Re: [PATCH V4 18/20] rv/monitor: Add safe watchdog monitor
From: Daniel Bristot de Oliveira
Date: Thu Jun 16 2022 - 11:29:30 EST
Hi Guenter,
On 6/16/22 15:36, Guenter Roeck wrote:
> On 6/16/22 01:45, Daniel Bristot de Oliveira wrote:
>> The watchdog is an essential building block for the usage of Linux in
>> safety-critical systems because it allows the system to be monitored from
>> an external element - the watchdog hardware, acting as a safety-monitor.
>>
>> A user-space application controls the watchdog device via the watchdog
>> interface. This application, hereafter safety_app, enables the watchdog
>> and periodically pets the watchdog upon correct completion of the safety
>> related processing.
>>
>> If the safety_app, for any reason, stops pinging the watchdog,
>> the watchdog hardware can set the system in a fail-safe state. For
>> example, shutting the system down.
>>
>> Given the importance of the safety_app / watchdog hardware couple,
>> the interaction between these software pieces also needs some
>> sort of monitoring. In other words, "who monitors the monitor?"
>>
>> The safe watchdog (safe_wtd) RV monitor monitors the interaction between
>> the safety_app and the watchdog device, enforcing the correct sequence of
>> events that leads the system to a safe state.
>>
>> Furthermore, the safety_app can monitor the RV monitor by collecting the
>> events generated by the RV monitor itself via tracing interface. In this way,
>> closing the monitoring loop with the safety_app.
>>
>> To reach a safe state, the safe_wtd RV monitor requires the
>> safety_app to:
>>
>> - Open the watchdog device
>> - Start the watchdog
>> - Set a timeout
>> - ping at least once
>>
>> The RV monitor also avoids some undesired actions. For example, to have
>> other threads to touch the watchdog.
>>
>> The monitor also has a set of options, enabled via kernel command
>> line/module options. They are:
>>
>> - watchdog_id: the device id to monitor (default 0).
>> - dont_stop: once enabled, do not allow the RV monitor to be stopped
>> (default off);
>> - safe_timeout: define a maximum safe value that an user-space
>> application can set as the watchdog timeout
>> (default unlimited).
>> - check_timeout: After every ping, check if the time left in the
>> watchdog is less than or equal to the last timeout set
>> for the watchdog. It only works for watchdog devices that
>> provide the get_timeleft() function (default off).
>>
>> For further information, please refer to:
>> Documentation/trace/rv/watchdog-monitor.rst
>>
>> The monitor specification was developed together with Gabriele Paoloni,
>> in the context of the Linux Foundation Elisa Project.
>>
>> Cc: Wim Van Sebroeck <wim@xxxxxxxxxxxxxxxxxx>
>> Cc: Guenter Roeck <linux@xxxxxxxxxxxx>
>> Cc: Jonathan Corbet <corbet@xxxxxxx>
>> Cc: Steven Rostedt <rostedt@xxxxxxxxxxx>
>> Cc: Ingo Molnar <mingo@xxxxxxxxxx>
>> Cc: Thomas Gleixner <tglx@xxxxxxxxxxxxx>
>> Cc: Peter Zijlstra <peterz@xxxxxxxxxxxxx>
>> Cc: Will Deacon <will@xxxxxxxxxx>
>> Cc: Catalin Marinas <catalin.marinas@xxxxxxx>
>> Cc: Marco Elver <elver@xxxxxxxxxx>
>> Cc: Dmitry Vyukov <dvyukov@xxxxxxxxxx>
>> Cc: "Paul E. McKenney" <paulmck@xxxxxxxxxx>
>> Cc: Shuah Khan <skhan@xxxxxxxxxxxxxxxxxxx>
>> Cc: Gabriele Paoloni <gpaoloni@xxxxxxxxxx>
>> Cc: Juri Lelli <juri.lelli@xxxxxxxxxx>
>> Cc: Clark Williams <williams@xxxxxxxxxx>
>> Cc: linux-doc@xxxxxxxxxxxxxxx
>> Cc: linux-kernel@xxxxxxxxxxxxxxx
>> Cc: linux-trace-devel@xxxxxxxxxxxxxxx
>> Signed-off-by: Daniel Bristot de Oliveira <bristot@xxxxxxxxxx>
>> ---
>> include/trace/events/rv.h | 11 +
>> kernel/trace/rv/Kconfig | 10 +
>> kernel/trace/rv/Makefile | 1 +
>> kernel/trace/rv/monitors/safe_wtd/safe_wtd.c | 300 +++++++++++++++++++
>> kernel/trace/rv/monitors/safe_wtd/safe_wtd.h | 84 ++++++
>> 5 files changed, 406 insertions(+)
>> create mode 100644 kernel/trace/rv/monitors/safe_wtd/safe_wtd.c
>> create mode 100644 kernel/trace/rv/monitors/safe_wtd/safe_wtd.h
>>
>> diff --git a/include/trace/events/rv.h b/include/trace/events/rv.h
>> index 00f11a8dac3b..895eb3435ed7 100644
>> --- a/include/trace/events/rv.h
>> +++ b/include/trace/events/rv.h
>> @@ -66,6 +66,17 @@ DEFINE_EVENT(error_da_monitor, error_wip,
>> TP_PROTO(char *state, char *event),
>> TP_ARGS(state, event));
>> #endif /* CONFIG_RV_MON_WIP */
>> +
>> +#ifdef CONFIG_RV_MON_SAFE_WTD
>> +DEFINE_EVENT(event_da_monitor, event_safe_wtd,
>> + TP_PROTO(char *state, char *event, char *next_state, bool safe),
>> + TP_ARGS(state, event, next_state, safe));
>> +
>> +DEFINE_EVENT(error_da_monitor, error_safe_wtd,
>> + TP_PROTO(char *state, char *event),
>> + TP_ARGS(state, event));
>> +#endif /* CONFIG_RV_MON_SAFE_WTD */
>> +
>> #endif /* CONFIG_DA_MON_EVENTS_IMPLICIT */
>> #ifdef CONFIG_DA_MON_EVENTS_ID
>> diff --git a/kernel/trace/rv/Kconfig b/kernel/trace/rv/Kconfig
>> index 21f03fb3101a..b14ae63e792b 100644
>> --- a/kernel/trace/rv/Kconfig
>> +++ b/kernel/trace/rv/Kconfig
>> @@ -45,6 +45,16 @@ config RV_MON_WWNR
>> illustrates the usage of per-task monitor. The model is
>> broken on purpose: it serves to test reactors.
>> +config RV_MON_SAFE_WTD
>> + select DA_MON_EVENTS_IMPLICIT
>> + bool "Safety watchdog"
>> + help
>> + Enable safe_wtd, this monitor observes the interaction
>> + between a user-space safety monitor and a watchdog device.
>> +
>> + For futher information see:
>> + Documentation/trace/rv/safety-monitor.rst
>> +
>> config RV_REACTORS
>> bool "Runtime verification reactors"
>> default y if RV
>> diff --git a/kernel/trace/rv/Makefile b/kernel/trace/rv/Makefile
>> index 963d14875b45..904db96c7eae 100644
>> --- a/kernel/trace/rv/Makefile
>> +++ b/kernel/trace/rv/Makefile
>> @@ -3,6 +3,7 @@
>> obj-$(CONFIG_RV) += rv.o
>> obj-$(CONFIG_RV_MON_WIP) += monitors/wip/wip.o
>> obj-$(CONFIG_RV_MON_WWNR) += monitors/wwnr/wwnr.o
>> +obj-$(CONFIG_RV_MON_SAFE_WTD) += monitors/safe_wtd/safe_wtd.o
>> obj-$(CONFIG_RV_REACTORS) += rv_reactors.o
>> obj-$(CONFIG_RV_REACT_PRINTK) += reactor_printk.o
>> obj-$(CONFIG_RV_REACT_PANIC) += reactor_panic.o
>> diff --git a/kernel/trace/rv/monitors/safe_wtd/safe_wtd.c
>> b/kernel/trace/rv/monitors/safe_wtd/safe_wtd.c
>> new file mode 100644
>> index 000000000000..9856e0770d0d
>> --- /dev/null
>> +++ b/kernel/trace/rv/monitors/safe_wtd/safe_wtd.c
>> @@ -0,0 +1,300 @@
>> +// SPDX-License-Identifier: GPL-2.0
>> +#include <linux/ftrace.h>
>> +#include <linux/tracepoint.h>
>> +#include <linux/kernel.h>
>> +#include <linux/module.h>
>> +#include <linux/init.h>
>> +#include <linux/rv.h>
>> +#include <rv/instrumentation.h>
>> +#include <rv/da_monitor.h>
>> +
>> +#include <linux/watchdog.h>
>> +#include <linux/moduleparam.h>
>> +
>> +#include <trace/events/rv.h>
>> +#include <trace/events/watchdog.h>
>> +
>> +#define MODULE_NAME "safe_wtd"
>> +
>> +/*
>> + * This is the self-generated part of the monitor. Generally, there is no need
>> + * to touch this section.
>> + */
>> +#include "safe_wtd.h"
>> +
>> +/*
>> + * Declare the deterministic automata monitor.
>> + *
>> + * The rv monitor reference is needed for the monitor declaration.
>> + */
>> +struct rv_monitor rv_safe_wtd;
>> +DECLARE_DA_MON_GLOBAL(safe_wtd, char);
>> +
>> +/*
>> + * custom: safe_timeout is the maximum value a watchdog monitor
>> + * can set. This value is registered here to duplicate the information.
>> + * In this way, a miss-behaving monitor can be detected.
>> + */
>> +static int safe_timeout = ~0;
>> +module_param(safe_timeout, int, 0444);
>> +
>> +/*
>> + * custom: if check_timeout is set, the monitor will check if the time left
>> + * in the watchdog is less than or equals to the last safe timeout set by
>> + * user-space. This check is done after each ping. In this way, if any
>> + * code by-passed the watchdog dev interface setting a higher (so unsafe)
>> + * timeout, this monitor will catch the side effect and react.
>> + */
>> +static int last_timeout_set = 0;
>> +static int check_timeout = 0;
>> +module_param(check_timeout, int, 0444);
>> +
>> +/*
>> + * custom: if dont_stop is set the monitor will react if stopped.
>> + */
>> +static int dont_stop = 0;
>> +module_param(dont_stop, int, 0444);
>> +
>> +/*
>> + * custom: there are some states that are kept after the watchdog is closed.
>> + * For example, the nowayout state.
>> + *
>> + * Thus, the RV monitor needs to keep track of these states after a start/stop
>> + * of the RV monitor itself, and should not reset after each restart -
>> keeping the
>> + * know state until the system shutdown.
>> + *
>> + * If for an unknown reason an RV monitor would like to reset the RV monitor
>> at each
>> + * RV monitor start, set it to one.
>> + */
>> +static int reset_on_restart = 0;
>> +module_param(reset_on_restart, int, 0444);
>> +
>> +/*
>> + * open_pid takes note of the first thread that opened the watchdog.
>> + *
>> + * Any other thread that generates an event will cause an "other_threads"
>> + * event in the monitor.
>> + */
>> +static int open_pid = 0;
>
> Userspace could open a watchdog, create a child process, and handle it
> from the child. That is perfectly valid.
Right! It is a correct usage of the watchdog subsystem.
However, the idea here is to allow a "restricted" set of operations based on the
safety analysis made by people in the LF Elisa Workgroup (Gabriele Paoloni in Cc:).
One of the specifications says that: only one process should touch the watchdog.
There are details about it in the "watchdog-monitor.rst," section "RV monitor
specification."
There could be another monitor, a less resticted one, in which the operation you
mention would be allowed.
I will complement this commit log in the next version of the patch set,
clarifying that it is not a "full representation of the watchdog operations" but
a restricted set of operations specified by...
>> +
>> +/*
>> + * watchdog_id: the watchdog to monitor
>> + */
>> +static int watchdog_id = 0;
>> +module_param(watchdog_id, int, 0444);
>
> Limiting the watcher to a single watchdog sounds less than perfect.
> What if the system supports more than one, more than one is enabled,
> and the non-monitored watchdog misbehaves ?
I can add one monitor per watchdog dev. The easiest way would be adding a
"struct da_monitor" variable in the watchdog_device structure, e.g.,
struct watchdog_device {
...
#ifdef CONFIG_RV_MON_SAFE_WTD
struct da_monitor da_mon;
#endif
...
}
A simplified version of the the "per task" monitor, in the patch 01, changes in
include/linux/sched.h.
>> +
>> +static void handle_nowayout(void *data, struct watchdog_device *wdd)
>> +{
>> + if (wdd->id != watchdog_id)
>> + return;
>> +
>> + da_handle_init_run_event_safe_wtd(nowayout_safe_wtd);
>> +}
>> +
>> +static void handle_close(void *data, struct watchdog_device *wdd)
>> +{
>> + if (wdd->id != watchdog_id)
>> + return;
>> +
>> + if (open_pid && current->pid != open_pid) {
>> + da_handle_init_run_event_safe_wtd(other_threads_safe_wtd);
>> + } else {
>> + da_handle_event_safe_wtd(close_safe_wtd);
>> + open_pid = 0;
>> + }
>> +}
>> +
>> +static void handle_open(void *data, struct watchdog_device *wdd)
>> +{
>> + if (wdd->id != watchdog_id)
>> + return;
>> +
>> + if (open_pid && current->pid != open_pid) {
>> + da_handle_init_run_event_safe_wtd(other_threads_safe_wtd);
>> + } else {
>> + da_handle_init_run_event_safe_wtd(open_safe_wtd);
>> + open_pid = current->pid;
>> + }
>> +}
>> +
>> +static void blocked_events(void *data, struct watchdog_device *wdd)
>> +{
>> + if (wdd->id != watchdog_id)
>> + return;
>> +
>> + if (open_pid && current->pid != open_pid) {
>> + da_handle_init_run_event_safe_wtd(other_threads_safe_wtd);
>> + return;
>> + }
>> + da_handle_event_safe_wtd(other_threads_safe_wtd);
>> +}
>> +
>> +static void blocked_events_timeout(void *data, struct watchdog_device *wdd,
>> u64 timeout)
>> +{
>> + blocked_events(data, wdd);
>> +}
>> +
>> +static void handle_ping(void *data, struct watchdog_device *wdd)
>> +{
>> + char msg[128];
>> + unsigned int timeout;
>> +
>> + if (wdd->id != watchdog_id)
>> + return;
>> +
>> + if (open_pid && current->pid != open_pid) {
>> + da_handle_init_run_event_safe_wtd(other_threads_safe_wtd);
>> + return;
>> + }
>> +
>> + da_handle_event_safe_wtd(ping_safe_wtd);
>> +
>> + if (!check_timeout)
>> + return;
>> +
>> + if (wdd->ops->get_timeleft) {
>> + timeout = wdd->ops->get_timeleft(wdd);
>> + if (timeout > last_timeout_set) {
>> + snprintf(msg, 128,
>> + "watchdog timeout is %u > than previously set (%d)\n",
>> + timeout, last_timeout_set);
>> + cond_react(msg);
>> + }
>> + } else {
>> + snprintf(msg, 128, "error getting timeout: option not supported\n");
>
> This is not an error. The get_timeleft callback is optional.
Right... but this part of the code is only reachable if the user explicitly
asked to check the timeout (if (!check_timeout)...return before this code).
So, if the user only considers the system safe if the monitor also checks the
written timeout, but the watchdog is one of those that do not have the callback
implemented (which is ok for a Linux watchdog), the monitor captures this
"undesired" behavior.
This monitor is not checking if the watchdog subsystem is correct at its
plenitude, it is checking if the watchdog usage is following a set of
specifications (raised by people in the LF Elisa workgroup).
>> + cond_react(msg);
>> + }
>> +}
>> +
[...]
>> +
>> +struct automaton_safe_wtd automaton_safe_wtd = {
>> + .state_names = {
>> + "init",
>> + "closed_running",
>> + "closed_running_nwo",
>> + "nwo",
>> + "opened",
>> + "opened_nwo",
>> + "reopened",
>> + "safe",
>> + "safe_nwo",
>> + "set",
>> + "set_nwo",
>> + "started",
>> + "started_nwo",
>> + "stoped"
>> + },
>> + .event_names = {
>> + "close",
>> + "nowayout",
>> + "open",
>> + "other_threads",
>> + "ping",
>> + "set_safe_timeout",
>> + "start",
>> + "stop"
>> + },
>> + .function = {
>> + { -1, nwo_safe_wtd, opened_safe_wtd, init_safe_wtd, -1, -1, -1, -1 },
>> + { -1, closed_running_nwo_safe_wtd, reopened_safe_wtd, closed_running_safe_wtd, -1, -1, -1, -1 },
>> + { -1, closed_running_nwo_safe_wtd, started_nwo_safe_wtd, closed_running_nwo_safe_wtd, -1, -1, -1, -1 },
>> + { -1, nwo_safe_wtd, opened_nwo_safe_wtd, nwo_safe_wtd, -1, -1, -1, -1 },
>> + { init_safe_wtd, -1, -1, -1, -1, -1, started_safe_wtd, -1 },
>> + { nwo_safe_wtd, -1, -1, -1, -1, -1, started_nwo_safe_wtd, -1 },
>> + { closed_running_safe_wtd, -1, -1, -1, -1, set_safe_wtd, 1, opened_safe_wtd },
>> + { closed_running_safe_wtd, -1, -1, -1, safe_safe_wtd, -1, 1, stoped_safe_wtd },
>> + { closed_running_nwo_safe_wtd, -1, -1, -1, safe_nwo_safe_wtd, -1, -1, -1 },
>> + { -1, -1, -1, -1, safe_safe_wtd, -1, -1, -1 },
>> + { -1, -1, -1, -1, safe_nwo_safe_wtd, -1, -1, -1 },
>> + { closed_running_safe_wtd, -1, -1, -1, -1, set_safe_wtd, -1, stoped_safe_wtd },
>> + { closed_running_nwo_safe_wtd, -1, -1, -1, -1, set_nwo_safe_wtd, -1, -1 },
>> + { init_safe_wtd, -1, -1, -1, -1, -1, -1, -1 },
>> + },
>> + .initial_state = init_safe_wtd,
>> + .final_states = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
>
> I find this event table all but impossible to verify.
It is a matrix. Lines are states, and columns are events.
On a given state/line, receiving a given event/column, the data is the next
state/row.
For instance, let's say "init" (row 0), event "nwo" (column 1), and the next
state is the "nwo" (row 3).
-1 means invalid/blocked state (yeah, maybe it is better to have an #define
INVALID_STATE -1).
This is the C representation of an automaton, following the formal definition of
a deterministic automaton. I've added an explanation of this representation in
the documentation (patch 15, file da_monitor_synthesis.rst).
A deeper look into this subject is here (peer-reviewed conference paper at
Software Engineer and Formal Methods 2019):
https://bristot.me/wp-content/uploads/2019/09/paper.pdf
One could translate it back to the automaton's graphical format... to a format
of by a tool used to analyze automaton properties... that is the good point of
using a well-established formalism. (The bad part is that they are often
boring... c'est la vie :-)).
-- Daniel
>
>> +};
>