eive-obsw/bsp_q7s/core/XiphosWdtHandler.cpp
Robin Mueller 4e3229f018
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cache wdt state
2023-10-11 15:00:15 +02:00

123 lines
4.2 KiB
C++

#include "XiphosWdtHandler.h"
#include "fsfw/ipc/QueueFactory.h"
XiphosWdtHandler::XiphosWdtHandler(object_id_t objectId)
: SystemObject(objectId),
requestQueue(QueueFactory::instance()->createMessageQueue()),
actionHelper(this, requestQueue) {}
ReturnValue_t XiphosWdtHandler::initialize() {
ReturnValue_t result = actionHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
int retval = xsc_watchdog_init(&wdtHandle);
if (retval != 0) {
sif::error << "XiphosWdtHandler: Initiating watchdog failed with code " << retval << ": "
<< strerror(retval) << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if (wdtHandle == nullptr) {
sif::error << "XiphosWdtHandler: WDT handle is nullptr!" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
retval = xsc_watchdog_set_timeout(wdtHandle, timeoutSeconds);
if (retval != 0) {
// This propably means that the default timeout is used. Still continue with task init.
sif::warning << "XiphosWdtHandler: Setting WDT timeout of " << timeoutSeconds
<< " seconds failed with code " << result << ": " << strerror(retval) << std::endl;
}
return enableWdt();
}
ReturnValue_t XiphosWdtHandler::performOperation(uint8_t opCode) {
CommandMessage command;
ReturnValue_t result;
for (result = requestQueue->receiveMessage(&command); result == returnvalue::OK;
result = requestQueue->receiveMessage(&command)) {
result = actionHelper.handleActionMessage(&command);
if (result == returnvalue::OK) {
continue;
}
sif::warning << "Can not handle message with message type " << command.getMessageType()
<< std::endl;
}
if (enabled) {
int retval = xsc_watchdog_keepalive(wdtHandle);
if (retval != 0) {
sif::warning << "XiphosWdtHandler: Feeding WDT failed with code " << retval << ": "
<< strerror(retval) << std::endl;
return returnvalue::FAILED;
}
}
return returnvalue::OK;
}
ReturnValue_t XiphosWdtHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t *data, size_t size) {
switch (actionId) {
case (ActionId::ENABLE): {
ReturnValue_t result = enableWdt();
if (result != returnvalue::OK) {
return result;
}
return EXECUTION_FINISHED;
}
case (ActionId::DISABLE): {
ReturnValue_t result = disableWdt();
if (result != returnvalue::OK) {
return result;
}
return EXECUTION_FINISHED;
}
}
return HasActionsIF::INVALID_ACTION_ID;
}
ReturnValue_t XiphosWdtHandler::enableWdt() {
int nowayout = 0;
int status = 0;
int retval = xsc_watchdog_get_status(&nowayout, &status);
// If this fails for whatever reason, just try enabling in any case.
if (retval != 0) {
sif::warning << "XiphosWdtHandler: Getting WDT status failed" << std::endl;
}
// Of course the enable API will fail if the device is already on, just perfect, love me some
// good C API... :)))
if (retval != 0 or status == 0) {
retval = xsc_watchdog_enable(wdtHandle);
if (retval != 0) {
sif::error << "XiphosWdtHandler: Enabling WDT failed with code " << retval << ": "
<< strerror(retval) << std::endl;
return returnvalue::FAILED;
}
}
enabled = true;
return returnvalue::OK;
}
ReturnValue_t XiphosWdtHandler::disableWdt() {
int nowayout = 0;
int status = 0;
int retval = xsc_watchdog_get_status(&nowayout, &status);
// If this fails for whatever reason, just try disabling in any case.
if (retval != 0) {
sif::warning << "XiphosWdtHandler: Getting WDT status failed" << std::endl;
}
// Of course the disable API will fail if the device is already off, just perfect, love me some
// good C API... :)))
if (retval != 0 or status == 1) {
retval = xsc_watchdog_disable(wdtHandle);
if (retval != 0) {
sif::error << "XiphosWdtHandler: Disabling WDT failed with code " << retval << ": "
<< strerror(retval) << std::endl;
return returnvalue::FAILED;
}
}
enabled = false;
return returnvalue::OK;
}
MessageQueueId_t XiphosWdtHandler::getCommandQueue() const { return requestQueue->getId(); }