95 lines
2.9 KiB
C++
95 lines
2.9 KiB
C++
#include "obsw.h"
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#include <pwd.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <filesystem>
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#include <fstream>
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#include <iostream>
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#include "OBSWConfig.h"
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#include "commonConfig.h"
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#include "core/scheduling.h"
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#include "fsfw/tasks/TaskFactory.h"
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#include "fsfw/version.h"
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#include "mission/acsDefs.h"
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#include "mission/system/tree/system.h"
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#include "q7sConfig.h"
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#include "watchdog/definitions.h"
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static int OBSW_ALREADY_RUNNING = -2;
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#if OBSW_Q7S_EM == 0
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static const char* DEV_STRING = "Xiphos Q7S FM";
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#else
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static const char* DEV_STRING = "Xiphos Q7S EM";
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#endif
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int obsw::obsw() {
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using namespace fsfw;
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std::cout << "-- EIVE OBSW --" << std::endl;
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std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
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std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
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<< std::endl;
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std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
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#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
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// Check special file here. This file is created or deleted by the eive-watchdog application
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// or systemd service!
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if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
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sif::warning << "File " << watchdog::RUNNING_FILE_NAME
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<< " exists so the software might "
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"already be running. Check if obsw systemd service has been stopped."
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<< std::endl;
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return OBSW_ALREADY_RUNNING;
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}
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#endif
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const char* homedir = nullptr;
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homedir = getenv("HOME");
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if (homedir == nullptr) {
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homedir = getpwuid(getuid())->pw_dir;
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}
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std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
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// Init delay handling.
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if (std::filesystem::exists(bootDelayFile)) {
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std::ifstream ifile(bootDelayFile);
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std::string lineStr;
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unsigned int bootDelaySecs = 0;
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unsigned int line = 0;
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// Try to reas delay seconds from file.
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while (std::getline(ifile, lineStr)) {
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std::istringstream iss(lineStr);
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if (!(iss >> bootDelaySecs)) {
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break;
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}
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line++;
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}
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if (line == 0) {
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// If the file is empty, assume default of 6 seconds
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bootDelaySecs = 6;
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}
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std::cout << "Delaying OBSW start for " << bootDelaySecs << " seconds" << std::endl;
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TaskFactory::delayTask(bootDelaySecs * 1000);
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}
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scheduling::initMission();
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#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
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// Command the EIVE system to safe mode
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auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
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CommandMessage msg;
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ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
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ReturnValue_t result =
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MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
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if (result != returnvalue::OK) {
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sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
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}
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#endif
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for (;;) {
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/* Suspend main thread by sleeping it. */
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TaskFactory::delayTask(5000);
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}
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return 0;
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}
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