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eive-obsw/bsp_q7s/core/CoreController.h

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#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <bsp_q7s/core/defs.h>
#include <fsfw/container/DynamicFIFO.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <libxiphos.h>
#include <linux/acs/GPSDefinitions.h>
#include <mission/utility/trace.h>
#include <atomic>
#include <cstddef>
#include "OBSWConfig.h"
#include "bsp_q7s/fs/SdCardManager.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/controller/ExtendedControllerBase.h"
#include "mission/sysDefs.h"
class Timer;
class SdCardManager;
struct RebootWatchdogFile {
static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
bool enabled = true;
size_t maxCount = DEFAULT_MAX_BOOT_CNT;
uint32_t img00Cnt = 0;
uint32_t img01Cnt = 0;
uint32_t img10Cnt = 0;
uint32_t img11Cnt = 0;
bool img00Lock = false;
bool img01Lock = false;
bool img10Lock = false;
bool img11Lock = false;
uint32_t* relevantBootCnt = &img00Cnt;
bool bootFlag = false;
xsc::Chip lastChip = xsc::Chip::CHIP_0;
xsc::Copy lastCopy = xsc::Copy::COPY_0;
xsc::Chip mechanismNextChip = xsc::Chip::NO_CHIP;
xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
};
class RebootWatchdogPacket : public SerialLinkedListAdapter<SerializeIF> {
public:
RebootWatchdogPacket(RebootWatchdogFile& rf) {
enabled = rf.enabled;
maxCount = rf.maxCount;
img00Count = rf.img00Cnt;
img01Count = rf.img01Cnt;
img10Count = rf.img10Cnt;
img11Count = rf.img11Cnt;
img00Lock = rf.img00Lock;
img01Lock = rf.img01Lock;
img10Lock = rf.img10Lock;
img11Lock = rf.img11Lock;
lastChip = static_cast<uint8_t>(rf.lastChip);
lastCopy = static_cast<uint8_t>(rf.lastCopy);
nextChip = static_cast<uint8_t>(rf.mechanismNextChip);
nextCopy = static_cast<uint8_t>(rf.mechanismNextCopy);
setLinks();
}
private:
void setLinks() {
setStart(&enabled);
enabled.setNext(&maxCount);
maxCount.setNext(&img00Count);
img00Count.setNext(&img01Count);
img01Count.setNext(&img10Count);
img10Count.setNext(&img11Count);
img11Count.setNext(&img00Lock);
img00Lock.setNext(&img01Lock);
img01Lock.setNext(&img10Lock);
img10Lock.setNext(&img11Lock);
img11Lock.setNext(&lastChip);
lastChip.setNext(&lastCopy);
lastCopy.setNext(&nextChip);
nextChip.setNext(&nextCopy);
setLast(&nextCopy);
}
SerializeElement<uint8_t> enabled = false;
SerializeElement<uint32_t> maxCount = 0;
SerializeElement<uint32_t> img00Count = 0;
SerializeElement<uint32_t> img01Count = 0;
SerializeElement<uint32_t> img10Count = 0;
SerializeElement<uint32_t> img11Count = 0;
SerializeElement<uint8_t> img00Lock = false;
SerializeElement<uint8_t> img01Lock = false;
SerializeElement<uint8_t> img10Lock = false;
SerializeElement<uint8_t> img11Lock = false;
SerializeElement<uint8_t> lastChip = 0;
SerializeElement<uint8_t> lastCopy = 0;
SerializeElement<uint8_t> nextChip = 0;
SerializeElement<uint8_t> nextCopy = 0;
};
struct RebootCountersFile {
// 16 bit values so all boot counters fit into one event.
uint16_t img00Cnt = 0;
uint16_t img01Cnt = 0;
uint16_t img10Cnt = 0;
uint16_t img11Cnt = 0;
};
class RebootCountersPacket : public SerialLinkedListAdapter<SerializeIF> {
RebootCountersPacket(RebootCountersFile& rf) {
img00Count = rf.img00Cnt;
img01Count = rf.img01Cnt;
img10Count = rf.img10Cnt;
img11Count = rf.img11Cnt;
setLinks();
}
private:
void setLinks() {
setStart(&img00Count);
img00Count.setNext(&img01Count);
img01Count.setNext(&img10Count);
img10Count.setNext(&img11Count);
setLast(&img11Count);
}
SerializeElement<uint16_t> img00Count = 0;
SerializeElement<uint16_t> img01Count = 0;
SerializeElement<uint16_t> img10Count = 0;
SerializeElement<uint16_t> img11Count = 0;
};
class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public:
enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
static xsc::Chip CURRENT_CHIP;
static xsc::Copy CURRENT_COPY;
static constexpr char CHIP_PROT_SCRIPT[] = "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";
const std::string VERSION_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
const std::string LEGACY_REBOOT_WATCHDOG_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" +
std::string(core::LEGACY_REBOOT_WATCHDOG_FILE_NAME);
const std::string REBOOT_WATCHDOG_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_WATCHDOG_FILE_NAME);
const std::string LEAP_SECONDS_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::LEAP_SECONDS_FILE_NAME);
const std::string BACKUP_TIME_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
const std::string REBOOT_COUNTERS_FILE =
"/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_COUNTER_FILE_NAME);
static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
static constexpr char CHIP_1_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-nom-rootfs";
static constexpr char CHIP_1_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi1-gold-rootfs";
static constexpr char LIST_DIR_DUMP_WORK_FILE[] = "/tmp/dir_listing.tmp";
static constexpr dur_millis_t INIT_SD_CARD_CHECK_TIMEOUT = 5000;
static constexpr dur_millis_t DEFAULT_SD_CARD_CHECK_TIMEOUT = 60000;
CoreController(object_id_t objectId, bool enableHkSet);
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(xsc::Chip& chip, xsc::Copy& copy);
static const char* getXscMountDir(xsc::Chip chip, xsc::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 setBootCopyProtectionAndUpdateFile(xsc::Chip targetChip, xsc::Copy targetCopy,
bool protect);
bool sdInitFinished() const;
private:
static constexpr uint32_t BOOT_OFFSET_SECONDS = 15;
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t MUTEX_TIMEOUT = 20;
bool enableHkSet = false;
GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::NOT_SEEN;
// States for SD state machine, which is used in non-blocking mode
enum class SdStates {
NONE,
START,
UPDATE_SD_INFO_START,
SKIP_TWO_CYCLES_IF_SD_LOCKED,
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_SD_INFO_END,
// SD initialization done
IDLE
};
enum class SwUpdateSources { SD_0, SD_1, TMP_DIR };
static constexpr bool BLOCKING_SD_INIT = false;
uint32_t* mappedSysRomAddr = nullptr;
SdCardManager* sdcMan = nullptr;
MessageQueueIF* eventQueue = nullptr;
uint8_t prefSdRaw = sd::SdCard::SLOT_0;
SdStates sdFsmState = SdStates::START;
SdStates fsmStateAfterDelay = SdStates::IDLE;
enum SdCfgMode { PASSIVE, COLD_REDUNDANT, HOT_REDUNDANT };
struct SdFsmParams {
SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
sd::SdCard active = sd::SdCard::NONE;
sd::SdCard other = sd::SdCard::NONE;
std::string activeChar = "0";
std::string otherChar = "1";
sd::SdState activeState = sd::SdState::OFF;
sd::SdState otherState = sd::SdState::OFF;
std::pair<bool, bool> mountSwitch = {true, true};
// This flag denotes that the SD card usage is locked. This is relevant if SD cards go off
// to leave appliation using the SD cards some time to detect the SD card is not usable anymore.
// This is relevant if the active SD card is being switched. The SD card will also be locked
// when going from hot-redundant mode to cold-redundant mode.
bool lockSdCardUsage = false;
bool commandPending = true;
bool initFinished = false;
SdCardManager::SdStatePair currentState;
uint16_t cycleCount = 0;
uint16_t skippedCyclesCount = 0;
} sdInfo;
struct SdCommanding {
bool cmdPending = false;
MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t actionId;
} sdCommandingInfo;
struct DirListingDumpContext {
bool active;
bool firstDump;
size_t dumpedBytes;
size_t totalFileSize;
size_t listingDataOffset;
size_t maxDumpLen;
uint32_t segmentIdx;
MessageQueueId_t commander = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t actionId;
};
std::array<uint8_t, 1024> dirListingBuf{};
DirListingDumpContext dumpContext{};
RebootWatchdogFile rebootWatchdogFile = {};
RebootCountersFile rebootCountersFile = {};
CommandExecutor cmdExecutor;
SimpleRingBuffer cmdReplyBuf;
DynamicFIFO<uint16_t> cmdRepliesSizes;
bool shellCmdIsExecuting = false;
MessageQueueId_t successRecipient = MessageQueueIF::NO_QUEUE;
std::string currMntPrefix;
bool timeFileInitDone = false;
bool leapSecondsInitDone = false;
bool performOneShotSdCardOpsSwitch = false;
uint8_t shortSdCardCdCounter = 0;
#if OBSW_THREAD_TRACING == 1
uint32_t opCounter;
#endif
Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
/**
* First index: Chip.
* Second index: Copy.
*/
bool protArray[2][2]{};
PeriodicOperationDivider opDivider5;
PeriodicOperationDivider opDivider10;
PoolEntry<float> tempPoolEntry = PoolEntry<float>(0.0);
PoolEntry<float> psVoltageEntry = PoolEntry<float>(0.0);
PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
core::HkSet hkSet;
ParameterHelper paramHelper;
#if OBSW_SD_CARD_MUST_BE_ON == 1
bool remountAttemptFlag = true;
#endif
MessageQueueId_t getCommandQueue() const override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) override;
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);
void performMountedSdCardOperations();
ReturnValue_t initVersionFile();
void initLeapSeconds();
ReturnValue_t initLeapSecondsFromFile();
ReturnValue_t initClockFromTimeFile();
ReturnValue_t actionUpdateLeapSeconds(const uint8_t* data);
ReturnValue_t writeLeapSecondsToFile(const uint16_t leapSeconds);
ReturnValue_t performSdCardCheck();
ReturnValue_t backupTimeFileHandler();
ReturnValue_t initBootCopyFile();
ReturnValue_t initSdCardBlocking();
bool startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mode, MessageQueueId_t commander,
DeviceCommandId_t actionId);
void initPrint();
ReturnValue_t sdStateMachine();
void updateInternalSdInfo();
ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
bool printOutput = true);
ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);
ReturnValue_t sdColdRedundantBlockingInit();
void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
void executeNextExternalSdCommand();
void checkExternalSdCommandStatus();
void performRebootWatchdogHandling(bool recreateFile);
void performRebootCountersHandling(bool recreateFile);
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
ReturnValue_t actionListDirectoryDumpDirectly(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
ReturnValue_t performGracefulShutdown(xsc::Chip targetChip, xsc::Copy targetCopy);
ReturnValue_t actionListDirectoryCommonCommandCreator(const uint8_t* data, size_t size,
std::ostringstream& oss);
ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
ReturnValue_t actionReboot(const uint8_t* data, size_t size);
ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
ReturnValue_t handleSwitchingSdCardsOffNonBlocking();
bool handleBootCopyProt(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect);
void rebootWatchdogAlgorithm(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
xsc::Copy& tgtCopy);
void resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy);
void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
bool parseRebootWatchdogFile(std::string path, RebootWatchdogFile& file);
bool parseRebootCountersFile(std::string path, RebootCountersFile& file);
void rewriteRebootWatchdogFile(RebootWatchdogFile file);
void rewriteRebootCountersFile(RebootCountersFile file);
void announceBootCounts();
void announceVersionInfo();
void announceCurrentImageInfo();
void announceSdInfo(SdCardManager::SdStatePair sdStates);
void readHkData();
void dirListingDumpHandler();
bool isNumber(const std::string& s);
};
#endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */
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