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cindyli-13jahnavithota2011
cindyli-13
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jahnavithota2011
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App structure redesign (#408)
* Create modules skeleton for new app structure (#382) * Add modules and main.cpp skeleton * Fix typos * 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> * Create PDB monitoring module (#392) * PDB Module added * CMake * rename include * Fixed Errors * clang fix * Changes made * Made pins config private members * clang * fix folder structure * fix common modules not found * rebase master * Address pr comments Co-authored-by: jahnavithota2011 <34670246+jahnavithota2011@users.noreply.github.com>
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20 files changed

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‎CMakeLists.txt‎

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@@ -89,6 +89,7 @@ function(add_app_subdirectory APP_SUBDIRECTORY)
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endfunction()
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## Include Rover Apps
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add_subdirectory(${ROVER_APPS_DIR}/common)
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add_app_subdirectory(${ROVER_APPS_DIR}/arm_2021)
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add_app_subdirectory(${ROVER_APPS_DIR}/gamepad_2021)
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add_app_subdirectory(${ROVER_APPS_DIR}/gimbal_2021)

‎libs/utility/include/WatchdogWrapper.h‎

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

‎libs/utility/src/WatchdogWrapper.cpp‎

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

‎rover-apps/arm_2021/CMakeLists.txt‎

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add_executable(arm_2021)
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target_sources(arm_2021 PRIVATE src/main.cpp)
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target_include_directories(arm_2021 PUBLIC include)
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target_sources(arm_2021 PRIVATE ${ROVER_APPS_DIR}/common/src/main.cpp)
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target_include_directories(arm_2021 PUBLIC include ${ROVER_APPS_DIR}/common/include)
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target_link_libraries(arm_2021
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PRIVATE
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#Control
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CANMsg
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#Sensor
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CurrentSensor
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#common-modules
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WatchdogModule
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#Other
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uwrt-mars-rover-hw-bridge
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Logger

‎rover-apps/arm_2021/include/AppConfig.h‎

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#pragma once
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#include <vector>
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#include "Module.h"
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#include "WatchdogModule.h"
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WatchdogModule arm_watchdog;
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std::vector<Module*> gModules = {
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&arm_watchdog,
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};

‎rover-apps/common/CMakeLists.txt‎

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add_library(WatchdogModule STATIC)
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target_sources(WatchdogModule PRIVATE src/WatchdogModule.cpp)
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target_include_directories(WatchdogModule PUBLIC include)
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target_link_libraries(WatchdogModule
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PRIVATE
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WatchdogWrapper
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mbed-os
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)

‎rover-apps/common/include/Module.h‎

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#pragma once
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class Module {
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public:
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virtual void periodic_10s(void) = 0;
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virtual void periodic_1s(void) = 0;
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virtual void periodic_100ms(void) = 0;
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virtual void periodic_10ms(void) = 0;
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virtual void periodic_1ms(void) = 0;
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};

‎rover-apps/common/include/WatchdogModule.h‎

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

‎rover-apps/common/src/WatchdogModule.cpp‎

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

‎rover-apps/common/src/main.cpp‎

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#include "AppConfig.h"
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#include "Logger.h"
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#include "mbed.h"
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Thread periodic_10s_thread(osPriorityHigh);
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Thread periodic_1s_thread(osPriorityHigh2);
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Thread periodic_100ms_thread(osPriorityHigh4);
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Thread periodic_10ms_thread(osPriorityHigh6);
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Thread periodic_1ms_thread(osPriorityRealtime);
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void periodic_10s(void) {
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auto startTime = Kernel::Clock::now();
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for (Module* module : gModules) {
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module->periodic_10s();
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}
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auto nextStartTime = startTime + 10s;
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if (Kernel::Clock::now() > nextStartTime) {
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Utility::logger << "Periodic 10s task failed to hit the deadline!\n";
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}
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ThisThread::sleep_until(nextStartTime);
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}
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void periodic_1s(void) {
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auto startTime = Kernel::Clock::now();
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for (Module* module : gModules) {
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module->periodic_1s();
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}
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auto nextStartTime = startTime + 1s;
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if (Kernel::Clock::now() > nextStartTime) {
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Utility::logger << "Periodic 1s task failed to hit the deadline!\n";
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}
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ThisThread::sleep_until(nextStartTime);
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}
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void periodic_100ms(void) {
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auto startTime = Kernel::Clock::now();
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for (Module* module : gModules) {
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module->periodic_100ms();
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}
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auto nextStartTime = startTime + 100ms;
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if (Kernel::Clock::now() > nextStartTime) {
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Utility::logger << "Periodic 100ms task failed to hit the deadline!\n";
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}
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ThisThread::sleep_until(nextStartTime);
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}
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void periodic_10ms(void) {
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auto startTime = Kernel::Clock::now();
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for (Module* module : gModules) {
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module->periodic_10ms();
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}
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auto nextStartTime = startTime + 10ms;
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if (Kernel::Clock::now() > nextStartTime) {
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Utility::logger << "Periodic 10ms task failed to hit the deadline!\n";
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}
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ThisThread::sleep_until(nextStartTime);
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}
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void periodic_1ms(void) {
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auto startTime = Kernel::Clock::now();
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for (Module* module : gModules) {
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module->periodic_1ms();
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}
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auto nextStartTime = startTime + 1ms;
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if (Kernel::Clock::now() > nextStartTime) {
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Utility::logger << "Periodic 1ms task failed to hit the deadline!\n";
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}
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ThisThread::sleep_until(nextStartTime);
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}
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int main() {
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periodic_1ms_thread.start(periodic_1ms);
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periodic_10ms_thread.start(periodic_10ms);
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periodic_100ms_thread.start(periodic_100ms);
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periodic_1s_thread.start(periodic_1s);
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periodic_10s_thread.start(periodic_10s);
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while (true) {
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}
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}

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