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OBSW Update Commands #302

Merged
meierj merged 42 commits from mueller/obsw-update-cmds into develop 2022-09-29 13:24:17 +02:00
Conversation 0 Commits 42 Files Changed 88 +226 -248
11 changed files with 226 additions and 248 deletions
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Showing only changes of commit 90962c9f8e - Show all commits

10
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -16,16 +16,6 @@
/** Other flags */
/*******************************************************************/
#define Q7S_SD_NONE 0
#define Q7S_SD_COLD_REDUNDANT 1
#define Q7S_SD_HOT_REDUNDANT 2
// The OBSW will perform different actions to set up the SD cards depending on the flag set here
// Set to Q7S_SD_NONE: Don't do anything
// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and
// turn off the second SD card if it is on
// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them
#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
// Probably better if this is disabled for mission code. Convenient for development
#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1

387
bsp_q7s/core/CoreController.cpp
View File

@ -62,6 +62,8 @@ CoreController::CoreController(object_id_t objectId)
eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
}
CoreController::~CoreController() {}
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
@ -141,8 +143,8 @@ ReturnValue_t CoreController::initialize() {
ReturnValue_t CoreController::initializeAfterTaskCreation() {
ReturnValue_t result = returnvalue::OK;
sdInfo.pref = sdcMan->getPreferredSdCard();
sdcMan->setActiveSdCard(sdInfo.pref);
sdInfo.active = sdcMan->getPreferredSdCard();
sdcMan->setActiveSdCard(sdInfo.active);
currMntPrefix = sdcMan->getCurrentMountPrefix();
if (BLOCKING_SD_INIT) {
ReturnValue_t result = initSdCardBlocking();
@ -209,6 +211,33 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
case (OBSW_UPDATE_FROM_TMP): {
return executeSwUpdate(SwUpdateSources::TMP_DIR, data, size);
}
case (SWITCH_TO_SD_0): {
if (not startSdStateMachine(sd::SdCard::SLOT_0, SdCfgMode::COLD_REDUNDANT)) {
return HasActionsIF::IS_BUSY;
}
return returnvalue::OK;
}
case (SWITCH_TO_SD_1): {
if (not startSdStateMachine(sd::SdCard::SLOT_1, SdCfgMode::COLD_REDUNDANT)) {
return HasActionsIF::IS_BUSY;
}
return returnvalue::OK;
}
case (SWITCH_TO_BOTH_SD_CARDS): {
// An active SD still needs to be specified because the system needs to know which SD
// card to use for regular operations like telemetry storage.
if (size != 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
if (data[0] != 0 and data[1] != 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
auto active = static_cast<sd::SdCard>(data[0]);
if (not startSdStateMachine(active, SdCfgMode::HOT_REDUNDANT)) {
return HasActionsIF::IS_BUSY;
}
return returnvalue::OK;
}
case (SWITCH_IMG_LOCK): {
if (size != 3) {
return HasActionsIF::INVALID_PARAMETERS;
@ -256,60 +285,59 @@ ReturnValue_t CoreController::initSdCardBlocking() {
if (result != returnvalue::OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sif::info << "No SD card initialization will be performed" << std::endl;
return returnvalue::OK;
#else
if (sdInfo.cfgMode == SdCfgMode::PASSIVE) {
sif::info << "No SD card initialization will be performed" << std::endl;
return returnvalue::OK;
}
result = sdcMan->getSdCardsStatus(sdInfo.currentState);
if (result != returnvalue::OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
updateSdInfoOther();
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.pref) << std::endl;
result = sdColdRedundantBlockingInit();
// Update status file
sdcMan->updateSdCardStateFile();
return result;
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
sif::info << "Hot redundant SD card configuration" << std::endl;
sdCardSetup(sd::SdCard::SLOT_0, sd::SdState::MOUNTED, "0", false);
sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
// Update status file
sdcMan->updateSdCardStateFile();
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
updateSdInfoOther();
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.active) << std::endl;
result = sdColdRedundantBlockingInit();
// Update status file
sdcMan->updateSdCardStateFile();
return result;
}
if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
sif::info << "Hot redundant SD card configuration" << std::endl;
sdCardSetup(sd::SdCard::SLOT_0, sd::SdState::MOUNTED, "0", false);
sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
// Update status file
sdcMan->updateSdCardStateFile();
}
return returnvalue::OK;
#endif
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}
ReturnValue_t CoreController::sdStateMachine() {
ReturnValue_t result = returnvalue::OK;
SdCardManager::Operations operation;
if (sdInfo.state == SdStates::IDLE) {
if (sdFsmState == SdStates::IDLE) {
// Nothing to do
return result;
}
if (sdInfo.state == SdStates::START) {
if (sdFsmState == SdStates::START) {
// Init will be performed by separate function
if (BLOCKING_SD_INIT) {
sdInfo.state = SdStates::IDLE;
sdFsmState = SdStates::IDLE;
sdInfo.initFinished = true;
return result;
} else {
// Still update SD state file
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sdInfo.state = SdStates::UPDATE_INFO;
#else
sdInfo.cycleCount = 0;
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::GET_INFO;
#endif
if (sdInfo.cfgMode == SdCfgMode::PASSIVE) {
sdFsmState = SdStates::UPDATE_INFO;
} else {
sdInfo.cycleCount = 0;
sdInfo.commandExecuted = false;
sdFsmState = SdStates::GET_INFO;
}
}
}
@ -319,7 +347,7 @@ ReturnValue_t CoreController::sdStateMachine() {
std::string opPrintout) {
SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
if (status == SdCardManager::OpStatus::SUCCESS) {
sdInfo.state = newStateOnSuccess;
sdFsmState = newStateOnSuccess;
sdInfo.commandExecuted = false;
sdInfo.cycleCount = 0;
return true;
@ -331,9 +359,9 @@ ReturnValue_t CoreController::sdStateMachine() {
return false;
};
if (sdInfo.state == SdStates::GET_INFO) {
if (sdFsmState == SdStates::GET_INFO) {
if (not sdInfo.commandExecuted) {
// Create update status file
// Create updated status file
result = sdcMan->updateSdCardStateFile();
if (result != returnvalue::OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
@ -345,139 +373,141 @@ ReturnValue_t CoreController::sdStateMachine() {
}
}
if (sdInfo.state == SdStates::SET_STATE_SELF) {
if (sdFsmState == SdStates::SET_STATE_SELF) {
if (not sdInfo.commandExecuted) {
result = sdcMan->getSdCardsStatus(sdInfo.currentState);
sdInfo.pref = sdcMan->getPreferredSdCard();
updateSdInfoOther();
if (sdInfo.pref != sd::SdCard::SLOT_0 and sdInfo.pref != sd::SdCard::SLOT_1) {
if (sdInfo.active != sd::SdCard::SLOT_0 and sdInfo.active != sd::SdCard::SLOT_1) {
sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
sdInfo.pref = sd::SdCard::SLOT_0;
sdInfo.active = sd::SdCard::SLOT_0;
}
if (result != returnvalue::OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.pref) << std::endl;
#endif
if (sdInfo.prefState == sd::SdState::MOUNTED) {
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
sif::info << "Cold redundant SD card configuration, preferred SD card: "
<< static_cast<int>(sdInfo.active) << std::endl;
}
if (sdInfo.activeState == sd::SdState::MOUNTED) {
#if OBSW_VERBOSE_LEVEL >= 1
std::string mountString;
if (sdInfo.pref == sd::SdCard::SLOT_0) {
if (sdInfo.active == sd::SdCard::SLOT_0) {
mountString = config::SD_0_MOUNT_POINT;
} else {
mountString = config::SD_1_MOUNT_POINT;
}
sif::info << "SD card " << sdInfo.prefChar << " already on and mounted at " << mountString
sif::info << "SD card " << sdInfo.activeChar << " already on and mounted at " << mountString
<< std::endl;
#endif
sdInfo.state = SdStates::DETERMINE_OTHER;
} else if (sdInfo.prefState == sd::SdState::OFF) {
sdCardSetup(sdInfo.pref, sd::SdState::ON, sdInfo.prefChar, false);
sdcMan->setActiveSdCard(sdInfo.active);
sdFsmState = SdStates::DETERMINE_OTHER;
} else if (sdInfo.activeState == sd::SdState::OFF) {
sdCardSetup(sdInfo.active, sd::SdState::ON, sdInfo.activeChar, false);
sdInfo.commandExecuted = true;
} else if (sdInfo.prefState == sd::SdState::ON) {
sdInfo.state = SdStates::MOUNT_SELF;
} else if (sdInfo.activeState == sd::SdState::ON) {
sdFsmState = SdStates::MOUNT_SELF;
}
} else {
if (nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
sdInfo.prefState = sd::SdState::ON;
currentStateSetter(sdInfo.pref, sd::SdState::ON);
sdInfo.activeState = sd::SdState::ON;
currentStateSetter(sdInfo.active, sd::SdState::ON);
}
}
}
if (sdInfo.state == SdStates::MOUNT_SELF) {
if (sdFsmState == SdStates::MOUNT_SELF) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
sdInfo.prefState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
sdcMan->setActiveSdCard(sdInfo.active);
sdInfo.activeState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.active, sd::SdState::MOUNTED);
}
}
}
if (sdInfo.state == SdStates::DETERMINE_OTHER) {
if (sdFsmState == SdStates::DETERMINE_OTHER) {
// Determine whether any additional operations have to be done for the other SD card
// 1. Cold redundant case: Other SD card needs to be unmounted and switched off
// 2. Hot redundant case: Other SD card needs to be mounted and switched on
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
if (sdInfo.otherState == sd::SdState::ON) {
sdInfo.state = SdStates::SET_STATE_OTHER;
} else if (sdInfo.otherState == sd::SdState::MOUNTED) {
sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
} else {
// Is already off, update info, but with a small delay
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
if (sdInfo.otherState == sd::SdState::ON) {
sdFsmState = SdStates::SET_STATE_OTHER;
} else if (sdInfo.otherState == sd::SdState::MOUNTED) {
sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
} else {
// Is already off, update info, but with a small delay
sdFsmState = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
}
} else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
if (sdInfo.otherState == sd::SdState::OFF) {
sdFsmState = SdStates::SET_STATE_OTHER;
} else if (sdInfo.otherState == sd::SdState::ON) {
sdFsmState = SdStates::MOUNT_UNMOUNT_OTHER;
} else {
// Is already on and mounted, update info
sdFsmState = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
}
}
#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
if (sdInfo.otherState == sd::SdState::OFF) {
sdInfo.state = SdStates::SET_STATE_OTHER;
} else if (sdInfo.otherState == sd::SdState::ON) {
sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
} else {
// Is already on and mounted, update info
sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
}
#endif
}
if (sdInfo.state == SdStates::SET_STATE_OTHER) {
if (sdFsmState == SdStates::SET_STATE_OTHER) {
// Set state of other SD card to ON or OFF, depending on redundancy mode
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
} else {
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);
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
} else {
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);
}
}
} else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
"Switching on 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::ON, sdInfo.otherChar, false);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10, "Switching on other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
}
}
#endif
}
if (sdInfo.state == SdStates::MOUNT_UNMOUNT_OTHER) {
if (sdFsmState == SdStates::MOUNT_UNMOUNT_OTHER) {
// Mount or unmount other SD card, depending on redundancy mode
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
sdInfo.otherState = sd::SdState::ON;
currentStateSetter(sdInfo.other, sd::SdState::ON);
}
}
} else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
if (not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
sdInfo.commandExecuted = true;
} else {
if (nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
sdInfo.otherState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
}
}
}
#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 {
if (nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
sdInfo.otherState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
}
}
#endif
}
if (sdInfo.state == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
sdInfo.state = SdStates::UPDATE_INFO;
} else if (sdInfo.state == SdStates::UPDATE_INFO) {
if (sdFsmState == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
sdFsmState = SdStates::UPDATE_INFO;
} else if (sdFsmState == SdStates::UPDATE_INFO) {
// It is assumed that all tasks are running by the point this section is reached.
// Therefore, perform this operation in blocking mode because it does not take long
// and the ready state of the SD card is available sooner
@ -488,10 +518,15 @@ ReturnValue_t CoreController::sdStateMachine() {
sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
}
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::IDLE;
sdFsmState = SdStates::IDLE;
sdInfo.cycleCount = 0;
sdcMan->setBlocking(false);
sdcMan->getSdCardsStatus(sdInfo.currentState);
if (sdCommandingInfo.cmdPending) {
sdCommandingInfo.cmdPending = false;
actionHelper.finish(true, sdCommandingInfo.commander, sdCommandingInfo.actionId,
returnvalue::OK);
}
if (not sdInfo.initFinished) {
updateSdInfoOther();
sdInfo.initFinished = true;
@ -499,81 +534,10 @@ ReturnValue_t CoreController::sdStateMachine() {
}
}
if (sdInfo.state == SdStates::SET_STATE_FROM_COMMAND) {
if (not sdInfo.commandExecuted) {
executeNextExternalSdCommand();
} else {
checkExternalSdCommandStatus();
}
}
sdInfo.cycleCount++;
return returnvalue::OK;
}
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;
@ -645,12 +609,12 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
ReturnValue_t result = returnvalue::OK;
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
if (result != SdCardManager::ALREADY_MOUNTED and result != returnvalue::OK) {
sif::warning << "Setting up preferred card " << sdInfo.otherChar
<< " in cold redundant mode failed" << std::endl;
// Try other SD card and mark set up operation as failed
sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
result = returnvalue::FAILED;
}
@ -967,21 +931,19 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
return result;
}
CoreController::~CoreController() {}
void CoreController::updateSdInfoOther() {
if (sdInfo.pref == sd::SdCard::SLOT_0) {
sdInfo.prefChar = "0";
if (sdInfo.active == sd::SdCard::SLOT_0) {
sdInfo.activeChar = "0";
sdInfo.otherChar = "1";
sdInfo.otherState = sdInfo.currentState.second;
sdInfo.prefState = sdInfo.currentState.first;
sdInfo.activeState = sdInfo.currentState.first;
sdInfo.other = sd::SdCard::SLOT_1;
} else if (sdInfo.pref == sd::SdCard::SLOT_1) {
sdInfo.prefChar = "1";
} else if (sdInfo.active == sd::SdCard::SLOT_1) {
sdInfo.activeChar = "1";
sdInfo.otherChar = "0";
sdInfo.otherState = sdInfo.currentState.first;
sdInfo.prefState = sdInfo.currentState.second;
sdInfo.activeState = sdInfo.currentState.second;
sdInfo.other = sd::SdCard::SLOT_0;
} else {
sif::warning << "CoreController::updateSdInfoOther: Invalid SD card passed" << std::endl;
@ -1254,7 +1216,7 @@ void CoreController::performWatchdogControlOperation() {
void CoreController::performMountedSdCardOperations() {
auto mountedSdCardOp = [&](bool &mntSwitch, sd::SdCard sdCard, std::string mntPoint) {
if (mntSwitch) {
bool sdCardMounted = sdcMan->isSdCardMounted(sdCard);
bool sdCardMounted = sdcMan->isSdCardUsable(sdCard);
if (sdCardMounted and not performOneShotSdCardOpsSwitch) {
std::ostringstream path;
path << mntPoint << "/" << CONF_FOLDER;
@ -1269,7 +1231,7 @@ void CoreController::performMountedSdCardOperations() {
mntSwitch = false;
}
};
if (sdInfo.pref == sd::SdCard::SLOT_1) {
if (sdInfo.active == sd::SdCard::SLOT_1) {
mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, config::SD_1_MOUNT_POINT);
mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, config::SD_0_MOUNT_POINT);
} else {
@ -1283,13 +1245,15 @@ ReturnValue_t CoreController::performSdCardCheck() {
bool mountedReadOnly = false;
SdCardManager::SdStatePair active;
sdcMan->getSdCardsStatus(active);
if (sdFsmState != SdStates::IDLE) {
return returnvalue::OK;
}
auto sdCardCheck = [&](sd::SdCard sdCard) {
ReturnValue_t result = sdcMan->isSdCardMountedReadOnly(sdCard, mountedReadOnly);
if (result != returnvalue::OK) {
sif::error << "CoreController::performSdCardCheck: Could not check "
"read-only mount state"
<< std::endl;
mountedReadOnly = true;
}
if (mountedReadOnly) {
int linuxErrno = 0;
@ -1986,6 +1950,17 @@ ReturnValue_t CoreController::executeSwUpdate(SwUpdateSources sourceDir, const u
return HasActionsIF::EXECUTION_FINISHED;
}
bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode) {
if (sdFsmState != SdStates::IDLE or sdCommandingInfo.cmdPending) {
return false;
}
sdFsmState = SdStates::START;
sdInfo.active = targetActiveSd;
sdInfo.cfgMode = mode;
sdCommandingInfo.cmdPending = true;
return true;
}
bool CoreController::isNumber(const std::string &s) {
return !s.empty() && std::find_if(s.begin(), s.end(),
[](unsigned char c) { return !std::isdigit(c); }) == s.end();

35
bsp_q7s/core/CoreController.h
View File

@ -79,6 +79,10 @@ class CoreController : public ExtendedControllerBase {
static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
//! Reboot using the xsc_boot_copy command
static constexpr ActionId_t XSC_REBOOT_OBC = 32;
static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
@ -164,9 +168,7 @@ class CoreController : public ExtendedControllerBase {
SKIP_CYCLE_BEFORE_INFO_UPDATE,
UPDATE_INFO,
// SD initialization done
IDLE,
// Used if SD switches or mount commands are issued via telecommand
SET_STATE_FROM_COMMAND,
IDLE
};
enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
@ -176,27 +178,31 @@ class CoreController : public ExtendedControllerBase {
SdCardManager* sdcMan = nullptr;
MessageQueueIF* eventQueue = nullptr;
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
SdStates sdFsmState = SdStates::START;
enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
struct SdFsmParams {
SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
sd::SdCard active = sd::SdCard::NONE;
sd::SdCard other = sd::SdCard::NONE;
sd::SdState prefState = sd::SdState::OFF;
sd::SdState activeState = sd::SdState::OFF;
sd::SdState otherState = sd::SdState::OFF;
std::string prefChar = "0";
std::string activeChar = "0";
std::string otherChar = "1";
std::pair<bool, bool> mountSwitch = {true, true};
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;
} sdInfo;
struct SdCommanding {
bool cmdPending = false;
MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t actionId;
} sdCommandingInfo;
RebootFile rebootFile = {};
std::string currMntPrefix;
bool performOneShotSdCardOpsSwitch = true;
@ -227,6 +233,7 @@ class CoreController : public ExtendedControllerBase {
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
ReturnValue_t initSdCardBlocking();
bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode);
void initPrint();
ReturnValue_t sdStateMachine();

4
bsp_q7s/fs/FilesystemHelper.cpp
View File

@ -16,13 +16,13 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
return returnvalue::FAILED;
}
if (path.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
sif::warning << "FilesystemHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (path.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
std::string(config::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}

9
bsp_q7s/fs/SdCardManager.cpp
View File

@ -213,6 +213,9 @@ ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
while (std::getline(sdStatus, line)) {
processSdStatusLine(active, line, idx, currentSd);
}
if (active.first != sd::SdState::MOUNTED && active.second != sd::SdState::MOUNTED) {
sdCardActive = false;
}
return returnvalue::OK;
}
@ -466,7 +469,7 @@ void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
bool SdCardManager::isSdCardUsable(sd::SdCard sdCard) {
SdCardManager::SdStatePair active;
ReturnValue_t result = this->getSdCardsStatus(active);
@ -496,8 +499,10 @@ ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& re
std::ostringstream command;
if (sdcard == sd::SdCard::SLOT_0) {
command << "grep -q '" << config::SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
} else {
} else if (sdcard == sd::SdCard::SLOT_1) {
command << "grep -q '" << config::SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
} else {
return returnvalue::FAILED;
}
ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
if (result != returnvalue::OK) {

3
bsp_q7s/fs/SdCardManager.h
View File

@ -206,7 +206,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
*
* @return true if mounted, otherwise false
*/
bool isSdCardMounted(sd::SdCard sdCard) override;
bool isSdCardUsable(sd::SdCard sdCard) override;
ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
@ -218,6 +218,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
CommandExecutor cmdExecutor;
Operations currentOp = Operations::IDLE;
bool blocking = false;
bool sdCardActive = true;
bool printCmdOutput = true;
MutexIF* mutex = nullptr;

4
linux/devices/startracker/StrHelper.cpp
View File

@ -543,13 +543,13 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
#ifdef XIPHOS_Q7S
ReturnValue_t StrHelper::checkPath(std::string name) {
if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (name.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
std::string(config::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}

2
mission/devices/PayloadPcduHandler.cpp
View File

@ -492,7 +492,7 @@ void PayloadPcduHandler::checkAdcValues() {
void PayloadPcduHandler::checkJsonFileInit() {
if (not jsonFileInitComplete) {
sd::SdCard activeSd = sdcMan->getActiveSdCard();
if (sdcMan->isSdCardMounted(activeSd)) {
if (sdcMan->isSdCardUsable(activeSd)) {
params.initialize(sdcMan->getCurrentMountPrefix());
jsonFileInitComplete = true;
}

2
mission/memory/SdCardMountedIF.h
View File

@ -9,7 +9,7 @@ class SdCardMountedIF {
public:
virtual ~SdCardMountedIF(){};
virtual std::string getCurrentMountPrefix() const = 0;
virtual bool isSdCardMounted(sd::SdCard sdCard) = 0;
virtual bool isSdCardUsable(sd::SdCard sdCard) = 0;
virtual sd::SdCard getPreferredSdCard() const = 0;
virtual void setActiveSdCard(sd::SdCard sdCard) = 0;
virtual sd::SdCard getActiveSdCard() const = 0;

12
unittest/rebootLogic/src/CoreController.cpp
View File

@ -21,7 +21,7 @@ CoreController::CoreController() {
void CoreController::performRebootFileHandling(bool recreateFile) {
using namespace std;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
if (not std::filesystem::exists(path) or recreateFile) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
@ -400,7 +400,7 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
}
void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
@ -427,7 +427,7 @@ void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
}
void CoreController::rewriteRebootFile(RebootFile file) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
std::ofstream rebootFile(path);
if (rebootFile.is_open()) {
// Initiate reboot file first. Reboot handling will be on on initialization
@ -450,7 +450,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
if (size < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
if (data[0] == 0) {
@ -490,7 +490,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
if (size < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
rebootFile.maxCount = data[0];
@ -504,7 +504,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
}
void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
if (tgtChip == xsc::CHIP_0) {

6
unittest/rebootLogic/src/CoreController.h
View File

@ -66,9 +66,9 @@ class CoreController {
void rewriteRebootFile(RebootFile file);
private:
struct SdInfo {
sd::SdCard pref = sd::SdCard::NONE;
sd::SdState prefState = sd::SdState::OFF;
struct SdFsmParams {
sd::SdCard active = sd::SdCard::NONE;
sd::SdState activeState = sd::SdState::OFF;
sd::SdCard other = sd::SdCard::NONE;
sd::SdState otherState = sd::SdState::OFF;
} sdInfo;