eive-obsw/bsp_q7s/obsw.cpp

152 lines
4.8 KiB
C++

#include "obsw.h"
#include <pwd.h>
#include <sys/types.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <iostream>
#include "OBSWConfig.h"
#include "bsp_q7s/core/WatchdogHandler.h"
#include "commonConfig.h"
#include "core/scheduling.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h"
#include "mission/acsDefs.h"
#include "mission/comDefs.h"
#include "mission/system/tree/system.h"
#include "q7sConfig.h"
#include "watchdog/definitions.h"
static constexpr int OBSW_ALREADY_RUNNING = -2;
#if OBSW_Q7S_EM == 0
static const char* DEV_STRING = "Xiphos Q7S FM";
#else
static const char* DEV_STRING = "Xiphos Q7S EM";
#endif
WatchdogHandler WATCHDOG_HANDLER;
int obsw::obsw(int argc, char* argv[]) {
using namespace fsfw;
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
<< std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
std::error_code e;
// Check special file here. This file is created or deleted by the eive-watchdog application
// or systemd service!
if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME, e)) {
sif::warning << "File " << watchdog::RUNNING_FILE_NAME
<< " exists so the software might "
"already be running. Check if obsw systemd service has been stopped."
<< std::endl;
return OBSW_ALREADY_RUNNING;
}
#endif
// Delay the boot if applicable.
bootDelayHandling();
bool initWatchFunction = false;
std::string fullExecPath = argv[0];
if (fullExecPath.find("/usr/bin") != std::string::npos) {
initWatchFunction = true;
}
ReturnValue_t result = WATCHDOG_HANDLER.initialize(initWatchFunction);
if (result != returnvalue::OK) {
std::cerr << "Initiating EIVE watchdog handler failed" << std::endl;
}
scheduling::initMission();
// Command the EIVE system to safe mode
#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
// This ensures that the PCDU switches were updated.
TaskFactory::delayTask(1000);
commandComSubsystemRxOnly();
commandEiveSystemToSafe();
#else
announceAllModes();
#endif
for (;;) {
WATCHDOG_HANDLER.periodicOperation();
TaskFactory::delayTask(2000);
}
return 0;
}
void obsw::bootDelayHandling() {
const char* homedir = nullptr;
homedir = getenv("HOME");
if (homedir == nullptr) {
homedir = getpwuid(getuid())->pw_dir;
}
std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";
std::error_code e;
// Init delay handling.
if (std::filesystem::exists(bootDelayFile, e)) {
std::ifstream ifile(bootDelayFile);
std::string lineStr;
unsigned int bootDelaySecs = 0;
unsigned int line = 0;
// Try to reas delay seconds from file.
while (std::getline(ifile, lineStr)) {
std::istringstream iss(lineStr);
if (!(iss >> bootDelaySecs)) {
break;
}
line++;
}
if (line == 0) {
// If the file is empty, assume default of 6 seconds
bootDelaySecs = 6;
}
std::cout << "Delaying OBSW start for " << bootDelaySecs << " seconds" << std::endl;
TaskFactory::delayTask(bootDelaySecs * 1000);
}
}
void obsw::commandEiveSystemToSafe() {
auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
ReturnValue_t result =
MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
}
}
void obsw::commandComSubsystemRxOnly() {
auto* comSs = ObjectManager::instance()->get<HasModesIF>(objects::COM_SUBSYSTEM);
if (comSs == nullptr) {
sif::error << "obsw: Could not retrieve COM subsystem object" << std::endl;
return;
}
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, com::RX_ONLY, 0);
ReturnValue_t result = MessageQueueSenderIF::sendMessage(comSs->getCommandQueue(), &msg,
MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "obsw: Sending RX_ONLY mode command to COM subsystem failed" << std::endl;
}
}
void obsw::announceAllModes() {
auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
CommandMessage msg;
ModeMessage::setModeAnnounceMessage(msg, true);
ReturnValue_t result =
MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
if (result != returnvalue::OK) {
sif::error << "obsw: Sending safe mode command to EIVE system failed" << std::endl;
}
}