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Add watchdog example
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‎CHANGELOG.md‎

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@@ -7,6 +7,10 @@ and this project adheres to [0-based versioning](https://0ver.org/).
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## [Unreleased]
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### Added
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- Watchdog example
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## v0.14.2 - 13-September-2025
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### Changed

‎apps/examples/meson.build‎

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@@ -155,6 +155,17 @@ smokers = executable(
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]
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)
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watchdog = executable(
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'watchdog',
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['watchdog' / 'main.c'],
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dependencies: [
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libhsm_dep,
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libao_preemptive_dep,
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libpal_dep,
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libassert_dep,
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]
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)
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if pal != 'stubs'
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test('smokers', smokers, suite: 'smokers')
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test('workers', workers, suite: 'workers')

‎apps/examples/watchdog/README.md‎

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Watchdog example.
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The console output:
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```
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EVT_WDT_FEED sent
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EVT_WDT_FEED received
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EVT_WDT_FEED sent
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EVT_WDT_FEED received
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EVT_WDT_FEED sent
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EVT_WDT_FEED received
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WATCHED TASK FAILED!
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```
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‎apps/examples/watchdog/main.c‎

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/*
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* The MIT License (MIT)
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*
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* Copyright (c) Adel Mamin
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*
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* Source: https://github.com/adel-mamin/amast
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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/*
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* A task 'watched' is monitored by a watchdog task 'wdt'.
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* The 'watched' tasks works fine for 3 seconds, after which
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* it fails to feed 'wdt' in time.
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*/
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include "common/macros.h"
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#include "event/event.h"
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#include "timer/timer.h"
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#include "ao/ao.h"
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#include "pal/pal.h"
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#include "hsm/hsm.h"
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#define AM_WDT_FEED_TIMEOUT_MS 1000
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#define AM_WDT_BARK_TIMEOUT_MS (AM_WDT_FEED_TIMEOUT_MS + 100)
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enum evt {
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EVT_WATCHED_TIMEOUT = AM_EVT_USER,
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EVT_WDT_FEED,
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EVT_WDT_BARK,
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};
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struct watched {
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struct am_ao ao;
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struct am_timer timer_wdt_feed;
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int feeds_num;
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};
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struct wdt {
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struct am_ao ao;
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struct am_timer timer_wdt_bark;
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};
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/* tasks */
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static struct watched m_watched;
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static struct wdt m_wdt;
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/* task event queues */
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static const struct am_event *m_queue_watched[1];
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static const struct am_event *m_queue_wdt[2];
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/* task events */
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static const struct am_event m_evt_wdt_feed = {.id = EVT_WDT_FEED};
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/* 'watched' task */
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static int watched_proc(struct watched *me, const struct am_event *event) {
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switch (event->id) {
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case AM_EVT_ENTRY: {
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am_timer_arm_ms(
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&me->timer_wdt_feed, AM_WDT_FEED_TIMEOUT_MS, AM_WDT_FEED_TIMEOUT_MS
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);
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return AM_HSM_HANDLED();
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}
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case EVT_WATCHED_TIMEOUT: {
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if (me->feeds_num < 3) {
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am_pal_printff("EVT_WDT_FEED sent\n");
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am_ao_post_fifo(&m_wdt.ao, &m_evt_wdt_feed);
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++me->feeds_num;
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}
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return AM_HSM_HANDLED();
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}
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default:
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break;
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}
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return AM_HSM_SUPER(am_hsm_top);
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}
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static int watched_init(struct watched *me, const struct am_event *event) {
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(void)event;
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am_timer_ctor(
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&me->timer_wdt_feed,
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EVT_WATCHED_TIMEOUT,
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AM_PAL_TICK_DOMAIN_DEFAULT,
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/*owner=*/&me->ao
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);
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return AM_HSM_TRAN(watched_proc);
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}
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static void watched_ctor(struct watched *me) {
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memset(me, 0, sizeof(*me));
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am_ao_ctor(&me->ao, AM_HSM_STATE_CTOR(watched_init));
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}
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/* 'wdt' task */
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static int wdt_proc(struct wdt *me, const struct am_event *event) {
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switch (event->id) {
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case AM_EVT_ENTRY: {
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am_timer_arm_ms(
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&me->timer_wdt_bark, AM_WDT_BARK_TIMEOUT_MS, /*interval=*/0
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);
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return AM_HSM_HANDLED();
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}
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case EVT_WDT_FEED: {
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am_pal_printff("EVT_WDT_FEED received\n");
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/* re-arm bark timer */
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am_timer_arm_ms(
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&me->timer_wdt_bark, AM_WDT_BARK_TIMEOUT_MS, /*interval=*/0
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);
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return AM_HSM_HANDLED();
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}
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case EVT_WDT_BARK: {
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am_pal_printff("WATCHED TASK FAILED!\n");
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exit(-1);
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}
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default:
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break;
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}
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return AM_HSM_SUPER(am_hsm_top);
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}
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static int wdt_init(struct wdt *me, const struct am_event *event) {
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(void)event;
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am_timer_ctor(
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&me->timer_wdt_bark,
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EVT_WDT_BARK,
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AM_PAL_TICK_DOMAIN_DEFAULT,
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/*owner=*/&me->ao
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);
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return AM_HSM_TRAN(wdt_proc);
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}
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static void wdt_ctor(struct wdt *me) {
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memset(me, 0, sizeof(*me));
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am_ao_ctor(&me->ao, AM_HSM_STATE_CTOR(wdt_init));
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}
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/* timer task to drive timers */
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static void ticker_task(void *param) {
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(void)param;
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am_pal_task_wait_all();
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uint32_t now_ticks = am_pal_time_get_tick(AM_PAL_TICK_DOMAIN_DEFAULT);
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while (am_ao_get_cnt() > 0) {
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am_pal_sleep_till_ticks(AM_PAL_TICK_DOMAIN_DEFAULT, now_ticks + 1);
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now_ticks += 1;
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am_timer_tick(AM_PAL_TICK_DOMAIN_DEFAULT);
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}
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}
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int main(void) {
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am_ao_state_ctor(/*cfg=*/NULL);
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watched_ctor(&m_watched);
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wdt_ctor(&m_wdt);
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am_ao_start(
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&m_watched.ao,
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(struct am_ao_prio){.ao = AM_AO_PRIO_MAX, .task = AM_AO_PRIO_MAX},
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/*queue=*/m_queue_watched,
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/*nqueue=*/AM_COUNTOF(m_queue_watched),
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/*stack=*/NULL,
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/*stack_size=*/0,
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/*name=*/"watched",
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/*init_event=*/NULL
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);
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am_ao_start(
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&m_wdt.ao,
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(struct am_ao_prio){.ao = AM_AO_PRIO_MIN, .task = AM_AO_PRIO_MIN},
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/*queue=*/m_queue_wdt,
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/*nqueue=*/AM_COUNTOF(m_queue_wdt),
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/*stack=*/NULL,
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/*stack_size=*/0,
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/*name=*/"wdt",
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/*init_event=*/NULL
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);
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am_pal_task_create(
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"ticker",
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/*prio=*/AM_AO_PRIO_MIN,
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/*stack=*/NULL,
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/*stack_size=*/0,
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/*entry=*/ticker_task,
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/*arg=*/NULL
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);
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while (am_ao_get_cnt() > 0) {
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am_ao_run_all();
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}
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am_ao_state_dtor();
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return EXIT_SUCCESS;
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}

‎meson.build‎

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@@ -29,9 +29,9 @@ project('amast', 'c',
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default_options : [
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'c_std=c99',
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'warning_level=3',
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'buildtype=release',
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'buildtype=debug',
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'werror=true',
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'b_lto=true',
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# 'b_lto=true',
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'default_library=static',
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'b_sanitize=address,undefined'
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],

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