T536_DTU/app_public/fuxi_public/fuxi_bsp/source/watchdog.c

/******************************************************************************
版权所有：
文件名称：	watchdog.c
文件版本：	01.00
创建作者:	   sunxi
创建日期：	2022-05-19
功能说明：
            watchdog 的使用说明：
            1.本看门狗只侦察本进程中的各个线程的运行情况；
            2.如何使用，请参考watchdog_test();
            3. 在阻塞型的线程中，不能加入watchdog;
            4. 本狗为应用狗;

其它说明：
修改记录：
*/

/*------------------------------- 头文件 --------------------------------------
 */

#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <errno.h>
#include <signal.h>
#include <pthread.h>
#include <time.h>
#include <dirent.h>
#include <signal.h>
#include <sys/prctl.h>

#include "../include/bspconfig.h"
#include "rt.h"

#include "watchdog.h"
#include "shm_comm_packet.h"
#include "shm.h"

// #define WD_PATH	"/tmp/wdt_record"
#define WD_PATH "/app/data/wdt_record" // noted by sunxi: 保存在flash中，重启后，不会掉失

#define WDT_MAX_ITEMS 64

#define wd_info_str ""

// 心跳结构体
typedef struct HB_T
{
    uint16_t A;
    uint16_t B;
    uint16_t heartbeat_A; // 每秒加1
    uint16_t heartbeat_B; // 与heartbeat_A相同
    uint16_t crc;
} HB_T;

// 裸核程序空间写完标志结构体
typedef struct SHM_E907_PRO_W_F_T
{
    uint16_t A;
    uint16_t B;
    uint16_t finish_flag; // 裸核程序空间写完时，0x55写入finish_flag.
    uint32_t len;         // 裸核程序的实际长度
    uint16_t crc;
} SHM_E907_PRO_W_F_T;

typedef struct _wdt_item
{
    const char *name;
    uint8_t feed;
    uint32_t runing; // 计时器
    uint32_t period; // 秒
} wdt_item_t;

struct ap_watchdog_t
{
    int (*add_item)(const char *name, uint32_t *id, uint32_t period);
    int (*remove_item)(uint32_t id);
    int (*feed)(uint32_t id);
    int (*set_period)(uint32_t id, uint32_t seconds);
    uint32_t (*get_period)(uint32_t id);
    int (*start)(void);
    int (*stop)(void);
    int (*is_start)(void);
    int (*record)(const char *name);
    void (*set_debug)(int set);

    char appName[128];
    int _debug;
    wdt_item_t items[WDT_MAX_ITEMS];

    uint8_t runing_flag;

    pthread_mutex_t mutex;
};

static pthread_t pthread_tid = 0;

int watchdog_feed_flag = 0; // 放到心跳线程(与db进行心跳握手)，以确保watchdog_thread线程运行正常
struct ap_watchdog_t ap_watchdog;

extern uint32_t wdt_id_mainloop;

// 检查文件夹是否存在
// 不存在，创建
int CreateNewFolder(char *path)
{
    DIR *dir;

    if (path == NULL)
    {
        return -1;
    }

    // 检查文件夹是否存在
    dir = opendir(path);
    if (NULL == dir)
    {
        // 不存在，创建
        mkdir(path, 0775);
    }
    else
    {
        closedir(dir);
    }
    return 0;
}

int watchdog_init(void)
{
    int i;

    CreateNewFolder(WD_PATH);

    memset(ap_watchdog.items, 0, sizeof(ap_watchdog.items));

    for (i = 0; i < WDT_MAX_ITEMS; i++)
        ap_watchdog.items[i].feed = 1;

    ap_watchdog.runing_flag = 0;
    ap_watchdog._debug = 0;

    strcpy(ap_watchdog.appName, "dtu_t536");

    pthread_mutex_init(&ap_watchdog.mutex, NULL);

    ap_watchdog.start();

    return 0;
}

int watchdog_exit(void)
{
    ap_watchdog.stop();

    pthread_join(pthread_tid, NULL);
    return 0;
}

// period:周期，单位为秒
static int add_item(const char *name, uint32_t *id, uint32_t period)
{
    int i;

    if (name == NULL)
        return -1;

    int ret = -1;

    // try to get mutex
    struct timespec tout;
    clock_gettime(CLOCK_REALTIME, &tout);
    tout.tv_sec += 5; // 5s default

    if (pthread_mutex_timedlock(&ap_watchdog.mutex, &tout) != 0)
        return -1;

    for (i = 0; i < WDT_MAX_ITEMS; i++)
    {
        if (ap_watchdog.items[i].name == NULL)
        {
            ap_watchdog.items[i].feed = 1;
            ap_watchdog.items[i].runing = 0;
            ap_watchdog.items[i].period = period;
            *id = i;
            ap_watchdog.items[i].name = name;
            rt_printf("WDT add_item i = %d,name = %s \r\n", i, ap_watchdog.items[i].name);
            ret = 0;
            break;
        }
    }

    pthread_mutex_unlock(&ap_watchdog.mutex);

    return ret;
}

static int remove_item(uint32_t id)
{
    if (id > WDT_MAX_ITEMS)
        return -1;

    // try to get mutex
    struct timespec tout;
    clock_gettime(CLOCK_REALTIME, &tout);
    tout.tv_sec += 5; // 5s default

    if (pthread_mutex_timedlock(&ap_watchdog.mutex, &tout) != 0)
        return -1;

    ap_watchdog.items[id].name = NULL;
    ap_watchdog.items[id].feed = 1;
    ap_watchdog.items[id].runing = 0;

    pthread_mutex_unlock(&ap_watchdog.mutex);
    return 0;
}

static int feed(uint32_t id)
{
    if (id > WDT_MAX_ITEMS)
        return -1;

    ap_watchdog.items[id].feed = 1;
    return 0;
}

static int set_period(uint32_t id, uint32_t seconds)
{
    if (id > WDT_MAX_ITEMS)
        return -1;

    ap_watchdog.items[id].period = seconds;
    return 0;
}

static uint32_t get_period(uint32_t id)
{
    if (id > WDT_MAX_ITEMS)
        return -1;

    return ap_watchdog.items[id].period;
}

// 设置心跳
static int write_freq_hb(uint8_t *data)
{
    int ret = 0;
    int cnt = 0;

    if (data == NULL)
        return -1;

    while (1)
    {
        // ret = shm_comm_packet_write(SHM_ADDR_D_HB, data, sizeof(HB_T));
        if (ret > 0)
        {
            break;
        }

        if (++cnt > 3)
            break;

        usleep(30);
    }
    return ret;
}

static int get_e907_PRO_W_F(void)
{
    SHM_E907_PRO_W_F_T flag;
    int ret = 0;
    int cnt = 0;

    while (1)
    {
        ret = shm_comm_packet_read(SHM_ADDR_U_PRO_W_F, sizeof(flag), (uint8_t *)&flag, sizeof(flag));
        if (ret > 0)
        {
            if (flag.finish_flag == 0x55)
                return flag.len;
            else
                return -1;
        }

        if (++cnt > 3)
            break;

        usleep(30);
    }
    return ret;
}

static void *watchdog_thread(void *arg)
{
    int i = 0;
    static HB_T hb;
    int ret = 0;
    static int read_flag = 0;
    struct file *pfile;
    loff_t pos;

    memset(&hb, 0, sizeof(hb));

    pthread_detach(pthread_self());

    prctl(PR_SET_NAME, "watchdog_thread");
    while (ap_watchdog.is_start())
    {

        watchdog_feed_flag = 1;
        sleep(1);

        // 把裸核程序读出来，并写到tmp文件夹中。
        if (read_flag == 0)
        {
            ret = get_e907_PRO_W_F();
            if (ret > 100) // 返回裸核程序的实际长度，所以一定会大于100才有意义
            {
                // finish
                read_flag = 1;
                // 从shm中读取裸核程序
                //  创建数据文件
                pfile = rt_file_open("/tmp/amp_rv0.bin", O_CREAT | O_RDWR, 0);
                if (!IS_ERR(pfile))
                {
                    pos = 0;
                    rt_file_write(pfile, SHM_BASE_R + SHM_ADDR_U_E907_PRO, ret, &pos);
                    rt_file_close(pfile, 0);
                }
            }
        }

        hb.heartbeat_A++;
        hb.heartbeat_B = hb.heartbeat_A;
        write_freq_hb((uint8_t *)&hb); // 给裸核的心跳

        for (i = 0; i < WDT_MAX_ITEMS; i++)
        {
            if (ap_watchdog.items[i].name != NULL)
            {
                if (++ap_watchdog.items[i].runing > ap_watchdog.items[i].period)
                {
                    if (ap_watchdog.items[i].feed != 1)
                    {
                        ap_watchdog.record(ap_watchdog.items[i].name);

                        rt_printf("WDT-------%s is timeout!!!\r\n", ap_watchdog.items[i].name);
                        system("reboot -f");
                        // exit(EXIT_FAILURE);//TODO. noted by sunxi: 这里需要确认是，是重启应用程序，还是系统reboot!!!
                    }
                    else
                    {
                        if (ap_watchdog._debug)
                        {
                            rt_printf("WDT-------%s is Runing.\r\n", ap_watchdog.items[i].name);
                        }
                    }

                    ap_watchdog.items[i].feed = 0;
                    ap_watchdog.items[i].runing = 0;
                }
            }
        }
    }
    return NULL;
}

static int start(void)
{
    int ret;

    if (ap_watchdog.runing_flag == 1)
    {
        return 0;
    }

    ap_watchdog._debug = 0;
    ap_watchdog.runing_flag = 1;

    ret = pthread_create(&pthread_tid, NULL, watchdog_thread, NULL);
    if (ret != 0)
    {
        rt_printf("can not create thread any more: %d\r\n", errno);
        ap_watchdog.runing_flag = 0;
        return -1;
    }
    return 0;
}

static int stop(void)
{
    ap_watchdog.runing_flag = 0;
    return 0;
}

static int is_start(void)
{
    return ap_watchdog.runing_flag;
}

static int record(const char *name)
{
    time_t tt;
    char buf[512];
    FILE *f = NULL;
    char rec[256];
    char tmpBuf[128];
    int size;

    if (name == NULL)
        return -1;

    tt = time(NULL);

    memset(buf, 0, sizeof(buf));
    sprintf(buf, "%s/wdt_record_%s", WD_PATH, ap_watchdog.appName);

    f = fopen(buf, "a");
    if (f == NULL)
    {
        perror("fopen");
        rt_printf("fopen is error!!!\r\n");
        return -1;
    }

    memset(tmpBuf, 0, sizeof(tmpBuf));
    strftime(tmpBuf, 128, "%Y-%m-%d %H:%M:%S", localtime(&tt));
    memset(rec, 0, sizeof(rec));
    size = snprintf(rec, sizeof(rec), "%s %s fuck you up; \r\n", tmpBuf, name);

    fwrite(rec, size, 1, f);
    fclose(f);

    return 0;
}

static void set_debug(int set)
{
    ap_watchdog._debug = set;
}

struct ap_watchdog_t ap_watchdog =
    {
        .add_item = add_item,
        .remove_item = remove_item,
        .feed = feed,
        .set_period = set_period,
        .get_period = get_period,
        .start = start,
        .stop = stop,
        .is_start = is_start,
        .record = record,
        .set_debug = set_debug,
};

/*
period: 看门狗的喂狗周期
因为可能存在某些线程，其运行过程很长，运行的中间，没有合里加sleep等休息函数，
造成占用时间较长。
于是，这里的period，可以尽量设置长一点的时间。

*/
int watchdog_add_item(const char *name, uint32_t *id, uint32_t period)
{

    int ret = 0;

    ret = ap_watchdog.add_item(name, id, period);

    return ret;
}

int watchdog_feed(uint32_t id)
{
    int ret = 0;

    ret = ap_watchdog.feed(id);

    return ret;
}

int watchdog_remove_item(uint32_t id)
{
    int ret = 0;

    ret = ap_watchdog.remove_item(id);

    return ret;
}

//===================================================================================================================
// test

void *watchdog_test_pthread(void *arg)
{

    pthread_detach(pthread_self());

    uint32_t wdt_id;
    int rc = watchdog_add_item("watchdog_test_pthread", &wdt_id, 10);
    if (rc != 0)
    {
        printf("can not add watchdog_test_pthread task to wdt\r\n");
        return NULL;
    }

    while (1)
    {
        // 把喂狗操作放在首行，确保每个循环都有喂狗
        watchdog_feed(wdt_id); // 去掉本行喂狗，就可以产生记录

        sleep(1);
    }

    watchdog_remove_item(wdt_id);

    return NULL;
}

int watchdog_test(void)
{
    int ret;
    watchdog_init();

    pthread_t ConnectCheck_id;
    ret = pthread_create(&ConnectCheck_id, NULL, watchdog_test_pthread, NULL);
    if (ret != 0)
    {
        printf("can not create watchdog_test_pthread\r\n");
        return -1;
    }
    return 0;
}

void watchdog_feed_mainloop(void)
{
    watchdog_feed(wdt_id_mainloop);
}
void watchdog_feed_protect(void)
{
}
void watchdog_reset_cpu(int i)
{
    printf("reboot code: %d .\n", i);
    system("reboot -f");
}
void watchdog_feed_mainloop_50s(void)
{
    watchdog_feed(wdt_id_mainloop);
}

/*------------------------------- 文件结束 -------------------------------*/