Robin Mueller
90962c9f8e
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275 lines
10 KiB
C++
275 lines
10 KiB
C++
#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
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#define BSP_Q7S_CORE_CORECONTROLLER_H_
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#include <libxiphos.h>
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#include <cstddef>
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#include "CoreDefinitions.h"
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#include "bsp_q7s/fs/SdCardManager.h"
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#include "events/subsystemIdRanges.h"
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#include "fsfw/controller/ExtendedControllerBase.h"
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#include "mission/devices/devicedefinitions/GPSDefinitions.h"
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class Timer;
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class SdCardManager;
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namespace xsc {
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enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
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enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
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} // namespace xsc
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struct RebootFile {
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static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
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bool enabled = true;
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size_t maxCount = DEFAULT_MAX_BOOT_CNT;
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uint32_t img00Cnt = 0;
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uint32_t img01Cnt = 0;
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uint32_t img10Cnt = 0;
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uint32_t img11Cnt = 0;
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bool img00Lock = false;
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bool img01Lock = false;
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bool img10Lock = false;
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bool img11Lock = false;
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uint32_t* relevantBootCnt = &img00Cnt;
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bool bootFlag = false;
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xsc::Chip lastChip = xsc::Chip::CHIP_0;
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xsc::Copy lastCopy = xsc::Copy::COPY_0;
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xsc::Chip mechanismNextChip = xsc::Chip::NO_CHIP;
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xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
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};
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class CoreController : public ExtendedControllerBase {
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public:
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static xsc::Chip CURRENT_CHIP;
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static xsc::Copy CURRENT_COPY;
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static constexpr char CHIP_PROT_SCRIPT[] = "get-chip-prot-status.sh";
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static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
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static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
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static constexpr char CONF_FOLDER[] = "conf";
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static constexpr char VERSION_FILE_NAME[] = "version.txt";
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static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
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static constexpr char TIME_FILE_NAME[] = "time.txt";
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const std::string VERSION_FILE =
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"/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
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const std::string REBOOT_FILE =
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"/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
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const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
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static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
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static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
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static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
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static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
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static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
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static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
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static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
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static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
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static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
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static constexpr ActionId_t OBSW_UPDATE_FROM_SD_0 = 10;
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static constexpr ActionId_t OBSW_UPDATE_FROM_SD_1 = 11;
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static constexpr ActionId_t OBSW_UPDATE_FROM_TMP = 12;
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static constexpr ActionId_t SWITCH_TO_SD_0 = 16;
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static constexpr ActionId_t SWITCH_TO_SD_1 = 17;
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static constexpr ActionId_t SWITCH_TO_BOTH_SD_CARDS = 18;
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//! Reboot using the xsc_boot_copy command
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static constexpr ActionId_t XSC_REBOOT_OBC = 32;
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static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
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//! Reboot using the reboot command
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static constexpr ActionId_t REBOOT_OBC = 34;
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static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
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static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
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//! [EXPORT] : [COMMENT] Software reboot occurred. Can also be a systemd reboot.
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//! P1: Current Chip, P2: Current Copy
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static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
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//! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
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//! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
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//! P2: Each byte is the respective reboot count for the slots
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static constexpr Event REBOOT_MECHANISM_TRIGGERED =
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event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
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//! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
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static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
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CoreController(object_id_t objectId);
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virtual ~CoreController();
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ReturnValue_t initialize() override;
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ReturnValue_t initializeAfterTaskCreation() override;
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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void performControlOperation() override;
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/**
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* Generate a file containing the chip lock/unlock states inside /tmp/chip_prot_status.txt
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* @return
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*/
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static ReturnValue_t generateChipStateFile();
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static ReturnValue_t incrementAllocationFailureCount();
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static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
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static const char* getXscMountDir(xsc::Chip chip, xsc::Copy copy);
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ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
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/**
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* Checks whether the target chip and copy are write protected and protect set them to a target
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* state where applicable.
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* @param targetChip
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* @param targetCopy
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* @param protect Target state
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* @param protOperationPerformed [out] Can be used to determine whether any operation
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* was performed
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* @param updateProtFile Specify whether the protection info file is updated
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* @return
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*/
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ReturnValue_t setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
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bool& protOperationPerformed, bool updateProtFile = true);
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bool sdInitFinished() const;
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private:
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static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
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static constexpr uint32_t MUTEX_TIMEOUT = 20;
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// Designated value for rechecking FIFO open
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static constexpr int RETRY_FIFO_OPEN = -2;
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int watchdogFifoFd = 0;
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GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
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// States for SD state machine, which is used in non-blocking mode
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enum class SdStates {
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NONE,
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START,
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GET_INFO,
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SET_STATE_SELF,
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MOUNT_SELF,
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// Determine operations for other SD card, depending on redundancy configuration
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DETERMINE_OTHER,
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SET_STATE_OTHER,
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// Mount or unmount other
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MOUNT_UNMOUNT_OTHER,
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// Skip period because the shell command used to generate the info file sometimes is
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// missing the last performed operation if executed too early
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SKIP_CYCLE_BEFORE_INFO_UPDATE,
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UPDATE_INFO,
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// SD initialization done
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IDLE
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};
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enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
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static constexpr bool BLOCKING_SD_INIT = false;
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SdCardManager* sdcMan = nullptr;
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MessageQueueIF* eventQueue = nullptr;
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SdStates sdFsmState = SdStates::START;
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enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
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struct SdFsmParams {
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SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
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sd::SdCard active = sd::SdCard::NONE;
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sd::SdCard other = sd::SdCard::NONE;
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sd::SdState activeState = sd::SdState::OFF;
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sd::SdState otherState = sd::SdState::OFF;
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std::string activeChar = "0";
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std::string otherChar = "1";
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std::pair<bool, bool> mountSwitch = {true, true};
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// Used to track whether a command was executed
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bool commandExecuted = true;
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bool initFinished = false;
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SdCardManager::SdStatePair currentState;
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uint16_t cycleCount = 0;
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} sdInfo;
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struct SdCommanding {
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bool cmdPending = false;
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MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
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DeviceCommandId_t actionId;
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} sdCommandingInfo;
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RebootFile rebootFile = {};
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std::string currMntPrefix;
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bool performOneShotSdCardOpsSwitch = true;
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/**
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* Index 0: Chip 0 Copy 0
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* Index 1: Chip 0 Copy 1
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* Index 2: Chip 1 Copy 0
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* Index 3: Chip 1 Copy 1
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*/
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std::array<bool, 4> protArray;
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PeriodicOperationDivider opDivider5;
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PeriodicOperationDivider opDivider10;
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core::HkSet hkSet;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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Countdown sdCardCheckCd = Countdown(120000);
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
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void performMountedSdCardOperations();
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ReturnValue_t initVersionFile();
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ReturnValue_t initClockFromTimeFile();
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ReturnValue_t performSdCardCheck();
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ReturnValue_t timeFileHandler();
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ReturnValue_t initBootCopy();
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ReturnValue_t initWatchdogFifo();
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ReturnValue_t initSdCardBlocking();
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bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode);
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void initPrint();
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ReturnValue_t sdStateMachine();
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void updateSdInfoOther();
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ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
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bool printOutput = true);
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ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);
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ReturnValue_t sdColdRedundantBlockingInit();
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void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
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void executeNextExternalSdCommand();
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void checkExternalSdCommandStatus();
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void performRebootFileHandling(bool recreateFile);
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ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size);
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ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
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ReturnValue_t actionReboot(const uint8_t* data, size_t size);
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ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
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void performWatchdogControlOperation();
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ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
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int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
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bool& protOperationPerformed, bool selfChip, bool selfCopy,
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bool allChips, bool allCopies, uint8_t arrIdx);
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void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
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xsc::Copy& tgtCopy);
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void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
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void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
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bool parseRebootFile(std::string path, RebootFile& file);
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void rewriteRebootFile(RebootFile file);
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void readHkData();
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bool isNumber(const std::string& s);
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};
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#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */
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