eive/eive-obsw
eive/eive-obsw
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updated tmtc

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This commit is contained in:
Jakob.Meier 2021-07-31 08:54:49 +02:00
commit 72533f1d14
31 changed files with 1362 additions and 190 deletions
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75
CMakeLists.txt
View File

@ -14,7 +14,8 @@ cmake_minimum_required(VERSION 3.13)
set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake") set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
if(TGT_BSP MATCHES "arm/q7s") 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() endif()
option(ADD_ETL_LIB "Add ETL library" ON) option(ADD_ETL_LIB "Add ETL library" ON)
@ -32,8 +33,13 @@ endif()
include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake) include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
pre_project_config() pre_project_config()
set(PROJECT_NAME_TO_SET eive-obsw-$ENV{USERNAME})
if(BUILD_WATCHDOG)
set(PROJECT_NAME_TO_SET eive-watchdog)
endif()
# Project Name # Project Name
project(eive_obsw ASM C CXX) project(${PROJECT_NAME_TO_SET} ASM C CXX)
################################################################################ ################################################################################
# Pre-Sources preparation # Pre-Sources preparation
@ -60,6 +66,7 @@ set(MISSION_PATH mission)
set(TEST_PATH test/testtasks) set(TEST_PATH test/testtasks)
set(LINUX_PATH linux) set(LINUX_PATH linux)
set(COMMON_PATH common) set(COMMON_PATH common)
set(WATCHDOG_PATH watchdog)
set(COMMON_CONFIG_PATH ${COMMON_PATH}/config) set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
set(FSFW_HAL_LIB_PATH fsfw_hal) set(FSFW_HAL_LIB_PATH fsfw_hal)
@ -82,7 +89,7 @@ if(TGT_BSP)
OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/beagleboneblack"
) )
set(FSFW_CONFIG_PATH "linux/fsfwconfig") set(FSFW_CONFIG_PATH "linux/fsfwconfig")
if(NOT Q7S_SIMPLE_MODE) if(NOT BUILD_Q7S_SIMPLE_MODE)
set(ADD_LINUX_FILES TRUE) set(ADD_LINUX_FILES TRUE)
set(ADD_CSP_LIB TRUE) set(ADD_CSP_LIB TRUE)
set(FSFW_HAL_ADD_LINUX ON) set(FSFW_HAL_ADD_LINUX ON)
@ -90,16 +97,19 @@ if(TGT_BSP)
endif() endif()
if(${TGT_BSP} MATCHES "arm/raspberrypi") if(${TGT_BSP} MATCHES "arm/raspberrypi")
add_definitions(-DRASPBERRY_PI) # Used by configure file
set(RASPBERRY_PI ON)
set(FSFW_HAL_ADD_RASPBERRY_PI ON) set(FSFW_HAL_ADD_RASPBERRY_PI ON)
endif() endif()
if(${TGT_BSP} MATCHES "arm/beagleboneblack") if(${TGT_BSP} MATCHES "arm/beagleboneblack")
add_definitions(-DBEAGLEBONEBLACK) # Used by configure file
set(BEAGLEBONEBLACK ON)
endif() endif()
if(${TGT_BSP} MATCHES "arm/q7s") if(${TGT_BSP} MATCHES "arm/q7s")
add_definitions(-DXIPHOS_Q7S) # Used by configure file
set(XIPHOS_Q7S ON)
endif() endif()
else() else()
# Required by FSFW library # Required by FSFW library
@ -107,6 +117,7 @@ else()
endif() endif()
# Configuration files # Configuration files
if(NOT BUILD_WATCHDOG)
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h) configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h) configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h) configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
@ -115,6 +126,8 @@ if(${TGT_BSP} MATCHES "arm/q7s")
elseif(${TGT_BSP} MATCHES "arm/raspberrypi") elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h) configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
endif() endif()
endif()
configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
# Set common config path for FSFW # Set common config path for FSFW
set(FSFW_ADDITIONAL_INC_PATHS set(FSFW_ADDITIONAL_INC_PATHS
@ -131,26 +144,28 @@ set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
# Add executable # Add executable
add_executable(${TARGET_NAME}) add_executable(${TARGET_NAME})
if(ADD_CSP_LIB)
add_subdirectory(${CSP_LIB_PATH})
endif()
if(ADD_ETL_LIB) if(ADD_ETL_LIB)
add_subdirectory(${ETL_LIB_PATH}) add_subdirectory(${ETL_LIB_PATH})
endif() endif()
if(ADD_LINUX_FILES)
add_subdirectory(${LINUX_PATH})
endif()
if(ADD_JSON_LIB) if(ADD_JSON_LIB)
add_subdirectory(${LIB_JSON_PATH}) add_subdirectory(${LIB_JSON_PATH})
endif() endif()
if(NOT BUILD_WATCHDOG)
if(ADD_LINUX_FILES)
add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${BSP_PATH}) add_subdirectory(${BSP_PATH})
add_subdirectory(${COMMON_PATH}) add_subdirectory(${COMMON_PATH})
if(ADD_CSP_LIB)
add_subdirectory(${CSP_LIB_PATH})
endif()
endif()
if(NOT Q7S_SIMPLE_MODE) if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT BUILD_WATCHDOG))
add_subdirectory(${LWGPS_LIB_PATH}) add_subdirectory(${LWGPS_LIB_PATH})
add_subdirectory(${FSFW_PATH}) add_subdirectory(${FSFW_PATH})
add_subdirectory(${MISSION_PATH}) add_subdirectory(${MISSION_PATH})
@ -158,6 +173,9 @@ if(NOT Q7S_SIMPLE_MODE)
add_subdirectory(${ARCSEC_LIB_PATH}) add_subdirectory(${ARCSEC_LIB_PATH})
endif() endif()
if(BUILD_WATCHDOG)
add_subdirectory(${WATCHDOG_PATH})
endif()
################################################################################ ################################################################################
# Post-Sources preparation # Post-Sources preparation
@ -165,35 +183,42 @@ endif()
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux) set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
if(NOT Q7S_SIMPLE_MODE) if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT BUILD_WATCHDOG))
# Add libraries for all sources. # Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_FSFW_NAME} ${LIB_FSFW_NAME}
${LIB_OS_NAME} ${LIB_OS_NAME}
${LIB_LWGPS_NAME} ${LIB_LWGPS_NAME}
${LIB_ARCSEC} ${LIB_ARCSEC}
${LIB_CXX_FS}
) )
endif() endif()
if(NOT BUILD_WATCHDOG)
if(ADD_CSP_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_CSP_NAME}
)
endif()
endif()
if(ADD_ETL_LIB) if(ADD_ETL_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_ETL_NAME} ${LIB_ETL_NAME}
) )
endif() endif()
if(ADD_CSP_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_CSP_NAME}
)
endif()
if(ADD_JSON_LIB) if(ADD_JSON_LIB)
target_link_libraries(${TARGET_NAME} PRIVATE target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_JSON_NAME} ${LIB_JSON_NAME}
) )
endif() endif()
target_link_libraries(${TARGET_NAME} PRIVATE
${LIB_CXX_FS}
)
# Add include paths for all sources. # Add include paths for all sources.
target_include_directories(${TARGET_NAME} PRIVATE target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
@ -249,11 +274,15 @@ if(NOT CMAKE_SIZE)
endif() endif()
endif() endif()
if(BUILD_WATCHDOG)
set(TARGET_STRING "OBSW Watchdog")
else()
if(TGT_BSP) if(TGT_BSP)
set(TARGET_STRING "Target BSP: ${TGT_BSP}") set(TARGET_STRING "Target BSP: ${TGT_BSP}")
else() else()
set(TARGET_STRING "Target BSP: Hosted") set(TARGET_STRING "Target BSP: Hosted")
endif() endif()
endif()
string(CONCAT POST_BUILD_COMMENT string(CONCAT POST_BUILD_COMMENT
"Build directory: ${CMAKE_BINARY_DIR}\n" "Build directory: ${CMAKE_BINARY_DIR}\n"

100
README.md
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@ -148,6 +148,29 @@ When using Windows, run theses steps in MSYS2.
# <a id="host-commands"></a> Useful and Common Commands (Host) # <a id="host-commands"></a> Useful and Common Commands (Host)
## Build generation
Replace `Debug` with `Release` for release build. Add `-G "MinGW Makefiles` or `-G "Ninja"`
on Windows or when `ninja` should be used. You can build with `cmake --build . -j` after
build generation. You can finds scripts in `cmake/scripts` to perform the build commands
automatically.
### Q7S OBSW
```sh
mkdir build-Debug-Q7S && cd build-Debug-Q7S
cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
```
### Q7S Watchdog
```sh
mkdir build-Debug-Q7S && cd build-Debug-Q7S
cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DBUILD_WATCHDOG=ON -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . -j
```
## Connect to EIVE flatsat ## Connect to EIVE flatsat
### DNS ### DNS
@ -187,6 +210,18 @@ tmux new -s q7s-serial
q7s_serial q7s_serial
``` ```
Other useful tmux commands:
- Enable scroll mode: You can press `ctrl + b` and then `[` (`AltGr + 8`) to enable scroll mode.
You can quit scroll mode with `q`.
- Kill a tmux session: run `ctrl + b` and then `k`.
- Detach from a tmux session: run `ctrl + b` and then `d`
- [Pipe last 3000 lines](https://unix.stackexchange.com/questions/26548/write-all-tmux-scrollback-to-a-file)
into file for copying or analysis:
1. `ctrl + b` and `:`
2. `capture-pane -S -3000` + `enter`
3. `save-buffer /tmp/tmux-output.txt` + `enter`
### SSH console ### SSH console
You can use the following command to connect to the Q7S with `ssh`: You can use the following command to connect to the Q7S with `ssh`:
@ -312,7 +347,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/rfoaistRd67yBbH/downloa
or the following command for Linux (could be useful for CI/CD) or the following command for Linux (could be useful for CI/CD)
```sh ```sh
wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/download/gcc-arm-linux-gnueabi.tar.gz wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/MRaeA2XnMXpZ5Pp/download/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz
``` ```
## Installing CMake and MSYS2 on Windows ## Installing CMake and MSYS2 on Windows
@ -581,10 +616,14 @@ pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file
More detailed information about the used q7s commands can be found in the Q7S user manual. More detailed information about the used q7s commands can be found in the Q7S user manual.
# <a id="q7s"></a> Q7S # <a id="q7s"></a> Q7S OBC
## Launching an application at start-up ## Launching an application at start-up
You can also do the steps performed here on a host computer inside the `q7s-rootfs` directory
of the [Q7S base repository](https://egit.irs.uni-stuttgart.de/eive/q7s-base). This might
be more convenient while also allowing to update all images at once with the finished `rootfs.xdi`.
Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds
two xdi images). Note: It is not possible to modify the currently loaded root partition, e.g. two xdi images). Note: It is not possible to modify the currently loaded root partition, e.g.
creating directories. To do this, the parition needs to be mounted. creating directories. To do this, the parition needs to be mounted.
@ -610,7 +649,7 @@ creating directories. To do this, the parition needs to be mounted.
chmod +x application chmod +x application
``` ```
5. Create systemd service in /lib/systemd/system. The following shows an example service. 5. Create systemd service in `/etc/systemd/system`. The following shows an example service.
```sh ```sh
cat > example.service cat > example.service
@ -628,12 +667,20 @@ creating directories. To do this, the parition needs to be mounted.
[Install] [Install]
WantedBy=multi-user.target WantedBy=multi-user.target
``` ```
6. Enable the service. This is normally done with systemctl enable. However, this is not possible
when the service is created for a mounted root partition. Therefore create a symlink as follows. 6. Enable the service. This is normally done with `systemctl enable <service>` which would create
a symlink in the `multi-user.target.wants` directory. However, this is not possible
when the service is created for a mounted root partition. It is also not possible during run
time because symlinks can't be created in a read-only filesystem. Therefore, relative symlinks
are used like this:
```sh ```sh
ln -s '/tmp/the-mounted-xdi-image/lib/systemd/system/example.service' '/tmp/the-mounted-xdi-image/etc/systemd/system/multi-user.target.wants/example.service' cd etc/systemd/system/multi-user.target.wants/
ln -s ../example.service example.service
``` ```
You can check the symlinnks with `ls -l`
7. The modified root partition is written back when the partion is locked again. 7. The modified root partition is written back when the partion is locked again.
```sh ```sh
writeprotect 0 0 1 writeprotect 0 0 1
@ -648,6 +695,47 @@ creating directories. To do this, the parition needs to be mounted.
systemctl status example systemctl status example
``` ```
## Current user systemd services
The following custom `systemd` services are currently running on the Q7S and can be found in
the `/etc/systemd/system` folder.
You can query that status of a service by running `systemctl status <serviceName>`.
### `eive-watchdog`
The watchdog will create a pipe at `/tmp/watchdog-pipe` which can be used both by the watchdog and
the EIVE OBSW. The watchdog will only read from this pipe while the OBSW will only write
to this pipe. The watchdog checks for basic ASCII commands as a first basic feature set.
The most important functionality is that the watchdog cant detect if a timeout
has happened. This can happen beause the OBSW is hanging (or at least the CoreController thread) or
there is simply now OBSW running on the system. It does to by checking whether the FIFO is
regulary written to, which means the EIVE OBSW is alive.
If the EIVE OBSW is alive, a special file called `/tmp/obsw-running` will be created.
This file can be used by any other software component to query whether the EIVE OBSW is running.
The EIVE OBSW itself can be configured to check whether this file exists, which prevents two
EIVE OBSW instances running on the Q7S at once.
If a timeout occurs, this special file will be deleted as well.
The watchdog and its configuration will be directly integrated into this repostory, which
makes adaptions easy.
### `tcfagent`
This starts the `/usr/bin/agent` program to allows remote debugging. Might not be part of
the mission code
### `eive-early-config`
This is a configuration script which runs early after `local-fs.target` and `sysinit.target`
Currently only pipes the output of `xsc_boot_copy` into the file `/tmp/curr_copy.txt` which can be
used by other software components to read the current chip and copy.
### `eive-post-ntpd-config`
This is a configuration scripts which runs after the Network Time Protocol has run. This script
currently sets the static IP address `192.168.133.10` and starts the `can` interface.
## PCDU ## PCDU
Connect to serial console of P60 Dock Connect to serial console of P60 Dock

19
automation/Dockerfile-q7s Normal file
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@ -0,0 +1,19 @@
FROM ubuntu:focal
RUN apt-get update
RUN apt-get --yes upgrade
RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl
# Q7S root filesystem, required for cross-compilation.
RUN mkdir -p /usr/rootfs; \
curl https://buggy.irs.uni-stuttgart.de/eive/tools/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
| tar -xz -C /usr/rootfs
# Cross compiler
RUN mkdir -p /usr/tools; \
curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
| tar -xz -C /usr/tools
ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

49
automation/Jenkinsfile vendored Normal file
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@ -0,0 +1,49 @@
pipeline {
agent any
stages {
stage('Build Container') {
when {
changeset "automation/Dockerfile-q7s"
branch 'develop'
}
steps {
sh 'docker build -t eive-fsw-build-q7s:gcc8 - < automation/Dockerfile-q7s'
}
}
stage('Clean') {
when {
anyOf {
changelog 'cleanCI'
changeset '*.cmake'
changeset 'CMakeLists.txt'
}
}
steps {
sh 'rm -rf build-q7s-debug'
}
}
stage('Build Q7S') {
agent {
docker {
image 'eive-fsw-build-q7s:gcc8'
reuseNode true
}
}
steps {
dir('build-q7s-debug') {
sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=linux ..'
sh 'cmake --build . -j'
}
}
}
stage('Deploy') {
when {
tag 'v*.*.*'
}
steps {
sh 'echo Deploying'
}
}
}
}

14
bsp_hosted/InitMission.cpp
View File

@ -70,15 +70,15 @@ void initmission::initTasks() {
} }
/* UDP bridge */ /* UDP bridge */
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE); result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl; sif::error << "Add component UDP Unix Bridge failed" << std::endl;
} }
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK); result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl; sif::error << "Add component UDP Polling failed" << std::endl;
} }
@ -142,8 +142,8 @@ void initmission::initTasks() {
sif::info << "Starting tasks.." << std::endl; sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask(); tmTcDistributor->startTask();
udpBridgeTask->startTask(); tmtcBridgeTask->startTask();
udpPollingTask->startTask(); tmtcPollingTask->startTask();
pusVerification->startTask(); pusVerification->startTask();
pusEvents->startTask(); pusEvents->startTask();

23
bsp_hosted/ObjectFactory.cpp
View File

@ -1,6 +1,5 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "OBSWConfig.h"
#include <OBSWConfig.h>
#include <objects/systemObjectList.h> #include <objects/systemObjectList.h>
#include <tmtc/apid.h> #include <tmtc/apid.h>
#include <tmtc/pusIds.h> #include <tmtc/pusIds.h>
@ -11,8 +10,13 @@
#include <mission/core/GenericFactory.h> #include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h> #include <mission/utility/TmFunnel.h>
#include <fsfw/osal/common/UdpTcPollingTask.h> #if OBSW_USE_TMTC_TCP_BRIDGE == 0
#include <fsfw/osal/common/UdpTmTcBridge.h> #include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#else
#include "fsfw/osal/common/TcpTmTcBridge.h"
#include "fsfw/osal/common/TcpTmTcServer.h"
#endif
#include <fsfw/tmtcpacket/pus/tm.h> #include <fsfw/tmtcpacket/pus/tm.h>
@ -40,7 +44,18 @@ void ObjectFactory::produce(void* args){
Factory::setStaticFrameworkObjectIds(); Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects(); ObjectFactory::produceGenericObjects();
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
sif::info << "Setting up UDP TMTC bridge with listener port " <<
UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#else
sif::info << "Setting up TCP TMTC bridge with listener port " <<
TcpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#endif
new TestTask(objects::TEST_TASK);
} }

12
bsp_hosted/main.cpp
View File

@ -1,9 +1,10 @@
#include "InitMission.h" #include "InitMission.h"
#include "OBSWVersion.h"
#include "fsfw/FSFWVersion.h"
#include "fsfw/tasks/TaskFactory.h"
#include <OBSWVersion.h>
#include <fsfw/tasks/TaskFactory.h>
#include <iostream> #include <iostream>
#ifdef WIN32 #ifdef WIN32
static const char* COMPILE_PRINTOUT = "Windows"; static const char* COMPILE_PRINTOUT = "Windows";
#elif LINUX #elif LINUX
@ -20,8 +21,9 @@ int main(void)
{ {
std::cout << "-- EIVE OBSW --" << std::endl; std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl; std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "." std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
<< SW_SUBVERSION << "." << SW_REVISION << " -- " << std::endl; "." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initmission::initMission(); initmission::initMission();

35
bsp_q7s/Dockerfile
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@ -1,35 +0,0 @@
FROM ubuntu:latest
# FROM alpine:latest
ENV TZ=Europe/Berlin
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
RUN apt-get update && apt-get install -y curl cmake g++
# Q7S root filesystem, required for cross-compilation. Use IPv6 for curl
RUN mkdir -p /usr/rootfs; \
curl -6 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/dnfMy9kGpgynN6J/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
| tar xvz -C /usr/rootfs
# Q7S C++ cross-compiler. Use IPv6 for curl
RUN mkdir -p /usr/tools; \
curl -6 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/RMsbHydJc6PSqcz/download/gcc-arm-linux-gnueabi.tar.gz \
| tar xvz -C /usr/tools
# RUN apk add cmake make g++
# Required for cmake build
ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
ENV PATH=$PATH:"/usr/tools/gcc-arm-linux-gnueabi/bin"
WORKDIR /usr/src/app
COPY . .
RUN set -ex; \
rm -rf build-q7s; \
mkdir build-q7s; \
cd build-q7s; \
cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux -DTGT_BSP="arm/q7s" ..;
ENTRYPOINT ["cmake", "--build", "build-q7s"]
CMD ["-j"]
# CMD ["bash"]

2
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -15,6 +15,8 @@
// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them // Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them
#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT #define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
// Probably better if this is disabled for mission code. Convenient for development
#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
#define Q7S_ADD_RTD_DEVICES 0 #define Q7S_ADD_RTD_DEVICES 0
/* Only one of those 2 should be enabled! */ /* Only one of those 2 should be enabled! */

241
bsp_q7s/core/CoreController.cpp
View File

@ -1,6 +1,7 @@
#include "CoreController.h" #include "CoreController.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "OBSWVersion.h" #include "OBSWVersion.h"
#include "watchdogConf.h"
#include "fsfw/FSFWVersion.h" #include "fsfw/FSFWVersion.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
@ -13,10 +14,38 @@
#include "bsp_q7s/memory/scratchApi.h" #include "bsp_q7s/memory/scratchApi.h"
#include "bsp_q7s/memory/SdCardManager.h" #include "bsp_q7s/memory/SdCardManager.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem> #include <filesystem>
CoreController::Chip CoreController::currentChip = Chip::NO_CHIP;
CoreController::Copy CoreController::currentCopy = Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId): 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();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" <<
std::endl;
}
result = initSdCard();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
}
result = initBootCopy();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
}
}
catch(const std::filesystem::filesystem_error& e) {
sif::error << "CoreController::CoreController: Failed with exception " <<
e.what() << std::endl;
}
} }
ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) { ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
@ -24,6 +53,7 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
} }
void CoreController::performControlOperation() { void CoreController::performControlOperation() {
performWatchdogControlOperation();
} }
ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@ -37,16 +67,6 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
ReturnValue_t CoreController::initialize() { ReturnValue_t CoreController::initialize() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
try {
result = sdCardInit();
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: SD card init failed" << std::endl;
}
}
catch(const std::filesystem::filesystem_error& e) {
sif::error << "CoreController::initialize: sdCardInit failed with exception " << e.what()
<< std::endl;
}
result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0); result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
@ -62,7 +82,7 @@ ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t CoreController::sdCardInit() { ReturnValue_t CoreController::initSdCard() {
#if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE #if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
sif::info << "No SD card initialization will be performed" << std::endl; sif::info << "No SD card initialization will be performed" << std::endl;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -136,51 +156,11 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
const uint8_t *data, size_t size) { const uint8_t *data, size_t size) {
switch(actionId) { switch(actionId) {
case(LIST_DIRECTORY_INTO_FILE): { case(LIST_DIRECTORY_INTO_FILE): {
// TODO: Packet definition for clean deserialization return actionListDirectoryIntoFile(actionId, commandedBy, data, size);
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
// null termination, at least 7 bytes for minimum target file name /tmp/a with
// null termination.
if(size < 14) {
return HasActionsIF::INVALID_PARAMETERS;
} }
// We could also make -l optional, but I can't think of a reason why to not use -l.. case(REBOOT_OBC): {
// This flag specifies to run ls with -a
bool aFlag = data[0];
data += 1;
// This flag specifies to run ls with -R
bool RFlag = data[1];
data += 1;
size_t remainingSize = size - 2;
// One larger for null termination, which prevents undefined behaviour if the sent
// strings are not 0 terminated properly
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
// Full target file name
std::string repoName(currentCharPtr);
size_t repoLength = repoName.length();
// The other string needs to be at least one letter plus NULL termination to be valid at all
// The first string also needs to be NULL terminated, but the termination is not included
// in the string length, so this is subtracted from the remaining size as well
if(repoLength > remainingSize - 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
// The file length will not include the NULL termination, so we skip it
currentCharPtr += repoLength + 1;
std::string targetFileName(currentCharPtr);
std::ostringstream oss;
oss << "ls -l";
if(aFlag) {
oss << "a";
}
if(RFlag) {
oss << "R";
}
oss << " " << repoName << " > " << targetFileName;
std::system(oss.str().c_str());
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
break;
} }
default: { default: {
return HasActionsIF::INVALID_ACTION_ID; return HasActionsIF::INVALID_ACTION_ID;
@ -189,7 +169,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
} }
ReturnValue_t CoreController::initializeAfterTaskCreation() { ReturnValue_t CoreController::initializeAfterTaskCreation() {
ReturnValue_t result = versionFileInit(); ReturnValue_t result = initVersionFile();
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "CoreController::initialize: Version initialization failed" << std::endl; sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
} }
@ -272,7 +252,7 @@ ReturnValue_t CoreController::incrementAllocationFailureCount() {
return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count); return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
} }
ReturnValue_t CoreController::versionFileInit() { ReturnValue_t CoreController::initVersionFile() {
std::string unameFileName = "/tmp/uname_version.txt"; std::string unameFileName = "/tmp/uname_version.txt";
// TODO: No -v flag for now. If the kernel version is used, need to cut off first few letters // TODO: No -v flag for now. If the kernel version is used, need to cut off first few letters
@ -356,14 +336,157 @@ ReturnValue_t CoreController::versionFileInit() {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
// TODO: Packet definition for clean deserialization
// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
// null termination, at least 7 bytes for minimum target file name /tmp/a with
// null termination.
if(size < 14) {
return HasActionsIF::INVALID_PARAMETERS;
}
// We could also make -l optional, but I can't think of a reason why to not use -l..
// This flag specifies to run ls with -a
bool aFlag = data[0];
data += 1;
// This flag specifies to run ls with -R
bool RFlag = data[1];
data += 1;
size_t remainingSize = size - 2;
// One larger for null termination, which prevents undefined behaviour if the sent
// strings are not 0 terminated properly
std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
// Full target file name
std::string repoName(currentCharPtr);
size_t repoLength = repoName.length();
// The other string needs to be at least one letter plus NULL termination to be valid at all
// The first string also needs to be NULL terminated, but the termination is not included
// in the string length, so this is subtracted from the remaining size as well
if(repoLength > remainingSize - 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
// The file length will not include the NULL termination, so we skip it
currentCharPtr += repoLength + 1;
std::string targetFileName(currentCharPtr);
std::ostringstream oss;
oss << "ls -l";
if(aFlag) {
oss << "a";
}
if(RFlag) {
oss << "R";
}
oss << " " << repoName << " > " << targetFileName;
int result = std::system(oss.str().c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::actionListDirectoryIntoFile");
actionHelper.finish(false, commandedBy, actionId);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CoreController::initBootCopy() {
std::string fileName = "/tmp/curr_copy.txt";
if(not std::filesystem::exists(fileName)) {
// Thils file is created by the systemd service eive-early-config so this should
// not happen normally
std::string cmd = "xsc_boot_copy > " + fileName;
int result = std::system(cmd.c_str());
if(result != 0) {
utility::handleSystemError(result, "CoreController::initBootCopy");
}
}
std::ifstream file(fileName);
std::string line;
std::getline(file, line);
std::istringstream iss(line);
int value = 0;
iss >> value;
currentChip = static_cast<Chip>(value);
iss >> value;
currentCopy = static_cast<Copy>(value);
return HasReturnvaluesIF::RETURN_OK;
}
void CoreController::getCurrentBootCopy(Chip &chip, Copy &copy) {
// Not really thread-safe but it does not need to be
chip = currentChip;
copy = currentCopy;
}
ReturnValue_t CoreController::initWatchdogFifo() {
if(not std::filesystem::exists(watchdog::FIFO_NAME)) {
// Still return RETURN_OK for now
sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate" <<
" watchdog" << std::endl;
return HasReturnvaluesIF::RETURN_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 HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CoreController::initPrint() { void CoreController::initPrint() {
#if OBSW_VERBOSE_LEVEL >= 1 #if OBSW_VERBOSE_LEVEL >= 1
#if OBSW_USE_TMTC_TCP_BRIDGE == 0 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
sif::info << "Created UDP server for TMTC commanding with listener port " << sif::info << "Created UDP server for TMTC commanding with listener port " <<
UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT << std::endl; UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
#else #else
sif::info << "Created TCP server for TMTC commanding with listener port " << sif::info << "Created TCP server for TMTC commanding with listener port " <<
TcpTmTcBridge::DEFAULT_TCP_SERVER_PORT << std::endl; TcpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
#endif #endif
if(watchdogFifoFd > 0) {
sif::info << "Opened watchdog FIFO successfully.." << std::endl;
}
#endif #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;
}
}
}
}

38
bsp_q7s/core/CoreController.h
View File

@ -1,19 +1,36 @@
#ifndef BSP_Q7S_CORE_CORECONTROLLER_H_ #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
#define BSP_Q7S_CORE_CORECONTROLLER_H_ #define BSP_Q7S_CORE_CORECONTROLLER_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "fsfw/controller/ExtendedControllerBase.h" #include "fsfw/controller/ExtendedControllerBase.h"
#include "bsp_q7s/memory/SdCardManager.h" #include "bsp_q7s/memory/SdCardManager.h"
#include "events/subsystemIdRanges.h" #include "events/subsystemIdRanges.h"
class CoreController: public ExtendedControllerBase { class CoreController: public ExtendedControllerBase {
public: public:
enum Chip: uint8_t {
CHIP_0,
CHIP_1,
NO_CHIP
};
enum Copy: uint8_t {
COPY_0,
COPY_1,
NO_COPY
};
static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0; static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
static constexpr ActionId_t REBOOT_OBC = 1;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM); static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
CoreController(object_id_t objectId); CoreController(object_id_t objectId);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
@ -27,22 +44,39 @@ public:
void performControlOperation() override; void performControlOperation() override;
static ReturnValue_t incrementAllocationFailureCount(); static ReturnValue_t incrementAllocationFailureCount();
static void getCurrentBootCopy(Chip& chip, Copy& copy);
private: private:
static Chip currentChip;
static Copy currentCopy;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override; LocalDataPoolManager& poolManager) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode); uint32_t *msToReachTheMode);
ReturnValue_t sdCardInit(); ReturnValue_t initSdCard();
ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair, ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair,
sd::SdCard sdCard, sd::SdStatus status, std::string sdString); sd::SdCard sdCard, sd::SdStatus status, std::string sdString);
ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan, ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan,
SdCardManager::SdStatusPair& statusPair); SdCardManager::SdStatusPair& statusPair);
ReturnValue_t versionFileInit(); ReturnValue_t initVersionFile();
ReturnValue_t initBootCopy();
ReturnValue_t initWatchdogFifo();
ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size);
void initPrint(); void initPrint();
// Designated value for rechecking FIFO open
static constexpr int RETRY_FIFO_OPEN = -2;
int watchdogFifoFd = 0;
PeriodicOperationDivider opDivider;
void performWatchdogControlOperation();
}; };

13
bsp_q7s/core/obsw.cpp
View File

@ -2,11 +2,15 @@
#include "OBSWVersion.h" #include "OBSWVersion.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "InitMission.h" #include "InitMission.h"
#include "watchdogConf.h"
#include "fsfw/tasks/TaskFactory.h" #include "fsfw/tasks/TaskFactory.h"
#include "fsfw/FSFWVersion.h" #include "fsfw/FSFWVersion.h"
#include <iostream> #include <iostream>
#include <filesystem>
static int OBSW_ALREADY_RUNNING = -2;
int obsw::obsw() { int obsw::obsw() {
std::cout << "-- EIVE OBSW --" << std::endl; std::cout << "-- EIVE OBSW --" << std::endl;
@ -20,6 +24,15 @@ int obsw::obsw() {
FSFW_REVISION << "--" << std::endl; FSFW_REVISION << "--" << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
// Check special file here. This file is created or deleted by the eive-watchdog application
// or systemd service!
if(std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
sif::warning << "File " << watchdog::RUNNING_FILE_NAME << " exists so the software might "
"already be running. Aborting.." << std::endl;
return OBSW_ALREADY_RUNNING;
}
#endif
initmission::initMission(); initmission::initMission();
for(;;) { for(;;) {

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

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

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

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

36
cmake/scripts/Q7S/watchdog/make_debug_cfg.sh Executable file
View File

@ -0,0 +1,36 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Debug-Watchdog"
build_generator=""
definitions="BUILD_WATCHDOG=ON"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
python="py"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
python="python3"
fi
echo "Running command (without the leading +):"
set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-d "${definitions}" -l"${build_dir}"
# set +x

36
cmake/scripts/Q7S/watchdog/make_release_cfg.sh Executable file
View File

@ -0,0 +1,36 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Release-Watchdog"
build_generator=""
definitions="BUILD_WATCHDOG=ON"
if [ "${OS}" = "Windows_NT" ]; then
build_generator="MinGW Makefiles"
python="py"
# Could be other OS but this works for now.
else
build_generator="Unix Makefiles"
python="python3"
fi
echo "Running command (without the leading +):"
set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-d "${definitions} -l"${build_dir}"
# set +x

34
cmake/scripts/Q7S/watchdog/ninja_debug_cfg.sh Executable file
View File

@ -0,0 +1,34 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Debug-Watchdog"
build_generator="Ninja"
definitions="-DBUILD_WATCHDOG=ON"
if [ "${OS}" = "Windows_NT" ]; then
python="py"
# Could be other OS but this works for now.
else
python="python3"
fi
echo "Running command (without the leading +):"
set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-d "${definitions}" -l "${build_dir}"
# set +x

34
cmake/scripts/Q7S/watchdog/ninja_release_cfg.sh Executable file
View File

@ -0,0 +1,34 @@
#!/bin/sh
counter=0
while [ ${counter} -lt 5 ]
do
cd ..
if [ -f "cmake_build_config.py" ];then
break
fi
counter=$((counter=counter + 1))
done
if [ "${counter}" -ge 5 ];then
echo "cmake_build_config.py not found in upper directories!"
exit 1
fi
os_fsfw="linux"
tgt_bsp="arm/q7s"
build_dir="build-Release-Watchdog"
build_generator="Ninja"
definitions="BUILD_WATCHDOG=ON"
if [ "${OS}" = "Windows_NT" ]; then
python="py"
# Could be other OS but this works for now.
else
python="python3"
fi
echo "Running command (without the leading +):"
set -x # Print command
${python} cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-d "${definitions}" -l"${build_dir}"
# set +x

4
common/config/commonConfig.h.in
View File

@ -3,4 +3,8 @@
#define OBSW_ADD_LWGPS_TEST 0 #define OBSW_ADD_LWGPS_TEST 0
// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
// because UDP packets are not allowed in the VPN
#define OBSW_USE_TMTC_TCP_BRIDGE 0
#endif /* COMMON_CONFIG_COMMONCONFIG_H_ */ #endif /* COMMON_CONFIG_COMMONCONFIG_H_ */

2
fsfw

@ -1 +1 @@
Subproject commit 1f6a5e635fcd6bd812e262cc65a15a8a054f7ecf Subproject commit 54c028f913e81077855aa1ed727bac43e7efea82

1
linux/boardtest/SpiTestClass.cpp
View File

@ -1,4 +1,5 @@
#include "SpiTestClass.h" #include "SpiTestClass.h"
#include "OBSWConfig.h"
#include "devices/gpioIds.h" #include "devices/gpioIds.h"

8
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -6,6 +6,10 @@
#ifndef FSFWCONFIG_OBSWCONFIG_H_ #ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_ #define FSFWCONFIG_OBSWCONFIG_H_
#cmakedefine RASPBERRY_Pi
#cmakedefine XIPHOS_Q7S
#cmakedefine BEAGLEBONEBLACK
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
#include "rpiConfig.h" #include "rpiConfig.h"
#elif defined(XIPHOS_Q7S) #elif defined(XIPHOS_Q7S)
@ -18,10 +22,6 @@
debugging. */ debugging. */
#define OBSW_VERBOSE_LEVEL 1 #define OBSW_VERBOSE_LEVEL 1
// Use TCP instead of UDP for the TMTC bridge. This allows using the TMTC client locally
// because UDP packets are not allowed in the VPN
#define OBSW_USE_TMTC_TCP_BRIDGE 0
#define OBSW_PRINT_MISSED_DEADLINES 1 #define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1 #define OBSW_ADD_TEST_CODE 1
#define OBSW_ADD_TEST_PST 1 #define OBSW_ADD_TEST_PST 1

332
misc/eclipse/.cproject
View File

@ -254,7 +254,7 @@
</extensions> </extensions>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg"> <configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath=""> <folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base"> <toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/> <option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@ -1031,6 +1031,332 @@
</storageModule> </storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration> </cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874" moduleId="org.eclipse.cdt.core.settings" name="q7s-watchdog-debug">
<macros>
<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/home/rmueller/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
</macros>
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874" name="q7s-watchdog-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
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<listOptionValue builtIn="false" value="&quot;../${Q7S_SYSROOT}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
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<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
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</tool>
</toolChain>
</folderInfo>
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</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
</cconfiguration>
</storageModule> </storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0"> <storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="eive_obsw.null.1109622296" name="eive_obsw"/> <project id="eive_obsw.null.1109622296" name="eive_obsw"/>
@ -1044,6 +1370,9 @@
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/> <resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration> </configuration>
<configuration configurationName="eive-mingw-release"/> <configuration configurationName="eive-mingw-release"/>
<configuration configurationName="q7s-watchdog-release">
<resource resourceType="PROJECT" workspacePath="/eive-obsw"/>
</configuration>
<configuration configurationName="eive-rpi-release-win"/> <configuration configurationName="eive-rpi-release-win"/>
<configuration configurationName="Default"> <configuration configurationName="Default">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/> <resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
@ -1060,6 +1389,7 @@
<configuration configurationName="eive-mingw-debug"> <configuration configurationName="eive-mingw-debug">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/> <resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
</configuration> </configuration>
<configuration configurationName="q7s-watchdog"/>
<configuration configurationName="eive-rpi-debug"/> <configuration configurationName="eive-rpi-debug"/>
</storageModule> </storageModule>
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"> <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings">

30
mission/devices/Max31865PT1000Handler.cpp
View File

@ -1,5 +1,7 @@
#include "Max31865PT1000Handler.h" #include "Max31865PT1000Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <bitset> #include <bitset>
#include <cmath> #include <cmath>
@ -360,7 +362,6 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
// do something with rtd value, will propably be stored in // do something with rtd value, will propably be stored in
// dataset. // dataset.
float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX; float rtdValue = adcCode * RTD_RREF_PT1000 / INT16_MAX;
// calculate approximation // calculate approximation
float approxTemp = adcCode / 32.0 - 256.0; float approxTemp = adcCode / 32.0 - 256.0;
@ -369,7 +370,7 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Max31865PT1000Handler::interpretDeviceReply: Measured " sif::info << "Max31865PT1000Handler::interpretDeviceReply: Measured "
<< "resistance is " << rtdValue << " Ohms." << std::endl; << "resistance is " << rtdValue << " Ohms." << std::endl;
sif::info << "Approximated temperature is " << approxTemp << " °C" sif::info << "Approximated temperature is " << approxTemp << " C"
<< std::endl; << std::endl;
#else #else
sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Measured resistance is %f" sif::printInfo("Max31865PT1000Handler::interpretDeviceReply: Measured resistance is %f"
@ -380,8 +381,8 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
} }
#endif #endif
ReturnValue_t result = sensorDataset.read(); PoolReadGuard pg(&sensorDataset);
if(result != HasReturnvaluesIF::RETURN_OK) { if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
// Configuration error // Configuration error
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!" sif::debug << "Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!"
@ -389,29 +390,17 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
#else #else
sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!\n"); sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: Error reading dataset!\n");
#endif #endif
return result; return pg.getReadResult();
} }
if(not sensorDataset.isValid()) { if(not sensorDataset.isValid()) {
sensorDataset.setValidity(true, false);
sensorDataset.rtdValue.setValid(true);
sensorDataset.temperatureCelcius.setValid(true); sensorDataset.temperatureCelcius.setValid(true);
} }
sensorDataset.rtdValue = rtdValue;
sensorDataset.temperatureCelcius = approxTemp; sensorDataset.temperatureCelcius = approxTemp;
result = sensorDataset.commit();
if(result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Max31865PT1000Handler::interpretDeviceReply: "
"Error commiting dataset!" << std::endl;
#else
sif::printDebug("Max31865PT1000Handler::interpretDeviceReply: "
"Error commiting dataset!\n");
#endif
return result;
}
break; break;
} }
case(Max31865Definitions::REQUEST_FAULT_BYTE): { case(Max31865Definitions::REQUEST_FAULT_BYTE): {
@ -485,6 +474,7 @@ void Max31865PT1000Handler::doTransition(Mode_t modeFrom,
ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) { LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(Max31865Definitions::PoolIds::RTD_VALUE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(Max31865Definitions::PoolIds::TEMPERATURE_C, localDataPoolMap.emplace(Max31865Definitions::PoolIds::TEMPERATURE_C,
new PoolEntry<float>({0}, 1, true)); new PoolEntry<float>({0}, 1, true));
localDataPoolMap.emplace(Max31865Definitions::PoolIds::FAULT_BYTE, localDataPoolMap.emplace(Max31865Definitions::PoolIds::FAULT_BYTE,

3
mission/devices/devicedefinitions/Max31865Definitions.h
View File

@ -9,6 +9,7 @@
namespace Max31865Definitions { namespace Max31865Definitions {
enum PoolIds: lp_id_t { enum PoolIds: lp_id_t {
RTD_VALUE,
TEMPERATURE_C, TEMPERATURE_C,
FAULT_BYTE FAULT_BYTE
}; };
@ -46,6 +47,8 @@ public:
StaticLocalDataSet(sid_t(objectId, MAX31865_SET_ID)) { StaticLocalDataSet(sid_t(objectId, MAX31865_SET_ID)) {
} }
lp_var_t<float> rtdValue = lp_var_t<float>(sid.objectId,
PoolIds::RTD_VALUE, this);
lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId,
PoolIds::TEMPERATURE_C, this); PoolIds::TEMPERATURE_C, this);
lp_var_t<uint8_t> errorByte = lp_var_t<uint8_t>(sid.objectId, lp_var_t<uint8_t> errorByte = lp_var_t<uint8_t>(sid.objectId,

8
scripts/q7s-cp.py
View File

@ -8,7 +8,13 @@ def main():
cmd = build_cmd(args) cmd = build_cmd(args)
# Run the command # Run the command
print(f'Running command: {cmd}') print(f'Running command: {cmd}')
os.system(cmd) result = os.system(cmd)
if result != 0:
print('')
print('Removing problematic SSH key and trying again..')
remove_ssh_key_cmd = 'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
os.system(remove_ssh_key_cmd)
result = os.system(cmd)
def handle_args(): def handle_args():

4
watchdog/CMakeLists.txt Normal file
View File

@ -0,0 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
main.cpp
Watchdog.cpp
)

258
watchdog/Watchdog.cpp Normal file
View File

@ -0,0 +1,258 @@
#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 <fstream>
#include <thread>
#include <cstring>
#include <filesystem>
WatchdogTask::WatchdogTask (): fd(0) {
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;
throw std::runtime_error("eive-watchdog: FIFO creation failed");
}
#if WATCHDOG_VERBOSE_LEVEL >= 1
std::cout << "eive-watchdog: Pipe at " << watchdog::FIFO_NAME <<
" created successfully" << std::endl;
#endif
}
}
WatchdogTask::~WatchdogTask() {
}
int WatchdogTask::performOperation() {
// 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;
return -1;
}
state = States::RUNNING;
while(true) {
WatchdogTask::LoopResult loopResult = watchdogLoop();
switch(loopResult) {
case(LoopResult::OK): {
performRunningOperation();
break;
}
case(LoopResult::CANCEL_RQ): {
std::cout << "eive-watchdog: Received cancel request, closing watchdog.." << std::endl;
return 0;
}
case(LoopResult::SUSPEND_RQ): {
performSuspendOperation();
break;
}
case(LoopResult::TIMEOUT): {
performNotRunningOperation(loopResult);
break;
}
case(LoopResult::HUNG_UP): {
performNotRunningOperation(loopResult);
break;
}
case(LoopResult::RESTART_RQ): {
if(state == States::SUSPENDED or state == States::FAULTY) {
performRunningOperation();
}
break;
}
case(LoopResult::FAULT): {
using namespace std::chrono_literals;
// Configuration error
std::cerr << "Fault has occured in watchdog loop" << std::endl;
// Prevent spam
std::this_thread::sleep_for(2000ms);
}
}
}
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;
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): {
return pollEvent(waiter);
}
default: {
std::cerr << "eive-watchdog: Unknown poll error at " << watchdog::FIFO_NAME << ", error " <<
errno << ": " << strerror(errno) << std::endl;
break;
}
}
return LoopResult::OK;
}
WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
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;
return LoopResult::OK;
}
#if WATCHDOG_VERBOSE_LEVEL == 2
std::cout << "Read " << readLen << " byte(s) on the pipe " << FIFO_NAME
<< std::endl;
#endif
else if(readLen >= 1) {
return parseCommandByte(readLen);
}
}
else if(waiter.revents & POLLERR) {
std::cerr << "eive-watchdog: Poll error error on pipe " << watchdog::FIFO_NAME <<
std::endl;
return LoopResult::FAULT;
}
else if (waiter.revents & POLLHUP) {
// Writer closed its end
return LoopResult::HUNG_UP;
}
return LoopResult::FAULT;
}
WatchdogTask::LoopResult WatchdogTask::parseCommandByte(ssize_t readLen) {
for(ssize_t idx = 0; idx < readLen; idx++) {
char readChar = buf[idx];
// Cancel request
if(readChar == watchdog::CANCEL_CHAR) {
return LoopResult::CANCEL_RQ;
}
// Begin request. Does not work if the operation was not suspended before
else if(readChar == watchdog::RESTART_CHAR) {
return LoopResult::RESTART_RQ;
}
// Suspend request
else if(readChar == watchdog::SUSPEND_CHAR) {
return LoopResult::SUSPEND_RQ;
}
// Everything else: All working as expected
}
return LoopResult::OK;
}
int WatchdogTask::performRunningOperation() {
if(state != States::RUNNING) {
state = States::RUNNING;
}
if(not obswRunning) {
if(printNotRunningLatch) {
// Reset latch so user can see timeouts
printNotRunningLatch = false;
}
obswRunning = true;
std::cout << "eive-watchdog: Running OBSW detected.." << std::endl;
#if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
std::cout << "eive-watchdog: Creating " << watchdog::RUNNING_FILE_NAME << std::endl;
if (not std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
std::ofstream obswRunningFile(watchdog::RUNNING_FILE_NAME);
if(not obswRunningFile.good()) {
std::cerr << "Creating file " << watchdog::RUNNING_FILE_NAME << " failed"
<< std::endl;
}
}
#endif
}
return 0;
}
int WatchdogTask::performNotRunningOperation(LoopResult type) {
// Latch prevents spam on console
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(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;
}
int WatchdogTask::performSuspendOperation() {
if(state == States::RUNNING or state == States::FAULTY) {
std::cout << "eive-watchdog: Suspending watchdog operations" << std::endl;
watchdogRunning = false;
state = States::SUSPENDED;
}
return 0;
}

49
watchdog/Watchdog.h Normal file
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#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,
SUSPEND_RQ,
CANCEL_RQ,
RESTART_RQ,
TIMEOUT,
HUNG_UP,
FAULT
};
WatchdogTask();
virtual ~WatchdogTask();
int performOperation();
private:
int fd = 0;
bool obswRunning = false;
bool watchdogRunning = false;
bool printNotRunningLatch = false;
std::array<uint8_t, 64> buf;
States state = States::NOT_STARTED;
LoopResult watchdogLoop();
LoopResult pollEvent(struct pollfd& waiter);
LoopResult parseCommandByte(ssize_t readLen);
int performRunningOperation();
int performNotRunningOperation(LoopResult type);
int performSuspendOperation();
};
#endif /* WATCHDOG_WATCHDOG_H_ */

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watchdog/main.cpp Normal file
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#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 << "eive-watchdog: Starting OBSW watchdog.." << std::endl;
try {
WatchdogTask watchdogTask;
int result = watchdogTask.performOperation();
if(result != 0) {
return result;
}
}
catch(const std::runtime_error& e) {
std::cerr << "eive-watchdog: Run time exception " << e.what() << std::endl;
return -1;
}
return 0;
}

24
watchdog/watchdogConf.h.in Normal file
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#include <cstdint>
#include <string>
#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 = 5 * 1000;
const std::string FIFO_NAME = "/tmp/watchdog-pipe";
const std::string RUNNING_FILE_NAME = "/tmp/obsw-running";
// Suspend watchdog operations temporarily
static constexpr char SUSPEND_CHAR = 's';
// Resume watchdog operations
static constexpr char RESTART_CHAR = 'b';
// Causes the watchdog to close down
static constexpr char CANCEL_CHAR = 'c';
}