Robin Mueller
90962c9f8e
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
530 lines
16 KiB
C++
530 lines
16 KiB
C++
#include "CoreController.h"
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#include <filesystem>
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#include <fstream>
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#include <iostream>
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#include "HasActionsIF.h"
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#include "SdCardManager.h"
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#include "conf.h"
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#include "event.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "libxiphos.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() {
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sdcMan = new SdCardManager();
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setCurrentBootCopy(xsc::CHIP_0, xsc::COPY_0);
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}
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void CoreController::performRebootFileHandling(bool recreateFile) {
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using namespace std;
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std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
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if (not std::filesystem::exists(path) or recreateFile) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
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#endif
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rebootFile.enabled = true;
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rebootFile.img00Cnt = 0;
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rebootFile.img01Cnt = 0;
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rebootFile.img10Cnt = 0;
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rebootFile.img11Cnt = 0;
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rebootFile.lastChip = xsc::Chip::CHIP_0;
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rebootFile.lastCopy = xsc::Copy::COPY_0;
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rebootFile.img00Lock = false;
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rebootFile.img01Lock = false;
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rebootFile.img10Lock = false;
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rebootFile.img11Lock = false;
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rebootFile.mechanismNextChip = xsc::Chip::NO_CHIP;
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rebootFile.mechanismNextCopy = xsc::Copy::NO_COPY;
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rebootFile.bootFlag = false;
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rewriteRebootFile(rebootFile);
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} else {
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if (not parseRebootFile(path, rebootFile)) {
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performRebootFileHandling(true);
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}
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}
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if (CURRENT_CHIP == xsc::CHIP_0) {
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if (CURRENT_COPY == xsc::COPY_0) {
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rebootFile.img00Cnt++;
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} else {
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rebootFile.img01Cnt++;
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}
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} else {
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if (CURRENT_COPY == xsc::COPY_0) {
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rebootFile.img10Cnt++;
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} else {
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rebootFile.img11Cnt++;
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}
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}
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if (rebootFile.bootFlag) {
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// Trigger event to inform ground that a reboot was triggered
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uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
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uint32_t p2 = rebootFile.img00Cnt << 24 | rebootFile.img01Cnt << 16 | rebootFile.img10Cnt << 8 |
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rebootFile.img11Cnt;
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triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, p2);
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// Clear the boot flag
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rebootFile.bootFlag = false;
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}
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if (rebootFile.mechanismNextChip != xsc::NO_CHIP and
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rebootFile.mechanismNextCopy != xsc::NO_COPY) {
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if (CURRENT_CHIP != rebootFile.mechanismNextChip or
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CURRENT_COPY != rebootFile.mechanismNextCopy) {
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std::string infoString = std::to_string(rebootFile.mechanismNextChip) + " " +
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std::to_string(rebootFile.mechanismNextCopy);
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sif::warning << "CoreController::performRebootFileHandling: Expected to be on image "
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<< infoString << " but currently on other image. Locking " << infoString
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<< std::endl;
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// Firmware or other component might be corrupt and we are on another image then the target
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// image specified by the mechanism. We can't really trust the target image anymore.
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// Lock it for now
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if (rebootFile.mechanismNextChip == xsc::CHIP_0) {
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if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
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rebootFile.img00Lock = true;
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} else {
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rebootFile.img01Lock = true;
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}
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} else {
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if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
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rebootFile.img10Lock = true;
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} else {
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rebootFile.img11Lock = true;
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}
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}
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}
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}
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rebootFile.lastChip = CURRENT_CHIP;
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rebootFile.lastCopy = CURRENT_COPY;
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// Only reboot if the reboot functionality is enabled.
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// The handler will still increment the boot counts
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if (rebootFile.enabled and (*rebootFile.relevantBootCnt >= rebootFile.maxCount)) {
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// Reboot to other image
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bool doReboot = false;
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xsc::Chip tgtChip = xsc::NO_CHIP;
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xsc::Copy tgtCopy = xsc::NO_COPY;
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determineAndExecuteReboot(rebootFile, doReboot, tgtChip, tgtCopy);
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if (doReboot) {
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rebootFile.bootFlag = true;
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Boot counter for image " << CURRENT_CHIP << " " << CURRENT_COPY
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<< " too high. Rebooting to " << tgtChip << " " << tgtCopy << std::endl;
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#endif
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rebootFile.mechanismNextChip = tgtChip;
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rebootFile.mechanismNextCopy = tgtCopy;
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rewriteRebootFile(rebootFile);
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xsc_boot_copy(static_cast<xsc_libnor_chip_t>(tgtChip),
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static_cast<xsc_libnor_copy_t>(tgtCopy));
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}
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} else {
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rebootFile.mechanismNextChip = xsc::NO_CHIP;
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rebootFile.mechanismNextCopy = xsc::NO_COPY;
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}
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rewriteRebootFile(rebootFile);
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}
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void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot,
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xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
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tgtChip = xsc::CHIP_0;
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tgtCopy = xsc::COPY_0;
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needsReboot = false;
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if ((CURRENT_CHIP == xsc::CHIP_0) and (CURRENT_COPY == xsc::COPY_0) and
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(rf.img00Cnt >= rf.maxCount)) {
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needsReboot = true;
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if (rf.img01Cnt < rf.maxCount and not rf.img01Lock) {
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tgtCopy = xsc::COPY_1;
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return;
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}
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if (rf.img10Cnt < rf.maxCount and not rf.img10Lock) {
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tgtChip = xsc::CHIP_1;
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return;
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}
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if (rf.img11Cnt < rf.maxCount and not rf.img11Lock) {
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tgtChip = xsc::CHIP_1;
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tgtCopy = xsc::COPY_1;
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return;
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}
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// Can't really do much here. Stay on image
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sif::warning
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<< "All reboot counts too high or all fallback images locked, already on fallback image"
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<< std::endl;
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needsReboot = false;
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return;
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}
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if ((CURRENT_CHIP == xsc::CHIP_0) and (CURRENT_COPY == xsc::COPY_1) and
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(rf.img01Cnt >= rf.maxCount)) {
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needsReboot = true;
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if (rf.img00Cnt < rf.maxCount and not rf.img00Lock) {
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// Reboot on fallback image
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return;
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}
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if (rf.img10Cnt < rf.maxCount and not rf.img10Lock) {
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tgtChip = xsc::CHIP_1;
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return;
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}
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if (rf.img11Cnt < rf.maxCount and not rf.img11Lock) {
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tgtChip = xsc::CHIP_1;
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tgtCopy = xsc::COPY_1;
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}
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if (rf.img00Lock) {
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needsReboot = false;
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}
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// Reboot to fallback image
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}
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if ((CURRENT_CHIP == xsc::CHIP_1) and (CURRENT_COPY == xsc::COPY_0) and
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(rf.img10Cnt >= rf.maxCount)) {
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needsReboot = true;
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if (rf.img11Cnt < rf.maxCount and not rf.img11Lock) {
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tgtChip = xsc::CHIP_1;
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tgtCopy = xsc::COPY_1;
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return;
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}
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if (rf.img00Cnt < rf.maxCount and not rf.img00Lock) {
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return;
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}
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if (rf.img01Cnt < rf.maxCount and not rf.img01Lock) {
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tgtCopy = xsc::COPY_1;
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return;
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}
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if (rf.img00Lock) {
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needsReboot = false;
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}
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// Reboot to fallback image
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}
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if ((CURRENT_CHIP == xsc::CHIP_1) and (CURRENT_COPY == xsc::COPY_1) and
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(rf.img11Cnt >= rf.maxCount)) {
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needsReboot = true;
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if (rf.img10Cnt < rf.maxCount and not rf.img10Lock) {
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tgtChip = xsc::CHIP_1;
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return;
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}
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if (rf.img00Cnt < rf.maxCount and not rf.img00Lock) {
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return;
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}
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if (rf.img01Cnt < rf.maxCount and not rf.img01Lock) {
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tgtCopy = xsc::COPY_1;
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return;
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}
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if (rf.img00Lock) {
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needsReboot = false;
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}
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// Reboot to fallback image
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}
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}
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bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
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using namespace std;
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std::string selfMatch;
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if (CURRENT_CHIP == xsc::CHIP_0) {
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if (CURRENT_COPY == xsc::COPY_0) {
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selfMatch = "00";
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} else {
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selfMatch = "01";
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}
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} else {
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if (CURRENT_COPY == xsc::COPY_0) {
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selfMatch = "10";
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} else {
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selfMatch = "11";
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}
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}
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ifstream file(path);
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string word;
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string line;
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uint8_t lineIdx = 0;
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while (std::getline(file, line)) {
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istringstream iss(line);
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switch (lineIdx) {
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case 0: {
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iss >> word;
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if (word.find("on:") == string::npos) {
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// invalid file
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return false;
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}
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iss >> rf.enabled;
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break;
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}
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case 1: {
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iss >> word;
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if (word.find("maxcnt:") == string::npos) {
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return false;
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}
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iss >> rf.maxCount;
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break;
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}
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case 2: {
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iss >> word;
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if (word.find("img00:") == string::npos) {
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return false;
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}
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iss >> rf.img00Cnt;
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if (word.find(selfMatch) != string::npos) {
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rf.relevantBootCnt = &rf.img00Cnt;
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}
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break;
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}
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case 3: {
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iss >> word;
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if (word.find("img01:") == string::npos) {
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return false;
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}
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iss >> rf.img01Cnt;
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if (word.find(selfMatch) != string::npos) {
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rf.relevantBootCnt = &rf.img01Cnt;
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}
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break;
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}
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case 4: {
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iss >> word;
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if (word.find("img10:") == string::npos) {
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return false;
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}
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iss >> rf.img10Cnt;
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if (word.find(selfMatch) != string::npos) {
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rf.relevantBootCnt = &rf.img10Cnt;
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}
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break;
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}
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case 5: {
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iss >> word;
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if (word.find("img11:") == string::npos) {
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return false;
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}
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iss >> rf.img11Cnt;
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if (word.find(selfMatch) != string::npos) {
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rf.relevantBootCnt = &rf.img11Cnt;
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}
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break;
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}
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case 6: {
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iss >> word;
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if (word.find("img00lock:") == string::npos) {
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return false;
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}
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iss >> rf.img00Lock;
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break;
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}
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case 7: {
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iss >> word;
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if (word.find("img01lock:") == string::npos) {
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return false;
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}
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iss >> rf.img01Lock;
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break;
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}
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case 8: {
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iss >> word;
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if (word.find("img10lock:") == string::npos) {
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return false;
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}
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iss >> rf.img10Lock;
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break;
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}
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case 9: {
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iss >> word;
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if (word.find("img11lock:") == string::npos) {
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return false;
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}
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iss >> rf.img11Lock;
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break;
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}
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case 10: {
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iss >> word;
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if (word.find("bootflag:") == string::npos) {
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return false;
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}
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iss >> rf.bootFlag;
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break;
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}
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case 11: {
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iss >> word;
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int copyRaw = 0;
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int chipRaw = 0;
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if (word.find("last:") == string::npos) {
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return false;
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}
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iss >> chipRaw;
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if (iss.fail()) {
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return false;
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}
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iss >> copyRaw;
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if (iss.fail()) {
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return false;
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}
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if (chipRaw > 1 or copyRaw > 1) {
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return false;
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}
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rf.lastChip = static_cast<xsc::Chip>(chipRaw);
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rf.lastCopy = static_cast<xsc::Copy>(copyRaw);
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break;
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}
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case 12: {
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iss >> word;
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int copyRaw = 0;
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int chipRaw = 0;
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if (word.find("next:") == string::npos) {
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return false;
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}
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iss >> chipRaw;
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if (iss.fail()) {
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return false;
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}
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iss >> copyRaw;
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if (iss.fail()) {
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return false;
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}
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if (chipRaw > 2 or copyRaw > 2) {
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return false;
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}
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rf.mechanismNextChip = static_cast<xsc::Chip>(chipRaw);
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rf.mechanismNextCopy = static_cast<xsc::Copy>(copyRaw);
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break;
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}
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}
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if (iss.fail()) {
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return false;
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}
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lineIdx++;
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}
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if (lineIdx < 12) {
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return false;
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}
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return true;
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}
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void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
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std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
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// Disable the reboot file mechanism
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parseRebootFile(path, rebootFile);
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if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
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rebootFile.img00Cnt = 0;
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rebootFile.img01Cnt = 0;
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rebootFile.img10Cnt = 0;
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rebootFile.img11Cnt = 0;
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} else {
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if (tgtChip == xsc::CHIP_0) {
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if (tgtCopy == xsc::COPY_0) {
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rebootFile.img00Cnt = 0;
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} else {
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rebootFile.img01Cnt = 0;
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}
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} else {
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if (tgtCopy == xsc::COPY_0) {
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rebootFile.img10Cnt = 0;
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} else {
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rebootFile.img11Cnt = 0;
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}
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}
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}
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rewriteRebootFile(rebootFile);
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}
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void CoreController::rewriteRebootFile(RebootFile file) {
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std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
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std::ofstream rebootFile(path);
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if (rebootFile.is_open()) {
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// Initiate reboot file first. Reboot handling will be on on initialization
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rebootFile << "on: " << file.enabled << "\nmaxcnt: " << file.maxCount
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<< "\nimg00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
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<< "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt
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<< "\nimg00lock: " << file.img00Lock << "\nimg01lock: " << file.img01Lock
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<< "\nimg10lock: " << file.img10Lock << "\nimg11lock: " << file.img11Lock
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<< "\nbootflag: " << file.bootFlag << "\nlast: " << static_cast<int>(file.lastChip)
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<< " " << static_cast<int>(file.lastCopy)
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<< "\nnext: " << static_cast<int>(file.mechanismNextChip) << " "
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<< static_cast<int>(file.mechanismNextCopy) << "\n";
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}
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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 (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(sdInfo.active) + 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) {
|
|
return HasActionsIF::INVALID_PARAMETERS;
|
|
}
|
|
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
|
|
// Disable the reboot file mechanism
|
|
parseRebootFile(path, rebootFile);
|
|
rebootFile.maxCount = data[0];
|
|
rewriteRebootFile(rebootFile);
|
|
return HasActionsIF::EXECUTION_FINISHED;
|
|
}
|
|
default: {
|
|
return HasActionsIF::INVALID_ACTION_ID;
|
|
}
|
|
}
|
|
}
|
|
|
|
void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
|
|
std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + 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);
|
|
}
|
|
|
|
void CoreController::setCurrentBootCopy(xsc::Chip chip, xsc::Copy copy) {
|
|
CURRENT_CHIP = chip;
|
|
CURRENT_COPY = copy;
|
|
}
|