CHANGELOG.md

@@ -16,6 +16,8 @@ list yields a list of all related PRs for each release.
 
 - PUS11 TC scheduler
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/259
+- Regular reboot command
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242
 - Commands for individual RTD devices
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
 - `RwAssembly` added to system components. Assembly works in principle,

bsp_q7s/core/CoreController.cpp

@@ -212,8 +212,13 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       rewriteRebootFile(rebootFile);
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (XSC_REBOOT_OBC): {
+      // Warning: This function will never return, because it reboots the system
+      return actionXscReboot(data, size);
+    }
     case (REBOOT_OBC): {
-      return actionPerformReboot(data, size);
+      // Warning: This function will never return, because it reboots the system
+      return actionReboot(data, size);
     }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
@@ -845,25 +850,18 @@ void CoreController::initPrint() {
 #endif
 }
 
-ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) {
+ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
   if (size < 1) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
   bool rebootSameBootCopy = data[0];
-  bool protOpPerformed;
+  bool protOpPerformed = false;
+  SdCardManager::instance()->setBlocking(true);
   if (rebootSameBootCopy) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::actionPerformReboot: Rebooting on current image" << std::endl;
 #endif
-    // Attempt graceful shutdown by unmounting and switching off SD cards
+    gracefulShutdownTasks(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, protOpPerformed);
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
-    // If any boot copies are unprotected
-    ReturnValue_t retval = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-                                                 protOpPerformed, false);
-    if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-      sif::info << "Running slot was writeprotected before reboot" << std::endl;
-    }
     int result = std::system("xsc_boot_copy -r");
     if (result != 0) {
       utility::handleSystemError(result, "CoreController::executeAction");
@@ -885,12 +883,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   auto tgtChip = static_cast<xsc::Chip>(data[1]);
   auto tgtCopy = static_cast<xsc::Copy>(data[2]);
 
-  ReturnValue_t retval =
+  // This function can not really fail
-      setBootCopyProtection(static_cast<xsc::Chip>(data[1]), static_cast<xsc::Copy>(data[2]), true,
+  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
-                            protOpPerformed, false);
-  if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-    sif::info << "Target slot was writeprotected before reboot" << std::endl;
-  }
 
   switch (tgtChip) {
     case (xsc::Chip::CHIP_0): {
@@ -931,6 +925,30 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
+ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
+  bool protOpPerformed = false;
+  gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed);
+  std::system("reboot");
+  return RETURN_OK;
+}
+
+ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
+                                                    bool &protOpPerformed) {
+  sdcMan->setBlocking(true);
+  // Attempt graceful shutdown by unmounting and switching off SD cards
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
+  // If any boot copies are unprotected
+  ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+                                               protOpPerformed, false);
+  if (result == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
+    // TODO: Would be nice to notify operator. But we can't use the filesystem anymore
+    // and a reboot is imminent. Use scratch buffer?
+    sif::info << "Running slot was writeprotected before reboot" << std::endl;
+  }
+  return result;
+}
+
 CoreController::~CoreController() {}
 
 void CoreController::determinePreferredSdCard() {

bsp_q7s/core/CoreController.h

@@ -67,8 +67,11 @@ class CoreController : public ExtendedControllerBase {
   static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
   static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
 
-  static constexpr ActionId_t REBOOT_OBC = 32;
+  //! Reboot using the xsc_boot_copy command
+  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
   static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+  //! Reboot using the reboot command
+  static constexpr ActionId_t REBOOT_OBC = 34;
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
@@ -221,7 +224,10 @@ class CoreController : public ExtendedControllerBase {
 
   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);
+  ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionReboot(const uint8_t* data, size_t size);
+
+  ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   void performWatchdogControlOperation();
 

fsfw

@@ -1 +1 @@
-Subproject commit 24069dfd78a5905b3e327fab3528baacbc913757
+Subproject commit c8355251967009559ea790b63c3ebfc67a27efef

tmtc

@@ -1 +1 @@
-Subproject commit 4b902ce01b444908ae5c0bf47b7eb018bbb10f81
+Subproject commit 6a209e1a0badc0db91a03e1ef32d43de54d58958