various bugfixes, watchdog working now

CMakeLists.txt

@@ -33,7 +33,7 @@ endif()
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
-set(PROJECT_NAME_TO_SET eive-obsw)
+set(PROJECT_NAME_TO_SET eive-obsw-$ENV{USERNAME})
 if(BUILD_WATCHDOG)
     set(PROJECT_NAME_TO_SET eive-watchdog)
 endif()

bsp_q7s/core/CoreController.cpp

@@ -55,7 +55,6 @@ void CoreController::performControlOperation() {
     if(watchdogFifoFd != 0) {
         // Write to OBSW watchdog FIFO here
         const char writeChar = 'a';
-        std::cout << "Writing to FIFO.." << std::endl;
         ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
         if(writtenBytes < 0) {
             sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " <<

linux/boardtest/SpiTestClass.cpp

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

watchdog/Watchdog.cpp

@@ -52,6 +52,7 @@ int WatchdogTask::performOperation() {
         WatchdogTask::LoopResult loopResult = watchdogLoop();
         switch(loopResult) {
         case(LoopResult::OK): {
+            performRunningOperation();
             break;
         }
         case(LoopResult::CANCEL_RQ): {
@@ -59,29 +60,26 @@ int WatchdogTask::performOperation() {
             return 0;
         }
         case(LoopResult::SUSPEND_RQ): {
-            std::cout << "eive-watchdog: Suspending watchdog operations" << std::endl;
-            if(state == States::RUNNING or state == States::FAULTY) {
-                watchdogRunning = false;
-                state = States::SUSPENDED;
-            }
+            performSuspendOperation();
             break;
         }
         case(LoopResult::TIMEOUT): {
-            std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
             performTimeoutOperation();
             break;
         }
         case(LoopResult::RESTART_RQ): {
             if(state == States::SUSPENDED or state == States::FAULTY) {
-                state = States::RUNNING;
-                watchdogRunning = true;
                 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);
+
         }
         }
     }
@@ -149,7 +147,9 @@ WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
         std::cout << "Read " << readLen << " byte(s) on the pipe " << FIFO_NAME
                 << std::endl;
 #endif
-        return parseCommandByte(readLen);
+        else if(readLen >= 1) {
+            return parseCommandByte(readLen);
+        }
 
     }
     else if(waiter.revents & POLLERR) {
@@ -184,9 +184,20 @@ WatchdogTask::LoopResult WatchdogTask::parseCommandByte(ssize_t readLen) {
 }
 
 int WatchdogTask::performRunningOperation() {
+    if(state != States::RUNNING) {
+        state = States::RUNNING;
+    }
+
     if(not obswRunning) {
+        if(printTimeoutLatch) {
+            // Reset latch so user can see timeouts
+            printTimeoutLatch = 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()) {
@@ -200,6 +211,12 @@ int WatchdogTask::performRunningOperation() {
 }
 
 int WatchdogTask::performTimeoutOperation() {
+    // Latch prevents spam on console
+    if(not printTimeoutLatch) {
+        std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
+        printTimeoutLatch = 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());
@@ -214,3 +231,12 @@ int WatchdogTask::performTimeoutOperation() {
     }
     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;
+}

watchdog/Watchdog.h

@@ -32,6 +32,7 @@ private:
 
     bool obswRunning = false;
     bool watchdogRunning = false;
+    bool printTimeoutLatch = false;
     std::array<uint8_t, 64> buf;
     States state = States::NOT_STARTED;
 
@@ -41,6 +42,7 @@ private:
 
     int performRunningOperation();
     int performTimeoutOperation();
+    int performSuspendOperation();
 };
 
 #endif /* WATCHDOG_WATCHDOG_H_ */

watchdog/watchdogConf.h.in

@@ -10,7 +10,7 @@
 
 namespace watchdog {
 
-static constexpr int TIMEOUT_MS = 10 * 1000;
+static constexpr int TIMEOUT_MS = 5 * 1000;
 const std::string FIFO_NAME = "/tmp/watchdog-pipe";
 const std::string RUNNING_FILE_NAME = "/tmp/obsw-running";