85 lines
2.8 KiB
C++
85 lines
2.8 KiB
C++
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#include "WatchdogHandler.h"
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#include <fcntl.h>
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#include <unistd.h>
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#include <cerrno>
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#include <cstring>
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#include <filesystem>
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#include "fsfw/serviceinterface.h"
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#include "watchdog/definitions.h"
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WatchdogHandler::WatchdogHandler() {}
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void WatchdogHandler::periodicOperation() {
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if (watchdogFifoFd != 0) {
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if (watchdogFifoFd == RETRY_FIFO_OPEN) {
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// Open FIFO write only and non-blocking
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watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
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if (watchdogFifoFd < 0) {
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if (errno == ENXIO) {
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watchdogFifoFd = RETRY_FIFO_OPEN;
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// No printout for now, would be spam
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return;
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} else {
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sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with "
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<< errno << ": " << strerror(errno) << std::endl;
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return;
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}
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}
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sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
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performStartHandling();
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} else if (watchdogFifoFd > 0) {
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// Write to OBSW watchdog FIFO here
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const char writeChar = watchdog::first::IDLE_CHAR;
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ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
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if (writtenBytes < 0) {
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sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
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<< std::endl;
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}
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}
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}
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}
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ReturnValue_t WatchdogHandler::initialize(bool enableWatchdogFunction) {
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using namespace std::filesystem;
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this->enableWatchFunction = enableWatchdogFunction;
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if (not std::filesystem::exists(watchdog::FIFO_NAME)) {
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// Still return returnvalue::OK for now
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sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
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<< " watchdog" << std::endl;
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return returnvalue::OK;
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}
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// Open FIFO write only and non-blocking to prevent SW from killing itself.
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watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
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if (watchdogFifoFd < 0) {
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if (errno == ENXIO) {
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watchdogFifoFd = RETRY_FIFO_OPEN;
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sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
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} else {
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sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
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<< ": " << strerror(errno) << std::endl;
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return returnvalue::FAILED;
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}
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}
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return performStartHandling();
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}
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ReturnValue_t WatchdogHandler::performStartHandling() {
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char startBuf[2];
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size_t writeLen = 1;
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startBuf[0] = watchdog::first::START_CHAR;
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if (enableWatchFunction) {
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writeLen += 1;
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startBuf[1] = watchdog::second::WATCH_FLAG;
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}
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ssize_t writtenBytes = write(watchdogFifoFd, &startBuf, writeLen);
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if (writtenBytes < 0) {
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sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
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<< std::endl;
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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