Create watchdog module (#389)

* Watchdog module

* clang fix

* clang fix2

* test-watchdog

* Edited WatchdogWrapper.h

* Fixed pure virtual function errors

* fixed namespace error

* Fixed error2

* Cmake

* Cmake

* Cmake fix

* Top-level Cmake

* Changes made

* clang fix

* Update libs/utility/src/WatchdogWrapper.cpp

Co-authored-by: Cindy Li <cindyli0213@hotmail.com>

* Update test-apps/test-watchdog/src/main.cpp

Co-authored-by: Cindy Li <cindyli0213@hotmail.com>

* cmake

* Changed periodic function name

* watchdogwrapper fix

Co-authored-by: Cindy Li <cindyli0213@hotmail.com>

Author: jahnavithota2011

CMakeLists.txt

@@ -94,6 +94,7 @@ add_app_subdirectory(${ROVER_APPS_DIR}/gamepad_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/gimbal_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/pdb_2021)
 add_app_subdirectory(${ROVER_APPS_DIR}/science_2021)
+add_app_subdirectory(${ROVER_APPS_DIR}/common)
 
 # Include Test Apps
 add_app_subdirectory(${TEST_APPS_DIR}/test-actuator-controller)

libs/utility/include/WatchdogWrapper.h

@@ -5,11 +5,8 @@ namespace Utility {
 
 class WatchdogWrapper {
  public:
-  static void startWatchdog(std::chrono::milliseconds countdown_ms = 5000ms, std::chrono::milliseconds pet_ms = 1000ms);
-  static void logResetReason();
-
- private:
-  static void petWatchdog(std::chrono::milliseconds *pet_ms);
-  static Thread pet_thread;
+  static void startWatchdog(std::chrono::milliseconds countdown_ms);
+  static void logResetReason(void);
+  static void petWatchdog(void);
 };
 }  // namespace Utility

libs/utility/src/WatchdogWrapper.cpp

@@ -6,17 +6,13 @@
 
 namespace Utility {
 
-Thread WatchdogWrapper::pet_thread;
-
-void WatchdogWrapper::startWatchdog(std::chrono::milliseconds countdown_ms /*= 5000ms*/,
-                                    std::chrono::milliseconds pet_ms /*= 1000ms*/) {
+void WatchdogWrapper::startWatchdog(std::chrono::milliseconds countdown_ms) {
   uint32_t countdown_uint32 = countdown_ms.count();
   Watchdog &watchdog        = Watchdog::get_instance();
   watchdog.start(countdown_uint32);
-  pet_thread.start(callback(WatchdogWrapper::petWatchdog, &pet_ms));
 }
 
-void WatchdogWrapper::logResetReason() {
+void WatchdogWrapper::logResetReason(void) {
   const reset_reason_t reason = ResetReason::get();
   if (reason == RESET_REASON_WATCHDOG) {
     time_t seconds = time(NULL);
@@ -26,10 +22,7 @@ void WatchdogWrapper::logResetReason() {
   }
 }
 
-void WatchdogWrapper::petWatchdog(std::chrono::milliseconds *pet_ms) {
-  while (1) {
-    Watchdog::get_instance().kick();
-    ThisThread::sleep_for(*pet_ms);
-  }
+void WatchdogWrapper::petWatchdog(void) {
+  Watchdog::get_instance().kick();
 }
-}  // namespace Utility
+}  // namespace Utility

rover-apps/arm/include/AppConfig.h

@@ -3,7 +3,11 @@
 #include <vector>
 
 #include "Module.h"
+#include "WatchdogModule.h"
+
+WatchdogModule arm_watchdog;
 
 std::vector<Module*> gModules = {
     // put modules here
+    &arm_watchdog,
 };

rover-apps/arm_2021/CMakeLists.txt

@@ -28,6 +28,8 @@ target_link_libraries(arm
         CANMsg
         #Sensor
         CurrentSensor
+        #common-modules
+        WatchdogModule
         #Other
         uwrt-mars-rover-hw-bridge
         Logger

rover-apps/common/CMakeLists.txt

@@ -0,0 +1,8 @@
+add_library(WatchdogModule STATIC)
+target_sources(WatchdogModule PRIVATE src/WatchdogModule.cpp)
+target_include_directories(WatchdogModule PUBLIC include)
+target_link_libraries(WatchdogModule
+        PRIVATE
+        WatchdogWrapper
+        mbed-os
+        )

rover-apps/common/include/WatchdogModule.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include "Module.h"
+#include "mbed.h"
+
+class WatchdogModule final : public Module {
+ public:
+  /* Initiates the watchdog with a countdown
+   * @param countdown - max timeout of the watchdog
+   * */
+  WatchdogModule();
+
+  /* Periodic function to kick the watchdog and restart its timer every 1s
+   * */
+  void periodic_1s(void) override;
+
+  void periodic_10s(void) override {}
+  void periodic_100ms(void) override {}
+  void periodic_10ms(void) override {}
+  void periodic_1ms(void) override {}
+
+ private:
+  static const std::chrono::milliseconds WATCHDOG_DEFAULT_COUNTDOWN;
+};

rover-apps/common/src/WatchdogModule.cpp

@@ -0,0 +1,16 @@
+#include "WatchdogModule.h"
+
+#include "Module.h"
+#include "WatchdogWrapper.h"
+#include "mbed.h"
+
+const std::chrono::milliseconds WatchdogModule::WATCHDOG_DEFAULT_COUNTDOWN = 5000ms;
+
+WatchdogModule::WatchdogModule() {
+  Utility::WatchdogWrapper::logResetReason();
+  Utility::WatchdogWrapper::startWatchdog(WATCHDOG_DEFAULT_COUNTDOWN);
+}
+
+void WatchdogModule::periodic_1s(void) {
+  Utility::WatchdogWrapper::petWatchdog();
+}

rover-apps/gimbal/include/AppConfig.h

@@ -3,7 +3,11 @@
 #include <vector>
 
 #include "Module.h"
+#include "WatchdogModule.h"
+
+WatchdogModule gimbal_watchdog;
 
 std::vector<Module*> gModules = {
     // put modules here
+    &gimbal_watchdog,
 };

rover-apps/gimbal_2021/CMakeLists.txt

@@ -26,6 +26,8 @@ target_link_libraries(gimbal
         CANMsg
         #Sensor
         CurrentSensor
+        #common-modules
+        WatchdogModule
         #Other
         Logger
         uwrt-mars-rover-hw-bridge