bsp_q7s/core/CoreController.cpp

@@ -16,7 +16,6 @@
 
 #include <fcntl.h>
 #include <unistd.h>
-#include <libxiphos.h>
 
 #include <filesystem>
 
@@ -60,6 +59,7 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 void CoreController::performControlOperation() {
   performWatchdogControlOperation();
   sdStateMachine();
+  performRebootFileHandling(false);
 }
 
 ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@@ -794,41 +794,41 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
     sif::info << "Target slot was writeprotected before reboot" << std::endl;
   }
 
-  switch(tgtChip) {
-  case(Chip::CHIP_0): {
-    switch(tgtCopy) {
-    case(Copy::COPY_0): {
-      xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
+  switch (tgtChip) {
+    case (Chip::CHIP_0): {
+      switch (tgtCopy) {
+        case (Copy::COPY_0): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
+          break;
+        }
+        case (Copy::COPY_1): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
+          break;
+        }
+        default: {
+          break;
+        }
+      }
       break;
     }
-    case(Copy::COPY_1): {
-      xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
+    case (Chip::CHIP_1): {
+      switch (tgtCopy) {
+        case (Copy::COPY_0): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
+          break;
+        }
+        case (Copy::COPY_1): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
+          break;
+        }
+        default: {
+          break;
+        }
+      }
       break;
     }
-    default: {
+    default:
       break;
-    }
-    }
-    break;
-  }
-  case(Chip::CHIP_1): {
-    switch(tgtCopy) {
-    case(Copy::COPY_0): {
-      xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
-      break;
-    }
-    case(Copy::COPY_1): {
-      xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
-      break;
-    }
-    default: {
-      break;
-    }
-    }
-    break;
-  }
-  default:
-    break;
   }
   return HasReturnvaluesIF::RETURN_FAILED;
 }
@@ -1136,9 +1136,178 @@ void CoreController::performWatchdogControlOperation() {
   }
 }
 
-void CoreController::performRebootFileHandling() {
-  if(doPerformRebootFileHandling and sdcMan->isSdCardMounted(sdInfo.pref)) {
-    auto mntPrefix = std::filesystem::path(sdcMan->getCurrentMountPrefix(sdInfo.pref));
+void CoreController::performRebootFileHandling(bool recreateFile) {
+  bool sdCardMounted = false;
+  if (not recreateFile and doPerformRebootFileHandling) {
+    sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
+  }
+  if ((doPerformRebootFileHandling and sdCardMounted) or recreateFile) {
+    using namespace std;
+    if (recreateFile) {
+#if OBSW_VERBOSE_LEVEL >= 1
+      sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
+#endif
+    }
+    std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+    if (not std::filesystem::exists(path) or recreateFile) {
+      std::ofstream rebootFile(path);
+      if (rebootFile.is_open()) {
+        // Initiate reboot file first. Reboot handling will be on on initialization
+        rebootFile << "on: 1\nmaxcnt: " << static_cast<int>(DEFAULT_MAX_BOOT_CNT)
+                   << "\nimg00: 0\nimg01: 0\nimg10: 0\nimg11: 0\n";
+      }
+    }
+    xsc_libnor_chip_t chip;
+    xsc_libnor_copy_t copy;
+    xsc_boot_get_chip_copy(&chip, &copy);
+    std::string selfMatch;
+    if (chip == XSC_LIBNOR_CHIP_0) {
+      if (copy == XSC_LIBNOR_COPY_NOMINAL) {
+        selfMatch = "00";
+      } else {
+        selfMatch = "01";
+      }
+    } else {
+      if (copy == XSC_LIBNOR_COPY_NOMINAL) {
+        selfMatch = "10";
+      } else {
+        selfMatch = "11";
+      }
+    }
+    uint8_t relevantBootCnt = 0;
+    bool on = true;
+    size_t maxCnt = DEFAULT_MAX_BOOT_CNT;
+    uint8_t bootCnt00 = 0;
+    uint8_t bootCnt01 = 0;
+    uint8_t bootCnt10 = 0;
+    uint8_t bootCnt11 = 0;
+    ifstream file(path);
+    string word;
+
+    string line;
+    uint8_t lineIdx = 0;
+    while (std::getline(file, line)) {
+      istringstream iss(line);
+      switch (lineIdx) {
+        case 0: {
+          iss >> word;
+          if (word.find("on:") == string::npos) {
+            // invalid file
+            performRebootFileHandling(true);
+            return;
+          }
+          iss >> on;
+          break;
+        }
+        case 1: {
+          iss >> word;
+          if (word.find("maxcnt:") == string::npos) {
+            performRebootFileHandling(true);
+            return;
+          }
+          iss >> maxCnt;
+          break;
+        }
+        case 2: {
+          iss >> word;
+          if (word.find("img00:") == string::npos) {
+            performRebootFileHandling(true);
+            return;
+          }
+          iss >> bootCnt00;
+          if (word.find(selfMatch) != string::npos) {
+            relevantBootCnt = bootCnt00;
+          }
+          break;
+        }
+        case 3: {
+          iss >> word;
+          if (word.find("img01:") == string::npos) {
+            performRebootFileHandling(true);
+            return;
+          }
+          iss >> bootCnt01;
+          if (word.find(selfMatch) != string::npos) {
+            relevantBootCnt = bootCnt01;
+          }
+          break;
+        }
+        case 4: {
+          iss >> word;
+          if (word.find("img10:") == string::npos) {
+            performRebootFileHandling(true);
+            return;
+          }
+          iss >> bootCnt10;
+          if (word.find(selfMatch) != string::npos) {
+            relevantBootCnt = bootCnt10;
+          }
+          break;
+        }
+        case 5: {
+          iss >> word;
+          if (word.find("img11:") == string::npos) {
+            performRebootFileHandling(true);
+            return;
+          }
+          iss >> bootCnt11;
+          if (word.find(selfMatch) != string::npos) {
+            relevantBootCnt = bootCnt11;
+          }
+          break;
+        }
+      }
+      lineIdx++;
+    }
+    if (relevantBootCnt > maxCnt) {
+      // Reboot to other image
+      determineAndExecuteReboot(copy, chip, bootCnt00, bootCnt01, bootCnt10, bootCnt11, maxCnt);
+    }
     doPerformRebootFileHandling = false;
   }
 }
+
+void CoreController::determineAndExecuteReboot(xsc_libnor_copy_t copy, xsc_libnor_chip_t chip,
+                                          uint8_t cnt00, uint8_t cnt01, uint8_t cnt10,
+                                          uint8_t cnt11, uint8_t maxCnt) {
+  xsc_libnor_chip_t tgtChip = XSC_LIBNOR_CHIP_0;
+  xsc_libnor_copy_t  tgtCopy = XSC_LIBNOR_COPY_NOMINAL;
+  if((copy == XSC_LIBNOR_COPY_GOLD) and (chip == XSC_LIBNOR_CHIP_1) and (cnt11 >= maxCnt)) {
+    if(cnt10 >= maxCnt) {
+      if(cnt00 >= maxCnt) {
+        if(cnt01 >= maxCnt) {
+          // Reboot to fallback image
+        } else {
+          tgtChip = XSC_LIBNOR_CHIP_0;
+          tgtCopy = XSC_LIBNOR_COPY_GOLD;
+        }
+      } else {
+        tgtChip = XSC_LIBNOR_CHIP_0;
+        tgtCopy = XSC_LIBNOR_COPY_NOMINAL;
+      }
+    } else {
+      tgtChip = XSC_LIBNOR_CHIP_1;
+      tgtCopy = XSC_LIBNOR_COPY_NOMINAL;
+    }
+  }
+  if((copy == XSC_LIBNOR_COPY_NOMINAL) and (chip == XSC_LIBNOR_CHIP_0) and (cnt00 >= maxCnt)) {
+    if(cnt01 >= maxCnt) {
+      if(cnt10 >= maxCnt) {
+        if(cnt11 >= maxCnt) {
+           // Can't really do much here. Stay on image
+          sif::warning << "All reboot counts too high, but already on fallback image" << std::endl;
+          return;
+        } else {
+          tgtChip = XSC_LIBNOR_CHIP_1;
+          tgtCopy = XSC_LIBNOR_COPY_NOMINAL;
+        }
+      } else {
+        tgtChip = XSC_LIBNOR_CHIP_1;
+        tgtCopy = XSC_LIBNOR_COPY_GOLD;
+      }
+    } else {
+      tgtCopy = XSC_LIBNOR_COPY_GOLD;
+    }
+  }
+  xsc_boot_copy(tgtChip, tgtCopy);
+}

bsp_q7s/core/CoreController.h

@@ -1,12 +1,15 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
-#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
+
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include "fsfw/controller/ExtendedControllerBase.h"
 
+#include <cstddef>
+#include <libxiphos.h>
+
 class Timer;
 class SdCardManager;
 
@@ -20,6 +23,9 @@ class CoreController : public ExtendedControllerBase {
   static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
   static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
   static constexpr char VERSION_FILE[] = "/conf/version.txt";
+  static constexpr char REBOOT_FILE[] = "/conf/reboot.txt";
+
+  static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
   static constexpr ActionId_t REBOOT_OBC = 32;
@@ -153,7 +159,7 @@ class CoreController : public ExtendedControllerBase {
   void determinePreferredSdCard();
   void executeNextExternalSdCommand();
   void checkExternalSdCommandStatus();
-  void performRebootFileHandling();
+  void performRebootFileHandling(bool recreateFile);
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
@@ -165,6 +171,8 @@ class CoreController : public ExtendedControllerBase {
   int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
                                 bool& protOperationPerformed, bool selfChip, bool selfCopy,
                                 bool allChips, bool allCopies, uint8_t arrIdx);
+  void determineAndExecuteReboot(xsc_libnor_copy_t copy, xsc_libnor_chip_t chip, uint8_t cnt00,
+                            uint8_t cnt01, uint8_t cnt10, uint8_t cnt11, uint8_t maxCnt);
 };
 
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

bsp_q7s/memory/SdCardManager.cpp

@@ -7,6 +7,7 @@
 #include <fstream>
 #include <memory>
 
+#include "common/config/commonObjects.h"
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "linux/utility/utility.h"
@@ -14,7 +15,7 @@
 
 SdCardManager* SdCardManager::factoryInstance = nullptr;
 
-SdCardManager::SdCardManager() : cmdExecutor(256) {}
+SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {}
 
 SdCardManager::~SdCardManager() {}
 

bsp_q7s/memory/SdCardManager.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
 #define BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_
 
+#include <fsfw/objectmanager/SystemObject.h>
 #include <poll.h>
 
 #include <array>
@@ -22,7 +23,7 @@ class MutexIF;
  * @brief   Manages handling of SD cards like switching them on or off or getting the current
  *          state
  */
-class SdCardManager {
+class SdCardManager : public SystemObject {
   friend class SdCardAccess;
 
  public:
@@ -54,6 +55,7 @@ class SdCardManager {
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FILE_SYSTEM;
 
   static constexpr Event SANITIZATION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
+  static constexpr Event MOUNTED_SD_CARD = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 
   // C++17 does not support constexpr std::string yet
   static constexpr char SD_0_DEV_NAME[] = "/dev/mmcblk0p1";

common/config/commonObjects.h

@@ -11,6 +11,7 @@ enum commonObjects: uint32_t {
     TMTC_BRIDGE = 0x50000300,
     TMTC_POLLING_TASK = 0x50000400,
     FILE_SYSTEM_HANDLER = 0x50000500,
+    SDC_MANAGER = 0x50000550,
     PTME = 0x50000600,
     PDEC_HANDLER = 0x50000700,
     CCSDS_HANDLER = 0x50000800,

mission/devices/SusHandler.cpp

@@ -214,7 +214,8 @@ void SusHandler::setToGoToNormalMode(bool enable) { this->goToNormalModeImmediat
 void SusHandler::printDataset() {
   if (periodicPrintout) {
     if (divider.checkAndIncrement()) {
-      sif::info << "SUS ADC " << static_cast<int>(susIdx) << " hex [" << std::setfill('0') << std::hex;
+      sif::info << "SUS ADC " << static_cast<int>(susIdx) << " hex [" << std::setfill('0')
+                << std::hex;
       for (uint8_t idx = 0; idx < 6; idx++) {
         sif::info << std::setw(3) << dataset.channels[idx];
         if (idx < 6 - 1) {

unittest/CMakeLists.txt

@@ -1,5 +0,0 @@
-add_subdirectory(testcfg)
-
-target_sources(${TARGET_NAME} PRIVATE
-    main.cpp
-)

unittest/rebootLogic/.gitignore

@@ -0,0 +1 @@
+/build

unittest/rebootLogic/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.0.0)
+project(reboot-logic VERSION 0.1.0)
+
+include(CTest)
+enable_testing()
+
+add_executable(reboot-logic main.cpp)
+
+set(CPACK_PROJECT_NAME ${PROJECT_NAME})
+set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+include(CPack)

unittest/rebootLogic/main.cpp

@@ -0,0 +1,5 @@
+#include <iostream>
+
+int main(int, char**) {
+    std::cout << "Hello, world!\n";
+}