14 #include <hal/cpp/fpga_clock.h>
15 #include <wpi/SafeThread.h>
16 #include <wpi/StringMap.h>
17 #include <wpi/StringRef.h>
39 Watchdog(
double timeout, std::function<
void()> callback);
41 template <
typename Callable,
typename Arg,
typename... Args>
42 Watchdog(
double timeout, Callable&& f, Arg&& arg, Args&&... args)
44 std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
45 std::forward<Args>(args)...)) {}
50 Watchdog& operator=(Watchdog&&) =
default;
109 static constexpr std::chrono::milliseconds kMinPrintPeriod{1000};
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();
119 bool m_isExpired =
false;
124 bool operator>(
const Watchdog& rhs);
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().