CMakeLists.txt

@@ -14,7 +14,8 @@ cmake_minimum_required(VERSION 3.13)
 set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 if(TGT_BSP MATCHES "arm/q7s")
-    option(Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
+    option(BUILD_WATCHDOG "Compile the OBSW watchdog insted" OFF)
+    option(BUILD_Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
 endif()
 
 option(ADD_ETL_LIB "Add ETL library" ON)
@@ -32,8 +33,13 @@ endif()
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
+set(PROJECT_NAME_TO_SET eive-obsw)
+if(BUILD_WATCHDOG)
+    set(PROJECT_NAME_TO_SET eive-watchdog)
+endif()
+
 # Project Name
-project(eive_obsw ASM C CXX)
+project(${PROJECT_NAME_TO_SET} ASM C CXX)
 
 ################################################################################
 # Pre-Sources preparation
@@ -60,6 +66,7 @@ set(MISSION_PATH mission)
 set(TEST_PATH test/testtasks)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
+set(WATCHDOG_PATH watchdog)
 set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
 
 set(FSFW_HAL_LIB_PATH fsfw_hal)
@@ -82,7 +89,7 @@ if(TGT_BSP)
         OR TGT_BSP MATCHES "arm/beagleboneblack"
     )
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
-        if(NOT Q7S_SIMPLE_MODE)
+        if(NOT BUILD_Q7S_SIMPLE_MODE)
             set(ADD_LINUX_FILES TRUE)
             set(ADD_CSP_LIB TRUE)
             set(FSFW_HAL_ADD_LINUX ON)
@@ -107,13 +114,17 @@ else()
 endif()
 
 # Configuration files
-configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
+if(NOT BUILD_WATCHDOG)
-configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
+    configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
-configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+    configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
-if(${TGT_BSP} MATCHES "arm/q7s")
+    configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+    if(${TGT_BSP} MATCHES "arm/q7s")
         configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
-elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
+    elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
         configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
+    endif()
+else()
+    configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 endif()
 
 # Set common config path for FSFW
@@ -131,26 +142,27 @@ set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
 # Add executable
 add_executable(${TARGET_NAME})
 
-if(ADD_CSP_LIB)
-    add_subdirectory(${CSP_LIB_PATH})
-endif()
-
 if(ADD_ETL_LIB)
     add_subdirectory(${ETL_LIB_PATH})
 endif()
 
-if(ADD_LINUX_FILES)
-    add_subdirectory(${LINUX_PATH})
-endif()
-
 if(ADD_JSON_LIB)
     add_subdirectory(${LIB_JSON_PATH})
 endif()
 
-add_subdirectory(${BSP_PATH})
+if(ADD_CSP_LIB)
-add_subdirectory(${COMMON_PATH})
+    add_subdirectory(${CSP_LIB_PATH})
+endif()
 
-if(NOT Q7S_SIMPLE_MODE)
+if(NOT BUILD_WATCHDOG)
+    if(ADD_LINUX_FILES)
+        add_subdirectory(${LINUX_PATH})
+    endif()
+    add_subdirectory(${BSP_PATH})
+    add_subdirectory(${COMMON_PATH})
+endif()
+
+if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT BUILD_WATCHDOG))
     add_subdirectory(${LWGPS_LIB_PATH})
     add_subdirectory(${FSFW_PATH})
     add_subdirectory(${MISSION_PATH})
@@ -158,6 +170,9 @@ if(NOT Q7S_SIMPLE_MODE)
     add_subdirectory(${ARCSEC_LIB_PATH})
 endif()
 
+if(BUILD_WATCHDOG)
+    add_subdirectory(${WATCHDOG_PATH})
+endif()
 
 ################################################################################
 # Post-Sources preparation
@@ -165,14 +180,13 @@ endif()
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
 
-if(NOT Q7S_SIMPLE_MODE)
+if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT BUILD_WATCHDOG))
     # Add libraries for all sources.
     target_link_libraries(${TARGET_NAME} PRIVATE
         ${LIB_FSFW_NAME}
         ${LIB_OS_NAME}
         ${LIB_LWGPS_NAME}
         ${LIB_ARCSEC}
-        ${LIB_CXX_FS}
     )
 endif()
 
@@ -194,6 +208,10 @@ if(ADD_JSON_LIB)
     )
 endif()
 
+target_link_libraries(${TARGET_NAME} PRIVATE
+    ${LIB_CXX_FS}
+)
+
 # Add include paths for all sources.
 target_include_directories(${TARGET_NAME} PRIVATE
 	${CMAKE_CURRENT_SOURCE_DIR}
@@ -249,10 +267,14 @@ if(NOT CMAKE_SIZE)
 	endif()
 endif()
 
-if(TGT_BSP)
+if(BUILD_WATCHDOG)
-	set(TARGET_STRING "Target BSP: ${TGT_BSP}")
+    set(TARGET_STRING "OBSW Watchdog")
 else()
+    if(TGT_BSP)
+        set(TARGET_STRING "Target BSP: ${TGT_BSP}")
+    else()
         set(TARGET_STRING "Target BSP: Hosted")
+    endif()
 endif()
 
 string(CONCAT POST_BUILD_COMMENT

cmake/scripts/Q7S/simple/simple_make_debug_cfg.sh

@@ -18,7 +18,7 @@ os_fsfw="linux"
 tgt_bsp="arm/q7s"
 build_dir="build-Simple-Q7S"
 build_generator=""
-definitions="Q7S_SIMPLE_MODE=On"
+definitions="BUILD_Q7S_SIMPLE_MODE=On"
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
 	python="py"

cmake/scripts/Q7S/simple/simple_ninja_debug_cfg.sh

@@ -18,7 +18,7 @@ os_fsfw="linux"
 tgt_bsp="arm/q7s"
 build_dir="build-Simple-Q7S"
 build_generator="Ninja"
-definitions="Q7S_SIMPLE_MODE=On"
+definitions="BUILD_Q7S_SIMPLE_MODE=On"
 if [ "${OS}" = "Windows_NT" ]; then
     python="py"
 # Could be other OS but this works for now.

watchdog/CMakeLists.txt

@@ -0,0 +1,4 @@
+target_sources(${TARGET_NAME} PRIVATE
+    main.cpp
+    Watchdog.cpp
+)

watchdog/Watchdog.cpp

@@ -0,0 +1,161 @@
+#include "Watchdog.h"
+#include "watchdogConf.h"
+
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <poll.h>
+#include <unistd.h>
+#include <fcntl.h>
+
+#include <iostream>
+#include <thread>
+#include <cstring>
+#include <filesystem>
+
+
+
+WatchdogTask::WatchdogTask (): fd(0) {
+
+}
+
+WatchdogTask::~WatchdogTask() {
+
+}
+
+int WatchdogTask::performOperation() {
+    int result = 0;
+    // Only create the FIFO if it does not exist yet
+    if(not std::filesystem::exists(watchdog::FIFO_NAME)) {
+        // Permission  666 or rw-rw-rw-
+        mode_t mode = DEFFILEMODE;
+        result = mkfifo(watchdog::FIFO_NAME.c_str(), mode);
+        if(result != 0) {
+            std::cerr << "eive-watchdog: Could not created named pipe at " <<
+                    watchdog::FIFO_NAME << ", error " << errno << ": " << strerror(errno) <<
+                    std::endl;
+            return -2;
+        }
+#if WATCHDOG_VERBOSE_LEVEL >= 1
+        std::cout << "eive-watchdog: Pipe at " << watchdog::FIFO_NAME <<
+                " created successfully" << std::endl;
+#endif
+    }
+
+    // Open FIFO read only and non-blocking
+    fd = open(watchdog::FIFO_NAME.c_str(), O_RDONLY | O_NONBLOCK);
+    if(fd < 0) {
+        std::cerr << "eive-watchdog: Opening pipe " << watchdog::FIFO_NAME <<
+                "read-only failed with " << errno << ": " << strerror(errno) << std::endl;
+    }
+
+    while(true) {
+        WatchdogTask::LoopResult loopResult = watchdogLoop();
+        switch(loopResult) {
+        case(LoopResult::OK): {
+            break;
+        }
+        case(LoopResult::CANCEL_RQ): {
+            if(state == States::RUNNING) {
+                state = States::SUSPENDED;
+            }
+            break;
+        }
+        case(LoopResult::TIMEOUT): {
+            std::cout << "eive-watchdog: The FIFO timed out!" << std::endl;
+            break;
+        }
+        case(LoopResult::RESTART_RQ): {
+            if(state == States::SUSPENDED) {
+                state = States::RUNNING;
+            }
+            break;
+        }
+        }
+    }
+    if (close(fd) < 0) {
+        std::cerr << "eive-watchdog: Closing named pipe at " << watchdog::FIFO_NAME <<
+                "failed, error " << errno << ": " << strerror(errno) << std::endl;
+    }
+    std::cout << "eive-watchdog: Finished" << std::endl;
+    return 0;
+}
+
+WatchdogTask::LoopResult WatchdogTask::watchdogLoop() {
+    using namespace std::chrono_literals;
+    char readChar;
+    struct pollfd waiter = {};
+    waiter.fd = fd;
+    waiter.events = POLLIN;
+
+    switch(state) {
+    case(States::SUSPENDED): {
+        // Sleep, then check whether a restart request was received
+        std::this_thread::sleep_for(1000ms);
+        break;
+    }
+    case(States::RUNNING): {
+        // Continue as usual
+        break;
+    }
+    case(States::NOT_STARTED): {
+        // This should not happen
+        std::cerr << "eive-watchdog: State is NOT_STARTED, configuration error" << std::endl;
+        break;
+    }
+    case(States::FAULTY): {
+        // TODO: Not sure what to do yet. Continue for now
+        break;
+    }
+    }
+
+    // 10 seconds timeout, only poll one file descriptor
+    switch(poll(&waiter, 1, watchdog::TIMEOUT_MS)) {
+    case(0): {
+        return LoopResult::TIMEOUT;
+    }
+    case(1): {
+        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;
+                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 " <<
+                errno << ": " << strerror(errno) << std::endl;
+        break;
+    }
+    }
+    return LoopResult::OK;
+}

watchdog/Watchdog.h

@@ -0,0 +1,37 @@
+#ifndef WATCHDOG_WATCHDOG_H_
+#define WATCHDOG_WATCHDOG_H_
+
+#include <array>
+
+
+class WatchdogTask {
+public:
+    enum class States {
+        NOT_STARTED,
+        RUNNING,
+        SUSPENDED,
+        FAULTY
+    };
+
+    enum class LoopResult {
+        OK,
+        CANCEL_RQ,
+        RESTART_RQ,
+        TIMEOUT
+    };
+
+    WatchdogTask();
+
+    virtual ~WatchdogTask();
+
+    int performOperation();
+private:
+    int fd = 0;
+
+    std::array<uint8_t, 64> buf;
+    States state = States::NOT_STARTED;
+
+    LoopResult watchdogLoop();
+};
+
+#endif /* WATCHDOG_WATCHDOG_H_ */

watchdog/main.cpp

@@ -0,0 +1,15 @@
+#include "Watchdog.h"
+
+#include <iostream>
+
+/**
+ * @brief   This watchdog application uses a FIFO to check whether the OBSW is still running.
+ *          It checks whether the OBSW writes to the the FIFO regularly.
+ */
+int main() {
+    std::cout << "Starting OBSW watchdog.." << std::endl;
+    WatchdogTask watchdogTask;
+    watchdogTask.performOperation();
+    return 0;
+}
+

watchdog/watchdogConf.h.in

@@ -0,0 +1,16 @@
+#include <cstdint>
+
+#define WATCHDOG_VERBOSE_LEVEL              1
+/**
+ * This flag instructs the watchdog to create a special file in /tmp if the OBSW is running
+ * or to delete it if it is not running
+ */
+#define WATCHDOG_CREATE_FILE_IF_RUNNING     1
+
+namespace watchdog {
+
+static constexpr int TIMEOUT_MS = 10 * 1000;
+const std::string FIFO_NAME = "/tmp/obsw-watchdog";
+const std::string RUNNING_FILE_NAME = "/tmp/obsw-running";
+
+}