mirror of
https://github.com/wpilibsuite/allwpilib
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b2c3b2dd8e
- Twine, StringRef, Format, and NativeFormatting have been removed - Logging now uses fmtlib style formatting - Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or std::puts()/std::fputs() (for unformatted strings). - A wpi/fmt/raw_ostream.h header has been added to enable fmt::print() with wpi::raw_ostream
137 lines
3.2 KiB
C++
137 lines
3.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <string_view>
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#include <utility>
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#include <units/time.h>
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#include "frc/Tracer.h"
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namespace frc {
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/**
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* A class that's a wrapper around a watchdog timer.
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*
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* When the timer expires, a message is printed to the console and an optional
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* user-provided callback is invoked.
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*
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* The watchdog is initialized disabled, so the user needs to call Enable()
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* before use.
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*/
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class Watchdog {
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public:
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/**
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* Watchdog constructor.
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*
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* @param timeout The watchdog's timeout in seconds with microsecond
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* resolution.
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* @param callback This function is called when the timeout expires.
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*/
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Watchdog(units::second_t timeout, std::function<void()> callback);
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template <typename Callable, typename Arg, typename... Args>
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Watchdog(units::second_t timeout, Callable&& f, Arg&& arg, Args&&... args)
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: Watchdog(timeout,
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std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
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std::forward<Args>(args)...)) {}
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~Watchdog();
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Watchdog(Watchdog&& rhs);
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Watchdog& operator=(Watchdog&& rhs);
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/**
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* Returns the time since the watchdog was last fed.
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*/
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units::second_t GetTime() const;
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/**
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* Sets the watchdog's timeout.
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*
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* @param timeout The watchdog's timeout in seconds with microsecond
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* resolution.
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*/
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void SetTimeout(units::second_t timeout);
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/**
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* Returns the watchdog's timeout.
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*/
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units::second_t GetTimeout() const;
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/**
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* Returns true if the watchdog timer has expired.
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*/
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bool IsExpired() const;
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/**
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* Adds time since last epoch to the list printed by PrintEpochs().
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*
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* Epochs are a way to partition the time elapsed so that when overruns occur,
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* one can determine which parts of an operation consumed the most time.
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*
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* @param epochName The name to associate with the epoch.
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*/
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void AddEpoch(std::string_view epochName);
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/**
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* Prints list of epochs added so far and their times.
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*/
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void PrintEpochs();
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/**
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* Resets the watchdog timer.
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*
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* This also enables the timer if it was previously disabled.
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*/
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void Reset();
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/**
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* Enables the watchdog timer.
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*/
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void Enable();
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/**
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* Disables the watchdog timer.
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*/
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void Disable();
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/**
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* Enable or disable suppression of the generic timeout message.
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*
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* This may be desirable if the user-provided callback already prints a more
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* specific message.
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*
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* @param suppress Whether to suppress generic timeout message.
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*/
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void SuppressTimeoutMessage(bool suppress);
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private:
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// Used for timeout print rate-limiting
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static constexpr auto kMinPrintPeriod = 1_s;
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units::second_t m_startTime = 0_s;
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units::second_t m_timeout;
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units::second_t m_expirationTime = 0_s;
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std::function<void()> m_callback;
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units::second_t m_lastTimeoutPrintTime = 0_s;
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Tracer m_tracer;
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bool m_isExpired = false;
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bool m_suppressTimeoutMessage = false;
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class Impl;
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Impl* m_impl;
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bool operator>(const Watchdog& rhs) const;
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static Impl* GetImpl();
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};
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} // namespace frc
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