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Revert "Suppress Watchdog's generic timeout message in MotorSafety (#1486)"

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This reverts commit 41596608cc.
This commit is contained in:
Peter Johnson
2018-12-29 16:19:04 -08:00
parent 75cc09a9e4
commit 7c35355d29
5 changed files with 5 additions and 45 deletions
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2
wpilibc/src/main/native/cpp/MotorSafety.cpp
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@@ -19,14 +19,12 @@ using namespace frc;
MotorSafety::MotorSafety(MotorSafety&& rhs)
: ErrorBase(std::move(rhs)), m_enabled(std::move(rhs.m_enabled)) {
m_watchdog = Watchdog(rhs.m_watchdog.GetTimeout(), [this] { TimeoutFunc(); });
m_watchdog.SuppressTimeoutMessage(true);
}
MotorSafety& MotorSafety::operator=(MotorSafety&& rhs) {
ErrorBase::operator=(std::move(rhs));
m_watchdog = Watchdog(rhs.m_watchdog.GetTimeout(), [this] { TimeoutFunc(); });
m_watchdog.SuppressTimeoutMessage(true);
m_enabled = std::move(rhs.m_enabled);
return *this;

14
wpilibc/src/main/native/cpp/Watchdog.cpp
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@@ -51,12 +51,10 @@ void Watchdog::Thread::Main() {
auto now = hal::fpga_clock::now();
if (now - watchdog->m_lastTimeoutPrintTime > kMinPrintPeriod) {
watchdog->m_lastTimeoutPrintTime = now;
if (!watchdog->m_suppressTimeoutMessage) {
wpi::outs() << "Watchdog not fed within "
<< wpi::format("%.6f",
watchdog->m_timeout.count() / 1.0e6)
<< "s\n";
}
wpi::outs() << "Watchdog not fed within "
<< wpi::format("%.6f",
watchdog->m_timeout.count() / 1.0e6)
<< "s\n";
}
lock.unlock();
watchdog->m_callback();
@@ -161,10 +159,6 @@ void Watchdog::Disable() {
thr->m_cond.notify_all();
}
void Watchdog::SuppressTimeoutMessage(bool suppress) {
m_suppressTimeoutMessage = suppress;
}
bool Watchdog::operator>(const Watchdog& rhs) {
return m_expirationTime > rhs.m_expirationTime;
}

12
wpilibc/src/main/native/include/frc/Watchdog.h
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@@ -104,16 +104,6 @@ class Watchdog {
*/
void Disable();
/**
* Enable or disable suppression of the generic timeout message.
*
* This may be desirable if the user-provided callback already prints a more
* specific message.
*
* @param suppress Whether to suppress generic timeout message.
*/
void SuppressTimeoutMessage(bool suppress);
private:
// Used for timeout print rate-limiting
static constexpr std::chrono::milliseconds kMinPrintPeriod{1000};
@@ -128,8 +118,6 @@ class Watchdog {
wpi::StringMap<std::chrono::microseconds> m_epochs;
bool m_isExpired = false;
bool m_suppressTimeoutMessage = false;
class Thread;
wpi::SafeThreadOwner<Thread>* m_owner;

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
View File

@@ -20,10 +20,6 @@ public abstract class MotorSafety {
private boolean m_enabled;
private final Object m_thisMutex = new Object();
public MotorSafety() {
m_watchdog.suppressTimeoutMessage(true);
}
/**
* Feed the motor safety object.
*

18
wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
View File

@@ -23,7 +23,6 @@ import java.util.concurrent.locks.ReentrantLock;
*
* <p>The watchdog is initialized disabled, so the user needs to call enable() before use.
*/
@SuppressWarnings("PMD.TooManyMethods")
public class Watchdog implements Closeable, Comparable<Watchdog> {
// Used for timeout print rate-limiting
private static final long kMinPrintPeriod = 1000000; // us
@@ -39,8 +38,6 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
private final Map<String, Long> m_epochs = new HashMap<>();
boolean m_isExpired;
boolean m_suppressTimeoutMessage;
static {
startDaemonThread(() -> schedulerFunc());
}
@@ -204,17 +201,6 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
}
}
/**
* Enable or disable suppression of the generic timeout message.
*
* <p>This may be desirable if the user-provided callback already prints a more specific message.
*
* @param suppress Whether to suppress generic timeout message.
*/
public void suppressTimeoutMessage(boolean suppress) {
m_suppressTimeoutMessage = suppress;
}
private static Thread startDaemonThread(Runnable target) {
Thread inst = new Thread(target);
inst.setDaemon(true);
@@ -243,9 +229,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
long now = RobotController.getFPGATime();
if (now - watchdog.m_lastTimeoutPrintTime > kMinPrintPeriod) {
watchdog.m_lastTimeoutPrintTime = now;
if (!watchdog.m_suppressTimeoutMessage) {
System.out.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout / 1.0e6);
}
System.out.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout / 1.0e6);
}
m_queueMutex.unlock();
watchdog.m_callback.run();