopy = data[0];
+    if(rebootSameBootCopy) {
+        int result = std::system("xsc_boot_copy -r");
+        if(result != 0) {
+            utility::handleSystemError(result, "CoreController::executeAction");
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return HasActionsIF::EXECUTION_FINISHED;
+    }
+    if(size < 3) {
+        return HasActionsIF::INVALID_PARAMETERS;
+    }
+    // The second byte in data is the target chip, the third byte is the target copy
+    std::string cmdString = "xsc_boot_copy " + std::to_string(data[1]) +
+            std::to_string(data[2]);
+    int result = std::system(cmdString.c_str());
+    if(result != 0) {
+        utility::handleSystemError(result, "CoreController::executeAction");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasActionsIF::EXECUTION_FINISHED;
+}
+
 void CoreController::performWatchdogControlOperation() {
     // Only perform each fifth iteration
     if(watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
diff --git a/bsp_q7s/core/CoreController.h b/bsp_q7s/core/CoreController.h
index 92b22dd4..4a71e6e7 100644
--- a/bsp_q7s/core/CoreController.h
+++ b/bsp_q7s/core/CoreController.h
@@ -24,7 +24,7 @@ public:
     };
 
     static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-    static constexpr ActionId_t REBOOT_OBC = 1;
+    static constexpr ActionId_t REBOOT_OBC = 32;
 
     static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
@@ -68,6 +68,7 @@ private:
 
     ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
             const uint8_t *data, size_t size);
+    ReturnValue_t actionPerformReboot(const uint8_t *data, size_t size);
 
     void initPrint();