bsp_q7s/core/CoreController.cpp

@@ -23,7 +23,8 @@ CoreController::Chip CoreController::currentChip = Chip::NO_CHIP;
 CoreController::Copy CoreController::currentCopy = Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId):
-        ExtendedControllerBase(objectId, objects::NO_OBJECT, 5) {
+            ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
+            opDivider(5) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     try {
         result = initWatchdogFifo();
@@ -52,15 +53,7 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 void CoreController::performControlOperation() {
-    if(watchdogFifoFd != 0) {
+    performWatchdogControlOperation();
-        // Write to OBSW watchdog FIFO here
-        const char writeChar = 'a';
-        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,
@@ -432,12 +425,18 @@ ReturnValue_t CoreController::initWatchdogFifo() {
                 " watchdog" << std::endl;
         return HasReturnvaluesIF::RETURN_OK;
     }
-    // Open FIFO write only and non-blocking
+    // Open FIFO write only and non-blocking to prevent SW from killing itself.
-    watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY);
+    watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
     if(watchdogFifoFd < 0) {
-        std::cerr << "Opening pipe " << watchdog::FIFO_NAME << "write-only failed with " <<
+        if(errno == ENXIO) {
-                errno << ": " << strerror(errno) << std::endl;
+            watchdogFifoFd = RETRY_FIFO_OPEN;
-        return HasReturnvaluesIF::RETURN_FAILED;
+            sif::info << "eive-watchdog not running. FIFO can not be opened" << std::endl;
+        }
+        else {
+            sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " <<
+                    errno << ": " << strerror(errno) << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
@@ -457,3 +456,37 @@ void CoreController::initPrint() {
     }
 #endif
 }
+
+void CoreController::performWatchdogControlOperation() {
+    // Only perform each fifth iteration
+    if(watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
+        if(watchdogFifoFd == RETRY_FIFO_OPEN) {
+            // Open FIFO write only and non-blocking
+            watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
+            if(watchdogFifoFd < 0) {
+                if(errno == ENXIO) {
+                    watchdogFifoFd = RETRY_FIFO_OPEN;
+                    // No printout for now, would be spam
+                    return;
+                }
+                else {
+                    sif::error << "Opening pipe " << watchdog::FIFO_NAME <<
+                            " write-only failed with " <<  errno << ": " <<
+                            strerror(errno) << std::endl;
+                    return;
+                }
+            }
+            sif::info << "Opened " << watchdog::FIFO_NAME << " successfully" << std::endl;
+        }
+        else if(watchdogFifoFd > 0) {
+            // Write to OBSW watchdog FIFO here
+            const char writeChar = 'a';
+            ssize_t writtenBytes = write(watchdogFifoFd, &writeChar, 1);
+            if(writtenBytes < 0) {
+                sif::error << "Errors writing to watchdog FIFO, code " << errno << ": " <<
+                        strerror(errno) << std::endl;
+            }
+        }
+    }
+
+}

bsp_q7s/core/CoreController.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "bsp_q7s/memory/SdCardManager.h"
 
@@ -70,7 +71,12 @@ private:
 
     void initPrint();
 
+    // Designated value for rechecking FIFO open
+    static constexpr int RETRY_FIFO_OPEN = -2;
     int watchdogFifoFd = 0;
+
+    PeriodicOperationDivider opDivider;
+    void performWatchdogControlOperation();
 };
 
 

watchdog/Watchdog.cpp

@@ -64,7 +64,11 @@ int WatchdogTask::performOperation() {
             break;
         }
         case(LoopResult::TIMEOUT): {
-            performTimeoutOperation();
+            performNotRunningOperation(loopResult);
+            break;
+        }
+        case(LoopResult::HUNG_UP): {
+            performNotRunningOperation(loopResult);
             break;
         }
         case(LoopResult::RESTART_RQ): {
@@ -159,6 +163,7 @@ WatchdogTask::LoopResult WatchdogTask::pollEvent(struct pollfd& waiter) {
     }
     else if (waiter.revents & POLLHUP) {
         // Writer closed its end
+        return LoopResult::HUNG_UP;
     }
     return LoopResult::FAULT;
 }
@@ -189,9 +194,9 @@ int WatchdogTask::performRunningOperation() {
     }
 
     if(not obswRunning) {
-        if(printTimeoutLatch) {
+        if(printNotRunningLatch) {
             // Reset latch so user can see timeouts
-            printTimeoutLatch = false;
+            printNotRunningLatch = false;
         }
 
         obswRunning = true;
@@ -210,25 +215,35 @@ int WatchdogTask::performRunningOperation() {
     return 0;
 }
 
-int WatchdogTask::performTimeoutOperation() {
+int WatchdogTask::performNotRunningOperation(LoopResult type) {
     // Latch prevents spam on console
-    if(not printTimeoutLatch) {
+    if(not printNotRunningLatch) {
-        std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
+        if(type == LoopResult::HUNG_UP) {
-        printTimeoutLatch = true;
+            std::cout << "eive-watchdog: FIFO writer hung up!" << std::endl;
+        }
+        else {
+            std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
+        }
+        printNotRunningLatch = true;
     }
 
-#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) {
+#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
         obswRunning = false;
     }
+    if(type == LoopResult::HUNG_UP) {
+        using namespace std::chrono_literals;
+        // Prevent spam
+        std::this_thread::sleep_for(2000ms);
+    }
     return 0;
 }
 

watchdog/Watchdog.h

@@ -19,6 +19,7 @@ public:
         CANCEL_RQ,
         RESTART_RQ,
         TIMEOUT,
+        HUNG_UP,
         FAULT
     };
 
@@ -32,7 +33,7 @@ private:
 
     bool obswRunning = false;
     bool watchdogRunning = false;
-    bool printTimeoutLatch = false;
+    bool printNotRunningLatch = false;
     std::array<uint8_t, 64> buf;
     States state = States::NOT_STARTED;
 
@@ -41,7 +42,7 @@ private:
     LoopResult parseCommandByte(ssize_t readLen);
 
     int performRunningOperation();
-    int performTimeoutOperation();
+    int performNotRunningOperation(LoopResult type);
     int performSuspendOperation();
 };