C++: Add Watchdog to CommandScheduler (#2437)

C++ counterpart to #2319

wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h

@@ -13,8 +13,10 @@
 
 #include <frc/ErrorBase.h>
 #include <frc/WPIErrors.h>
+#include <frc/Watchdog.h>
 #include <frc/smartdashboard/Sendable.h>
 #include <frc/smartdashboard/SendableHelper.h>
+#include <units/units.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/FunctionExtras.h>
 
@@ -46,6 +48,12 @@ class CommandScheduler final : public frc::Sendable,
 
   using Action = std::function<void(const Command&)>;
 
+  /**
+   * Changes the period of the loop overrun watchdog. This should be kept in
+   * sync with the TimedRobot period.
+   */
+  void SetPeriod(units::second_t period);
+
   /**
    * Adds a button binding to the scheduler, which will be polled to schedule
    * commands.
@@ -337,6 +345,8 @@ class CommandScheduler final : public frc::Sendable,
   class Impl;
   std::unique_ptr<Impl> m_impl;
 
+  frc::Watchdog m_watchdog;
+
   friend class CommandTestBase;
 };
 }  // namespace frc2