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Merge pull request #2172 from lf-lang/watchdog
Add watchdogs to environment struct
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Submodule reactor-c
updated
13 files
| +1 −0 | core/CMakeLists.txt | |
| +7 −0 | core/environment.c | |
| +7 −1 | core/platform/lf_zephyr_support.c | |
| +8 −7 | core/reactor_common.c | |
| +3 −2 | core/threaded/reactor_threaded.c | |
| +112 −38 | core/threaded/watchdog.c | |
| +4 −0 | include/core/environment.h | |
| +3 −1 | include/core/reactor.h | |
| +0 −1 | include/core/reactor_common.h | |
| +4 −2 | include/core/threaded/watchdog.h | |
| +22 −1 | include/core/utils/util.h | |
| +1 −1 | lingua-franca-ref.txt | |
| +1 −1 | test/src_gen_stub.c |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,72 @@ | ||
| /** | ||
| * Test watchdog. This test starts a watchdog timer of 1500ms every 1s. Half the time, it then | ||
| * sleeps after starting the watchdog so that the watchdog expires. There should be a total of two | ||
| * watchdog expirations. | ||
| * @author Benjamin Asch | ||
| * @author Edward A. Lee | ||
| */ | ||
| target C { | ||
| timeout: 11000 ms | ||
| } | ||
|
|
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| reactor Watcher(timeout: time = 1500 ms) { | ||
| // Offset ameliorates startup time. | ||
| timer t(1 s, 1 s) | ||
| // Period has to be smaller than watchdog timeout. Produced if the watchdog triggers. | ||
| output d: int | ||
| state count: int = 0 | ||
|
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| watchdog poodle(timeout) {= | ||
| instant_t p = lf_time_physical_elapsed(); | ||
| lf_print("******** Watchdog timed out at elapsed physical time: " PRINTF_TIME, p); | ||
| self->count++; | ||
| =} | ||
|
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| reaction(t) -> poodle, d {= | ||
| lf_watchdog_start(poodle, 0); | ||
| lf_print("Watchdog started at physical time " PRINTF_TIME, lf_time_physical_elapsed()); | ||
| lf_print("Will expire at " PRINTF_TIME, lf_time_logical_elapsed() + self->timeout); | ||
| lf_set(d, 42); | ||
| =} | ||
|
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| reaction(poodle) -> d {= | ||
| lf_print("Reaction poodle was called."); | ||
| lf_set(d, 1); | ||
| =} | ||
|
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| reaction(shutdown) -> poodle {= | ||
| lf_watchdog_stop(poodle); | ||
| // Watchdog may expire in tests even without the sleep, but it should at least expire twice. | ||
| if (self->count < 2) { | ||
| lf_print_error_and_exit("Watchdog expired %d times. Expected at least 2.", self->count); | ||
| } | ||
| =} | ||
| } | ||
|
|
||
| main reactor { | ||
| logical action a | ||
| state count: int = 0 | ||
|
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| w = new Watcher() | ||
|
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| reaction(startup) {= | ||
| if (NUMBER_OF_WATCHDOGS != 1) { | ||
| lf_print_error_and_exit("NUMBER_OF_WATCHDOGS was %d", NUMBER_OF_WATCHDOGS); | ||
| } | ||
| =} | ||
|
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| reaction(w.d) {= | ||
| lf_print("Watcher reactor produced an output. %d", self->count % 2); | ||
| self->count++; | ||
| if (self->count % 4 == 0) { | ||
| lf_print(">>>>>> Taking a long time to process that output!"); | ||
| lf_sleep(MSEC(1600)); | ||
| } | ||
| =} | ||
|
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| reaction(shutdown) {= | ||
| if (self->count < 12) { | ||
| lf_print_error_and_exit("Watchdog produced output %d times. Expected at least 12.", self->count); | ||
| } | ||
| =} | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| /** | ||
| * This tests that the order of reactions triggered when a watchdog expires is as expected. | ||
| * @author Erling Rennemo Jellum | ||
| */ | ||
| target C | ||
|
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| reactor WithWatchdog { | ||
| state cnt: int = 0 | ||
|
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| watchdog watch(10 msec) {= =} | ||
|
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| reaction(startup) -> watch {= | ||
| lf_watchdog_start(watch, 0); | ||
| =} | ||
|
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| reaction(watch) {= | ||
| self->cnt++; | ||
| if (lf_time_logical_elapsed() != MSEC(10)) { | ||
| lf_print_error_and_exit("Watchdog handler triggered at wrong tag."); | ||
| } | ||
| =} | ||
|
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| reaction(shutdown) {= | ||
| if (self->cnt != 1) { | ||
| lf_print_error_and_exit("Watchdog did not timeout"); | ||
| } | ||
| =} | ||
| } | ||
|
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| main reactor { | ||
| w1 = new WithWatchdog() | ||
| w2 = new WithWatchdog() | ||
| timer t(2 sec) | ||
|
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| reaction(startup) {= | ||
| if (NUMBER_OF_WATCHDOGS != 2) { | ||
| lf_print_error_and_exit("NUMBER_OF_WATCHDOGS was %d", NUMBER_OF_WATCHDOGS); | ||
| } | ||
| =} | ||
|
|
||
| reaction(t) {= =} | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| /** | ||
| * This tests that the order of reactions triggered when a watchdog expires is as expected. | ||
| * @author Erling Rennemo Jellum | ||
| */ | ||
| target C | ||
|
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| preamble {= | ||
| typedef enum { | ||
| INVALID = 0, | ||
| STARTUP_DONE=1, | ||
| WATCHDOG_HANDLE_DONE = 2, | ||
| WATCHDOG_TRIGGERED_REACTION_DONE = 3, | ||
| } state_t; | ||
| =} | ||
|
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| main reactor { | ||
| state test: state_t = {= INVALID =} | ||
| timer t(1 sec) | ||
|
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| watchdog watch(1 msec) {= | ||
| lf_print("Watchdog handler"); | ||
| if(self->test != STARTUP_DONE) { | ||
| lf_print_error_and_exit("Startup reaction not done"); | ||
| } | ||
| self->test = WATCHDOG_HANDLE_DONE; | ||
| =} | ||
|
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| reaction(startup) -> watch {= | ||
| if (NUMBER_OF_WATCHDOGS != 1) { | ||
| lf_print_error_and_exit("NUMBER_OF_WATCHDOGS was %d", NUMBER_OF_WATCHDOGS); | ||
| } | ||
|
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| lf_watchdog_start(watch, 0); | ||
| if(self->test != 0) { | ||
| lf_print_error_and_exit("Startup reaction interrupted"); | ||
| } | ||
| lf_sleep(MSEC(100)); | ||
| if(self->test != 0) { | ||
| lf_print_error_and_exit("Startup reaction interrupted"); | ||
| } | ||
| self->test = STARTUP_DONE; | ||
| =} | ||
|
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| reaction(watch) {= | ||
| lf_print("Watchdog trigger"); | ||
| if(self->test != WATCHDOG_HANDLE_DONE) { | ||
| lf_print_error_and_exit("Watchdog handle not finished"); | ||
| } | ||
| self->test = WATCHDOG_TRIGGERED_REACTION_DONE; | ||
| =} | ||
|
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| reaction(t) {= | ||
| if(self->test != WATCHDOG_TRIGGERED_REACTION_DONE) { | ||
| lf_print_error_and_exit("Watchdog did not expire"); | ||
| } | ||
| =} | ||
| } |
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