watchdog.h
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/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <drivers/drv_hrt.h>
#ifdef __PX4_NUTTX
#include <sched.h>
#include <px4_platform/cpuload.h>
#endif /* __PX4_NUTTX */
namespace px4
{
namespace logger
{
struct watchdog_data_t {
#ifdef __PX4_NUTTX
int logger_main_task_index = -1;
int logger_writer_task_index = -1;
hrt_abstime ready_to_run_timestamp = hrt_absolute_time();
uint8_t last_state = TSTATE_TASK_INVALID;
#endif /* __PX4_NUTTX */
};
/**
* Initialize the watchdog, fill in watchdog_data.
*/
void watchdog_initialize(const pid_t pid_logger_main, const pthread_t writer_thread, watchdog_data_t &watchdog_data);
/**
* Update the watchdog and trigger it if necessary. It is triggered when the log writer task is in
* ready state for a certain period of time, but did not get scheduled. It means that most likely
* some other higher-prio task runs busy.
* When the watchdog triggers, it boosts the priority of the logger's main & writer tasks to maximum, so
* that they get scheduled again.
*
* Expected to be called from IRQ context.
*
* @param watchdog_data
* @return true if watchdog is triggered, false otherwise
*/
bool watchdog_update(watchdog_data_t &watchdog_data);
} //namespace logger
} //namespace px4