eive-obsw/bsp_q7s/core/CoreController.h

#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
#define BSP_Q7S_CORE_CORECONTROLLER_H_

#include <fsfw/globalfunctions/PeriodicOperationDivider.h>

#include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"

class Timer;
class SdCardManager;

class CoreController : public ExtendedControllerBase {
 public:
  enum Chip : uint8_t { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };

  enum Copy : uint8_t { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };

  static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
  static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
  static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
  static constexpr char VERSION_FILE[] = "/conf/sd_status";

  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
  static constexpr ActionId_t REBOOT_OBC = 32;
  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;

  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;

  static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);

  CoreController(object_id_t objectId);
  virtual ~CoreController();

  ReturnValue_t initialize() override;

  ReturnValue_t initializeAfterTaskCreation() override;

  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                              const uint8_t* data, size_t size) override;

  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
  void performControlOperation() override;

  /**
   * Generate a file containing the chip lock/unlock states inside /tmp/chip_prot_status.txt
   * @return
   */
  static ReturnValue_t generateChipStateFile();
  static ReturnValue_t incrementAllocationFailureCount();
  static void getCurrentBootCopy(Chip& chip, Copy& copy);

  ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);

  /**
   * Checks whether the target chip and copy are write protected and protect set them to a target
   * state where applicable.
   * @param targetChip
   * @param targetCopy
   * @param protect       Target state
   * @param protOperationPerformed [out] Can be used to determine whether any operation
   * was performed
   * @param updateProtFile Specify whether the protection info file is updated
   * @return
   */
  ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy, bool protect,
                                      bool& protOperationPerformed, bool updateProtFile = true);

  bool sdInitFinished() const;

 private:
  static Chip CURRENT_CHIP;
  static Copy CURRENT_COPY;

  // Designated value for rechecking FIFO open
  static constexpr int RETRY_FIFO_OPEN = -2;
  int watchdogFifoFd = 0;

  // States for SD state machine, which is used in non-blocking mode
  enum class SdStates {
    NONE,
    START,
    GET_INFO,
    SET_STATE_SELF,
    MOUNT_SELF,
    // Determine operations for other SD card, depending on redundancy configuration
    DETERMINE_OTHER,
    SET_STATE_OTHER,
    // Mount or unmount other
    MOUNT_UNMOUNT_OTHER,
    // Skip period because the shell command used to generate the info file sometimes is
    // missing the last performed operation if executed too early
    SKIP_CYCLE_BEFORE_INFO_UPDATE,
    UPDATE_INFO,
    // SD initialization done
    IDLE,
    // Used if SD switches or mount commands are issued via telecommand
    SET_STATE_FROM_COMMAND,
  };
  static constexpr bool BLOCKING_SD_INIT = false;

  SdCardManager* sdcMan = nullptr;

  struct SdInfo {
    sd::SdCard pref = sd::SdCard::NONE;
    sd::SdState prefState = sd::SdState::OFF;
    sd::SdCard other = sd::SdCard::NONE;
    sd::SdState otherState = sd::SdState::OFF;
    std::string prefChar = "0";
    std::string otherChar = "1";
    SdStates state = SdStates::START;
    // Used to track whether a command was executed
    bool commandExecuted = true;
    bool initFinished = false;
    SdCardManager::SdStatePair currentState;
    uint16_t cycleCount = 0;
    // These two flags are related to external commanding
    bool commandIssued = false;
    bool commandFinished = false;
    sd::SdState currentlyCommandedState = sd::SdState::OFF;
    sd::SdCard commandedCard = sd::SdCard::NONE;
    sd::SdState commandedState = sd::SdState::OFF;
  };
  SdInfo sdInfo;

  /**
   * Index 0: Chip 0 Copy 0
   * Index 1: Chip 0 Copy 1
   * Index 2: Chip 1 Copy 0
   * Index 3: Chip 1 Copy 1
   */
  std::array<bool, 4> protArray;
  PeriodicOperationDivider opDivider;

  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);

  ReturnValue_t initVersionFile();
  ReturnValue_t initBootCopy();
  ReturnValue_t initWatchdogFifo();
  ReturnValue_t initSdCardBlocking();
  void initPrint();

  ReturnValue_t sdStateMachine();
  void updateSdInfoOther();
  ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
                            bool printOutput = true);
  ReturnValue_t sdColdRedundantBlockingInit();
  void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
  void determinePreferredSdCard();
  void executeNextExternalSdCommand();
  void checkExternalSdCommandStatus();

  ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                            const uint8_t* data, size_t size);
  ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);

  void performWatchdogControlOperation();

  ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
  int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
                                bool& protOperationPerformed, bool selfChip, bool selfCopy,
                                bool allChips, bool allCopies, uint8_t arrIdx);
};

#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */