144 lines
4.5 KiB
C++
144 lines
4.5 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 "fsfw/controller/ExtendedControllerBase.h"
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#include "bsp_q7s/memory/SdCardManager.h"
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#include "events/subsystemIdRanges.h"
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class Timer;
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class SdCardManager;
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class CoreController: public ExtendedControllerBase {
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public:
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enum Chip: uint8_t {
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CHIP_0,
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CHIP_1,
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NO_CHIP
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};
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enum Copy: uint8_t {
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COPY_0,
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COPY_1,
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NO_COPY
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};
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static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
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static constexpr ActionId_t REBOOT_OBC = 32;
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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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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,
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MessageQueueId_t commandedBy, 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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static ReturnValue_t incrementAllocationFailureCount();
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static void getCurrentBootCopy(Chip& chip, Copy& copy);
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bool sdInitFinished() const;
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private:
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static Chip currentChip;
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static Copy currentCopy;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode);
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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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// Used if SD switches or mount commands are issued via telecommand
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SET_STATE_FROM_COMMAND,
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};
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static constexpr bool BLOCKING_SD_INIT = false;
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SdCardManager* sdcMan = nullptr;
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ReturnValue_t initSdCardBlocking();
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ReturnValue_t sdStateMachine();
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struct SdInfo {
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sd::SdCard pref = sd::SdCard::NONE;
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sd::SdState prefState = sd::SdState::OFF;
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sd::SdCard other = sd::SdCard::NONE;
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sd::SdState otherState = sd::SdState::OFF;
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std::string prefChar = "0";
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std::string otherChar = "1";
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SdStates state = SdStates::START;
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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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// These two flags are related to external commanding
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bool commandIssued = false;
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bool commandFinished = false;
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sd::SdState currentlyCommandedState = sd::SdState::OFF;
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sd::SdCard commandedCard = sd::SdCard::NONE;
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sd::SdState commandedState = sd::SdState::OFF;
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};
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SdInfo sdInfo;
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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 sdColdRedundantBlockingInit();
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void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
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void determinePreferredSdCard();
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void executeNextExternalSdCommand();
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void checkExternalSdCommandStatus();
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ReturnValue_t initVersionFile();
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ReturnValue_t initBootCopy();
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ReturnValue_t initWatchdogFifo();
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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 actionPerformReboot(const uint8_t *data, size_t size);
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void initPrint();
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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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PeriodicOperationDivider opDivider;
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void performWatchdogControlOperation();
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};
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#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */
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