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eive-obsw/bsp_q7s/core/CoreController.cpp
Robin Mueller cf355a0451
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2021-08-11 16:29:11 +02:00

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#include "CoreController.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "watchdogConf.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/timemanager/Stopwatch.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/osal/linux/Timer.h"
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
#include "fsfw/osal/common/TcpTmTcServer.h"
#endif
#include "bsp_q7s/memory/scratchApi.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
CoreController::Chip CoreController::currentChip = Chip::NO_CHIP;
CoreController::Copy CoreController::currentCopy = Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId):
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
opDivider(5) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
try {
result = initWatchdogFifo();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" <<
std::endl;
}
sdcMan = SdCardManager::instance();
if(sdcMan == nullptr) {
sif::error << "CoreController::CoreController: SD card manager invalid!" << std::endl;
}
if(not BLOCKING_SD_INIT) {
sdcMan->setBlocking(false);
}
sdStateMachine();
result = initBootCopy();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
}
}
catch(const std::filesystem::filesystem_error& e) {
sif::error << "CoreController::CoreController: Failed with exception " <<
e.what() << std::endl;
}
}
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
return ExtendedControllerBase::handleCommandMessage(message);
}
void CoreController::performControlOperation() {
performWatchdogControlOperation();
sdStateMachine();
}
ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t CoreController::initialize() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Setting up alloc failure "
"count failed" << std::endl;
}
sdStateMachine();
return ExtendedControllerBase::initialize();
}
ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::initSdCardBlocking() {
// Create update status file
ReturnValue_t result = sdcMan->updateSdCardStateFile();
if(result != HasReturnvaluesIF::RETURN_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 HasReturnvaluesIF::RETURN_OK;
#else
result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "Getting SD card activity status failed" << std::endl;
}
#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
determinePreferredSdCard();
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();
return HasReturnvaluesIF::RETURN_OK;
#endif
#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
}
ReturnValue_t CoreController::sdStateMachine() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
SdCardManager::Operations operation;
if(sdInfo.state == SdStates::IDLE) {
// Nothing to do
return result;
}
if(sdInfo.state == SdStates::START) {
// Init will be performed by separate function
if(BLOCKING_SD_INIT) {
sdInfo.state = 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
}
}
// This lambda checks the non-blocking operation and assigns the new state on success.
// It returns true for an operation success and false otherwise
auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess,
uint16_t maxCycleCount, std::string opPrintout) {
SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
if(status == SdCardManager::OpStatus::SUCCESS) {
sdInfo.state = newStateOnSuccess;
sdInfo.commandExecuted = false;
sdInfo.cycleCount = 0;
return true;
}
else if(sdInfo.cycleCount > 4) {
sif::warning << "CoreController::sdInitStateMachine: " << opPrintout <<
" takes too long" << std::endl;
return false;
}
return false;
};
if(sdInfo.state == SdStates::GET_INFO) {
if(not sdInfo.commandExecuted) {
// Create update status file
result = sdcMan->updateSdCardStateFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
<< std::endl;
}
sdInfo.commandExecuted = true;
}
else {
nonBlockingOpChecking(SdStates::SET_STATE_SELF, 4, "Updating SDC file");
}
}
if(sdInfo.state == SdStates::SET_STATE_SELF) {
if(not sdInfo.commandExecuted) {
result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
determinePreferredSdCard();
updateSdInfoOther();
if(sdInfo.pref != sd::SdCard::SLOT_0 and sdInfo.pref != sd::SdCard::SLOT_1) {
sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
sdInfo.pref = sd::SdCard::SLOT_0;
}
if(result != HasReturnvaluesIF::RETURN_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 OBSW_VERBOSE_LEVEL >= 1
std::string mountString;
if(sdInfo.pref == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
sif::info << "SD card " << sdInfo.prefChar << " 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);
sdInfo.commandExecuted = true;
}
else if(sdInfo.prefState == sd::SdState::ON) {
sdInfo.state = SdStates::MOUNT_SELF;
}
}
else {
if(nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
sdInfo.prefState = sd::SdState::ON;
currentStateSetter(sdInfo.pref, sd::SdState::ON);
}
}
}
if(sdInfo.state == SdStates::MOUNT_SELF) {
if(not sdInfo.commandExecuted) {
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
sdInfo.commandExecuted = true;
}
else {
if(nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
sdInfo.prefState = sd::SdState::MOUNTED;
currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
}
}
}
if(sdInfo.state == 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;
}
#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) {
// 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);
}
}
#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) {
// 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);
}
}
#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) {
// 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
sdcMan->setBlocking(true);
// Update status file
result = sdcMan->updateSdCardStateFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Updating SD card state file failed"
<< std::endl;
}
sdInfo.commandExecuted = false;
sdInfo.state = SdStates::IDLE;
sdInfo.cycleCount = 0;
sdcMan->setBlocking(false);
sdcMan->getSdCardActiveStatus(sdInfo.currentState);
if(not sdInfo.initFinished) {
updateSdInfoOther();
sdInfo.initFinished = true;
sif::info << "SD card initialization finished" << std::endl;
}
}
if(sdInfo.state == SdStates::SET_STATE_FROM_COMMAND) {
if(not sdInfo.commandExecuted) {
executeNextExternalSdCommand();
}
else {
checkExternalSdCommandStatus();
}
}
sdInfo.cycleCount++;
return HasReturnvaluesIF::RETURN_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;
}
else {
sdInfo.currentState.second = newState;
}
}
ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetState,
std::string sdChar, bool printOutput) {
std::string mountString;
sdcMan->setPrintCommandOutput(printOutput);
if(sdCard == sd::SdCard::SLOT_0) {
mountString = SdCardManager::SD_0_MOUNT_POINT;
}
else {
mountString = SdCardManager::SD_1_MOUNT_POINT;
}
sd::SdState state = sd::SdState::OFF;
if(sdCard == sd::SdCard::SLOT_0) {
state = sdInfo.currentState.first;
}
else {
state = sdInfo.currentState.second;
}
if(state == sd::SdState::MOUNTED) {
if(targetState == sd::SdState::OFF) {
sif::info << "Switching off SD card " << sdChar << std::endl;
return sdcMan->switchOffSdCard(sdCard, true, &sdInfo.currentState);
}
else if(targetState == sd::SdState::ON) {
sif::info << "Unmounting SD card " << sdChar << std::endl;
return sdcMan->unmountSdCard(sdCard);
}
else {
if(std::filesystem::exists(mountString)) {
sif::info << "SD card " << sdChar << " already on and mounted at " <<
mountString << std::endl;
return SdCardManager::ALREADY_MOUNTED;
}
sif::error << "SD card mounted but expected mount point " <<
mountString << " not found!" << std::endl;
return SdCardManager::MOUNT_ERROR;
}
}
if(state == sd::SdState::OFF) {
if(targetState == sd::SdState::MOUNTED) {
sif::info << "Switching on and mounting SD card " << sdChar << " at " <<
mountString << std::endl;
return sdcMan->switchOnSdCard(sdCard, true, &sdInfo.currentState);
}
else if(targetState == sd::SdState::ON) {
sif::info << "Switching on SD card " << sdChar << std::endl;
return sdcMan->switchOnSdCard(sdCard, false, &sdInfo.currentState);
}
}
else if(state == sd::SdState::ON) {
if(targetState == sd::SdState::MOUNTED) {
sif::info << "Mounting SD card " << sdChar << " at " << mountString << std::endl;
return sdcMan->mountSdCard(sdCard);
}
else if(targetState == sd::SdState::OFF) {
sif::info << "Switching off SD card " << sdChar << std::endl;
return sdcMan->switchOffSdCard(sdCard, false, &sdInfo.currentState);
}
}
else {
sif::warning << "CoreController::sdCardSetup: Invalid state for this call" << std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch(actionId) {
case(LIST_DIRECTORY_INTO_FILE): {
return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
}
case(REBOOT_OBC): {
return actionPerformReboot(data, size);
}
default: {
return HasActionsIF::INVALID_ACTION_ID;
}
}
}
ReturnValue_t CoreController::initializeAfterTaskCreation() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(BLOCKING_SD_INIT) {
ReturnValue_t result = initSdCardBlocking();
if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_MOUNTED) {
sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
}
}
sdStateMachine();
result = initVersionFile();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
}
initPrint();
return result;
}
ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_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);
result = HasReturnvaluesIF::RETURN_FAILED;
}
if(result != HasReturnvaluesIF::RETURN_FAILED and sdInfo.otherState != sd::SdState::OFF) {
sif::info << "Switching off secondary SD card " << sdInfo.otherChar << std::endl;
// Switch off other SD card in cold redundant mode if setting up preferred one worked
// without issues
ReturnValue_t result2 = sdcMan->switchOffSdCard(sdInfo.other,
sdInfo.otherState, &sdInfo.currentState);
if(result2 != HasReturnvaluesIF::RETURN_OK and result2 != SdCardManager::ALREADY_OFF) {
sif::warning << "Switching off secondary SD card " << sdInfo.otherChar <<
" in cold redundant mode failed" << std::endl;
}
}
return result;
}
ReturnValue_t CoreController::incrementAllocationFailureCount() {
uint32_t count = 0;
ReturnValue_t result = scratch::readNumber(scratch::ALLOC_FAILURE_COUNT, count);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
count++;
return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
}
ReturnValue_t CoreController::initVersionFile() {
std::string unameFileName = "/tmp/uname_version.txt";
// TODO: No -v flag for now. If the kernel version is used, need to cut off first few letters
std::string unameCmd = "uname -mnrso > " + unameFileName;
int result = std::system(unameCmd.c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::versionFileInit");
}
std::ifstream unameFile(unameFileName);
std::string unameLine;
if(not std::getline(unameFile, unameLine)) {
sif::warning << "CoreController::versionFileInit: Retrieving uname line failed"
<< std::endl;
}
std::string fullObswVersionString = "OBSW: v" + std::to_string(SW_VERSION) + "." +
std::to_string(SW_SUBVERSION) + "." + std::to_string(SW_REVISION);
std::string fullFsfwVersionString = "FSFW: v" + std::to_string(FSFW_VERSION) + "." +
std::to_string(FSFW_SUBVERSION) + "." + std::to_string(FSFW_REVISION);
std::string systemString = "System: " + unameLine;
std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
std::string versionFilePath = mountPrefix + "/conf/version.txt";
std::fstream versionFile;
if(not std::filesystem::exists(versionFilePath)) {
sif::info << "Writing version file " << versionFilePath << ".." << std::endl;
versionFile.open(versionFilePath, std::ios_base::out);
versionFile << fullObswVersionString << std::endl;
versionFile << fullFsfwVersionString << std::endl;
versionFile << systemString << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
// Check whether any version has changed
bool createNewFile = false;
versionFile.open(versionFilePath);
std::string currentVersionString;
uint8_t idx = 0;
while(std::getline(versionFile, currentVersionString)) {
if(idx == 0) {
if(currentVersionString != fullObswVersionString) {
sif::info << "OBSW version changed" << std::endl;
sif::info << "From " << currentVersionString << " to " <<
fullObswVersionString << std::endl;
createNewFile = true;
}
}
else if(idx == 1) {
if(currentVersionString != fullFsfwVersionString) {
sif::info << "FSFW version changed" << std::endl;
sif::info << "From " << currentVersionString << " to " <<
fullFsfwVersionString << std::endl;
createNewFile = true;
}
}
else if(idx == 2) {
if(currentVersionString != systemString) {
sif::info << "System version changed" << std::endl;
sif::info << "Old: " << currentVersionString << std::endl;
sif::info << "New: " << systemString << std::endl;
createNewFile = true;
}
}
else {
sif::warning << "Invalid version file! Rewriting it.." << std::endl;
createNewFile = true;
}
idx++;
}
// Overwrite file if necessary
if(createNewFile) {
sif::info << "Rewriting version.txt file with updated versions.." << std::endl;
versionFile.close();
versionFile.open(versionFilePath, std::ios_base::out | std::ios_base::trunc);
versionFile << fullObswVersionString << std::endl;
versionFile << fullFsfwVersionString << std::endl;
versionFile << systemString << std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
// TODO: Packet definition for clean deserialization
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
// null termination, at least 7 bytes for minimum target file name /tmp/a with
// null termination.
if(size < 14) {
return HasActionsIF::INVALID_PARAMETERS;
}
// We could also make -l optional, but I can't think of a reason why to not use -l..
// This flag specifies to run ls with -a
bool aFlag = data[0];
data += 1;
// This flag specifies to run ls with -R
bool RFlag = data[1];
data += 1;
size_t remainingSize = size - 2;
// One larger for null termination, which prevents undefined behaviour if the sent
// strings are not 0 terminated properly
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
// Full target file name
std::string repoName(currentCharPtr);
size_t repoLength = repoName.length();
// The other string needs to be at least one letter plus NULL termination to be valid at all
// The first string also needs to be NULL terminated, but the termination is not included
// in the string length, so this is subtracted from the remaining size as well
if(repoLength > remainingSize - 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
// The file length will not include the NULL termination, so we skip it
currentCharPtr += repoLength + 1;
std::string targetFileName(currentCharPtr);
std::ostringstream oss;
oss << "ls -l";
if(aFlag) {
oss << "a";
}
if(RFlag) {
oss << "R";
}
oss << " " << repoName << " > " << targetFileName;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::actionListDirectoryIntoFile");
actionHelper.finish(false, commandedBy, actionId);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::initBootCopy() {
std::string fileName = "/tmp/curr_copy.txt";
if(not std::filesystem::exists(fileName)) {
// Thils file is created by the systemd service eive-early-config so this should
// not happen normally
std::string cmd = "xsc_boot_copy > " + fileName;
int result = std::system(cmd.c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::initBootCopy");
}
}
std::ifstream file(fileName);
std::string line;
std::getline(file, line);
std::istringstream iss(line);
int value = 0;
iss >> value;
currentChip = static_cast<Chip>(value);
iss >> value;
currentCopy = static_cast<Copy>(value);
return HasReturnvaluesIF::RETURN_OK;
}
void CoreController::getCurrentBootCopy(Chip &chip, Copy &copy) {
// Not really thread-safe but it does not need to be
chip = currentChip;
copy = currentCopy;
}
ReturnValue_t CoreController::initWatchdogFifo() {
if(not std::filesystem::exists(watchdog::FIFO_NAME)) {
// Still return RETURN_OK for now
sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate" <<
" watchdog" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
// Open FIFO write only and non-blocking to prevent SW from killing itself.
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
if(watchdogFifoFd < 0) {
if(errno == ENXIO) {
watchdogFifoFd = RETRY_FIFO_OPEN;
sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
}
else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " <<
errno << ": " << strerror(errno) << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CoreController::initPrint() {
#if OBSW_VERBOSE_LEVEL >= 1
if(watchdogFifoFd > 0) {
sif::info << "Opened watchdog FIFO successfully.." << std::endl;
}
#endif
}
ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) {
if(size < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
bool rebootSameBootCopy = data[0];
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
SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
int result = std::system("xsc_boot_copy -r");
if(result != 0) {
utility::handleSystemError(result, "CoreController::executeAction");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasActionsIF::EXECUTION_FINISHED;
}
if(size < 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "CoreController::actionPerformReboot: Rebooting on " <<
static_cast<int>(data[1]) << " " << static_cast<int>(data[2]) << std::endl;
#endif
// The second byte in data is the target chip, the third byte is the target copy
std::string cmdString = "xsc_boot_copy " + std::to_string(data[1]) + " " +
std::to_string(data[2]);
int result = std::system(cmdString.c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::executeAction");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasActionsIF::EXECUTION_FINISHED;
}
CoreController::~CoreController() {
}
void CoreController::determinePreferredSdCard() {
if(sdInfo.pref == sd::SdCard::NONE) {
ReturnValue_t result = sdcMan->getPreferredSdCard(sdInfo.pref);
if(result != HasReturnvaluesIF::RETURN_OK) {
if(result == scratch::KEY_NOT_FOUND) {
sif::warning << "CoreController::sdCardInit: "
"Preferred SD card not set. Setting to 0" << std::endl;
sdcMan->setPreferredSdCard(sd::SdCard::SLOT_0);
sdInfo.pref = sd::SdCard::SLOT_0;
}
else {
sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
"information from the scratch buffer" << std::endl;
}
}
}
}
void CoreController::updateSdInfoOther() {
if(sdInfo.pref == sd::SdCard::SLOT_0) {
sdInfo.prefChar = "0";
sdInfo.otherChar = "1";
sdInfo.otherState = sdInfo.currentState.second;
sdInfo.prefState = sdInfo.currentState.first;
sdInfo.other = sd::SdCard::SLOT_1;
}
else if(sdInfo.pref == sd::SdCard::SLOT_1) {
sdInfo.prefChar = "1";
sdInfo.otherChar = "0";
sdInfo.otherState = sdInfo.currentState.first;
sdInfo.prefState = sdInfo.currentState.second;
sdInfo.other = sd::SdCard::SLOT_0;
}
else {
sif::warning << "CoreController::updateSdInfoOther: Invalid SD card passed" << std::endl;
}
}
bool CoreController::sdInitFinished() const {
return sdInfo.initFinished;
}
void CoreController::performWatchdogControlOperation() {
// Only perform each fifth iteration
if(watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
if(watchdogFifoFd == RETRY_FIFO_OPEN) {
// Open FIFO write only and non-blocking
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
if(watchdogFifoFd < 0) {
if(errno == ENXIO) {
watchdogFifoFd = RETRY_FIFO_OPEN;
// No printout for now, would be spam
return;
}
else {
sif::error << "Opening pipe " << watchdog::FIFO_NAME <<
" write-only failed with " << errno << ": " <<
strerror(errno) << std::endl;
return;
}
}
sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
}
else if(watchdogFifoFd > 0) {
// Write to OBSW watchdog FIFO here
const char writeChar = 'a';
ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
if(writtenBytes < 0) {
sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " <<
strerror(errno) << std::endl;
}
}
}
}
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