Multi-threaded background safety service executing periodic heartbeat supervision. Automatically verifies monitored task deadlines and dispatches WatchdogTimeoutEvent to the main event bus on violations. More...

#include <WatchdogService.hpp>

Inheritance diagram for corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >:

Collaboration diagram for corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >:

Public Types
using	Base = Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >

using	EventVariant = typename Base::EventVariant

using	IncomingBus = BasicEventBus< EventVariant, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >

using	KickCallbackFn = typename SupervisorType::KickCallbackFn

using	SupervisorType = WatchdogSupervisor< MaxServices, ClockPolicy >

Public Member Functions
void	beat (uint32_t serviceId) noexcept
	Submit a heartbeat for a monitored service.

void	join () noexcept
	Join background std::jthread cleanly.

EventSinkT< EventVariant >	mainSink () const noexcept
	Get an EventSink handle targeting the main application event queue.

template<typename Handler >
bool	on (Handler &&handler)
	Register an event handler for incoming events with automatic event type deduction.

bool	processOne ()
	Process a single incoming event from the service queue.

std::size_t	pump ()
	Pump all pending incoming events from the queue until empty.

std::size_t	pump (std::size_t maxEvents)
	Pump up to maxEvents pending incoming events from the queue.

template<typename EventType , typename Handler >
bool	registerHandler (Handler &&handler)
	Register an event handler for incoming events with explicit event type parameter.

bool	registerService (uint32_t serviceId, uint64_t timeoutNs) noexcept
	Register a service for supervision with maximum timeout in nanoseconds.

void	run (const std::stop_token &stopToken)
	Background worker loop executing periodic health supervision.

void	setContext (ServiceContextT< EventVariant > context) noexcept

void	setWatchdogKickCallback (KickCallbackFn kickFn, void *userData=nullptr) noexcept
	Set callback to refresh the physical hardware watchdog (e.g. STM32 IWDG).

EventSinkT< EventVariant >	sink () noexcept
	Get an EventSink handle targeting this service's incoming event queue.

template<typename Derived >
void	startThread (Derived *derived)
	Start execution loop on dedicated std::jthread.

void	stop () noexcept
	Request cancellation on worker std::jthread.

const SupervisorType &	supervisor () const noexcept

SupervisorType &	supervisor () noexcept
	Access underlying WatchdogSupervisor.

template<typename Rep , typename Period >
std::size_t	waitAndPump (const std::stop_token &stopToken, const std::chrono::duration< Rep, Period > &timeout)
	Wait for incoming events or timeout, then pump all available incoming events. Safe for use inside worker thread run(std::stop_token).

	WatchdogService (std::chrono::milliseconds checkInterval=std::chrono::milliseconds(20))

Protected Member Functions
const ServiceContextT< EventVariant > &	context () const noexcept

ServiceContextT< EventVariant > &	context () noexcept

const IncomingBus &	incomingBus () const noexcept

IncomingBus &	incomingBus () noexcept

template<typename EventType >
void	post (EventType &&event, EventPriority priority=EventPriority::Normal) const
	Post an event into the main application event queue.

template<typename EventType >
void	postHighPriority (EventType &&event) const
	Post a high-priority event into the main application event queue.

template<typename TargetService , typename EventType >
bool	sendToService (EventType &&event, EventPriority priority=EventPriority::Normal) const
	Post an event directly to another registered service.

Detailed Description

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>
class corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >

Multi-threaded background safety service executing periodic heartbeat supervision. Automatically verifies monitored task deadlines and dispatches WatchdogTimeoutEvent to the main event bus on violations.

Template Parameters

EventVariant	Supported event variant list type.
MaxServices	Maximum number of monitored services (default 16).
ClockPolicy	Clock source strategy (defaults to ChronoClockPolicy).

Member Typedef Documentation

◆ Base

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

using corium::BackgroundService< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::Base = Service<EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy>

inherited

◆ EventVariant

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

using corium::BackgroundService< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::EventVariant = typename Base::EventVariant

inherited

◆ IncomingBus

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

using corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::IncomingBus = BasicEventBus<EventVariant, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy>

inherited

◆ KickCallbackFn

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

using corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::KickCallbackFn = typename SupervisorType::KickCallbackFn

◆ SupervisorType

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

using corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::SupervisorType = WatchdogSupervisor<MaxServices, ClockPolicy>

Constructor & Destructor Documentation

◆ WatchdogService()

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::WatchdogService ( std::chrono::milliseconds checkInterval = std::chrono::milliseconds(20) )

inlineexplicit

Member Function Documentation

◆ beat()

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

void corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::beat ( uint32_t serviceId )

inlinenoexcept

Submit a heartbeat for a monitored service.

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◆ context() [1/2]

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

const ServiceContextT< EventVariant > & corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::context ( ) const

inlineprotectednoexceptinherited

◆ context() [2/2]

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

ServiceContextT< EventVariant > & corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::context ( )

inlineprotectednoexceptinherited

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◆ incomingBus() [1/2]

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

const IncomingBus & corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::incomingBus ( ) const

inlineprotectednoexceptinherited

◆ incomingBus() [2/2]

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

IncomingBus & corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::incomingBus ( )

inlineprotectednoexceptinherited

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◆ join()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

void corium::BackgroundService< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::join ( )

inlinenoexceptinherited

Join background std::jthread cleanly.

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◆ mainSink()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

EventSinkT< EventVariant > corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::mainSink ( ) const

inlinenoexceptinherited

Get an EventSink handle targeting the main application event queue.

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◆ on()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

template<typename Handler >

bool corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::on ( Handler && handler )

inlineinherited

Register an event handler for incoming events with automatic event type deduction.

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◆ post()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

template<typename EventType >

void corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::post	(	EventType &&	event,
		EventPriority	priority = `EventPriority::Normal`
	)		const

inlineprotectedinherited

Post an event into the main application event queue.

◆ postHighPriority()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

template<typename EventType >

void corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::postHighPriority ( EventType && event ) const

inlineprotectedinherited

Post a high-priority event into the main application event queue.

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◆ processOne()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

bool corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::processOne ( )

inlineinherited

Process a single incoming event from the service queue.

Returns: true if an event was popped and dispatched; false if queue was empty.

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◆ pump() [1/2]

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

std::size_t corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::pump ( )

inlineinherited

Pump all pending incoming events from the queue until empty.

Returns: Number of events processed.

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◆ pump() [2/2]

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

std::size_t corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::pump ( std::size_t maxEvents )

inlineinherited

Pump up to maxEvents pending incoming events from the queue.

Parameters

maxEvents Maximum number of events to process.

Returns: Number of events processed.

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◆ registerHandler()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

template<typename EventType , typename Handler >

bool corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::registerHandler ( Handler && handler )

inlineinherited

Register an event handler for incoming events with explicit event type parameter.

◆ registerService()

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

bool corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::registerService	(	uint32_t	serviceId,
		uint64_t	timeoutNs
	)

inlinenoexcept

Register a service for supervision with maximum timeout in nanoseconds.

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◆ run()

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

void corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::run ( const std::stop_token & stopToken )

inline

Background worker loop executing periodic health supervision.

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◆ sendToService()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

template<typename TargetService , typename EventType >

bool corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::sendToService	(	EventType &&	event,
		EventPriority	priority = `EventPriority::Normal`
	)		const

inlineprotectedinherited

Post an event directly to another registered service.

◆ setContext()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

void corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::setContext ( ServiceContextT< EventVariant > context )

inlinenoexceptinherited

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◆ setWatchdogKickCallback()

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

void corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::setWatchdogKickCallback	(	KickCallbackFn	kickFn,
		void *	userData = `nullptr`
	)

inlinenoexcept

Set callback to refresh the physical hardware watchdog (e.g. STM32 IWDG).

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◆ sink()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

EventSinkT< EventVariant > corium::Service< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::sink ( )

inlinenoexceptinherited

Get an EventSink handle targeting this service's incoming event queue.

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◆ startThread()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

template<typename Derived >

void corium::BackgroundService< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::startThread ( Derived * derived )

inlineinherited

Start execution loop on dedicated std::jthread.

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◆ stop()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

void corium::BackgroundService< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::stop ( )

inlinenoexceptinherited

Request cancellation on worker std::jthread.

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◆ supervisor() [1/2]

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

const SupervisorType & corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::supervisor ( ) const

inlinenoexcept

◆ supervisor() [2/2]

template<typename EventVariant = DefaultEvents, std::size_t MaxServices = 16, typename ClockPolicy = ChronoClockPolicy>

SupervisorType & corium::safety::WatchdogService< EventVariant, MaxServices, ClockPolicy >::supervisor ( )

inlinenoexcept

Access underlying WatchdogSupervisor.

◆ waitAndPump()

template<typename EventVariantType = DefaultEvents, typename QueuePolicy = BoundedMpscQueuePolicy<EventVariantType, 1024>, typename SignalPolicy = CallbackSignalPolicy, typename StoragePolicy = DefaultStoragePolicy, typename OverflowPolicy = DropNewestOverflowPolicy>

template<typename Rep , typename Period >

std::size_t corium::BackgroundService< EventVariantType, QueuePolicy, SignalPolicy, StoragePolicy, OverflowPolicy >::waitAndPump	(	const std::stop_token &	stopToken,
		const std::chrono::duration< Rep, Period > &	timeout
	)

inlineinherited

Wait for incoming events or timeout, then pump all available incoming events. Safe for use inside worker thread run(std::stop_token).

Template Parameters

Rep	Duration representation type.
Period	Duration period type.

Parameters

stopToken	std::stop_token from run(stopToken).
timeout	Maximum duration to wait if queue is empty.

Returns: Number of events processed.

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The documentation for this class was generated from the following file:

include/corium/safety/WatchdogService.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ Base

◆ EventVariant

◆ IncomingBus

◆ KickCallbackFn

◆ SupervisorType

Constructor & Destructor Documentation

◆ WatchdogService()

Member Function Documentation

◆ beat()

◆ context() [1/2]

◆ context() [2/2]

◆ incomingBus() [1/2]

◆ incomingBus() [2/2]

◆ join()

◆ mainSink()

◆ on()

◆ post()

◆ postHighPriority()

◆ processOne()

◆ pump() [1/2]

◆ pump() [2/2]

◆ registerHandler()

◆ registerService()

◆ run()

◆ sendToService()

◆ setContext()

◆ setWatchdogKickCallback()

◆ sink()

◆ startThread()

◆ stop()

◆ supervisor() [1/2]

◆ supervisor() [2/2]

◆ waitAndPump()