Package edu.wpi.first.wpilibj

Class Watchdog

java.lang.Object
edu.wpi.first.wpilibj.Watchdog
All Implemented Interfaces:
Closeable, AutoCloseable, Comparable<Watchdog>
public class Watchdog extends Object implements Closeable, Comparable<Watchdog>
A class that's a wrapper around a watchdog timer.

When the timer expires, a message is printed to the console and an optional user-provided callback is invoked.

The watchdog is initialized disabled, so the user needs to call enable() before use.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Watchdog(double timeoutSeconds, Runnable callback)
    Watchdog constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    addEpoch(String epochName)
    Adds time since last epoch to the list printed by printEpochs().
    void
    close()
     
    int
    compareTo(Watchdog rhs)
     
    void
    disable()
    Disables the watchdog timer.
    void
    enable()
    Enables the watchdog timer.
    boolean
    equals(Object obj)
     
    double
    getTime()
    Returns the time in seconds since the watchdog was last fed.
    double
    getTimeout()
    Returns the watchdog's timeout in seconds.
    int
    hashCode()
     
    boolean
    isExpired()
    Returns true if the watchdog timer has expired.
    void
    printEpochs()
    Prints list of epochs added so far and their times.
    void
    reset()
    Resets the watchdog timer.
    void
    setTimeout(double timeoutSeconds)
    Sets the watchdog's timeout.
    void
    suppressTimeoutMessage(boolean suppress)
    Enable or disable suppression of the generic timeout message.

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • Watchdog

      public Watchdog(double timeoutSeconds, Runnable callback)
      Watchdog constructor.
      Parameters:
      timeoutSeconds - The watchdog's timeout in seconds with microsecond resolution.
      callback - This function is called when the timeout expires.

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable
      Specified by:
      close in interface Closeable

    • equals

      public boolean equals(Object obj)
      Overrides:
      equals in class Object

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object

    • compareTo

      public int compareTo(Watchdog rhs)
      Specified by:
      compareTo in interface Comparable<Watchdog>

    • getTime

      public double getTime()
      Returns the time in seconds since the watchdog was last fed.
      Returns:
      The time in seconds since the watchdog was last fed.

    • setTimeout

      public void setTimeout(double timeoutSeconds)
      Sets the watchdog's timeout.
      Parameters:
      timeoutSeconds - The watchdog's timeout in seconds with microsecond resolution.

    • getTimeout

      public double getTimeout()
      Returns the watchdog's timeout in seconds.
      Returns:
      The watchdog's timeout in seconds.

    • isExpired

      public boolean isExpired()
      Returns true if the watchdog timer has expired.
      Returns:
      True if the watchdog timer has expired.

    • addEpoch

      public void addEpoch(String epochName)
      Adds time since last epoch to the list printed by printEpochs().
      Parameters:
      epochName - The name to associate with the epoch.
      See Also:

    • printEpochs

      public void printEpochs()
      Prints list of epochs added so far and their times.
      See Also:

    • reset

      public void reset()
      Resets the watchdog timer.

      This also enables the timer if it was previously disabled.

    • enable

      public void enable()
      Enables the watchdog timer.

    • disable

      public void disable()
      Disables the watchdog timer.

    • suppressTimeoutMessage

      public void suppressTimeoutMessage(boolean suppress)
      Enable or disable suppression of the generic timeout message.

      This may be desirable if the user-provided callback already prints a more specific message.

      Parameters:
      suppress - Whether to suppress generic timeout message.