reworked watchdog

watchdog/Watchdog.h

@@ -2,49 +2,52 @@
 #define WATCHDOG_WATCHDOG_H_
 
 #include <array>
+#include <chrono>
 #include <cstdint>
+#include <optional>
 #include <string>
 
 class WatchdogTask {
-public:
-    enum class States {
-        NOT_STARTED,
-        RUNNING,
-        SUSPENDED,
-        FAULTY
-    };
+ public:
+  enum class States { NOT_STARTED, RUNNING, SUSPENDED, FAULTY };
 
-    enum class LoopResult {
-        OK,
-        SUSPEND_RQ,
-        CANCEL_RQ,
-        RESTART_RQ,
-        TIMEOUT,
-        HUNG_UP,
-        FAULT
-    };
+  enum class LoopResult {
+    OK,
+    START_REQ,
+    START_WITH_WATCH_REQ,
+    SUSPEND_REQ,
+    CANCEL_REQ,
+    TIMEOUT,
+    HUNG_UP,
+    FAULT
+  };
 
-    WatchdogTask();
+  WatchdogTask();
 
-    virtual ~WatchdogTask();
+  virtual ~WatchdogTask();
 
-    int performOperation();
-private:
-    int fd = 0;
+  int performOperation();
 
-    bool obswRunning = false;
-    bool watchdogRunning = false;
-    bool printNotRunningLatch = false;
-    std::array<uint8_t, 64> buf;
-    States state = States::NOT_STARTED;
+ private:
+  int fd = 0;
 
-    LoopResult watchdogLoop();
-    LoopResult pollEvent(struct pollfd& waiter);
-    LoopResult parseCommandByte(ssize_t readLen);
+  bool obswRunning = false;
+  bool watchingObsw = false;
+  bool printNotRunningLatch = false;
+  std::array<uint8_t, 64> buf;
+  std::optional<std::chrono::time_point<std::chrono::system_clock>> notRunningStart;
+  States state = States::NOT_STARTED;
 
-    int performRunningOperation();
-    int performNotRunningOperation(LoopResult type);
-    int performSuspendOperation();
+  // Primary loop. Takes care of delaying, and reading from the communication pipe and translating
+  // messages to loop results.
+  LoopResult watchdogLoop();
+  bool stateMachine(LoopResult result);
+  LoopResult pollEvent(struct pollfd& waiter);
+  LoopResult parseCommand(ssize_t readLen);
+
+  int performRunningOperation();
+  int performNotRunningOperation(LoopResult type);
+  int performSuspendOperation();
 };
 
 #endif /* WATCHDOG_WATCHDOG_H_ */