DWORD WINAPI WatchDog::Thread_WatchDog_HeartBeat(LPVOID pParam)//zhouzx
{
WatchDog * pThis = (WatchDog *)pParam;
DOG_STATUS struDogStatus;
for(;;)
{
//给看门狗发送正常的心跳接口
SendHeartbeat(DOG_NORMAL);
//狗进程不存在时重启狗进程
struDogStatus = GetWatchdogStatus();
if (DOG_NOTACTIVE == struDogStatus)
{
//TRACE("==YQ== 狗进程重启!!!");
OpenWatchDog(6);
}
//控制发送心跳的时间间隔
if(WaitForSingleObject(pThis->m_hCloseWatchDogEvent,6000) == WAIT_OBJECT_0)
{
break;
}
}
return 0;
}
bool HealthCheckedConnection::Setup() {
// setup the RX timeout
ResumeTimer();
// send a heartbeat now and setup the TX timer
SendHeartbeat();
HeartbeatSent();
return true;
}
bool MavLinkInterpreter::CheckConnection()
{
if (millis() > _hb_timer)
{
_hb_timer = millis() + 1500;
if (_connected)
{
SendHeartbeat();
}
// Sending Mavlink configuration after 10sec, to give FC enough time to boot.
if (_send_mavlink_connection_config < 10 && millis() > 10000 && !_connected)
{
debugSerial.printf("%d\tConfiguring connection...\r\n", millis());
ConfigureConnection();
}
if (millis() > _mavLinkConnectedTimer && ++_hb_count_lost > 5)
{ // if no HEARTBEAT from APM in 1.5s then we are not connected
_lastConnected = _connected;
_connected = false;
_hb_count = 0; //reset the counter
#ifdef DEBUG_APM_CONNECTION
if (_lastConnected)
{
debugSerial.printf("%d\tLost MavLink connection...\r\n", millis());
}
else
{
debugSerial.printf("%d\tMavLink not connected.\r\n", millis());
}
#endif
}
else if (_hb_count >= 10)
{ // If received > 10 heartbeats from MavLink then we are connected
_lastConnected = _connected;
_connected = true;
_hb_count_lost = 0;
#ifdef DEBUG_APM_CONNECTION
if (_hb_count == 10)
{
debugSerial.println("###############################################");
debugSerial.printf("%d\tMavLink connection etablished. Version: %d\r\n", millis(), _m->MavlinkVersion);
debugSerial.println("###############################################");
_send_mavlink_connection_config = 0;
}
#endif
digitalWrite(LED_BOARD_P, HIGH); // LED will be ON when connected to MavLink, else it will slowly blink
}
//Store bool state in the main public message data
_m->MavLinkConnected = _connected;
}
return _connected;
}
void* Listener(void * args)
{
char buf[BUFSIZE];
SDMSubreqst sub;
SDMDeletesub del;
MessageManager mm;
mm.Async_Init(my_port);
// Send one hearbeat, let the app fail
SendHeartbeat();
while(1)
{
if(mm.IsReady())
{
//SendHeartbeat();
#ifdef WIN32
switch(mm.GetMsg(buf))
#else
switch(mm.GetMessage(buf))
#endif
{
case SDM_Subreqst:
sub.Unmarshal(buf);
printf("Subscription Rec'd for %d\n",sub.msg_id.getInterfaceMessagePair()); fflush(NULL);
pthread_mutex_lock(&subscription_mutex);
subscriptions.AddSubscription(sub);
pthread_mutex_unlock(&subscription_mutex);
break;
case SDM_Deletesub:
printf("Cancel Rec'd\n");
del.Unmarshal(buf);
pthread_mutex_lock(&subscription_mutex);
subscriptions.RemoveSubscription(del);
pthread_mutex_unlock(&subscription_mutex);
break;
default:
printf("Invalid Message found!\n");
fflush(NULL);
break;
}
}
else
{
usleep(100000);
}
}
return NULL;
}
void WatchDog::ClosedWatchDog()
{
//关闭看门狗
if (m_hWatchDog != NULL)
{
SetEvent(m_hCloseWatchDogEvent);
if( WaitForSingleObject(m_hWatchDog, INFINITE) == WAIT_OBJECT_0)
{
CloseHandle(m_hWatchDog);
m_hWatchDog = NULL;
CloseHandle(m_hCloseWatchDogEvent);
m_hCloseWatchDogEvent = NULL;
//给看门狗发送正常退出的心跳，表明程序是正常退出，而非异常退出。这样看门狗就不会重新启动pc。
SendHeartbeat(DOG_EXIT);
}
LOG(LEVEL_INFO, "关闭看门狗程序");
}
}
bool HealthCheckedConnection::SendNextHeartbeat() {
SendHeartbeat();
return true;
}
void Run () {
LOGINFO (TEXT ("Runner thread started"));
bool bRetry = true;
bool bStatus = true;
do {
if (!m_poService->SetState (STARTING)) break;
LOGINFO (TEXT ("Starting Java framework"));
if (!m_poService->CreatePipes ()) {
LOGERROR (TEXT ("Unable to open pipes to Java framework"));
CAlert::Bad (TEXT ("Unable to connect to service"));
bStatus = false;
break;
}
if (!m_poService->StartJVM ()) {
if (bRetry) {
LOGWARN (TEXT ("Unable to initiate Java framework"));
m_poService->ClosePipes ();
CAlert::Bad (TEXT ("Restarting service"));
bRetry = false;
continue;
}
LOGERROR (TEXT ("Unable to initiate Java framework"));
CAlert::Bad (TEXT ("Unable to start service"));
bStatus = false;
break;
}
if (!m_poService->ConnectPipes ()) {
if (bRetry) {
LOGWARN (TEXT ("Unable to connect to Java framework"));
m_poService->ClosePipes ();
CAlert::Bad (TEXT ("Restarting service"));
m_poService->StopJVM ();
bRetry = false;
continue;
}
LOGERROR (TEXT ("Unable to connect to Java framework"));
CAlert::Bad (TEXT ("Unable to start service"));
bStatus = false;
break;
}
if (!SendHeartbeat (true) || !WaitForHeartbeatResponse ()) {
if (bRetry) {
LOGWARN (TEXT ("Java framework is not responding"));
m_poService->ClosePipes ();
CAlert::Bad (TEXT ("Restarting service"));
m_poService->StopJVM ();
bRetry = false;
continue;
}
LOGERROR (TEXT ("Java framework is not responding"));
CAlert::Bad (TEXT ("Service is not responding"));
// TODO: [XLS-43] (needs moving to PLAT) Can we get information from the log to pop-up if the user cloicks on the bubble?
// TODO: [XLS-43] (needs a hook to implement) What about a "retry" button to force Excel to unload and re-load the plugin
bStatus = false;
break;
}
bRetry = true;
if (!m_poService->SetState (RUNNING)) break;
LOGINFO (TEXT ("Java framework started and connected"));
// TODO: [XLS-43] (needs moving back to XLS project) Display messages a bit more sensibly - e.g. route them in from UDF when everything's registered
CAlert::Good (TEXT ("Connected to service"));
LOGDEBUG (TEXT ("Waiting for first message"));
FudgeMsgEnvelope env = m_poService->Recv (m_lHeartbeatTimeout);
while (env) {
m_poService->DispatchAndRelease (env);
if (m_poService->HeartbeatNeeded (m_lHeartbeatTimeout) && !SendHeartbeat (false)) break;
LOGDEBUG (TEXT ("Waiting for message"));
env = m_poService->Recv (m_lHeartbeatTimeout);
}
do {
int ec = GetLastError ();
if (ec == ETIMEDOUT) {
if (!SendHeartbeat (false)) goto endMessageLoop;
} else {
LOGWARN (TEXT ("Couldn't read message, error ") << ec);
goto endMessageLoop;
}
LOGDEBUG (TEXT ("Waiting for critical message"));
env = m_poService->Recv (m_lHeartbeatTimeout);
if (!env) {
LOGWARN (TEXT ("Heartbeat missed"));
goto endMessageLoop;
}
do {
m_poService->DispatchAndRelease (env);
if (m_poService->HeartbeatNeeded (m_lHeartbeatTimeout) && !SendHeartbeat (false)) goto endMessageLoop;
LOGDEBUG (TEXT ("Waiting for message"));
env = m_poService->Recv (m_lHeartbeatTimeout);
} while (env);
} while (m_poService->GetState () == RUNNING);
endMessageLoop:
m_poService->ClosePipes ();
if (!m_poService->SetState (STOPPING)) break;
LOGINFO (TEXT ("Restarting Java framework"));
CAlert::Bad (TEXT ("Reconnecting to service"));
} while (true);
if (m_poService->GetState () != POISONED) {
LOGINFO (TEXT ("Poisoning Java framework"));
m_poService->SetState (POISONED);
bStatus &= m_poService->SendPoison ();
}
m_poService->ClosePipes ();
m_poService->SetState (bStatus ? STOPPED : ERRORED);
LOGINFO (TEXT ("Runner thread stopped"));
}
void* Listener(void * args)
{
char buf[BUFSIZE];
SDMSubreqst sub;
SDMDeletesub del;
MessageManager mm;
mm.Async_Init(myPort);
while(1)
{
pthread_testcancel();
if(mm.IsReady())
{
SendHeartbeat();
#ifdef WIN32
switch(mm.GetMsg(buf))
#else
switch(mm.GetMessage(buf))
#endif
{
case SDM_ACK:
printf("SDMAck received\n");
helloReply = true;
break;
case SDM_Register:
printf("SDMRegister received\n");
waitForReg = false;
break;
case SDM_ID:
printf("SDMID received\n");
myID.Unmarshal(buf);
printf("CompID: \n");
printf(" SensorID: %li\n", myID.destination.getSensorID());
printf(" Address: %lx\n", myID.destination.getAddress());
printf(" Port: %i\n", myID.destination.getPort());
waitForID = false;
break;
case SDM_Subreqst:
sub.Unmarshal(buf);
printf("Subscription Rec'd for %d\n",sub.msg_id.getInterfaceMessagePair());
pthread_mutex_lock(&subscription_mutex);
subscriptions.AddSubscription(sub);
pthread_mutex_unlock(&subscription_mutex);
break;
case SDM_Deletesub:
printf("Cancel Rec'd\n");
del.Unmarshal(buf);
pthread_mutex_lock(&subscription_mutex);
subscriptions.RemoveSubscription(del);
pthread_mutex_unlock(&subscription_mutex);
break;
default:
printf("Invalid Message found!\n");
break;
}
}
else
{
usleep(100000);
}
}
return NULL;
}