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

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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
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21
wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
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@@ -24,10 +24,15 @@ import java.util.concurrent.locks.ReentrantLock;
* <p>The watchdog is initialized disabled, so the user needs to call enable() before use.
*/
public class Watchdog implements Closeable, Comparable<Watchdog> {
// Used for timeout print rate-limiting
private static final long kMinPrintPeriod = 1000000; // us
private long m_startTime; // us
private long m_timeout; // us
private long m_expirationTime; // us
private final Runnable m_callback;
private long m_lastTimeoutPrintTime; // us
private long m_lastEpochsPrintTime; // us
@SuppressWarnings("PMD.UseConcurrentHashMap")
private final Map<String, Long> m_epochs = new HashMap<>();
@@ -143,9 +148,13 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
* Prints list of epochs added so far and their times.
*/
public void printEpochs() {
m_epochs.forEach((key, value) -> {
System.out.format("\t" + key + ": %.6fs\n", value / 1.0e6);
});
long now = RobotController.getFPGATime();
if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
m_lastEpochsPrintTime = now;
m_epochs.forEach((key, value) -> {
System.out.format("\t" + key + ": %.6fs\n", value / 1.0e6);
});
}
}
/**
@@ -217,7 +226,11 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
// has occurred, so call its timeout function.
Watchdog watchdog = m_watchdogs.poll();
System.out.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout / 1.0e6);
long now = RobotController.getFPGATime();
if (now - watchdog.m_lastTimeoutPrintTime > kMinPrintPeriod) {
watchdog.m_lastTimeoutPrintTime = now;
System.out.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout / 1.0e6);
}
m_queueMutex.unlock();
watchdog.m_callback.run();
m_queueMutex.lock();