Add hardware-watchdog abstraction.

.github/dependabot.yml

@@ -0,0 +1,8 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions" # Necessary to update action hashs	
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    # Allow up to 3 opened pull requests for github-actions versions
+    open-pull-requests-limit: 3

.github/workflows/ci.yml

@@ -0,0 +1,50 @@
+# Zero-Clause BSD License
+
+# Copyright (C) 2024 Toitware ApS.
+
+# Permission to use, copy, modify, and/or distribute this software for any
+# purpose with or without fee is hereby granted.
+
+# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
+# REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND
+# FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
+# INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
+# LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
+# OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+# PERFORMANCE OF THIS SOFTWARE.
+
+name: CI
+
+on:
+  push:
+  release:
+    types: [published]
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        os: [ ubuntu-latest, windows-latest, macos-latest ]
+        # The versions should contain (at least) the lowest requirement
+        #    and a version that is more up to date.
+        toit-version: [ v2.0.0-alpha.118, latest ]
+        include:
+          - toit-version: v2.0.0-alpha.118
+            version-name: old
+          - toit-version: latest
+            version-name: new
+
+    name: CI - ${{ matrix.os }} - ${{ matrix.version-name }}
+
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: toitlang/action-setup@v1
+        with:
+          toit-version: ${{ matrix.toit-version }}
+
+      - name: Test
+        run: |
+          make test

.github/workflows/publish.yml

@@ -25,4 +25,4 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Publish
-        uses: toitlang/pkg-publish@v1.3.0
+        uses: toitlang/pkg-publish@v1.4.0

.gitignore

@@ -1 +1,2 @@
 .packages/
+/build/

CMakeLists.txt

@@ -0,0 +1,10 @@
+# Copyright (C) 2024 Toitware ApS.
+# Use of this source code is governed by a Zero-Clause BSD license that can
+# be found in the tests/TESTS_LICENSE file.
+
+cmake_minimum_required(VERSION 3.23)
+
+project(watchdog NONE)
+
+enable_testing()
+add_subdirectory(tests)

Makefile

@@ -0,0 +1,27 @@
+# Copyright (C) 2024 Toitware ApS.
+# Use of this source code is governed by a Zero-Clause BSD license that can
+# be found in the tests/LICENSE file.
+
+all: test
+
+.PHONY: build/CMakeCache.txt
+build/CMakeCache.txt:
+	$(MAKE) rebuild-cmake
+
+install-pkgs: rebuild-cmake
+	cmake --build build --target install-pkgs
+
+test: install-pkgs rebuild-cmake
+	cmake --build build --target check
+
+# We rebuild the cmake file all the time.
+# We use "glob" in the cmakefile, and wouldn't otherwise notice if a new
+# file (for example a test) was added or removed.
+# It takes <1s on Linux to run cmake, so it doesn't hurt to run it frequently.
+rebuild-cmake:
+	mkdir -p build
+	# We need to set a build type, otherwise cmake won't run nicely on Windows.
+	# The build-type is otherwise unused.
+	cmake -B build -DCMAKE_BUILD_TYPE=Debug
+
+.PHONY: all test rebuild-cmake install-pkgs

src/esp32.toit

@@ -0,0 +1,20 @@
+// Copyright (C) 2024 Toitware ApS. All rights reserved.
+// Use of this source code is governed by an MIT-style license that can be found
+// in the LICENSE file.
+
+import esp32
+
+import .provider show SystemWatchdog
+
+class SystemWatchdogEsp32 implements SystemWatchdog:
+  start --ms/int:
+    esp32.watchdog-init --ms=ms
+
+  feed -> none:
+    esp32.watchdog-reset
+
+  stop -> none:
+    esp32.watchdog-deinit
+
+  reboot -> none:
+    esp32.deep-sleep Duration.ZERO

src/provider.toit

@@ -2,24 +2,62 @@
 // Use of this source code is governed by an MIT-style license that can be found
 // in the LICENSE file.
 
-import esp32
 import log
 import monitor
 import system.services show ServiceProvider ServiceResource ServiceHandler
 import .api.service
+import .esp32 show SystemWatchdogEsp32
+
+interface SystemWatchdog:
+  /**
+  Starts the system watchdog timer.
+
+  The watchdog will reset the system if it isn't fed within $ms milliseconds.
+  The system watchdog may have a coarser granularity than the given $ms.
+  */
+  start --ms/int
+
+  /**
+  Feeds the system watchdog.
+
+  # Aliases
+  - `kick`
+  - `reset`
+  */
+  feed -> none
+
+  /**
+  Stops the system watchdog.
+  */
+  stop -> none
+
+  /**
+  Reboots the system.
+
+  This is called if a watchdog isn't fed in time, but the system
+    watchdog still has time left.
+  */
+  reboot -> none
 
 class WatchdogServiceProvider extends ServiceProvider
   implements ServiceHandler:
 
   static GRANULARITY-MS ::= 2_000
 
   dogs_/Map ::= {:}  // From string to Watchdog.
+  system-watchdog_/SystemWatchdog
   system-watchdog-task_/Task? := null
   logger_/log.Logger
   mutex_/monitor.Mutex ::= monitor.Mutex
+  granularity-ms_/int
 
-  constructor --logger/log.Logger=((log.default.with-name "watchdog").with-level log.ERROR-LEVEL):
+  constructor
+      --logger/log.Logger=((log.default.with-name "watchdog").with-level log.ERROR-LEVEL)
+      --system-watchdog/SystemWatchdog = SystemWatchdogEsp32
+      --granularity-ms/int = GRANULARITY-MS:
     logger_ = logger
+    system-watchdog_ = system-watchdog
+    granularity-ms_ = granularity-ms
     super "watchdog" --major=1 --minor=0
     provides WatchdogService.SELECTOR --handler=this
 
@@ -67,23 +105,26 @@ class WatchdogServiceProvider extends ServiceProvider
 
     mutex_.do:
       logger_.debug "starting system watchdog"
-      esp32.watchdog-init --ms=GRANULARITY-MS
+      system-watchdog_.start --ms=granularity-ms_
       system-watchdog-task_ = task::
         try:
           while true:
             too-late := false
             dogs_.do --values: | dog/Watchdog |
               if dog.is-too-late:
-                logger_.fatal "watchdog too late" --tags={ "id": dog.id }
+                logger_.error "watchdog too late" --tags={ "id": dog.id }
                 too-late = true
 
             if too-late:
-              esp32.deep-sleep Duration.ZERO
+              // Feed the system watchdog one last time then request to reboot.
+              // This allows the system to clean up before rebooting.
+              mutex_.do: system-watchdog_.feed
+              system-watchdog_.reboot
             else:
               // Feed the system watchdog.
               logger_.debug "feeding system watchdog"
-              mutex_.do: esp32.watchdog-reset
-              sleep --ms=(GRANULARITY-MS / 2)
+              mutex_.do: system-watchdog_.feed
+              sleep --ms=(granularity-ms_ / 2)
         finally:
           system-watchdog-task_ = null
 
@@ -96,7 +137,7 @@ class WatchdogServiceProvider extends ServiceProvider
     // Shutdown the system watchdog.
     mutex_.do:
       logger_.info "stopping system watchdog"
-      esp32.watchdog-deinit
+      system-watchdog_.stop
 
       system-watchdog-task_.cancel
 

tests/CMakeLists.txt

@@ -0,0 +1,61 @@
+# Copyright (C) 2024 Toitware ApS.
+# Use of this source code is governed by a Zero-Clause BSD license that can
+# be found in the tests/LICENSE file.
+
+file(GLOB TESTS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*_test.toit" "*-test.toit" "*_test_slow.toit" "*-test-slow.toit")
+
+# Add windows exe extension.
+set(TOIT_EXEC "toit.run${CMAKE_EXECUTABLE_SUFFIX}" CACHE FILEPATH "The executable used to run the tests")
+set(TPKG_EXEC "toit.pkg${CMAKE_EXECUTABLE_SUFFIX}" CACHE FILEPATH "The executable used to install the packages")
+set(TEST_TIMEOUT 40 CACHE STRING "The maximal amount of time each test is allowed to run")
+set(SLOW_TEST_TIMEOUT 200 CACHE STRING "The maximal amount of time each slow test is allowed to run")
+
+message("TPKG: ${TPKG_EXEC}")
+add_custom_target(
+  "install-pkgs"
+  COMMAND "${TPKG_EXEC}" install
+  WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+)
+
+include(ProcessorCount)
+ProcessorCount(NUM_CPU)
+
+# Add a custom target 'check' that runs our unit tests.
+add_custom_target(
+  "check"
+  COMMAND "${CMAKE_CTEST_COMMAND}" -j${NUM_CPU} --output-on-failure -C Debug
+  USES_TERMINAL
+)
+
+set(TEST_PREFIX "")
+# Tests that fail locally and on toitlang/toit.
+include(fail.cmake OPTIONAL)
+# Tests that only fail when called with this test runner.
+include(fail_pkg.cmake OPTIONAL)
+
+message("Failing tests: ${FAILING_TESTS}")
+message("Skipped tests: ${SKIP_TESTS}")
+
+foreach(file ${TESTS})
+  set(test_name "/tests/${file}")
+  if("${test_name}" IN_LIST SKIP_TESTS)
+    continue()
+  endif()
+
+  add_test(
+    NAME "${test_name}"
+    COMMAND "${TOIT_EXEC}" "tests/${file}"
+    WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+  )
+
+  if ("${file}" MATCHES "slow.toit")
+    set_tests_properties(${test_name} PROPERTIES TIMEOUT ${SLOW_TEST_TIMEOUT})
+  else()
+    set_tests_properties(${test_name} PROPERTIES TIMEOUT ${TEST_TIMEOUT})
+  endif()
+
+  if ("${test_name}" IN_LIST FAILING_TESTS)
+    set_tests_properties("${test_name}" PROPERTIES WILL_FAIL TRUE)
+  endif()
+
+endforeach()

tests/TESTS_LICENSE

@@ -0,0 +1,14 @@
+Zero-Clause BSD License
+
+Copyright (C) 2024 Toitware ApS
+
+Permission to use, copy, modify, and/or distribute this software for any
+purpose with or without fee is hereby granted.
+
+THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
+REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
+INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
+LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
+OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+PERFORMANCE OF THIS SOFTWARE.

tests/correct-test.toit

@@ -0,0 +1,23 @@
+// Copyright (C) 2024 Toitware ApS.
+// Use of this source code is governed by a Zero-Clause BSD license that can
+// be found in the tests/LICENSE file.
+
+import expect show *
+import watchdog show WatchdogServiceClient
+
+import .util
+
+main:
+  run-test: |client ms system-dog| test-correct-feeding client ms system-dog
+
+test-correct-feeding client/WatchdogServiceClient ms/int system-dog/FakeSystemWatchdog:
+  dog := client.create "toit.io/test/correct"
+  dog.start --s=1
+  4.repeat:
+    dog.feed
+    sleep --ms=500
+  dog.stop
+  dog.close
+
+  expect-not system-dog.failed
+  expect-not system-dog.reboot-initiated

tests/many-one-failing-test.toit

@@ -0,0 +1,28 @@
+// Copyright (C) 2024 Toitware ApS.
+// Use of this source code is governed by a Zero-Clause BSD license that can
+// be found in the tests/LICENSE file.
+
+import expect show *
+import watchdog show WatchdogServiceClient
+
+import .util
+
+main:
+  run-test: |client ms system-dog| test-many-one-timeout client ms system-dog
+
+test-many-one-timeout client/WatchdogServiceClient ms/int system-dog/FakeSystemWatchdog:
+  dogs := List 20: client.create "toit.io/test/many-one-timeout/$it"
+  failing-dog := client.create "toit.io/test/many-one-timeout/failing"
+  dogs.do: it.start --s=1
+  failing-dog.start --s=1
+  4.repeat:
+    dogs.do: it.feed
+    sleep --ms=500
+  dogs.do: it.stop
+  dogs.do: it.close
+  failing-dog.stop
+  failing-dog.close
+
+  expect system-dog.failed
+  expect system-dog.reboot-initiated
+

tests/many-test.toit

@@ -0,0 +1,23 @@
+// Copyright (C) 2024 Toitware ApS.
+// Use of this source code is governed by a Zero-Clause BSD license that can
+// be found in the tests/LICENSE file.
+
+import expect show *
+import watchdog show WatchdogServiceClient
+
+import .util
+
+main:
+  run-test: |client ms system-dog| test-many client ms system-dog
+
+test-many client/WatchdogServiceClient ms/int system-dog/FakeSystemWatchdog:
+  dogs := List 20: client.create "toit.io/test/many/$it"
+  dogs.do: it.start --s=1
+  4.repeat:
+    dogs.do: it.feed
+    sleep --ms=500
+  dogs.do: it.stop
+  dogs.do: it.close
+
+  expect-not system-dog.failed
+  expect-not system-dog.reboot-initiated

tests/package.lock

@@ -0,0 +1,5 @@
+prefixes:
+  watchdog: ..
+packages:
+  ..:
+    path: ..

tests/package.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  watchdog:
+    path: ..