152 lines
4.8 KiB
C++
152 lines
4.8 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 "bsp_q7s/core/WatchdogHandler.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/acs/defs.h"
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#include "mission/com/defs.h"
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#include "mission/system/systemTree.h"
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#include "q7sConfig.h"
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#include "watchdog/definitions.h"
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static constexpr 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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WatchdogHandler WATCHDOG_HANDLER;
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int obsw::obsw(int argc, char* argv[]) {
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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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std::error_code e;
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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, e)) {
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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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// Delay the boot if applicable.
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bootDelayHandling();
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bool initWatchFunction = false;
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std::string fullExecPath = argv[0];
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if (fullExecPath.find("/usr/bin") != std::string::npos) {
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initWatchFunction = true;
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}
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ReturnValue_t result = WATCHDOG_HANDLER.initialize(initWatchFunction);
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if (result != returnvalue::OK) {
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std::cerr << "Initiating EIVE watchdog handler failed" << std::endl;
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}
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scheduling::initMission();
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// Command the EIVE system to safe mode
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#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
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// This ensures that the PCDU switches were updated.
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TaskFactory::delayTask(1000);
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commandComSubsystemRxOnly();
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commandEiveSystemToSafe();
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#else
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announceAllModes();
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#endif
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for (;;) {
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WATCHDOG_HANDLER.periodicOperation();
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TaskFactory::delayTask(2000);
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}
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return 0;
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}
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void obsw::bootDelayHandling() {
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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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std::error_code e;
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// Init delay handling.
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if (std::filesystem::exists(bootDelayFile, e)) {
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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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}
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void obsw::commandEiveSystemToSafe() {
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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 << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
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}
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}
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void obsw::commandComSubsystemRxOnly() {
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auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
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if (comSs == nullptr) {
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sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
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return;
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}
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CommandMessage msg;
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ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
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ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
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MessageQueueIF::NO_QUEUE, false);
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if (result != returnvalue::OK) {
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sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
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}
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}
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void obsw::announceAllModes() {
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auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
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CommandMessage msg;
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ModeMessage::setModeAnnounceMessage(msg, true);
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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 << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
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}
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}
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