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eive-obsw
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added eive-watchdog

This commit is contained in:
Robin Müller 2021-07-29 11:35:20 +02:00
parent 190590e1b5
commit 59bcf6cec2
No known key found for this signature in database
GPG Key ID: 71B58F8A3CDFA9AC
8 changed files with 283 additions and 28 deletions
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74
CMakeLists.txt
View File

@ -14,7 +14,8 @@ cmake_minimum_required(VERSION 3.13)
set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
if(TGT_BSP MATCHES "arm/q7s")
option(Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
option(BUILD_WATCHDOG "Compile the OBSW watchdog insted" OFF)
option(BUILD_Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
endif()
option(ADD_ETL_LIB "Add ETL library" ON)
@ -32,8 +33,13 @@ endif()
include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
pre_project_config()
set(PROJECT_NAME_TO_SET eive-obsw)
if(BUILD_WATCHDOG)
set(PROJECT_NAME_TO_SET eive-watchdog)
endif()
# Project Name
project(eive_obsw ASM C CXX)
project(${PROJECT_NAME_TO_SET} ASM C CXX)
################################################################################
# Pre-Sources preparation
@ -60,6 +66,7 @@ set(MISSION_PATH mission)
set(TEST_PATH test/testtasks)
set(LINUX_PATH linux)
set(COMMON_PATH common)
set(WATCHDOG_PATH watchdog)
set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
set(FSFW_HAL_LIB_PATH fsfw_hal)
@ -82,7 +89,7 @@ if(TGT_BSP)
OR TGT_BSP MATCHES "arm/beagleboneblack"
)
set(FSFW_CONFIG_PATH "linux/fsfwconfig")
if(NOT Q7S_SIMPLE_MODE)
if(NOT BUILD_Q7S_SIMPLE_MODE)
set(ADD_LINUX_FILES TRUE)
set(ADD_CSP_LIB TRUE)
set(FSFW_HAL_ADD_LINUX ON)
@ -107,13 +114,17 @@ else()
endif()
# Configuration files
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
if(${TGT_BSP} MATCHES "arm/q7s")
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
if(NOT BUILD_WATCHDOG)
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
if(${TGT_BSP} MATCHES "arm/q7s")
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
endif()
else()
configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
endif()
# Set common config path for FSFW
@ -131,26 +142,27 @@ set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
# Add executable
add_executable(${TARGET_NAME})
if(ADD_CSP_LIB)
add_subdirectory(${CSP_LIB_PATH})
endif()
if(ADD_ETL_LIB)
add_subdirectory(${ETL_LIB_PATH})
endif()
if(ADD_LINUX_FILES)
add_subdirectory(${LINUX_PATH})
endif()
if(ADD_JSON_LIB)
add_subdirectory(${LIB_JSON_PATH})
endif()
add_subdirectory(${BSP_PATH})
add_subdirectory(${COMMON_PATH})
if(ADD_CSP_LIB)
add_subdirectory(${CSP_LIB_PATH})
endif()
if(NOT Q7S_SIMPLE_MODE)
if(NOT BUILD_WATCHDOG)
if(ADD_LINUX_FILES)
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${BSP_PATH})
add_subdirectory(${COMMON_PATH})
endif()
if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT BUILD_WATCHDOG))
add_subdirectory(${LWGPS_LIB_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH})
@ -158,6 +170,9 @@ if(NOT Q7S_SIMPLE_MODE)
add_subdirectory(${ARCSEC_LIB_PATH})
endif()
if(BUILD_WATCHDOG)
add_subdirectory(${WATCHDOG_PATH})
endif()
################################################################################
# Post-Sources preparation
@ -165,14 +180,13 @@ endif()
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
if(NOT Q7S_SIMPLE_MODE)
if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT BUILD_WATCHDOG))
# Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME}
${LIB_OS_NAME}
${LIB_LWGPS_NAME}
${LIB_ARCSEC}
${LIB_CXX_FS}
)
endif()
@ -194,6 +208,10 @@ if(ADD_JSON_LIB)
)
endif()
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_CXX_FS}
)
# Add include paths for all sources.
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
@ -249,10 +267,14 @@ if(NOT CMAKE_SIZE)
endif()
endif()
if(TGT_BSP)
set(TARGET_STRING "Target BSP: ${TGT_BSP}")
if(BUILD_WATCHDOG)
set(TARGET_STRING "OBSW Watchdog")
else()
set(TARGET_STRING "Target BSP: Hosted")
if(TGT_BSP)
set(TARGET_STRING "Target BSP: ${TGT_BSP}")
else()
set(TARGET_STRING "Target BSP: Hosted")
endif()
endif()
string(CONCAT POST_BUILD_COMMENT

2
cmake/scripts/Q7S/simple/simple_make_debug_cfg.sh
View File

@ -18,7 +18,7 @@ os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Simple-Q7S"
build_generator=""
definitions="Q7S_SIMPLE_MODE=On"
definitions="BUILD_Q7S_SIMPLE_MODE=On"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
python="py"

2
cmake/scripts/Q7S/simple/simple_ninja_debug_cfg.sh
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@ -18,7 +18,7 @@ os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Simple-Q7S"
build_generator="Ninja"
definitions="Q7S_SIMPLE_MODE=On"
definitions="BUILD_Q7S_SIMPLE_MODE=On"
if [ "${OS}" = "Windows_NT" ]; then
python="py"
# Could be other OS but this works for now.

4
watchdog/CMakeLists.txt Normal file
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@ -0,0 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
main.cpp
Watchdog.cpp
)

161
watchdog/Watchdog.cpp Normal file
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@ -0,0 +1,161 @@
#include "Watchdog.h"
#include "watchdogConf.h"
#include <errno.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <poll.h>
#include <unistd.h>
#include <fcntl.h>
#include <iostream>
#include <thread>
#include <cstring>
#include <filesystem>
WatchdogTask::WatchdogTask (): fd(0) {
}
WatchdogTask::~WatchdogTask() {
}
int WatchdogTask::performOperation() {
int result = 0;
// Only create the FIFO if it does not exist yet
if(not std::filesystem::exists(watchdog::FIFO_NAME)) {
// Permission 666 or rw-rw-rw-
mode_t mode = DEFFILEMODE;
result = mkfifo(watchdog::FIFO_NAME.c_str(), mode);
if(result != 0) {
std::cerr << "eive-watchdog: Could not created named pipe at " <<
watchdog::FIFO_NAME << ", error " << errno << ": " << strerror(errno) <<
std::endl;
return -2;
}
#if WATCHDOG_VERBOSE_LEVEL >= 1
std::cout << "eive-watchdog: Pipe at " << watchdog::FIFO_NAME <<
" created successfully" << std::endl;
#endif
}
// Open FIFO read only and non-blocking
fd = open(watchdog::FIFO_NAME.c_str(), O_RDONLY | O_NONBLOCK);
if(fd < 0) {
std::cerr << "eive-watchdog: Opening pipe " << watchdog::FIFO_NAME <<
"read-only failed with " << errno << ": " << strerror(errno) << std::endl;
}
while(true) {
WatchdogTask::LoopResult loopResult = watchdogLoop();
switch(loopResult) {
case(LoopResult::OK): {
break;
}
case(LoopResult::CANCEL_RQ): {
if(state == States::RUNNING) {
state = States::SUSPENDED;
}
break;
}
case(LoopResult::TIMEOUT): {
std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
break;
}
case(LoopResult::RESTART_RQ): {
if(state == States::SUSPENDED) {
state = States::RUNNING;
}
break;
}
}
}
if (close(fd) < 0) {
std::cerr << "eive-watchdog: Closing named pipe at " << watchdog::FIFO_NAME <<
"failed, error " << errno << ": " << strerror(errno) << std::endl;
}
std::cout << "eive-watchdog: Finished" << std::endl;
return 0;
}
WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
using namespace std::chrono_literals;
char readChar;
struct pollfd waiter = {};
waiter.fd = fd;
waiter.events = POLLIN;
switch(state) {
case(States::SUSPENDED): {
// Sleep, then check whether a restart request was received
std::this_thread::sleep_for(1000ms);
break;
}
case(States::RUNNING): {
// Continue as usual
break;
}
case(States::NOT_STARTED): {
// This should not happen
std::cerr << "eive-watchdog: State is NOT_STARTED, configuration error" << std::endl;
break;
}
case(States::FAULTY): {
// TODO: Not sure what to do yet. Continue for now
break;
}
}
// 10 seconds timeout, only poll one file descriptor
switch(poll(&waiter, 1, watchdog::TIMEOUT_MS)) {
case(0): {
return LoopResult::TIMEOUT;
}
case(1): {
if (waiter.revents & POLLIN) {
ssize_t readLen = read(fd, buf.data(), buf.size());
if (readLen < 0) {
std::cerr << "eive-watchdog: Read error on pipe " << watchdog::FIFO_NAME <<
", error " << errno << ": " << strerror(errno) << std::endl;
break;
}
for(ssize_t idx = 0; idx < readLen; idx++) {
readChar = buf[idx];
// Cancel request
if(readChar == 'c') {
return LoopResult::CANCEL_RQ;
}
// Begin request. Does not work if the operation was not suspended before
else if(readChar == 'b') {
return LoopResult::RESTART_RQ;
}
// Everything else: All working as expected
else {
}
}
#if WATCHDOG_VERBOSE_LEVEL == 2
std::cout << "Read " << readLen << " byte(s) on the pipe " << FIFO_NAME
<< std::endl;
#endif
}
else if(waiter.revents & POLLERR) {
std::cerr << "eive-watchdog: Poll error error on pipe " << watchdog::FIFO_NAME <<
std::endl;
}
else if (waiter.revents & POLLHUP) {
// Writer closed its end
}
break;
}
default: {
std::cerr << "eive-watchdog: Unknown poll error at " << watchdog::FIFO_NAME << ", error " <<
errno << ": " << strerror(errno) << std::endl;
break;
}
}
return LoopResult::OK;
}

37
watchdog/Watchdog.h Normal file
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@ -0,0 +1,37 @@
#ifndef WATCHDOG_WATCHDOG_H_
#define WATCHDOG_WATCHDOG_H_
#include <array>
class WatchdogTask {
public:
enum class States {
NOT_STARTED,
RUNNING,
SUSPENDED,
FAULTY
};
enum class LoopResult {
OK,
CANCEL_RQ,
RESTART_RQ,
TIMEOUT
};
WatchdogTask();
virtual ~WatchdogTask();
int performOperation();
private:
int fd = 0;
std::array<uint8_t, 64> buf;
States state = States::NOT_STARTED;
LoopResult watchdogLoop();
};
#endif /* WATCHDOG_WATCHDOG_H_ */

15
watchdog/main.cpp Normal file
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@ -0,0 +1,15 @@
#include "Watchdog.h"
#include <iostream>
/**
* @brief This watchdog application uses a FIFO to check whether the OBSW is still running.
* It checks whether the OBSW writes to the the FIFO regularly.
*/
int main() {
std::cout << "Starting OBSW watchdog.." << std::endl;
WatchdogTask watchdogTask;
watchdogTask.performOperation();
return 0;
}

16
watchdog/watchdogConf.h.in Normal file
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@ -0,0 +1,16 @@
#include <cstdint>
#define WATCHDOG_VERBOSE_LEVEL 1
/**
* This flag instructs the watchdog to create a special file in /tmp if the OBSW is running
* or to delete it if it is not running
*/
#define WATCHDOG_CREATE_FILE_IF_RUNNING 1
namespace watchdog {
static constexpr int TIMEOUT_MS = 10 * 1000;
const std::string FIFO_NAME = "/tmp/obsw-watchdog";
const std::string RUNNING_FILE_NAME = "/tmp/obsw-running";
}