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Fix Watchdog epoch prints being off by three orders of magnitude (#2414)

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This was caused by m_epochs storing the timestamps as nanoseconds while
the epoch printing code expects microseconds. Adding a duration cast
fixes this.

Java stores the epoch timestamps in a double as microseconds, so it
doesn't exhibit this bug. The comments were updated to make this more
obvious.

Fixes #2392.
This commit is contained in:
Tyler Veness
2020-03-15 19:56:08 -07:00
committed by GitHub
parent 510936a2a0
commit 4228d3609e
2 changed files with 16 additions and 10 deletions
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10
wpilibc/src/main/native/cpp/Watchdog.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -134,12 +134,18 @@ void Watchdog::AddEpoch(wpi::StringRef epochName) {
}
void Watchdog::PrintEpochs() {
using std::chrono::duration_cast;
using std::chrono::microseconds;
auto now = hal::fpga_clock::now();
if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
m_lastEpochsPrintTime = now;
for (const auto& epoch : m_epochs) {
wpi::outs() << '\t' << epoch.getKey() << ": "
<< wpi::format("%.6f", epoch.getValue().count() / 1.0e6)
<< wpi::format(
"%.6f",
duration_cast<microseconds>(epoch.getValue()).count() /
1.0e6)
<< "s\n";
}
}