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Watchdog: use units::second_t instead of double (#1863)

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Fixes #1827.
This commit is contained in:
Tyler Veness
2019-09-03 15:58:31 -07:00
committed by Peter Johnson
parent 761bc3ef85
commit 7112add67f
7 changed files with 63 additions and 25 deletions
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27
wpilibc/src/main/native/cpp/Watchdog.cpp
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@@ -54,7 +54,7 @@ void Watchdog::Thread::Main() {
if (!watchdog->m_suppressTimeoutMessage) {
wpi::outs() << "Watchdog not fed within "
<< wpi::format("%.6f",
watchdog->m_timeout.count() / 1.0e6)
watchdog->m_timeout.count() / 1.0e9)
<< "s\n";
}
}
@@ -78,9 +78,10 @@ void Watchdog::Thread::Main() {
}
Watchdog::Watchdog(double timeout, std::function<void()> callback)
: m_timeout(static_cast<int64_t>(timeout * 1.0e6)),
m_callback(callback),
m_owner(&GetThreadOwner()) {}
: Watchdog(units::second_t{timeout}, callback) {}
Watchdog::Watchdog(units::second_t timeout, std::function<void()> callback)
: m_timeout(timeout), m_callback(callback), m_owner(&GetThreadOwner()) {}
Watchdog::~Watchdog() { Disable(); }
@@ -89,6 +90,13 @@ double Watchdog::GetTime() const {
}
void Watchdog::SetTimeout(double timeout) {
SetTimeout(units::second_t{timeout});
}
void Watchdog::SetTimeout(units::second_t timeout) {
using std::chrono::duration_cast;
using std::chrono::microseconds;
m_startTime = hal::fpga_clock::now();
m_epochs.clear();
@@ -96,11 +104,11 @@ void Watchdog::SetTimeout(double timeout) {
auto thr = m_owner->GetThread();
if (!thr) return;
m_timeout = std::chrono::microseconds(static_cast<int64_t>(timeout * 1.0e6));
m_timeout = timeout;
m_isExpired = false;
thr->m_watchdogs.remove(this);
m_expirationTime = m_startTime + m_timeout;
m_expirationTime = m_startTime + duration_cast<microseconds>(m_timeout);
thr->m_watchdogs.emplace(this);
thr->m_cond.notify_all();
}
@@ -109,7 +117,7 @@ double Watchdog::GetTimeout() const {
// Locks mutex
auto thr = m_owner->GetThread();
return m_timeout.count() / 1.0e6;
return m_timeout.count() / 1.0e9;
}
bool Watchdog::IsExpired() const {
@@ -140,6 +148,9 @@ void Watchdog::PrintEpochs() {
void Watchdog::Reset() { Enable(); }
void Watchdog::Enable() {
using std::chrono::duration_cast;
using std::chrono::microseconds;
m_startTime = hal::fpga_clock::now();
m_epochs.clear();
@@ -150,7 +161,7 @@ void Watchdog::Enable() {
m_isExpired = false;
thr->m_watchdogs.remove(this);
m_expirationTime = m_startTime + m_timeout;
m_expirationTime = m_startTime + duration_cast<microseconds>(m_timeout);
thr->m_watchdogs.emplace(this);
thr->m_cond.notify_all();
}