Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Rate-limit Watchdog timeout prints to 1Hz (#1459)

Browse Source
This commit is contained in:
Tyler Veness
2018-12-07 19:39:02 -08:00
committed by Peter Johnson
parent 97ba195b88
commit 6d4326a560
5 changed files with 51 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
wpilibc/src/main/native/cpp/Watchdog.cpp
View File

@@ -13,6 +13,8 @@
using namespace frc;
constexpr std::chrono::milliseconds Watchdog::kMinPrintPeriod;
class Watchdog::Thread : public wpi::SafeThread {
public:
template <typename T>
@@ -46,9 +48,14 @@ void Watchdog::Thread::Main() {
auto watchdog = m_watchdogs.top();
m_watchdogs.pop();
wpi::outs() << "Watchdog not fed within "
<< wpi::format("%.6f", watchdog->m_timeout.count() / 1.0e6)
<< "s\n";
auto now = hal::fpga_clock::now();
if (now - watchdog->m_lastTimeoutPrintTime > kMinPrintPeriod) {
watchdog->m_lastTimeoutPrintTime = now;
wpi::outs() << "Watchdog not fed within "
<< wpi::format("%.6f",
watchdog->m_timeout.count() / 1.0e6)
<< "s\n";
}
lock.unlock();
watchdog->m_callback();
lock.lock();
@@ -112,10 +119,14 @@ void Watchdog::AddEpoch(wpi::StringRef epochName) {
}
void Watchdog::PrintEpochs() {
for (const auto& epoch : m_epochs) {
wpi::outs() << '\t' << epoch.getKey() << ": "
<< wpi::format("%.6f", epoch.getValue().count() / 1.0e6)
<< "s\n";
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)
<< "s\n";
}
}
}