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 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.

    • Watchdog

      public Watchdog(Time timeout, Runnable callback)
      Watchdog constructor.
      Parameters:
      timeout - The watchdog's timeout 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.