eive/eive-obsw
eive/eive-obsw
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various bugfixes and improvements

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This commit is contained in:
Robin Müller 2021-07-29 18:09:54 +02:00
parent dba620baf2
commit 34d3479e81
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GPG Key ID: 71B58F8A3CDFA9AC
4 changed files with 88 additions and 33 deletions
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63
bsp_q7s/core/CoreController.cpp
View File

@ -23,7 +23,8 @@ CoreController::Chip CoreController::currentChip = Chip::NO_CHIP;
CoreController::Copy CoreController::currentCopy = Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId):
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
opDivider(5) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
try {
result = initWatchdogFifo();
@ -52,15 +53,7 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
}
void CoreController::performControlOperation() {
if(watchdogFifoFd != 0) {
// Write to OBSW watchdog FIFO here
const char writeChar = 'a';
ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
if(writtenBytes < 0) {
sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " <<
strerror(errno) << std::endl;
}
}
performWatchdogControlOperation();
}
ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@ -432,12 +425,18 @@ ReturnValue_t CoreController::initWatchdogFifo() {
" watchdog" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
// Open FIFO write only and non-blocking
watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY);
// 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) {
std::cerr << "Opening pipe " << watchdog::FIFO_NAME << "write-only failed with " <<
errno << ": " << strerror(errno) << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
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 HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -457,3 +456,37 @@ void CoreController::initPrint() {
}
#endif
}
void CoreController::performWatchdogControlOperation() {
// Only perform each fifth iteration
if(watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
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;
}
else if(watchdogFifoFd > 0) {
// Write to OBSW watchdog FIFO here
const char writeChar = 'a';
ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
if(writtenBytes < 0) {
sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " <<
strerror(errno) << std::endl;
}
}
}
}

6
bsp_q7s/core/CoreController.h
View File

@ -1,6 +1,7 @@
#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
#define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "fsfw/controller/ExtendedControllerBase.h"
#include "bsp_q7s/memory/SdCardManager.h"
@ -70,7 +71,12 @@ private:
void initPrint();
// Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
PeriodicOperationDivider opDivider;
void performWatchdogControlOperation();
};

47
watchdog/Watchdog.cpp
View File

@ -64,7 +64,11 @@ int WatchdogTask::performOperation() {
break;
}
case(LoopResult::TIMEOUT): {
performTimeoutOperation();
performNotRunningOperation(loopResult);
break;
}
case(LoopResult::HUNG_UP): {
performNotRunningOperation(loopResult);
break;
}
case(LoopResult::RESTART_RQ): {
@ -159,6 +163,7 @@ WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
}
else if (waiter.revents & POLLHUP) {
// Writer closed its end
return LoopResult::HUNG_UP;
}
return LoopResult::FAULT;
}
@ -189,9 +194,9 @@ int WatchdogTask::performRunningOperation() {
}
if(not obswRunning) {
if(printTimeoutLatch) {
if(printNotRunningLatch) {
// Reset latch so user can see timeouts
printTimeoutLatch = false;
printNotRunningLatch = false;
}
obswRunning = true;
@ -210,25 +215,35 @@ int WatchdogTask::performRunningOperation() {
return 0;
}
int WatchdogTask::performTimeoutOperation() {
int WatchdogTask::performNotRunningOperation(LoopResult type) {
// Latch prevents spam on console
if(not printTimeoutLatch) {
std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
printTimeoutLatch = true;
if(not printNotRunningLatch) {
if(type == LoopResult::HUNG_UP) {
std::cout << "eive-watchdog: FIFO writer hung up!" << std::endl;
}
else {
std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
}
printNotRunningLatch = true;
}
#if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
int result = std::remove(watchdog::RUNNING_FILE_NAME.c_str());
if(result != 0) {
std::cerr << "Removing " << watchdog::RUNNING_FILE_NAME << " failed with code " <<
errno << ": " << strerror(errno) << std::endl;
}
}
#endif
if(obswRunning) {
#if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
int result = std::remove(watchdog::RUNNING_FILE_NAME.c_str());
if(result != 0) {
std::cerr << "Removing " << watchdog::RUNNING_FILE_NAME << " failed with code " <<
errno << ": " << strerror(errno) << std::endl;
}
}
#endif
obswRunning = false;
}
if(type == LoopResult::HUNG_UP) {
using namespace std::chrono_literals;
// Prevent spam
std::this_thread::sleep_for(2000ms);
}
return 0;
}

5
watchdog/Watchdog.h
View File

@ -19,6 +19,7 @@ public:
CANCEL_RQ,
RESTART_RQ,
TIMEOUT,
HUNG_UP,
FAULT
};
@ -32,7 +33,7 @@ private:
bool obswRunning = false;
bool watchdogRunning = false;
bool printTimeoutLatch = false;
bool printNotRunningLatch = false;
std::array<uint8_t, 64> buf;
States state = States::NOT_STARTED;
@ -41,7 +42,7 @@ private:
LoopResult parseCommandByte(ssize_t readLen);
int performRunningOperation();
int performTimeoutOperation();
int performNotRunningOperation(LoopResult type);
int performSuspendOperation();
};