watchdog handling finished

CMakeLists.txt

@@ -97,16 +97,19 @@ if(TGT_BSP)
     endif()
    
     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)
     endif()
     
     if(${TGT_BSP} MATCHES "arm/beagleboneblack")
-        add_definitions(-DBEAGLEBONEBLACK)
+        # Used by configure file
+        set(BEAGLEBONEBLACK ON)
     endif()
     
     if(${TGT_BSP} MATCHES "arm/q7s")
-        add_definitions(-DXIPHOS_Q7S)
+        # Used by configure file
+        set(XIPHOS_Q7S ON)
     endif()
 else()
     # Required by FSFW library

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();
 

linux/fsfwconfig/OBSWConfig.h.in

@@ -6,6 +6,10 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
+#cmakedefine RASPBERRY_Pi
+#cmakedefine XIPHOS_Q7S
+#cmakedefine BEAGLEBONEBLACK
+
 #ifdef RASPBERRY_PI
 #include "rpiConfig.h"
 #elif defined(XIPHOS_Q7S)

watchdog/Watchdog.cpp

@@ -9,6 +9,7 @@
 #include <fcntl.h>
 
 #include <iostream>
+#include <fstream>
 #include <thread>
 #include <cstring>
 #include <filesystem>
@@ -54,21 +55,34 @@ int WatchdogTask::performOperation() {
             break;
         }
         case(LoopResult::CANCEL_RQ): {
-            if(state == States::RUNNING) {
+            std::cout << "eive-watchdog: Received cancel request, closing watchdog.." << std::endl;
+            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;
             }
             break;
         }
         case(LoopResult::TIMEOUT): {
             std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
+            performTimeoutOperation();
             break;
         }
         case(LoopResult::RESTART_RQ): {
-            if(state == States::SUSPENDED) {
+            if(state == States::SUSPENDED or state == States::FAULTY) {
                 state = States::RUNNING;
+                watchdogRunning = true;
+                performRunningOperation();
             }
             break;
         }
+        case(LoopResult::FAULT): {
+            // Configuration error
+            std::cerr << "Fault has occured in watchdog loop" << std::endl;
+        }
         }
     }
     if (close(fd) < 0) {
@@ -81,7 +95,6 @@ int WatchdogTask::performOperation() {
 
 WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
     using namespace std::chrono_literals;
-    char readChar;
     struct pollfd waiter = {};
     waiter.fd = fd;
     waiter.events = POLLIN;
@@ -113,41 +126,7 @@ WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
         return LoopResult::TIMEOUT;
     }
     case(1): {
-        if (waiter.revents & POLLIN) {
+        return pollEvent(waiter);
-            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 " <<
@@ -157,3 +136,81 @@ WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
     }
     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
+        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::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(not obswRunning) {
+        obswRunning = true;
+#if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
+        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::performTimeoutOperation() {
+#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
+    if(obswRunning) {
+        obswRunning = false;
+    }
+    return 0;
+}

watchdog/Watchdog.h

@@ -15,9 +15,11 @@ public:
 
     enum class LoopResult {
         OK,
+        SUSPEND_RQ,
         CANCEL_RQ,
         RESTART_RQ,
-        TIMEOUT
+        TIMEOUT,
+        FAULT
     };
 
     WatchdogTask();
@@ -28,10 +30,17 @@ public:
 private:
     int fd = 0;
 
+    bool obswRunning = false;
+    bool watchdogRunning = 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 performTimeoutOperation();
 };
 
 #endif /* WATCHDOG_WATCHDOG_H_ */

watchdog/watchdogConf.h.in

@@ -1,4 +1,5 @@
 #include <cstdint>
+#include <string>
 
 #define WATCHDOG_VERBOSE_LEVEL              1
 /**
@@ -13,4 +14,11 @@ static constexpr int TIMEOUT_MS = 10 * 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';
+
 }