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Watchdog: add timeout message suppression feature

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Was part of reverted #1486
This commit is contained in:
Peter Johnson
2018-12-29 16:22:54 -08:00
parent ae3cb6c83b
commit a2368a6199
3 changed files with 39 additions and 5 deletions
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18
wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
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@@ -23,6 +23,7 @@ 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
@@ -38,6 +39,8 @@ 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());
}
@@ -201,6 +204,17 @@ 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);
@@ -229,7 +243,9 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
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);
if (!watchdog.m_suppressTimeoutMessage) {
System.out.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout / 1.0e6);
}
}
m_queueMutex.unlock();
watchdog.m_callback.run();