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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/Watchdog.h"
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#include <wpi/raw_ostream.h>
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#include "frc/Timer.h"
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using namespace frc;
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Watchdog::Watchdog(double timeout, std::function<void()> callback)
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: m_timeout(timeout),
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m_callback(callback),
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m_notifier(&Watchdog::TimeoutFunc, this) {
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Enable();
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}
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double Watchdog::GetTime() const {
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return Timer::GetFPGATimestamp() - m_startTime;
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}
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bool Watchdog::IsExpired() const { return m_isExpired; }
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void Watchdog::AddEpoch(wpi::StringRef epochName) {
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double currentTime = Timer::GetFPGATimestamp();
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m_epochs[epochName] = currentTime - m_startTime;
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m_startTime = currentTime;
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}
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void Watchdog::PrintEpochs() {
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for (const auto& epoch : m_epochs) {
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wpi::outs() << "\t" << epoch.getKey() << ": " << epoch.getValue() << "s\n";
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}
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}
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void Watchdog::Reset() { Enable(); }
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void Watchdog::Enable() {
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m_startTime = Timer::GetFPGATimestamp();
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m_isExpired = false;
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m_epochs.clear();
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m_notifier.StartPeriodic(m_timeout);
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}
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void Watchdog::Disable() { m_notifier.Stop(); }
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void Watchdog::TimeoutFunc() {
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if (!m_isExpired) {
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wpi::outs() << "Watchdog not fed after " << m_timeout << "s\n";
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m_callback();
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m_isExpired = true;
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Disable();
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}
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}
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