1852 lines
62 KiB
C++
1852 lines
62 KiB
C++
#include "CoreController.h"
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#include <fsfw/events/EventManager.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include "OBSWConfig.h"
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#include "OBSWVersion.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/timemanager/Stopwatch.h"
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#include "fsfw/version.h"
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#include "watchdog/definitions.h"
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#if OBSW_USE_TMTC_TCP_BRIDGE == 0
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#include "fsfw/osal/common/UdpTmTcBridge.h"
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#else
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#include "fsfw/osal/common/TcpTmTcServer.h"
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#endif
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#include <fcntl.h>
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#include <unistd.h>
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#include <algorithm>
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#include <filesystem>
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#include "bsp_q7s/memory/SdCardManager.h"
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#include "bsp_q7s/memory/scratchApi.h"
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#include "bsp_q7s/xadc/Xadc.h"
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#include "linux/utility/utility.h"
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xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
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xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
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CoreController::CoreController(object_id_t objectId)
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: ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
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opDivider5(5),
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opDivider10(10),
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hkSet(this) {
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ReturnValue_t result = returnvalue::OK;
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try {
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result = initWatchdogFifo();
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if (result != returnvalue::OK) {
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sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" << std::endl;
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}
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sdcMan = SdCardManager::instance();
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if (sdcMan == nullptr) {
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sif::error << "CoreController::CoreController: SD card manager invalid!" << std::endl;
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}
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if (not BLOCKING_SD_INIT) {
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sdcMan->setBlocking(false);
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}
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sdStateMachine();
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result = initBootCopy();
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if (result != returnvalue::OK) {
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sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
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}
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} catch (const std::filesystem::filesystem_error &e) {
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sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
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}
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sdCardCheckCd.timeOut();
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eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
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}
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ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
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return ExtendedControllerBase::handleCommandMessage(message);
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}
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void CoreController::performControlOperation() {
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
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result = eventQueue->receiveMessage(&event)) {
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switch (event.getEvent()) {
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case (GpsHyperion::GPS_FIX_CHANGE): {
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gpsFix = static_cast<GpsHyperion::FixMode>(event.getParameter2());
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break;
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}
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}
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}
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performWatchdogControlOperation();
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sdStateMachine();
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performMountedSdCardOperations();
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if (sdCardCheckCd.hasTimedOut()) {
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performSdCardCheck();
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sdCardCheckCd.resetTimer();
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}
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readHkData();
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opDivider5.checkAndIncrement();
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opDivider10.checkAndIncrement();
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}
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ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
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poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), false, 10.0});
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return returnvalue::OK;
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}
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LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) {
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if (sid.ownerSetId == core::HK_SET_ID) {
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return &hkSet;
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}
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return nullptr;
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}
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ReturnValue_t CoreController::initialize() {
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ReturnValue_t result = ExtendedControllerBase::initialize();
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if (result != returnvalue::OK) {
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sif::warning << "CoreController::initialize: Base init failed" << std::endl;
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}
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result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
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if (result != returnvalue::OK) {
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sif::warning << "CoreController::initialize: Setting up alloc failure "
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"count failed"
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<< std::endl;
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}
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sdStateMachine();
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triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
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EventManagerIF *eventManager =
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ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (eventManager == nullptr or eventQueue == nullptr) {
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sif::warning << "CoreController::initialize: No valid event manager found or "
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"queue invalid"
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<< std::endl;
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}
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result = eventManager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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sif::warning << "CoreController::initialize: Registering as event listener failed" << std::endl;
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}
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result = eventManager->subscribeToEvent(eventQueue->getId(),
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event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
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if (result != returnvalue::OK) {
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sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
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}
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return returnvalue::OK;
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}
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ReturnValue_t CoreController::initializeAfterTaskCreation() {
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ReturnValue_t result = returnvalue::OK;
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sdInfo.pref = sdcMan->getPreferredSdCard();
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sdcMan->setActiveSdCard(sdInfo.pref);
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currMntPrefix = sdcMan->getCurrentMountPrefix();
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if (BLOCKING_SD_INIT) {
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ReturnValue_t result = initSdCardBlocking();
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if (result != returnvalue::OK and result != SdCardManager::ALREADY_MOUNTED) {
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sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
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}
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}
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sdStateMachine();
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performMountedSdCardOperations();
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if (result != returnvalue::OK) {
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sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
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}
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// Add script folder to path
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char *currentEnvPath = getenv("PATH");
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std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts:/usr/local/bin";
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setenv("PATH", updatedEnvPath.c_str(), true);
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updateProtInfo();
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initPrint();
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ExtendedControllerBase::initializeAfterTaskCreation();
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return result;
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}
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ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t *data, size_t size) {
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switch (actionId) {
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case (LIST_DIRECTORY_INTO_FILE): {
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return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
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}
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case (SWITCH_REBOOT_FILE_HANDLING): {
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if (size < 1) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
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// Disable the reboot file mechanism
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parseRebootFile(path, rebootFile);
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if (data[0] == 0) {
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rebootFile.enabled = false;
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rewriteRebootFile(rebootFile);
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} else if (data[0] == 1) {
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rebootFile.enabled = true;
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rewriteRebootFile(rebootFile);
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} else {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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return HasActionsIF::EXECUTION_FINISHED;
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}
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case (RESET_REBOOT_COUNTERS): {
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if (size == 0) {
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resetRebootCount(xsc::ALL_CHIP, xsc::ALL_COPY);
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} else if (size == 2) {
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if (data[0] > 1 or data[1] > 1) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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resetRebootCount(static_cast<xsc::Chip>(data[0]), static_cast<xsc::Copy>(data[1]));
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}
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return HasActionsIF::EXECUTION_FINISHED;
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}
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case (SWITCH_IMG_LOCK): {
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if (size != 3) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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if (data[1] > 1 or data[2] > 1) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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setRebootMechanismLock(data[0], static_cast<xsc::Chip>(data[1]),
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static_cast<xsc::Copy>(data[2]));
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return HasActionsIF::EXECUTION_FINISHED;
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}
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case (SET_MAX_REBOOT_CNT): {
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if (size < 1) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
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// Disable the reboot file mechanism
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parseRebootFile(path, rebootFile);
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rebootFile.maxCount = data[0];
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rewriteRebootFile(rebootFile);
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return HasActionsIF::EXECUTION_FINISHED;
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}
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case (XSC_REBOOT_OBC): {
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// Warning: This function will never return, because it reboots the system
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return actionXscReboot(data, size);
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}
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case (REBOOT_OBC): {
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// Warning: This function will never return, because it reboots the system
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return actionReboot(data, size);
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}
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default: {
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return HasActionsIF::INVALID_ACTION_ID;
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}
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}
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}
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ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) {
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return returnvalue::OK;
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}
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ReturnValue_t CoreController::initSdCardBlocking() {
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// Create update status file
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ReturnValue_t result = sdcMan->updateSdCardStateFile();
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if (result != returnvalue::OK) {
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sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
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}
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
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sif::info << "No SD card initialization will be performed" << std::endl;
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return returnvalue::OK;
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#else
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result = sdcMan->getSdCardsStatus(sdInfo.currentState);
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if (result != returnvalue::OK) {
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sif::warning << "Getting SD card activity status failed" << std::endl;
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}
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
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updateSdInfoOther();
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sif::info << "Cold redundant SD card configuration, preferred SD card: "
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<< static_cast<int>(sdInfo.pref) << std::endl;
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result = sdColdRedundantBlockingInit();
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// Update status file
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sdcMan->updateSdCardStateFile();
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return result;
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#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
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sif::info << "Hot redundant SD card configuration" << std::endl;
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sdCardSetup(sd::SdCard::SLOT_0, sd::SdState::MOUNTED, "0", false);
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sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
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// Update status file
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sdcMan->updateSdCardStateFile();
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return returnvalue::OK;
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#endif
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#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
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}
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ReturnValue_t CoreController::sdStateMachine() {
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ReturnValue_t result = returnvalue::OK;
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SdCardManager::Operations operation;
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if (sdInfo.state == SdStates::IDLE) {
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// Nothing to do
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return result;
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}
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if (sdInfo.state == SdStates::START) {
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// Init will be performed by separate function
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if (BLOCKING_SD_INIT) {
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sdInfo.state = SdStates::IDLE;
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sdInfo.initFinished = true;
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return result;
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} else {
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// Still update SD state file
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
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sdInfo.state = SdStates::UPDATE_INFO;
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#else
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sdInfo.cycleCount = 0;
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sdInfo.commandExecuted = false;
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sdInfo.state = SdStates::GET_INFO;
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#endif
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}
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}
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// This lambda checks the non-blocking operation and assigns the new state on success.
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// It returns true for an operation success and false otherwise
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auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess, uint16_t maxCycleCount,
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std::string opPrintout) {
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SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
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if (status == SdCardManager::OpStatus::SUCCESS) {
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sdInfo.state = newStateOnSuccess;
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sdInfo.commandExecuted = false;
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sdInfo.cycleCount = 0;
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return true;
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} else if (sdInfo.cycleCount > 4) {
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sif::warning << "CoreController::sdInitStateMachine: " << opPrintout << " takes too long"
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<< std::endl;
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return false;
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}
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return false;
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};
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if (sdInfo.state == SdStates::GET_INFO) {
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if (not sdInfo.commandExecuted) {
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// Create update status file
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result = sdcMan->updateSdCardStateFile();
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if (result != returnvalue::OK) {
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sif::warning << "CoreController::initialize: Updating SD card state file failed"
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<< std::endl;
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}
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sdInfo.commandExecuted = true;
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} else {
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nonBlockingOpChecking(SdStates::SET_STATE_SELF, 4, "Updating SDC file");
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}
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}
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if (sdInfo.state == SdStates::SET_STATE_SELF) {
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if (not sdInfo.commandExecuted) {
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result = sdcMan->getSdCardsStatus(sdInfo.currentState);
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sdInfo.pref = sdcMan->getPreferredSdCard();
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updateSdInfoOther();
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if (sdInfo.pref != sd::SdCard::SLOT_0 and sdInfo.pref != sd::SdCard::SLOT_1) {
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sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
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sdInfo.pref = sd::SdCard::SLOT_0;
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}
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if (result != returnvalue::OK) {
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sif::warning << "Getting SD card activity status failed" << std::endl;
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}
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
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sif::info << "Cold redundant SD card configuration, preferred SD card: "
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<< static_cast<int>(sdInfo.pref) << std::endl;
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#endif
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if (sdInfo.prefState == sd::SdState::MOUNTED) {
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#if OBSW_VERBOSE_LEVEL >= 1
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std::string mountString;
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if (sdInfo.pref == sd::SdCard::SLOT_0) {
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mountString = SdCardManager::SD_0_MOUNT_POINT;
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} else {
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mountString = SdCardManager::SD_1_MOUNT_POINT;
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}
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sif::info << "SD card " << sdInfo.prefChar << " already on and mounted at " << mountString
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<< std::endl;
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#endif
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sdInfo.state = SdStates::DETERMINE_OTHER;
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} else if (sdInfo.prefState == sd::SdState::OFF) {
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sdCardSetup(sdInfo.pref, sd::SdState::ON, sdInfo.prefChar, false);
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sdInfo.commandExecuted = true;
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} else if (sdInfo.prefState == sd::SdState::ON) {
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sdInfo.state = SdStates::MOUNT_SELF;
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}
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} else {
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if (nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
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sdInfo.prefState = sd::SdState::ON;
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currentStateSetter(sdInfo.pref, sd::SdState::ON);
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}
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}
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}
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if (sdInfo.state == SdStates::MOUNT_SELF) {
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if (not sdInfo.commandExecuted) {
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result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
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sdInfo.commandExecuted = true;
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} else {
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if (nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
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sdInfo.prefState = sd::SdState::MOUNTED;
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currentStateSetter(sdInfo.pref, sd::SdState::MOUNTED);
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}
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}
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}
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if (sdInfo.state == SdStates::DETERMINE_OTHER) {
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// Determine whether any additional operations have to be done for the other SD card
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// 1. Cold redundant case: Other SD card needs to be unmounted and switched off
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// 2. Hot redundant case: Other SD card needs to be mounted and switched on
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
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if (sdInfo.otherState == sd::SdState::ON) {
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sdInfo.state = SdStates::SET_STATE_OTHER;
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} else if (sdInfo.otherState == sd::SdState::MOUNTED) {
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sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
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} else {
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// Is already off, update info, but with a small delay
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sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
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}
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#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
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if (sdInfo.otherState == sd::SdState::OFF) {
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sdInfo.state = SdStates::SET_STATE_OTHER;
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} else if (sdInfo.otherState == sd::SdState::ON) {
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sdInfo.state = SdStates::MOUNT_UNMOUNT_OTHER;
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} else {
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// Is already on and mounted, update info
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sdInfo.state = SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE;
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}
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#endif
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}
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if (sdInfo.state == SdStates::SET_STATE_OTHER) {
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// Set state of other SD card to ON or OFF, depending on redundancy mode
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
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if (not sdInfo.commandExecuted) {
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result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
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sdInfo.commandExecuted = true;
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} else {
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if (nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
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"Switching off other SD card")) {
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sdInfo.otherState = sd::SdState::OFF;
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currentStateSetter(sdInfo.other, sd::SdState::OFF);
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}
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}
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#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
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if (not sdInfo.commandExecuted) {
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result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
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sdInfo.commandExecuted = true;
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} else {
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if (nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10, "Switching on other SD card")) {
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sdInfo.otherState = sd::SdState::ON;
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currentStateSetter(sdInfo.other, sd::SdState::ON);
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}
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}
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#endif
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}
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if (sdInfo.state == SdStates::MOUNT_UNMOUNT_OTHER) {
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// Mount or unmount other SD card, depending on redundancy mode
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
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if (not sdInfo.commandExecuted) {
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result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
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sdInfo.commandExecuted = true;
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} 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 != returnvalue::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->getSdCardsStatus(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 returnvalue::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 returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
|
|
if (result != SdCardManager::ALREADY_MOUNTED and result != returnvalue::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 = returnvalue::FAILED;
|
|
}
|
|
|
|
if (result != returnvalue::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 != returnvalue::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 != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
count++;
|
|
return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
|
|
}
|
|
|
|
ReturnValue_t CoreController::initVersionFile() {
|
|
using namespace fsfw;
|
|
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);
|
|
char versionString[16] = {};
|
|
fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
|
|
std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);
|
|
std::string systemString = "System: " + unameLine;
|
|
std::string versionFilePath = currMntPrefix + VERSION_FILE;
|
|
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 returnvalue::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 returnvalue::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 returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t CoreController::initBootCopy() {
|
|
if (not std::filesystem::exists(CURR_COPY_FILE)) {
|
|
// This file is created by the systemd service eive-early-config so this should
|
|
// not happen normally
|
|
std::string cmd = "xsc_boot_copy > " + std::string(CURR_COPY_FILE);
|
|
int result = std::system(cmd.c_str());
|
|
if (result != 0) {
|
|
utility::handleSystemError(result, "CoreController::initBootCopy");
|
|
}
|
|
}
|
|
|
|
getCurrentBootCopy(CURRENT_CHIP, CURRENT_COPY);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void CoreController::getCurrentBootCopy(xsc::Chip &chip, xsc::Copy ©) {
|
|
xsc_libnor_chip_t xscChip;
|
|
xsc_libnor_copy_t xscCopy;
|
|
xsc_boot_get_chip_copy(&xscChip, &xscCopy);
|
|
// Not really thread-safe but it does not need to be
|
|
chip = static_cast<xsc::Chip>(xscChip);
|
|
copy = static_cast<xsc::Copy>(xscCopy);
|
|
}
|
|
|
|
ReturnValue_t CoreController::initWatchdogFifo() {
|
|
if (not std::filesystem::exists(watchdog::FIFO_NAME)) {
|
|
// Still return returnvalue::OK for now
|
|
sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
|
|
<< " watchdog" << std::endl;
|
|
return returnvalue::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 returnvalue::FAILED;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void CoreController::initPrint() {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
if (watchdogFifoFd > 0) {
|
|
sif::info << "Opened watchdog FIFO successfully.." << std::endl;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
|
|
if (size < 1) {
|
|
return HasActionsIF::INVALID_PARAMETERS;
|
|
}
|
|
bool rebootSameBootCopy = data[0];
|
|
bool protOpPerformed = false;
|
|
SdCardManager::instance()->setBlocking(true);
|
|
if (rebootSameBootCopy) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "CoreController::actionPerformReboot: Rebooting on current image" << std::endl;
|
|
#endif
|
|
gracefulShutdownTasks(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, protOpPerformed);
|
|
int result = std::system("xsc_boot_copy -r");
|
|
if (result != 0) {
|
|
utility::handleSystemError(result, "CoreController::executeAction");
|
|
return returnvalue::FAILED;
|
|
}
|
|
return HasActionsIF::EXECUTION_FINISHED;
|
|
}
|
|
if (size < 3 or (data[1] > 1 or data[2] > 1)) {
|
|
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
|
|
|
|
// Check that the target chip and copy is writeprotected first
|
|
generateChipStateFile();
|
|
// If any boot copies are unprotected, protect them here
|
|
auto tgtChip = static_cast<xsc::Chip>(data[1]);
|
|
auto tgtCopy = static_cast<xsc::Copy>(data[2]);
|
|
|
|
// This function can not really fail
|
|
gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
|
|
|
|
switch (tgtChip) {
|
|
case (xsc::Chip::CHIP_0): {
|
|
switch (tgtCopy) {
|
|
case (xsc::Copy::COPY_0): {
|
|
xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
|
|
break;
|
|
}
|
|
case (xsc::Copy::COPY_1): {
|
|
xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
|
|
break;
|
|
}
|
|
default: {
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case (xsc::Chip::CHIP_1): {
|
|
switch (tgtCopy) {
|
|
case (xsc::Copy::COPY_0): {
|
|
xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
|
|
break;
|
|
}
|
|
case (xsc::Copy::COPY_1): {
|
|
xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
|
|
break;
|
|
}
|
|
default: {
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
return returnvalue::FAILED;
|
|
}
|
|
|
|
ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
|
|
bool protOpPerformed = false;
|
|
gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed);
|
|
std::system("reboot");
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
|
|
bool &protOpPerformed) {
|
|
sdcMan->setBlocking(true);
|
|
// Attempt graceful shutdown by unmounting and switching off SD cards
|
|
sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
|
|
sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
|
|
// If any boot copies are unprotected
|
|
ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
|
|
protOpPerformed, false);
|
|
if (result == returnvalue::OK and protOpPerformed) {
|
|
// TODO: Would be nice to notify operator. But we can't use the filesystem anymore
|
|
// and a reboot is imminent. Use scratch buffer?
|
|
sif::info << "Running slot was writeprotected before reboot" << std::endl;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
CoreController::~CoreController() {}
|
|
|
|
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; }
|
|
|
|
ReturnValue_t CoreController::generateChipStateFile() {
|
|
int result = std::system(CHIP_PROT_SCRIPT);
|
|
if (result != 0) {
|
|
utility::handleSystemError(result, "CoreController::generateChipStateFile");
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t CoreController::setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy,
|
|
bool protect, bool &protOperationPerformed,
|
|
bool updateProtFile) {
|
|
bool allChips = false;
|
|
bool allCopies = false;
|
|
bool selfChip = false;
|
|
bool selfCopy = false;
|
|
protOperationPerformed = false;
|
|
|
|
switch (targetChip) {
|
|
case (xsc::Chip::ALL_CHIP): {
|
|
allChips = true;
|
|
break;
|
|
}
|
|
case (xsc::Chip::NO_CHIP): {
|
|
return returnvalue::OK;
|
|
}
|
|
case (xsc::Chip::SELF_CHIP): {
|
|
selfChip = true;
|
|
targetChip = CURRENT_CHIP;
|
|
break;
|
|
}
|
|
default: {
|
|
break;
|
|
}
|
|
}
|
|
switch (targetCopy) {
|
|
case (xsc::Copy::ALL_COPY): {
|
|
allCopies = true;
|
|
break;
|
|
}
|
|
case (xsc::Copy::NO_COPY): {
|
|
return returnvalue::OK;
|
|
}
|
|
case (xsc::Copy::SELF_COPY): {
|
|
selfCopy = true;
|
|
targetCopy = CURRENT_COPY;
|
|
break;
|
|
}
|
|
default: {
|
|
break;
|
|
}
|
|
}
|
|
|
|
for (uint8_t arrIdx = 0; arrIdx < protArray.size(); arrIdx++) {
|
|
int result = handleBootCopyProtAtIndex(targetChip, targetCopy, protect, protOperationPerformed,
|
|
selfChip, selfCopy, allChips, allCopies, arrIdx);
|
|
if (result != 0) {
|
|
break;
|
|
}
|
|
}
|
|
if (protOperationPerformed and updateProtFile) {
|
|
updateProtInfo();
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
int CoreController::handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy,
|
|
bool protect, bool &protOperationPerformed,
|
|
bool selfChip, bool selfCopy, bool allChips,
|
|
bool allCopies, uint8_t arrIdx) {
|
|
bool currentProt = protArray[arrIdx];
|
|
std::ostringstream oss;
|
|
bool performOp = false;
|
|
if (protect == currentProt) {
|
|
return 0;
|
|
}
|
|
if (protOperationPerformed) {
|
|
if ((selfChip and selfCopy) or (not allCopies and not allChips)) {
|
|
// No need to continue, only one operation was requested
|
|
return 1;
|
|
}
|
|
}
|
|
xsc::Chip currentChip;
|
|
xsc::Copy currentCopy;
|
|
oss << "writeprotect ";
|
|
if (arrIdx == 0 or arrIdx == 1) {
|
|
oss << "0 ";
|
|
currentChip = xsc::Chip::CHIP_0;
|
|
} else {
|
|
oss << "1 ";
|
|
currentChip = xsc::Chip::CHIP_1;
|
|
}
|
|
if (arrIdx == 0 or arrIdx == 2) {
|
|
oss << "0 ";
|
|
currentCopy = xsc::Copy::COPY_0;
|
|
} else {
|
|
oss << "1 ";
|
|
currentCopy = xsc::Copy::COPY_1;
|
|
}
|
|
if (protect) {
|
|
oss << "1";
|
|
} else {
|
|
oss << "0";
|
|
}
|
|
|
|
int result = 0;
|
|
if (allChips and allCopies) {
|
|
performOp = true;
|
|
} else if (allChips) {
|
|
if ((selfCopy and CURRENT_COPY == targetCopy) or (currentCopy == targetCopy)) {
|
|
performOp = true;
|
|
}
|
|
} else if (allCopies) {
|
|
if ((selfChip and CURRENT_COPY == targetCopy) or (currentChip == targetChip)) {
|
|
performOp = true;
|
|
}
|
|
} else if (selfChip and (currentChip == targetChip)) {
|
|
if (selfCopy) {
|
|
if (currentCopy == targetCopy) {
|
|
performOp = true;
|
|
}
|
|
} else {
|
|
performOp = true;
|
|
}
|
|
|
|
} else if (selfCopy and (currentCopy == targetCopy)) {
|
|
if (selfChip) {
|
|
if (currentChip == targetChip) {
|
|
performOp = true;
|
|
}
|
|
} else {
|
|
performOp = true;
|
|
}
|
|
} else if ((targetChip == currentChip) and (targetCopy == currentCopy)) {
|
|
performOp = true;
|
|
}
|
|
if (result != 0) {
|
|
utility::handleSystemError(result, "CoreController::checkAndSetBootCopyProtection");
|
|
}
|
|
if (performOp) {
|
|
// TODO: Lock operation take a long time. Use command executor? That would require a
|
|
// new state machine..
|
|
protOperationPerformed = true;
|
|
sif::info << "Executing command: " << oss.str() << std::endl;
|
|
result = std::system(oss.str().c_str());
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
|
|
using namespace std;
|
|
ReturnValue_t result = returnvalue::OK;
|
|
if (regenerateChipStateFile) {
|
|
result = generateChipStateFile();
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "CoreController::updateProtInfo: Generating chip state file failed"
|
|
<< std::endl;
|
|
return result;
|
|
}
|
|
}
|
|
if (not filesystem::exists(CHIP_STATE_FILE)) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
ifstream chipStateFile(CHIP_STATE_FILE);
|
|
if (not chipStateFile.good()) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
string nextLine;
|
|
uint8_t lineCounter = 0;
|
|
string word;
|
|
while (getline(chipStateFile, nextLine)) {
|
|
ReturnValue_t result = handleProtInfoUpdateLine(nextLine);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "CoreController::updateProtInfo: Protection info update failed!" << std::endl;
|
|
return result;
|
|
}
|
|
++lineCounter;
|
|
if (lineCounter > 4) {
|
|
sif::warning << "CoreController::checkAndProtectBootCopy: "
|
|
"Line counter larger than 4"
|
|
<< std::endl;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
|
|
using namespace std;
|
|
string word;
|
|
uint8_t wordIdx = 0;
|
|
uint8_t arrayIdx = 0;
|
|
istringstream iss(nextLine);
|
|
xsc::Chip currentChip = xsc::Chip::CHIP_0;
|
|
xsc::Copy currentCopy = xsc::Copy::COPY_0;
|
|
while (iss >> word) {
|
|
if (wordIdx == 1) {
|
|
currentChip = static_cast<xsc::Chip>(stoi(word));
|
|
}
|
|
if (wordIdx == 3) {
|
|
currentCopy = static_cast<xsc::Copy>(stoi(word));
|
|
}
|
|
|
|
if (wordIdx == 3) {
|
|
if (currentChip == xsc::Chip::CHIP_0) {
|
|
if (currentCopy == xsc::Copy::COPY_0) {
|
|
arrayIdx = 0;
|
|
} else if (currentCopy == xsc::Copy::COPY_1) {
|
|
arrayIdx = 1;
|
|
}
|
|
}
|
|
|
|
else if (currentChip == xsc::Chip::CHIP_1) {
|
|
if (currentCopy == xsc::Copy::COPY_0) {
|
|
arrayIdx = 2;
|
|
} else if (currentCopy == xsc::Copy::COPY_1) {
|
|
arrayIdx = 3;
|
|
}
|
|
}
|
|
}
|
|
if (wordIdx == 5) {
|
|
if (word == "unlocked.") {
|
|
protArray[arrayIdx] = false;
|
|
} else {
|
|
protArray[arrayIdx] = true;
|
|
}
|
|
}
|
|
wordIdx++;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void CoreController::performWatchdogControlOperation() {
|
|
// Only perform each fifth iteration
|
|
if (watchdogFifoFd != 0 and opDivider5.check()) {
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void CoreController::performMountedSdCardOperations() {
|
|
auto mountedSdCardOp = [&](bool &mntSwitch, sd::SdCard sdCard, std::string mntPoint) {
|
|
if (mntSwitch) {
|
|
bool sdCardMounted = sdcMan->isSdCardMounted(sdCard);
|
|
if (sdCardMounted and not performOneShotSdCardOpsSwitch) {
|
|
std::ostringstream path;
|
|
path << mntPoint << "/" << CONF_FOLDER;
|
|
if (not std::filesystem::exists(path.str())) {
|
|
std::filesystem::create_directory(path.str());
|
|
}
|
|
initVersionFile();
|
|
initClockFromTimeFile();
|
|
performRebootFileHandling(false);
|
|
performOneShotSdCardOpsSwitch = true;
|
|
}
|
|
mntSwitch = false;
|
|
}
|
|
};
|
|
if (sdInfo.pref == sd::SdCard::SLOT_1) {
|
|
mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
|
|
mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
|
|
} else {
|
|
mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
|
|
mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
|
|
}
|
|
timeFileHandler();
|
|
}
|
|
|
|
ReturnValue_t CoreController::performSdCardCheck() {
|
|
bool mountedReadOnly = false;
|
|
SdCardManager::SdStatePair active;
|
|
sdcMan->getSdCardsStatus(active);
|
|
auto sdCardCheck = [&](sd::SdCard sdCard) {
|
|
ReturnValue_t result = sdcMan->isSdCardMountedReadOnly(sdCard, mountedReadOnly);
|
|
if (result != returnvalue::OK) {
|
|
sif::error << "CoreController::performSdCardCheck: Could not check "
|
|
"read-only mount state"
|
|
<< std::endl;
|
|
mountedReadOnly = true;
|
|
}
|
|
if (mountedReadOnly) {
|
|
int linuxErrno = 0;
|
|
result = sdcMan->performFsck(sdCard, true, linuxErrno);
|
|
if (result != returnvalue::OK) {
|
|
sif::error << "CoreController::performSdCardCheck: fsck command on SD Card "
|
|
<< static_cast<uint8_t>(sdCard) << " failed with code " << linuxErrno << " | "
|
|
<< strerror(linuxErrno);
|
|
}
|
|
result = sdcMan->remountReadWrite(sdCard);
|
|
if (result == returnvalue::OK) {
|
|
sif::warning << "CoreController::performSdCardCheck: Remounted SD Card "
|
|
<< static_cast<uint8_t>(sdCard) << " read-write";
|
|
} else {
|
|
sif::error << "CoreController::performSdCardCheck: Remounting SD Card "
|
|
<< static_cast<uint8_t>(sdCard) << " read-write failed";
|
|
}
|
|
}
|
|
};
|
|
if (active.first == sd::SdState::MOUNTED) {
|
|
sdCardCheck(sd::SdCard::SLOT_0);
|
|
}
|
|
if (active.second == sd::SdState::MOUNTED) {
|
|
sdCardCheck(sd::SdCard::SLOT_1);
|
|
}
|
|
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void CoreController::performRebootFileHandling(bool recreateFile) {
|
|
using namespace std;
|
|
std::string path = currMntPrefix + REBOOT_FILE;
|
|
if (not std::filesystem::exists(path) or recreateFile) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
|
|
#endif
|
|
rebootFile.enabled = true;
|
|
rebootFile.img00Cnt = 0;
|
|
rebootFile.img01Cnt = 0;
|
|
rebootFile.img10Cnt = 0;
|
|
rebootFile.img11Cnt = 0;
|
|
rebootFile.lastChip = xsc::Chip::CHIP_0;
|
|
rebootFile.lastCopy = xsc::Copy::COPY_0;
|
|
rebootFile.img00Lock = false;
|
|
rebootFile.img01Lock = false;
|
|
rebootFile.img10Lock = false;
|
|
rebootFile.img11Lock = false;
|
|
rebootFile.mechanismNextChip = xsc::Chip::NO_CHIP;
|
|
rebootFile.mechanismNextCopy = xsc::Copy::NO_COPY;
|
|
rebootFile.bootFlag = false;
|
|
rewriteRebootFile(rebootFile);
|
|
} else {
|
|
if (not parseRebootFile(path, rebootFile)) {
|
|
performRebootFileHandling(true);
|
|
}
|
|
}
|
|
|
|
if (CURRENT_CHIP == xsc::CHIP_0) {
|
|
if (CURRENT_COPY == xsc::COPY_0) {
|
|
rebootFile.img00Cnt++;
|
|
} else {
|
|
rebootFile.img01Cnt++;
|
|
}
|
|
} else {
|
|
if (CURRENT_COPY == xsc::COPY_0) {
|
|
rebootFile.img10Cnt++;
|
|
} else {
|
|
rebootFile.img11Cnt++;
|
|
}
|
|
}
|
|
|
|
if (rebootFile.bootFlag) {
|
|
// Trigger event to inform ground that a reboot was triggered
|
|
uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
|
|
uint32_t p2 = rebootFile.img00Cnt << 24 | rebootFile.img01Cnt << 16 | rebootFile.img10Cnt << 8 |
|
|
rebootFile.img11Cnt;
|
|
triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, p2);
|
|
// Clear the boot flag
|
|
rebootFile.bootFlag = false;
|
|
}
|
|
|
|
if (rebootFile.mechanismNextChip != xsc::NO_CHIP and
|
|
rebootFile.mechanismNextCopy != xsc::NO_COPY) {
|
|
if (CURRENT_CHIP != rebootFile.mechanismNextChip or
|
|
CURRENT_COPY != rebootFile.mechanismNextCopy) {
|
|
std::string infoString = std::to_string(rebootFile.mechanismNextChip) + " " +
|
|
std::to_string(rebootFile.mechanismNextCopy);
|
|
sif::warning << "CoreController::performRebootFileHandling: Expected to be on image "
|
|
<< infoString << " but currently on other image. Locking " << infoString
|
|
<< std::endl;
|
|
// Firmware or other component might be corrupt and we are on another image then the target
|
|
// image specified by the mechanism. We can't really trust the target image anymore.
|
|
// Lock it for now
|
|
if (rebootFile.mechanismNextChip == xsc::CHIP_0) {
|
|
if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
|
|
rebootFile.img00Lock = true;
|
|
} else {
|
|
rebootFile.img01Lock = true;
|
|
}
|
|
} else {
|
|
if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
|
|
rebootFile.img10Lock = true;
|
|
} else {
|
|
rebootFile.img11Lock = true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
rebootFile.lastChip = CURRENT_CHIP;
|
|
rebootFile.lastCopy = CURRENT_COPY;
|
|
// Only reboot if the reboot functionality is enabled.
|
|
// The handler will still increment the boot counts
|
|
if (rebootFile.enabled and (*rebootFile.relevantBootCnt >= rebootFile.maxCount)) {
|
|
// Reboot to other image
|
|
bool doReboot = false;
|
|
xsc::Chip tgtChip = xsc::NO_CHIP;
|
|
xsc::Copy tgtCopy = xsc::NO_COPY;
|
|
determineAndExecuteReboot(rebootFile, doReboot, tgtChip, tgtCopy);
|
|
if (doReboot) {
|
|
rebootFile.bootFlag = true;
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "Boot counter for image " << CURRENT_CHIP << " " << CURRENT_COPY
|
|
<< " too high. Rebooting to " << tgtChip << " " << tgtCopy << std::endl;
|
|
#endif
|
|
rebootFile.mechanismNextChip = tgtChip;
|
|
rebootFile.mechanismNextCopy = tgtCopy;
|
|
rewriteRebootFile(rebootFile);
|
|
xsc_boot_copy(static_cast<xsc_libnor_chip_t>(tgtChip),
|
|
static_cast<xsc_libnor_copy_t>(tgtCopy));
|
|
}
|
|
} else {
|
|
rebootFile.mechanismNextChip = xsc::NO_CHIP;
|
|
rebootFile.mechanismNextCopy = xsc::NO_COPY;
|
|
}
|
|
rewriteRebootFile(rebootFile);
|
|
}
|
|
|
|
void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot,
|
|
xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
|
|
tgtChip = xsc::CHIP_0;
|
|
tgtCopy = xsc::COPY_0;
|
|
needsReboot = false;
|
|
if ((CURRENT_CHIP == xsc::CHIP_0) and (CURRENT_COPY == xsc::COPY_0) and
|
|
(rf.img00Cnt >= rf.maxCount)) {
|
|
needsReboot = true;
|
|
if (rf.img01Cnt < rf.maxCount and not rf.img01Lock) {
|
|
tgtCopy = xsc::COPY_1;
|
|
return;
|
|
}
|
|
if (rf.img10Cnt < rf.maxCount and not rf.img10Lock) {
|
|
tgtChip = xsc::CHIP_1;
|
|
return;
|
|
}
|
|
if (rf.img11Cnt < rf.maxCount and not rf.img11Lock) {
|
|
tgtChip = xsc::CHIP_1;
|
|
tgtCopy = xsc::COPY_1;
|
|
return;
|
|
}
|
|
// Can't really do much here. Stay on image
|
|
sif::warning
|
|
<< "All reboot counts too high or all fallback images locked, already on fallback image"
|
|
<< std::endl;
|
|
needsReboot = false;
|
|
return;
|
|
}
|
|
if ((CURRENT_CHIP == xsc::CHIP_0) and (CURRENT_COPY == xsc::COPY_1) and
|
|
(rf.img01Cnt >= rf.maxCount)) {
|
|
needsReboot = true;
|
|
if (rf.img00Cnt < rf.maxCount and not rf.img00Lock) {
|
|
// Reboot on fallback image
|
|
return;
|
|
}
|
|
if (rf.img10Cnt < rf.maxCount and not rf.img10Lock) {
|
|
tgtChip = xsc::CHIP_1;
|
|
return;
|
|
}
|
|
if (rf.img11Cnt < rf.maxCount and not rf.img11Lock) {
|
|
tgtChip = xsc::CHIP_1;
|
|
tgtCopy = xsc::COPY_1;
|
|
}
|
|
if (rf.img00Lock) {
|
|
needsReboot = false;
|
|
}
|
|
// Reboot to fallback image
|
|
}
|
|
if ((CURRENT_CHIP == xsc::CHIP_1) and (CURRENT_COPY == xsc::COPY_0) and
|
|
(rf.img10Cnt >= rf.maxCount)) {
|
|
needsReboot = true;
|
|
if (rf.img11Cnt < rf.maxCount and not rf.img11Lock) {
|
|
tgtChip = xsc::CHIP_1;
|
|
tgtCopy = xsc::COPY_1;
|
|
return;
|
|
}
|
|
if (rf.img00Cnt < rf.maxCount and not rf.img00Lock) {
|
|
return;
|
|
}
|
|
if (rf.img01Cnt < rf.maxCount and not rf.img01Lock) {
|
|
tgtCopy = xsc::COPY_1;
|
|
return;
|
|
}
|
|
if (rf.img00Lock) {
|
|
needsReboot = false;
|
|
}
|
|
// Reboot to fallback image
|
|
}
|
|
if ((CURRENT_CHIP == xsc::CHIP_1) and (CURRENT_COPY == xsc::COPY_1) and
|
|
(rf.img11Cnt >= rf.maxCount)) {
|
|
needsReboot = true;
|
|
if (rf.img10Cnt < rf.maxCount and not rf.img10Lock) {
|
|
tgtChip = xsc::CHIP_1;
|
|
return;
|
|
}
|
|
if (rf.img00Cnt < rf.maxCount and not rf.img00Lock) {
|
|
return;
|
|
}
|
|
if (rf.img01Cnt < rf.maxCount and not rf.img01Lock) {
|
|
tgtCopy = xsc::COPY_1;
|
|
return;
|
|
}
|
|
if (rf.img00Lock) {
|
|
needsReboot = false;
|
|
}
|
|
// Reboot to fallback image
|
|
}
|
|
}
|
|
|
|
bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
|
|
using namespace std;
|
|
std::string selfMatch;
|
|
if (CURRENT_CHIP == xsc::CHIP_0) {
|
|
if (CURRENT_COPY == xsc::COPY_0) {
|
|
selfMatch = "00";
|
|
} else {
|
|
selfMatch = "01";
|
|
}
|
|
} else {
|
|
if (CURRENT_COPY == xsc::COPY_0) {
|
|
selfMatch = "10";
|
|
} else {
|
|
selfMatch = "11";
|
|
}
|
|
}
|
|
ifstream file(path);
|
|
string word;
|
|
string line;
|
|
uint8_t lineIdx = 0;
|
|
while (std::getline(file, line)) {
|
|
istringstream iss(line);
|
|
switch (lineIdx) {
|
|
case 0: {
|
|
iss >> word;
|
|
if (word.find("on:") == string::npos) {
|
|
// invalid file
|
|
return false;
|
|
}
|
|
iss >> rf.enabled;
|
|
break;
|
|
}
|
|
case 1: {
|
|
iss >> word;
|
|
if (word.find("maxcnt:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.maxCount;
|
|
break;
|
|
}
|
|
case 2: {
|
|
iss >> word;
|
|
if (word.find("img00:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.img00Cnt;
|
|
if (word.find(selfMatch) != string::npos) {
|
|
rf.relevantBootCnt = &rf.img00Cnt;
|
|
}
|
|
break;
|
|
}
|
|
case 3: {
|
|
iss >> word;
|
|
if (word.find("img01:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.img01Cnt;
|
|
if (word.find(selfMatch) != string::npos) {
|
|
rf.relevantBootCnt = &rf.img01Cnt;
|
|
}
|
|
break;
|
|
}
|
|
case 4: {
|
|
iss >> word;
|
|
if (word.find("img10:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.img10Cnt;
|
|
if (word.find(selfMatch) != string::npos) {
|
|
rf.relevantBootCnt = &rf.img10Cnt;
|
|
}
|
|
break;
|
|
}
|
|
case 5: {
|
|
iss >> word;
|
|
if (word.find("img11:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.img11Cnt;
|
|
if (word.find(selfMatch) != string::npos) {
|
|
rf.relevantBootCnt = &rf.img11Cnt;
|
|
}
|
|
break;
|
|
}
|
|
case 6: {
|
|
iss >> word;
|
|
if (word.find("img00lock:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.img00Lock;
|
|
break;
|
|
}
|
|
case 7: {
|
|
iss >> word;
|
|
if (word.find("img01lock:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.img01Lock;
|
|
break;
|
|
}
|
|
case 8: {
|
|
iss >> word;
|
|
if (word.find("img10lock:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.img10Lock;
|
|
break;
|
|
}
|
|
case 9: {
|
|
iss >> word;
|
|
if (word.find("img11lock:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.img11Lock;
|
|
break;
|
|
}
|
|
case 10: {
|
|
iss >> word;
|
|
if (word.find("bootflag:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> rf.bootFlag;
|
|
break;
|
|
}
|
|
case 11: {
|
|
iss >> word;
|
|
int copyRaw = 0;
|
|
int chipRaw = 0;
|
|
if (word.find("last:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> chipRaw;
|
|
if (iss.fail()) {
|
|
return false;
|
|
}
|
|
iss >> copyRaw;
|
|
if (iss.fail()) {
|
|
return false;
|
|
}
|
|
|
|
if (chipRaw > 1 or copyRaw > 1) {
|
|
return false;
|
|
}
|
|
rf.lastChip = static_cast<xsc::Chip>(chipRaw);
|
|
rf.lastCopy = static_cast<xsc::Copy>(copyRaw);
|
|
break;
|
|
}
|
|
case 12: {
|
|
iss >> word;
|
|
int copyRaw = 0;
|
|
int chipRaw = 0;
|
|
if (word.find("next:") == string::npos) {
|
|
return false;
|
|
}
|
|
iss >> chipRaw;
|
|
if (iss.fail()) {
|
|
return false;
|
|
}
|
|
iss >> copyRaw;
|
|
if (iss.fail()) {
|
|
return false;
|
|
}
|
|
|
|
if (chipRaw > 2 or copyRaw > 2) {
|
|
return false;
|
|
}
|
|
rf.mechanismNextChip = static_cast<xsc::Chip>(chipRaw);
|
|
rf.mechanismNextCopy = static_cast<xsc::Copy>(copyRaw);
|
|
break;
|
|
}
|
|
}
|
|
if (iss.fail()) {
|
|
return false;
|
|
}
|
|
lineIdx++;
|
|
}
|
|
if (lineIdx < 12) {
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
|
|
std::string path = currMntPrefix + REBOOT_FILE;
|
|
// Disable the reboot file mechanism
|
|
parseRebootFile(path, rebootFile);
|
|
if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
|
|
rebootFile.img00Cnt = 0;
|
|
rebootFile.img01Cnt = 0;
|
|
rebootFile.img10Cnt = 0;
|
|
rebootFile.img11Cnt = 0;
|
|
} else {
|
|
if (tgtChip == xsc::CHIP_0) {
|
|
if (tgtCopy == xsc::COPY_0) {
|
|
rebootFile.img00Cnt = 0;
|
|
} else {
|
|
rebootFile.img01Cnt = 0;
|
|
}
|
|
} else {
|
|
if (tgtCopy == xsc::COPY_0) {
|
|
rebootFile.img10Cnt = 0;
|
|
} else {
|
|
rebootFile.img11Cnt = 0;
|
|
}
|
|
}
|
|
}
|
|
rewriteRebootFile(rebootFile);
|
|
}
|
|
|
|
void CoreController::rewriteRebootFile(RebootFile file) {
|
|
std::string path = currMntPrefix + REBOOT_FILE;
|
|
std::ofstream rebootFile(path);
|
|
if (rebootFile.is_open()) {
|
|
// Initiate reboot file first. Reboot handling will be on on initialization
|
|
rebootFile << "on: " << file.enabled << "\nmaxcnt: " << file.maxCount
|
|
<< "\nimg00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
|
|
<< "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt
|
|
<< "\nimg00lock: " << file.img00Lock << "\nimg01lock: " << file.img01Lock
|
|
<< "\nimg10lock: " << file.img10Lock << "\nimg11lock: " << file.img11Lock
|
|
<< "\nbootflag: " << file.bootFlag << "\nlast: " << static_cast<int>(file.lastChip)
|
|
<< " " << static_cast<int>(file.lastCopy)
|
|
<< "\nnext: " << static_cast<int>(file.mechanismNextChip) << " "
|
|
<< static_cast<int>(file.mechanismNextCopy) << "\n";
|
|
}
|
|
}
|
|
|
|
void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
|
|
std::string path = currMntPrefix + REBOOT_FILE;
|
|
// Disable the reboot file mechanism
|
|
parseRebootFile(path, rebootFile);
|
|
if (tgtChip == xsc::CHIP_0) {
|
|
if (tgtCopy == xsc::COPY_0) {
|
|
rebootFile.img00Lock = lock;
|
|
} else {
|
|
rebootFile.img01Lock = lock;
|
|
}
|
|
} else {
|
|
if (tgtCopy == xsc::COPY_0) {
|
|
rebootFile.img10Lock = lock;
|
|
} else {
|
|
rebootFile.img11Lock = lock;
|
|
}
|
|
}
|
|
rewriteRebootFile(rebootFile);
|
|
}
|
|
|
|
ReturnValue_t CoreController::timeFileHandler() {
|
|
// Always set time. We could only set it if it is updated by GPS, but then the backup time would
|
|
// become obsolete on GPS problems.
|
|
if (opDivider10.check()) {
|
|
// It is assumed that the system time is set from the GPS time
|
|
timeval currentTime = {};
|
|
ReturnValue_t result = Clock::getClock_timeval(¤tTime);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
std::string fileName = currMntPrefix + TIME_FILE;
|
|
std::ofstream timeFile(fileName);
|
|
if (not timeFile.good()) {
|
|
sif::error << "CoreController::timeFileHandler: Error opening time file: " << strerror(errno)
|
|
<< std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t CoreController::initClockFromTimeFile() {
|
|
using namespace GpsHyperion;
|
|
using namespace std;
|
|
std::string fileName = currMntPrefix + TIME_FILE;
|
|
if (std::filesystem::exists(fileName) and
|
|
((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
|
|
not utility::timeSanityCheck())) {
|
|
ifstream timeFile(fileName);
|
|
string nextWord;
|
|
getline(timeFile, nextWord);
|
|
istringstream iss(nextWord);
|
|
iss >> nextWord;
|
|
if (iss.bad() or nextWord != "UNIX") {
|
|
return returnvalue::FAILED;
|
|
}
|
|
iss >> nextWord;
|
|
if (iss.bad() or nextWord != "SECONDS:") {
|
|
return returnvalue::FAILED;
|
|
}
|
|
iss >> nextWord;
|
|
timeval currentTime = {};
|
|
char *checkPtr;
|
|
currentTime.tv_sec = strtol(nextWord.c_str(), &checkPtr, 10);
|
|
if (iss.bad() or *checkPtr) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
time_t timeRaw = currentTime.tv_sec;
|
|
std::tm *time = std::gmtime(&timeRaw);
|
|
sif::info << "Setting system time from time files: " << std::put_time(time, "%c %Z")
|
|
<< std::endl;
|
|
#endif
|
|
return Clock::setClock(¤tTime);
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void CoreController::readHkData() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = hkSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != returnvalue::OK) {
|
|
return;
|
|
}
|
|
Xadc xadc;
|
|
result = xadc.getTemperature(hkSet.temperature.value);
|
|
if (result != returnvalue::OK) {
|
|
hkSet.temperature.setValid(false);
|
|
} else {
|
|
hkSet.temperature.setValid(true);
|
|
}
|
|
result = xadc.getVccPint(hkSet.psVoltage.value);
|
|
if (result != returnvalue::OK) {
|
|
hkSet.psVoltage.setValid(false);
|
|
} else {
|
|
hkSet.psVoltage.setValid(true);
|
|
}
|
|
result = xadc.getVccInt(hkSet.plVoltage.value);
|
|
if (result != returnvalue::OK) {
|
|
hkSet.plVoltage.setValid(false);
|
|
} else {
|
|
hkSet.plVoltage.setValid(true);
|
|
}
|
|
#if OBSW_PRINT_CORE_HK == 1
|
|
hkSet.printSet();
|
|
#endif /* OBSW_PRINT_CORE_HK == 1 */
|
|
result = hkSet.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != returnvalue::OK) {
|
|
return;
|
|
}
|
|
}
|
|
|
|
bool CoreController::isNumber(const std::string &s) {
|
|
return !s.empty() && std::find_if(s.begin(), s.end(),
|
|
[](unsigned char c) { return !std::isdigit(c); }) == s.end();
|
|
}
|