Robin Mueller
05adc91f94
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EIVE/eive-obsw/pipeline/head This commit looks good
559 lines
17 KiB
C++
559 lines
17 KiB
C++
#include "SdCardManager.h"
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#include <fsfw/ipc/MutexGuard.h>
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#include <fsfw/timemanager/Countdown.h>
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#include <unistd.h>
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#include <cstring>
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#include <filesystem>
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#include <fstream>
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#include <memory>
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#include "OBSWConfig.h"
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#include "bsp_q7s/memory/scratchApi.h"
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#include "eive/definitions.h"
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#include "eive/objects.h"
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#include "fsfw/ipc/MutexFactory.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "linux/utility/utility.h"
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SdCardManager* SdCardManager::INSTANCE = nullptr;
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SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
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mutex = MutexFactory::instance()->createMutex();
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ReturnValue_t result = mutex->lockMutex();
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if (result != returnvalue::OK) {
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sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
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}
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uint8_t prefSdRaw = 0;
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result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
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result = mutex->unlockMutex();
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if (result != returnvalue::OK) {
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sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
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}
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if (result != returnvalue::OK) {
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if (result == scratch::KEY_NOT_FOUND) {
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sif::warning << "CoreController::sdCardInit: "
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"Preferred SD card not set. Setting to 0"
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<< std::endl;
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setPreferredSdCard(sd::SdCard::SLOT_0);
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sdInfo.pref = sd::SdCard::SLOT_0;
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} else {
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// Should not happen.
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// TODO: Maybe trigger event?
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sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
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"buffer failed"
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<< std::endl;
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sdInfo.pref = sd::SdCard::SLOT_0;
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}
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}
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sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
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}
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SdCardManager::~SdCardManager() {}
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void SdCardManager::create() {
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if (INSTANCE == nullptr) {
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INSTANCE = new SdCardManager();
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}
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}
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SdCardManager* SdCardManager::instance() {
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SdCardManager::create();
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return SdCardManager::INSTANCE;
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}
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ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
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SdStatePair* statusPair) {
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ReturnValue_t result = returnvalue::OK;
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if (doMountSdCard) {
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if (not blocking) {
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sif::warning << "SdCardManager::switchOnSdCard: Two-step command but manager is"
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" not configured for blocking operation. "
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"Forcing blocking mode.."
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<< std::endl;
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blocking = true;
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}
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}
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std::unique_ptr<SdStatePair> sdStatusPtr;
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if (statusPair == nullptr) {
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sdStatusPtr = std::make_unique<SdStatePair>();
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statusPair = sdStatusPtr.get();
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result = getSdCardsStatus(*statusPair);
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if (result != returnvalue::OK) {
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return result;
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}
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}
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// Not allowed, this function turns on one SD card
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if (sdCard == sd::SdCard::BOTH) {
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sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
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<< std::endl;
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return returnvalue::FAILED;
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}
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sd::SdState currentState;
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if (sdCard == sd::SdCard::SLOT_0) {
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currentState = statusPair->first;
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} else if (sdCard == sd::SdCard::SLOT_1) {
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currentState = statusPair->second;
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} else {
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// Should not happen
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currentState = sd::SdState::OFF;
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}
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if (currentState == sd::SdState::ON) {
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if (not doMountSdCard) {
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return ALREADY_ON;
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} else {
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return mountSdCard(sdCard);
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}
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} else if (currentState == sd::SdState::MOUNTED) {
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result = ALREADY_MOUNTED;
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} else if (currentState == sd::SdState::OFF) {
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result = setSdCardState(sdCard, true);
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} else {
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result = returnvalue::FAILED;
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}
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if (result != returnvalue::OK or not doMountSdCard) {
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return result;
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}
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return mountSdCard(sdCard);
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}
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ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
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SdStatePair* statusPair) {
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std::pair<sd::SdState, sd::SdState> active;
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ReturnValue_t result = getSdCardsStatus(active);
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if (result != returnvalue::OK) {
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return result;
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}
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if (doUnmountSdCard) {
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if (not blocking) {
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sif::warning << "SdCardManager::switchOffSdCard: Two-step command but manager is"
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" not configured for blocking operation. Forcing blocking mode.."
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<< std::endl;
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blocking = true;
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}
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}
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// Not allowed, this function turns off one SD card
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if (sdCard == sd::SdCard::BOTH) {
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sif::warning << "SdCardManager::switchOffSdCard: API does not allow sd::SdStatus::BOTH"
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<< std::endl;
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return returnvalue::FAILED;
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}
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if (sdCard == sd::SdCard::SLOT_0) {
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if (active.first == sd::SdState::OFF) {
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return ALREADY_OFF;
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}
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} else if (sdCard == sd::SdCard::SLOT_1) {
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if (active.second == sd::SdState::OFF) {
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return ALREADY_OFF;
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}
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}
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if (doUnmountSdCard) {
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result = unmountSdCard(sdCard);
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if (result != returnvalue::OK) {
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return result;
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}
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}
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return setSdCardState(sdCard, false);
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}
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ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
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using namespace std;
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if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
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return CommandExecutor::COMMAND_PENDING;
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}
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string sdstring = "";
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string statestring = "";
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if (sdCard == sd::SdCard::SLOT_0) {
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sdstring = "0";
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} else if (sdCard == sd::SdCard::SLOT_1) {
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sdstring = "1";
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}
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if (on) {
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currentOp = Operations::SWITCHING_ON;
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statestring = "on";
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} else {
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currentOp = Operations::SWITCHING_OFF;
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statestring = "off";
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}
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ostringstream command;
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command << "q7hw sd set " << sdstring << " " << statestring;
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cmdExecutor.load(command.str(), blocking, printCmdOutput);
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ReturnValue_t result = cmdExecutor.execute();
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if (blocking and result != returnvalue::OK) {
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utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::setSdCardState");
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}
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return result;
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}
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ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
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using namespace std;
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MutexGuard mg(mutex);
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if (not filesystem::exists(SD_STATE_FILE)) {
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return STATUS_FILE_NEXISTS;
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}
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// Now the file should exist in any case. Still check whether it exists.
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fstream sdStatus(SD_STATE_FILE);
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if (not sdStatus.good()) {
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return STATUS_FILE_NEXISTS;
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}
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string line;
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uint8_t idx = 0;
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sd::SdCard currentSd = sd::SdCard::SLOT_0;
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// Process status file line by line
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while (std::getline(sdStatus, line)) {
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processSdStatusLine(active, line, idx, currentSd);
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}
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return returnvalue::OK;
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}
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ReturnValue_t SdCardManager::mountSdCard(sd::SdCard sdCard) {
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using namespace std;
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if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
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return CommandExecutor::COMMAND_PENDING;
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}
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if (sdCard == sd::SdCard::BOTH) {
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sif::warning << "SdCardManager::mountSdCard: API does not allow sd::SdStatus::BOTH"
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<< std::endl;
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return returnvalue::FAILED;
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}
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string mountDev;
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string mountPoint;
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if (sdCard == sd::SdCard::SLOT_0) {
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mountDev = SD_0_DEV_NAME;
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mountPoint = config::SD_0_MOUNT_POINT;
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} else if (sdCard == sd::SdCard::SLOT_1) {
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mountDev = SD_1_DEV_NAME;
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mountPoint = config::SD_1_MOUNT_POINT;
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}
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if (not filesystem::exists(mountDev)) {
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sif::warning << "SdCardManager::mountSdCard: Device file does not exists. Make sure to"
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" turn on the SD card"
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<< std::endl;
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return MOUNT_ERROR;
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}
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if (not blocking) {
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currentOp = Operations::MOUNTING;
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}
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string sdMountCommand = "mount " + mountDev + " " + mountPoint;
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cmdExecutor.load(sdMountCommand, blocking, printCmdOutput);
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ReturnValue_t result = cmdExecutor.execute();
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if (blocking and result != returnvalue::OK) {
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utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
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}
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return result;
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}
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ReturnValue_t SdCardManager::unmountSdCard(sd::SdCard sdCard) {
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if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
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return CommandExecutor::COMMAND_PENDING;
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}
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using namespace std;
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if (sdCard == sd::SdCard::BOTH) {
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sif::warning << "SdCardManager::unmountSdCard: API does not allow sd::SdStatus::BOTH"
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<< std::endl;
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return returnvalue::FAILED;
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}
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string mountPoint;
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if (sdCard == sd::SdCard::SLOT_0) {
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mountPoint = config::SD_0_MOUNT_POINT;
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} else if (sdCard == sd::SdCard::SLOT_1) {
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mountPoint = config::SD_1_MOUNT_POINT;
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}
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if (not filesystem::exists(mountPoint)) {
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sif::error << "SdCardManager::unmountSdCard: Default mount point " << mountPoint
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<< "does not exist" << std::endl;
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return UNMOUNT_ERROR;
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}
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if (filesystem::is_empty(mountPoint)) {
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// The mount point will always exist, but if it is empty, that is strong hint that
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// the SD card was not mounted properly. Still proceed with operation.
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sif::warning << "SdCardManager::unmountSdCard: Mount point is empty!" << std::endl;
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}
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string sdUnmountCommand = "umount " + mountPoint;
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if (not blocking) {
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currentOp = Operations::UNMOUNTING;
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}
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cmdExecutor.load(sdUnmountCommand, blocking, printCmdOutput);
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ReturnValue_t result = cmdExecutor.execute();
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if (blocking and result != returnvalue::OK) {
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utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::unmountSdCard");
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}
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return result;
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}
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ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard prefSdCard) {
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std::unique_ptr<SdStatePair> sdStatusPtr;
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ReturnValue_t result = returnvalue::OK;
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// Enforce blocking operation for now. Be careful to reset it when returning prematurely!
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bool resetNonBlockingState = false;
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if (not this->blocking) {
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blocking = true;
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resetNonBlockingState = true;
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}
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if (prefSdCard == sd::SdCard::NONE) {
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result = getPreferredSdCard();
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if (result != returnvalue::OK) {
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}
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}
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if (statusPair == nullptr) {
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sdStatusPtr = std::make_unique<SdStatePair>();
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statusPair = sdStatusPtr.get();
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getSdCardsStatus(*statusPair);
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}
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if (statusPair->first == sd::SdState::ON) {
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result = mountSdCard(prefSdCard);
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}
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result = switchOnSdCard(prefSdCard, true, statusPair);
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if (resetNonBlockingState) {
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blocking = false;
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}
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return result;
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}
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void SdCardManager::resetState() {
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cmdExecutor.reset();
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currentOp = Operations::IDLE;
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}
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void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& active,
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std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
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using namespace std;
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istringstream iss(line);
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string word;
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bool slotLine = false;
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bool mountLine = false;
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while (iss >> word) {
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if (word == "Slot") {
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slotLine = true;
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}
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if (word == "Mounted") {
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mountLine = true;
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}
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if (slotLine) {
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if (word == "1:") {
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currentSd = sd::SdCard::SLOT_1;
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}
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if (word == "on") {
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if (currentSd == sd::SdCard::SLOT_0) {
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active.first = sd::SdState::ON;
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} else {
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active.second = sd::SdState::ON;
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}
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} else if (word == "off") {
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if (currentSd == sd::SdCard::SLOT_0) {
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active.first = sd::SdState::OFF;
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} else {
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active.second = sd::SdState::OFF;
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}
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}
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}
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if (mountLine) {
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if (currentSd == sd::SdCard::SLOT_0) {
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active.first = sd::SdState::MOUNTED;
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} else {
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active.second = sd::SdState::MOUNTED;
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}
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}
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if (idx > 5) {
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sif::warning << "SdCardManager::sdCardActive: /tmp/sd_status.txt has more than 6 "
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"lines and might be invalid!"
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<< std::endl;
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}
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}
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idx++;
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}
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sd::SdCard SdCardManager::getPreferredSdCard() const {
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MutexGuard mg(mutex);
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auto res = mg.getLockResult();
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if (res != returnvalue::OK) {
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sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
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}
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return sdInfo.pref;
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}
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ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
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MutexGuard mg(mutex);
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if (sdCard == sd::SdCard::BOTH) {
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return returnvalue::FAILED;
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}
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sdInfo.pref = sdCard;
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return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
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}
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ReturnValue_t SdCardManager::updateSdCardStateFile() {
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if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
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return CommandExecutor::COMMAND_PENDING;
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}
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MutexGuard mg(mutex);
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// Use q7hw utility and pipe the command output into the state file
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std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
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cmdExecutor.load(updateCmd, blocking, printCmdOutput);
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ReturnValue_t result = cmdExecutor.execute();
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if (blocking and result != returnvalue::OK) {
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utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
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}
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return result;
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}
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std::string SdCardManager::getCurrentMountPrefix() const {
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MutexGuard mg(mutex);
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if (sdInfo.active == sd::SdCard::SLOT_0) {
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return config::SD_0_MOUNT_POINT;
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} else {
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return config::SD_1_MOUNT_POINT;
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}
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}
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SdCardManager::OpStatus SdCardManager::checkCurrentOp(Operations& currentOp) {
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CommandExecutor::States state = cmdExecutor.getCurrentState();
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if (state == CommandExecutor::States::IDLE or state == CommandExecutor::States::COMMAND_LOADED) {
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return OpStatus::IDLE;
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}
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currentOp = this->currentOp;
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bool bytesRead = false;
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#if OBSW_ENABLE_TIMERS == 1
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Countdown timer(1000);
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#endif
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while (true) {
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ReturnValue_t result = cmdExecutor.check(bytesRead);
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// This timer can prevent deadlocks due to missconfigurations
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#if OBSW_ENABLE_TIMERS == 1
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if (timer.hasTimedOut()) {
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sif::error << "SdCardManager::checkCurrentOp: Timeout!" << std::endl;
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return OpStatus::FAIL;
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}
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#endif
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switch (result) {
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case (CommandExecutor::BYTES_READ): {
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continue;
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}
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case (CommandExecutor::EXECUTION_FINISHED): {
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return OpStatus::SUCCESS;
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}
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case (returnvalue::OK): {
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return OpStatus::ONGOING;
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}
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case (returnvalue::FAILED): {
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return OpStatus::FAIL;
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}
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default: {
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sif::warning << "SdCardManager::checkCurrentOp: Unhandled case" << std::endl;
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}
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}
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}
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}
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void SdCardManager::setBlocking(bool blocking) { this->blocking = blocking; }
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void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = print; }
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bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
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SdCardManager::SdStatePair active;
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ReturnValue_t result = this->getSdCardsStatus(active);
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if (result != returnvalue::OK) {
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sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
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return false;
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}
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if (sdCard == sd::SLOT_0) {
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if (active.first == sd::MOUNTED) {
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return true;
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} else {
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return false;
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}
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} else if (sdCard == sd::SLOT_1) {
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if (active.second == sd::MOUNTED) {
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return true;
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} else {
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return false;
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}
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} else {
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sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
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}
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return false;
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}
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ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
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|
std::ostringstream command;
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if (sdcard == sd::SdCard::SLOT_0) {
|
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command << "grep -q '" << config::SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
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} else {
|
|
command << "grep -q '" << config::SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
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|
}
|
|
ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = cmdExecutor.execute();
|
|
if (result != returnvalue::OK) {
|
|
int exitStatus = cmdExecutor.getLastError();
|
|
if (exitStatus == 1) {
|
|
readOnly = false;
|
|
return returnvalue::OK;
|
|
}
|
|
return result;
|
|
}
|
|
auto& readVec = cmdExecutor.getReadVector();
|
|
size_t readLen = strnlen(readVec.data(), readVec.size());
|
|
if (readLen == 0) {
|
|
readOnly = false;
|
|
}
|
|
readOnly = true;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t SdCardManager::remountReadWrite(sd::SdCard sdcard) {
|
|
std::ostringstream command;
|
|
if (sdcard == sd::SdCard::SLOT_0) {
|
|
command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << config::SD_0_MOUNT_POINT;
|
|
} else {
|
|
command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << config::SD_1_MOUNT_POINT;
|
|
}
|
|
ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return cmdExecutor.execute();
|
|
}
|
|
|
|
ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError) {
|
|
std::ostringstream command;
|
|
if (sdcard == sd::SdCard::SLOT_0) {
|
|
command << "fsck -y " << SD_0_DEV_NAME;
|
|
} else {
|
|
command << "fsck -y " << SD_1_DEV_NAME;
|
|
}
|
|
ReturnValue_t result = cmdExecutor.load(command.str(), true, printOutput);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = cmdExecutor.execute();
|
|
if (result != returnvalue::OK) {
|
|
linuxError = cmdExecutor.getLastError();
|
|
}
|
|
return result;
|
|
}
|
|
|
|
void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { sdInfo.active = sdCard; }
|
|
|
|
sd::SdCard SdCardManager::getActiveSdCard() const { return sdInfo.active; }
|