eive-obsw/bsp_q7s/core/WatchdogHandler.cpp

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