Retry SD card mounting a few times when talking to the card fails

src/tangara/lua/lua_database.cpp

@@ -39,6 +39,7 @@ static constexpr char kDbIteratorMetatable[] = "db_iterator";
 
 struct LuaIndexInfo {
   database::IndexId id;
+  database::MediaType type;
   size_t name_size;
   char name_data[];
 
@@ -64,6 +65,7 @@ static auto indexes(lua_State* state) -> int {
     luaL_setmetatable(state, kDbIndexMetatable);
     *data = LuaIndexInfo{
         .id = i.id,
+        .type = i.type,
         .name_size = i.name.size(),
     };
     std::memcpy(data->name_data, i.name.data(), i.name.size());
@@ -119,8 +121,6 @@ static void pushTrack(lua_State* L, const database::Track& track) {
   lua_pushliteral(L, "saved_position");
   lua_pushinteger(L, track.data().last_position);
   lua_settable(L, -3);
-
-
 }
 
 static auto version(lua_State* L) -> int {
@@ -181,8 +181,9 @@ static auto track_by_id(lua_State* L) -> int {
 }
 
 static const struct luaL_Reg kDatabaseFuncs[] = {
-    {"indexes", indexes},   {"version", version}, {"size", size},
-    {"recreate", recreate}, {"update", update},   {"track_by_id", track_by_id},
+    {"indexes", indexes}, {"version", version},
+    {"size", size},       {"recreate", recreate},
+    {"update", update},   {"track_by_id", track_by_id},
     {NULL, NULL}};
 
 /*
@@ -222,8 +223,8 @@ auto db_check_iterator(lua_State* L, int stack_pos) -> database::Iterator* {
   return it;
 }
 
-static auto push_iterator(lua_State* state,
-                          const database::Iterator& it) -> void {
+static auto push_iterator(lua_State* state, const database::Iterator& it)
+    -> void {
   database::Iterator** data = reinterpret_cast<database::Iterator**>(
       lua_newuserdata(state, sizeof(uintptr_t)));
   *data = new database::Iterator(it);
@@ -319,6 +320,26 @@ static auto index_name(lua_State* state) -> int {
   return 1;
 }
 
+static auto index_id(lua_State* state) -> int {
+  LuaIndexInfo* data = reinterpret_cast<LuaIndexInfo*>(
+      luaL_checkudata(state, 1, kDbIndexMetatable));
+  if (data == NULL) {
+    return 0;
+  }
+  lua_pushinteger(state, static_cast<int>(data->id));
+  return 1;
+}
+
+static auto index_type(lua_State* state) -> int {
+  LuaIndexInfo* data = reinterpret_cast<LuaIndexInfo*>(
+      luaL_checkudata(state, 1, kDbIndexMetatable));
+  if (data == NULL) {
+    return 0;
+  }
+  lua_pushinteger(state, static_cast<int>(data->type));
+  return 1;
+}
+
 static auto index_iter(lua_State* state) -> int {
   LuaIndexInfo* data = reinterpret_cast<LuaIndexInfo*>(
       luaL_checkudata(state, 1, kDbIndexMetatable));
@@ -334,10 +355,10 @@ static auto index_iter(lua_State* state) -> int {
   return 1;
 }
 
-static const struct luaL_Reg kDbIndexFuncs[] = {{"name", index_name},
-                                                {"iter", index_iter},
-                                                {"__tostring", index_name},
-                                                {NULL, NULL}};
+static const struct luaL_Reg kDbIndexFuncs[] = {
+    {"name", index_name}, {"id", index_id},           {"type", index_type},
+    {"iter", index_iter}, {"__tostring", index_name}, {NULL, NULL},
+};
 
 static auto lua_database(lua_State* state) -> int {
   // Metatable for indexes

src/tangara/system_fsm/running.cpp

@@ -40,7 +40,7 @@ void Running::entry() {
     sUnmountTimer = xTimerCreate("unmount_timeout", kTicksBeforeUnmount, false,
                                  NULL, timer_callback);
   }
-  events::System().Dispatch(internal::Mount{});
+  events::System().Dispatch(internal::Mount{.attempt = 1});
 }
 
 void Running::exit() {
@@ -72,7 +72,7 @@ void Running::react(const SdDetectChanged& ev) {
   }
 
   if (ev.has_sd_card && !sStorage) {
-    events::System().Dispatch(internal::Mount{});
+    events::System().Dispatch(internal::Mount{.attempt = 1});
     return;
   }
 
@@ -121,7 +121,7 @@ void Running::react(const SamdUsbMscChanged& ev) {
     gpios.WriteSync(drivers::IGpios::Pin::kSdPowerEnable, 0);
 
     // Now it's ready for us.
-    events::System().Dispatch(internal::Mount{});
+    events::System().Dispatch(internal::Mount{.attempt = 1});
   }
 }
 
@@ -146,13 +146,18 @@ auto Running::updateSdState(drivers::SdState state) -> void {
   events::System().Dispatch(SdStateChanged{});
 }
 
-void Running::react(const internal::Mount&) {
+void Running::react(const internal::Mount& ev) {
   // Only mount our storage if we know it's not currently in use by the SAMD.
   if (sServices->samd().UsbMassStorage()) {
     updateSdState(drivers::SdState::kNotMounted);
     return;
   }
 
+  if (ev.attempt > 3) {
+    updateSdState(drivers::SdState::kNotPresent);
+    return;
+  }
+
   ESP_LOGI(kTag, "mounting sd card");
   auto storage_res = drivers::SdStorage::Create(sServices->gpios());
   if (storage_res.has_error()) {
@@ -163,7 +168,12 @@ void Running::react(const internal::Mount&) {
         break;
       case drivers::SdStorage::FAILED_TO_READ:
       default:
-        updateSdState(drivers::SdState::kNotPresent);
+        if (!sServices->gpios().Get(drivers::Gpios::Pin::kSdCardDetect)) {
+          vTaskDelay(pdMS_TO_TICKS(100));
+          events::System().Dispatch(internal::Mount{.attempt = ev.attempt + 1});
+        } else {
+          updateSdState(drivers::SdState::kNotPresent);
+        }
         break;
     }
     return;

src/tangara/system_fsm/system_events.hpp

@@ -82,7 +82,9 @@ struct SamdInterrupt : tinyfsm::Event {};
 struct IdleTimeout : tinyfsm::Event {};
 struct UnmountTimeout : tinyfsm::Event {};
 
-struct Mount : tinyfsm::Event {};
+struct Mount : tinyfsm::Event {
+  int attempt;
+};
 
 }  // namespace internal