CMakeLists.txt

@@ -295,8 +295,10 @@ include(BuildType)
 set_build_type()
 
 set(FSFW_DEBUG_INFO 0)
+set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 0)
 if(RELEASE_BUILD MATCHES 0)
   set(FSFW_DEBUG_INFO 1)
+  set(Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1)
 endif()
 
 # Configuration files

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -17,7 +17,7 @@
 /*******************************************************************/
 
 // Probably better if this is disabled for mission code. Convenient for development
-#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           @Q7S_CHECK_FOR_ALREADY_RUNNING_IMG@
 
 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
 

bsp_q7s/core/WatchdogHandler.cpp

@@ -68,7 +68,7 @@ ReturnValue_t WatchdogHandler::initialize(bool enableWatchdogFunction) {
 
 ReturnValue_t WatchdogHandler::performStartHandling() {
   char startBuf[2];
-  size_t writeLen = 1;
+  ssize_t writeLen = 1;
   startBuf[0] = watchdog::first::START_CHAR;
   if (enableWatchFunction) {
     writeLen += 1;
@@ -76,9 +76,11 @@ ReturnValue_t WatchdogHandler::performStartHandling() {
   }
   ssize_t writtenBytes = write(watchdogFifoFd, &startBuf, writeLen);
   if (writtenBytes < 0) {
-    sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " << strerror(errno)
+    sif::error << "WatchdogHandler: Errors writing to watchdog FIFO, code " << errno << ": "
-               << std::endl;
+               << strerror(errno) << std::endl;
     return returnvalue::FAILED;
+  } else if (writtenBytes != writeLen) {
+    sif::warning << "WatchdogHandler: Not all bytes were written, possible error" << std::endl;
   }
   return returnvalue::OK;
 }

bsp_q7s/main.cpp

@@ -12,10 +12,10 @@
  * @brief 	This is the main program for the target hardware.
  * @return
  */
-int main(void) {
+int main(int argc, char* argv[]) {
   using namespace std;
 #if Q7S_SIMPLE_MODE == 0
-  return obsw::obsw();
+  return obsw::obsw(argc, argv);
 #else
   return simple::simple();
 #endif

bsp_q7s/obsw.cpp

@@ -19,7 +19,7 @@
 #include "q7sConfig.h"
 #include "watchdog/definitions.h"
 
-static int OBSW_ALREADY_RUNNING = -2;
+static constexpr int OBSW_ALREADY_RUNNING = -2;
 #if OBSW_Q7S_EM == 0
 static const char* DEV_STRING = "Xiphos Q7S FM";
 #else
@@ -28,7 +28,7 @@ static const char* DEV_STRING = "Xiphos Q7S EM";
 
 WatchdogHandler WATCHDOG_HANDLER;
 
-int obsw::obsw() {
+int obsw::obsw(int argc, char* argv[]) {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
@@ -52,7 +52,8 @@ int obsw::obsw() {
   bootDelayHandling();
 
   bool initWatchFunction = false;
-  if (std::filesystem::current_path() == "/usr/bin") {
+  std::string fullExecPath = argv[0];
+  if (fullExecPath.find("/usr/bin") != std::string::npos) {
     initWatchFunction = true;
   }
   ReturnValue_t result = WATCHDOG_HANDLER.initialize(initWatchFunction);
@@ -71,7 +72,7 @@ int obsw::obsw() {
 
   for (;;) {
     WATCHDOG_HANDLER.periodicOperation();
-    TaskFactory::delayTask(1000);
+    TaskFactory::delayTask(2000);
   }
   return 0;
 }

bsp_q7s/obsw.h

@@ -3,7 +3,7 @@
 
 namespace obsw {
 
-int obsw();
+int obsw(int argc, char* argv[]);
 
 void bootDelayHandling();
 void commandEiveSystemToSafe();

watchdog/Watchdog.cpp

@@ -44,11 +44,30 @@ int WatchdogTask::performOperation() {
               << strerror(errno) << std::endl;
     return -1;
   }
+  // Clear FIFO by reading until it is empty.
+  while (true) {
+    ssize_t readBytes = read(fd, buf.data(), buf.size());
+    if (readBytes < 0) {
+      std::cerr << "Read error of FIFO: " << strerror(errno) << std::endl;
+    } else if (readBytes == 0) {
+      break;
+    }
+  }
   state = States::NOT_STARTED;
 
+  bool breakOuter = false;
   while (true) {
-    WatchdogTask::LoopResult loopResult = watchdogLoop();
+    watchdogLoop();
-    if (not stateMachine(loopResult)) {
+    while (not resultQueue.empty()) {
+      auto nextRequest = resultQueue.front();
+      if (not stateMachine(nextRequest)) {
+        breakOuter = true;
+        resultQueue.pop();
+        break;
+      }
+      resultQueue.pop();
+    }
+    if (breakOuter) {
       break;
     }
   }
@@ -60,7 +79,7 @@ int WatchdogTask::performOperation() {
   return 0;
 }
 
-WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
+void WatchdogTask::watchdogLoop() {
   using namespace std::chrono_literals;
   struct pollfd waiter = {};
   waiter.fd = fd;
@@ -69,10 +88,12 @@ WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
   // Only poll one file descriptor with timeout
   switch (poll(&waiter, 1, watchdog::TIMEOUT_MS)) {
     case (0): {
-      return LoopResult::TIMEOUT;
+      resultQueue.push(LoopResult::TIMEOUT);
+      return;
     }
     case (1): {
-      return pollEvent(waiter);
+      pollEvent(waiter);
+      return;
     }
     default: {
       std::cerr << "Unknown poll error at " << watchdog::FIFO_NAME << ", error " << errno << ": "
@@ -80,50 +101,52 @@ WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
       break;
     }
   }
-  return LoopResult::OK;
 }
 
-WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
+void WatchdogTask::pollEvent(struct pollfd& waiter) {
   if (waiter.revents & POLLIN) {
     ssize_t readLen = read(fd, buf.data(), buf.size());
+#if WATCHDOG_VERBOSE_LEVEL == 2
+    std::cout << "Read " << readLen << " byte(s) on the pipe " << watchdog::FIFO_NAME << std::endl;
+#endif
     if (readLen < 0) {
       std::cerr << "Read error on pipe " << watchdog::FIFO_NAME << ", error " << errno << ": "
                 << strerror(errno) << std::endl;
-      return LoopResult::OK;
+      resultQueue.push(LoopResult::OK);
-    }
+    } else if (readLen >= 1) {
-#if WATCHDOG_VERBOSE_LEVEL == 2
+      parseCommands(readLen);
-    std::cout << "Read " << readLen << " byte(s) on the pipe " << FIFO_NAME << std::endl;
-#endif
-    else if (readLen >= 1) {
-      return parseCommand(readLen);
     }
 
   } else if (waiter.revents & POLLERR) {
     std::cerr << "Poll error error on pipe " << watchdog::FIFO_NAME << std::endl;
-    return LoopResult::FAULT;
+    resultQueue.push(LoopResult::FAULT);
   } else if (waiter.revents & POLLHUP) {
     // Writer closed its end
-    return LoopResult::HUNG_UP;
+    resultQueue.push(LoopResult::HUNG_UP);
   }
-  return LoopResult::FAULT;
 }
 
-WatchdogTask::LoopResult WatchdogTask::parseCommand(ssize_t readLen) {
+void WatchdogTask::parseCommands(ssize_t readLen) {
-  char readChar = buf[0];
+  for (ssize_t idx = 0; idx < readLen; idx++) {
-  // Cancel request
+    char nextChar = buf[idx];
-  if (readChar == watchdog::first::CANCEL_CHAR) {
+    // Cancel request
-    return LoopResult::CANCEL_REQ;
+    if (nextChar == watchdog::first::CANCEL_CHAR) {
-  } else if (readChar == watchdog::first::SUSPEND_CHAR) {
+      resultQueue.push(LoopResult::CANCEL_REQ);
-    // Suspend request
+    } else if (nextChar == watchdog::first::SUSPEND_CHAR) {
-    return LoopResult::SUSPEND_REQ;
+      // Suspend request
-  } else if (readChar == watchdog::first::START_CHAR) {
+      resultQueue.push(LoopResult::SUSPEND_REQ);
-    if (readLen == 2 and static_cast<char>(buf[1]) == watchdog::second::WATCH_FLAG) {
+    } else if (nextChar == watchdog::first::START_CHAR) {
-      return LoopResult::START_WITH_WATCH_REQ;
+      if (idx < readLen - 1 and static_cast<char>(buf[idx + 1]) == watchdog::second::WATCH_FLAG) {
+        resultQueue.push(LoopResult::START_WITH_WATCH_REQ);
+        idx++;
+        continue;
+      }
+      resultQueue.push(LoopResult::START_REQ);
+    } else if (nextChar == watchdog::first::IDLE_CHAR) {
+      resultQueue.push(LoopResult::OK);
     }
-    return LoopResult::START_REQ;
   }
   // Everything else: All working as expected
-  return LoopResult::OK;
 }
 
 int WatchdogTask::performRunningOperation() {
@@ -167,11 +190,12 @@ int WatchdogTask::performNotRunningOperation(LoopResult type) {
   }
 
   if (not notRunningStart.has_value()) {
-    notRunningStart = std::chrono::system_clock::now();
+    notRunningStart = std::chrono::steady_clock::now();
   }
 
   if (obswRunning) {
 #if WATCHDOG_CREATE_FILE_IF_RUNNING == 1
+    std::cout << "Removing " << watchdog::RUNNING_FILE_NAME << std::endl;
     if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
       int result = std::remove(watchdog::RUNNING_FILE_NAME.c_str());
       if (result != 0) {
@@ -184,7 +208,7 @@ int WatchdogTask::performNotRunningOperation(LoopResult type) {
   }
 
   if (watchingObsw) {
-    auto timeNotRunning = std::chrono::system_clock::now() - notRunningStart.value();
+    auto timeNotRunning = std::chrono::steady_clock::now() - notRunningStart.value();
     if (std::chrono::duration_cast<std::chrono::milliseconds>(timeNotRunning).count() >
         watchdog::MAX_NOT_RUNNING_MS) {
       std::cout << "Restarting OBSW with systemctl" << std::endl;
@@ -269,7 +293,7 @@ bool WatchdogTask::stateMachine(LoopResult loopResult) {
     sleep = true;
   }
   if (sleep) {
-    std::this_thread::sleep_for(1000ms);
+    std::this_thread::sleep_for(500ms);
   }
   return true;
 }

watchdog/Watchdog.h

@@ -5,6 +5,7 @@
 #include <chrono>
 #include <cstdint>
 #include <optional>
+#include <queue>
 #include <string>
 
 class WatchdogTask {
@@ -35,15 +36,17 @@ class WatchdogTask {
   bool watchingObsw = false;
   bool printNotRunningLatch = false;
   std::array<uint8_t, 64> buf;
-  std::optional<std::chrono::time_point<std::chrono::system_clock>> notRunningStart;
+  std::queue<LoopResult> resultQueue;
+
+  std::optional<std::chrono::time_point<std::chrono::steady_clock>> notRunningStart;
   States state = States::NOT_STARTED;
 
   // Primary loop. Takes care of delaying, and reading from the communication pipe and translating
   // messages to loop results.
-  LoopResult watchdogLoop();
+  void watchdogLoop();
   bool stateMachine(LoopResult result);
-  LoopResult pollEvent(struct pollfd& waiter);
+  void pollEvent(struct pollfd& waiter);
-  LoopResult parseCommand(ssize_t readLen);
+  void parseCommands(ssize_t readLen);
 
   int performRunningOperation();
   int performNotRunningOperation(LoopResult type);

watchdog/main.cpp

@@ -1,6 +1,10 @@
+
+#include <filesystem>
 #include <iostream>
+#include <string>
 
 #include "Watchdog.h"
+#include "definitions.h"
 
 /**
  * @brief   This watchdog application uses a FIFO to check whether the OBSW is still running.
@@ -8,6 +12,13 @@
  */
 int main() {
   std::cout << "Starting OBSW watchdog" << std::endl;
+  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
+    std::cout << "Removing " << watchdog::RUNNING_FILE_NAME << std::endl;
+    int result = std::remove(watchdog::RUNNING_FILE_NAME.c_str());
+    if (result != 0) {
+      std::cerr << "file removal failure" << std::endl;
+    }
+  }
   try {
     WatchdogTask watchdogTask;
     int result = watchdogTask.performOperation();