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
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();
};