eive-obsw/watchdog/Watchdog.h
Robin Mueller 3b61697615
Some checks are pending
EIVE/eive-obsw/pipeline/head Build started...
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
refactored FIFO handling
2023-03-06 00:55:12 +01:00

57 lines
1.2 KiB
C++

#ifndef WATCHDOG_WATCHDOG_H_
#define WATCHDOG_WATCHDOG_H_
#include <array>
#include <chrono>
#include <cstdint>
#include <optional>
#include <queue>
#include <string>
class WatchdogTask {
public:
enum class States { NOT_STARTED, RUNNING, SUSPENDED, FAULTY };
enum class LoopResult {
OK,
START_REQ,
START_WITH_WATCH_REQ,
SUSPEND_REQ,
CANCEL_REQ,
TIMEOUT,
HUNG_UP,
FAULT
};
WatchdogTask();
virtual ~WatchdogTask();
int performOperation();
private:
int fd = 0;
bool obswRunning = false;
bool watchingObsw = false;
bool printNotRunningLatch = false;
std::array<uint8_t, 64> buf;
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.
void watchdogLoop();
bool stateMachine(LoopResult result);
void pollEvent(struct pollfd& waiter);
void parseCommands(ssize_t readLen);
int performRunningOperation();
int performNotRunningOperation(LoopResult type);
int performSuspendOperation();
};
#endif /* WATCHDOG_WATCHDOG_H_ */