watchdog handling finished

bsp_q7s/core/CoreController.cpp

@@ -1,6 +1,7 @@
 #include "CoreController.h"
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
+#include "watchdogConf.h"
 
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -13,6 +14,9 @@
 #include "bsp_q7s/memory/scratchApi.h"
 #include "bsp_q7s/memory/SdCardManager.h"
 
+#include <fcntl.h>
+#include <unistd.h>
+
 #include <filesystem>
 
 CoreController::Chip CoreController::currentChip = Chip::NO_CHIP;
@@ -22,6 +26,11 @@ CoreController::CoreController(object_id_t objectId):
         ExtendedControllerBase(objectId, objects::NO_OBJECT, 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;
@@ -30,6 +39,7 @@ CoreController::CoreController(object_id_t objectId):
         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 " <<
@@ -42,6 +52,16 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 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 << ": " <<
+                    strerror(errno) << std::endl;
+        }
+    }
 }
 
 ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@@ -406,6 +426,23 @@ void CoreController::getCurrentBootCopy(Chip &chip, Copy &copy) {
     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
+    watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY);
+    if(watchdogFifoFd < 0) {
+        std::cerr << "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() {
 #if OBSW_VERBOSE_LEVEL >= 1
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
@@ -415,5 +452,9 @@ void CoreController::initPrint() {
     sif::info << "Created TCP server for TMTC commanding with listener port " <<
             TcpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
 #endif
+
+    if(watchdogFifoFd != 0) {
+        sif::info << "Opened watchdog FIFO successfully.." << std::endl;
+    }
 #endif
 }

bsp_q7s/core/CoreController.h

@@ -63,12 +63,14 @@ private:
 
     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();
 
+    int watchdogFifoFd = 0;
 };
 
 

bsp_q7s/core/obsw.cpp

@@ -2,11 +2,15 @@
 #include "OBSWVersion.h"
 #include "OBSWConfig.h"
 #include "InitMission.h"
+#include "watchdogConf.h"
 
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/FSFWVersion.h"
 
 #include <iostream>
+#include <filesystem>
+
+static int OBSW_ALREADY_RUNNING = -2;
 
 int obsw::obsw() {
     std::cout << "-- EIVE OBSW --" << std::endl;
@@ -21,7 +25,13 @@ int obsw::obsw() {
     std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
-    // Check special file here
+    // 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();