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Watchdog.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2018 FIRST. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include <chrono>
11 #include <functional>
12 #include <utility>
13 
14 #include <hal/cpp/fpga_clock.h>
15 #include <wpi/SafeThread.h>
16 #include <wpi/StringMap.h>
17 #include <wpi/StringRef.h>
18 
19 namespace frc {
20 
30 class Watchdog {
31  public:
39  Watchdog(double timeout, std::function<void()> callback);
40 
41  template <typename Callable, typename Arg, typename... Args>
42  Watchdog(double timeout, Callable&& f, Arg&& arg, Args&&... args)
43  : Watchdog(timeout,
44  std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
45  std::forward<Args>(args)...)) {}
46 
47  ~Watchdog();
48 
49  Watchdog(Watchdog&&) = default;
50  Watchdog& operator=(Watchdog&&) = default;
51 
55  double GetTime() const;
56 
63  void SetTimeout(double timeout);
64 
68  double GetTimeout() const;
69 
73  bool IsExpired() const;
74 
83  void AddEpoch(wpi::StringRef epochName);
84 
88  void PrintEpochs();
89 
95  void Reset();
96 
100  void Enable();
101 
105  void Disable();
106 
107  private:
108  // Used for timeout print rate-limiting
109  static constexpr std::chrono::milliseconds kMinPrintPeriod{1000};
110 
111  hal::fpga_clock::time_point m_startTime;
112  std::chrono::microseconds m_timeout;
113  hal::fpga_clock::time_point m_expirationTime;
114  std::function<void()> m_callback;
115  hal::fpga_clock::time_point m_lastTimeoutPrintTime = hal::fpga_clock::epoch();
116  hal::fpga_clock::time_point m_lastEpochsPrintTime = hal::fpga_clock::epoch();
117 
119  bool m_isExpired = false;
120 
121  class Thread;
123 
124  bool operator>(const Watchdog& rhs);
125 
126  static wpi::SafeThreadOwner<Thread>& GetThreadOwner();
127 };
128 
129 } // namespace frc
WPILib FRC namespace.
Definition: SPIAccelerometerSim.h:18
void Enable()
Enables the watchdog timer.
double GetTimeout() const
Returns the watchdog's timeout in seconds.
bool IsExpired() const
Returns true if the watchdog timer has expired.
void Reset()
Resets the watchdog timer.
double GetTime() const
Returns the time in seconds since the watchdog was last fed.
void PrintEpochs()
Prints list of epochs added so far and their times.
void SetTimeout(double timeout)
Sets the watchdog's timeout.
void Disable()
Disables the watchdog timer.
A class that's a wrapper around a watchdog timer.
Definition: Watchdog.h:30
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:49
Watchdog(double timeout, std::function< void()> callback)
Watchdog constructor.
void AddEpoch(wpi::StringRef epochName)
Adds time since last epoch to the list printed by PrintEpochs().