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Watchdog Extension #404

Merged
muellerr merged 9 commits from feature_watchdog_extension into develop 2023-03-04 10:45:49 +01:00
Conversation 1 Commits 9 Files Changed 14 +2715 -6343
186 changed files with 2715 additions and 6343 deletions
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Showing only changes of commit 0cb7446297 - Show all commits

47
watchdog/Watchdog.cpp
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@@ -24,13 +24,12 @@ WatchdogTask::WatchdogTask() : fd(0) {
mode_t mode = DEFFILEMODE; mode_t mode = DEFFILEMODE;
result = mkfifo(watchdog::FIFO_NAME.c_str(), mode); result = mkfifo(watchdog::FIFO_NAME.c_str(), mode);
if (result != 0) { if (result != 0) {
std::cerr << "eive-watchdog: Could not created named pipe at " << watchdog::FIFO_NAME std::cerr << "Could not created named pipe at " << watchdog::FIFO_NAME << ", error " << errno
<< ", error " << errno << ": " << strerror(errno) << std::endl; << ": " << strerror(errno) << std::endl;
throw std::runtime_error("eive-watchdog: FIFO creation failed"); throw std::runtime_error("eive-watchdog: FIFO creation failed");
} }
#if WATCHDOG_VERBOSE_LEVEL >= 1 #if WATCHDOG_VERBOSE_LEVEL >= 1
std::cout << "eive-watchdog: Pipe at " << watchdog::FIFO_NAME << " created successfully" std::cout << "Pipe at " << watchdog::FIFO_NAME << " created successfully" << std::endl;
<< std::endl;
#endif #endif
} }
} }
@@ -41,8 +40,8 @@ int WatchdogTask::performOperation() {
// Open FIFO read only and non-blocking // Open FIFO read only and non-blocking
fd = open(watchdog::FIFO_NAME.c_str(), O_RDONLY | O_NONBLOCK); fd = open(watchdog::FIFO_NAME.c_str(), O_RDONLY | O_NONBLOCK);
if (fd < 0) { if (fd < 0) {
std::cerr << "eive-watchdog: Opening pipe " << watchdog::FIFO_NAME << "read-only failed with " std::cerr << "Opening pipe " << watchdog::FIFO_NAME << "read-only failed with " << errno << ": "
<< errno << ": " << strerror(errno) << std::endl; << strerror(errno) << std::endl;
return -1; return -1;
} }
state = States::NOT_STARTED; state = States::NOT_STARTED;
@@ -54,10 +53,10 @@ int WatchdogTask::performOperation() {
} }
} }
if (close(fd) < 0) { if (close(fd) < 0) {
std::cerr << "eive-watchdog: Closing named pipe at " << watchdog::FIFO_NAME << "failed, error " std::cerr << "Closing named pipe at " << watchdog::FIFO_NAME << "failed, error " << errno
<< errno << ": " << strerror(errno) << std::endl; << ": " << strerror(errno) << std::endl;
} }
std::cout << "eive-watchdog: Finished" << std::endl; std::cout << "Closing" << std::endl;
return 0; return 0;
} }
@@ -76,8 +75,8 @@ WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
return pollEvent(waiter); return pollEvent(waiter);
} }
default: { default: {
std::cerr << "eive-watchdog: Unknown poll error at " << watchdog::FIFO_NAME << ", error " std::cerr << "Unknown poll error at " << watchdog::FIFO_NAME << ", error " << errno << ": "
<< errno << ": " << strerror(errno) << std::endl; << strerror(errno) << std::endl;
break; break;
} }
} }
@@ -88,8 +87,8 @@ WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
if (waiter.revents & POLLIN) { if (waiter.revents & POLLIN) {
ssize_t readLen = read(fd, buf.data(), buf.size()); ssize_t readLen = read(fd, buf.data(), buf.size());
if (readLen < 0) { if (readLen < 0) {
std::cerr << "eive-watchdog: Read error on pipe " << watchdog::FIFO_NAME << ", error " std::cerr << "Read error on pipe " << watchdog::FIFO_NAME << ", error " << errno << ": "
<< errno << ": " << strerror(errno) << std::endl; << strerror(errno) << std::endl;
return LoopResult::OK; return LoopResult::OK;
} }
#if WATCHDOG_VERBOSE_LEVEL == 2 #if WATCHDOG_VERBOSE_LEVEL == 2
@@ -100,7 +99,7 @@ WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
} }
} else if (waiter.revents & POLLERR) { } else if (waiter.revents & POLLERR) {
std::cerr << "eive-watchdog: Poll error error on pipe " << watchdog::FIFO_NAME << std::endl; std::cerr << "Poll error error on pipe " << watchdog::FIFO_NAME << std::endl;
return LoopResult::FAULT; return LoopResult::FAULT;
} else if (waiter.revents & POLLHUP) { } else if (waiter.revents & POLLHUP) {
// Writer closed its end // Writer closed its end
@@ -142,9 +141,9 @@ int WatchdogTask::performRunningOperation() {
} }
obswRunning = true; obswRunning = true;
std::cout << "eive-watchdog: Running OBSW detected.." << std::endl; std::cout << "OBSW is running" << std::endl;
#if WATCHDOG_CREATE_FILE_IF_RUNNING == 1 #if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
std::cout << "eive-watchdog: Creating " << watchdog::RUNNING_FILE_NAME << std::endl; std::cout << "Creating " << watchdog::RUNNING_FILE_NAME << std::endl;
if (not std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) { if (not std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
std::ofstream obswRunningFile(watchdog::RUNNING_FILE_NAME); std::ofstream obswRunningFile(watchdog::RUNNING_FILE_NAME);
if (not obswRunningFile.good()) { if (not obswRunningFile.good()) {
@@ -160,9 +159,9 @@ int WatchdogTask::performNotRunningOperation(LoopResult type) {
// Latch prevents spam on console // Latch prevents spam on console
if (not printNotRunningLatch) { if (not printNotRunningLatch) {
if (type == LoopResult::HUNG_UP) { if (type == LoopResult::HUNG_UP) {
std::cout << "eive-watchdog: FIFO writer hung up!" << std::endl; std::cout << "OBSW hung up" << std::endl;
} else { } else {
std::cout << "eive-watchdog: The FIFO timed out!" << std::endl; std::cout << "The FIFO timed out, OBSW might not be running" << std::endl;
} }
printNotRunningLatch = true; printNotRunningLatch = true;
} }
@@ -188,7 +187,7 @@ int WatchdogTask::performNotRunningOperation(LoopResult type) {
auto timeNotRunning = std::chrono::system_clock::now() - notRunningStart.value(); auto timeNotRunning = std::chrono::system_clock::now() - notRunningStart.value();
if (std::chrono::duration_cast<std::chrono::milliseconds>(timeNotRunning).count() > if (std::chrono::duration_cast<std::chrono::milliseconds>(timeNotRunning).count() >
watchdog::MAX_NOT_RUNNING_MS) { watchdog::MAX_NOT_RUNNING_MS) {
std::cout << "Restarting OBSW" << std::endl; std::cout << "Restarting OBSW with systemctl" << std::endl;
std::system("systemctl restart obsw"); std::system("systemctl restart obsw");
} }
} }
@@ -217,7 +216,7 @@ bool WatchdogTask::stateMachine(LoopResult loopResult) {
} }
case (LoopResult::SUSPEND_REQ): { case (LoopResult::SUSPEND_REQ): {
if (state == States::RUNNING or state == States::FAULTY) { if (state == States::RUNNING or state == States::FAULTY) {
std::cout << "eive-watchdog: Suspending watchdog operations" << std::endl; std::cout << "Received suspend request, suspending watchdog operations" << std::endl;
state = States::SUSPENDED; state = States::SUSPENDED;
} }
performSuspendOperation(); performSuspendOperation();
@@ -225,7 +224,7 @@ bool WatchdogTask::stateMachine(LoopResult loopResult) {
break; break;
} }
case (LoopResult::CANCEL_REQ): { case (LoopResult::CANCEL_REQ): {
std::cout << "eive-watchdog: Received cancel request, closing watchdog.." << std::endl; std::cout << "Received cancel request, closing watchdog.." << std::endl;
return false; return false;
} }
} }
@@ -244,11 +243,13 @@ bool WatchdogTask::stateMachine(LoopResult loopResult) {
if (state == States::NOT_STARTED or state == States::FAULTY) { if (state == States::NOT_STARTED or state == States::FAULTY) {
state = States::RUNNING; state = States::RUNNING;
} }
std::cout << "Watch request received. Restarting OBSW if not running for "
<< watchdog::MAX_NOT_RUNNING_MS / 1000 << " seconds" << std::endl;
if (loopResult == LoopResult::START_REQ) { if (loopResult == LoopResult::START_REQ) {
std::cout << "Start request without watch request received" << std::endl;
watchingObsw = false; watchingObsw = false;
} else if (loopResult == LoopResult::START_WITH_WATCH_REQ) { } else if (loopResult == LoopResult::START_WITH_WATCH_REQ) {
std::cout << "Start request with watch request received. Restarting OBSW if not "
"running for "
<< watchdog::MAX_NOT_RUNNING_MS / 1000 << " seconds" << std::endl;
watchingObsw = true; watchingObsw = true;
} }
performRunningOperation(); performRunningOperation();

4
watchdog/main.cpp
View File

@@ -7,7 +7,7 @@
* It checks whether the OBSW writes to the the FIFO regularly. * It checks whether the OBSW writes to the the FIFO regularly.
*/ */
int main() { int main() {
std::cout << "eive-watchdog: Starting OBSW watchdog.." << std::endl; std::cout << "Starting OBSW watchdog" << std::endl;
try { try {
WatchdogTask watchdogTask; WatchdogTask watchdogTask;
int result = watchdogTask.performOperation(); int result = watchdogTask.performOperation();
@@ -15,7 +15,7 @@ int main() {
return result; return result;
} }
} catch (const std::runtime_error& e) { } catch (const std::runtime_error& e) {
std::cerr << "eive-watchdog: Run time exception " << e.what() << std::endl; std::cerr << "Run time exception " << e.what() << std::endl;
return -1; return -1;
} }
return 0; return 0;