Package edu.wpi.first.wpilibj

Class Watchdog

java.lang.Object
edu.wpi.first.wpilibj.Watchdog
All Implemented Interfaces:
Closeable, AutoCloseable, Comparable<Watchdog>
public class Watchdog
extends Object
implements Closeable, Comparable<Watchdog>
A class that's a wrapper around a watchdog timer.

When the timer expires, a message is printed to the console and an optional user-provided callback is invoked.

The watchdog is initialized disabled, so the user needs to call enable() before use.

  • Constructor Summary

    Constructors 
    Constructor Description
    Watchdog​(double timeoutSeconds, Runnable callback)
    Watchdog constructor.

  • Method Summary

    Modifier and Type Method Description
    void addEpoch​(String epochName)
    Adds time since last epoch to the list printed by printEpochs().
    void close()  
    int compareTo​(Watchdog rhs)  
    void disable()
    Disables the watchdog timer.
    void enable()
    Enables the watchdog timer.
    boolean equals​(Object obj)  
    double getTime()
    Returns the time in seconds since the watchdog was last fed.
    double getTimeout()
    Returns the watchdog's timeout in seconds.
    int hashCode()  
    boolean isExpired()
    Returns true if the watchdog timer has expired.
    void printEpochs()
    Prints list of epochs added so far and their times.
    void reset()
    Resets the watchdog timer.
    void setTimeout​(double timeoutSeconds)
    Sets the watchdog's timeout.
    void suppressTimeoutMessage​(boolean suppress)
    Enable or disable suppression of the generic timeout message.

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • Watchdog

      public Watchdog​(double timeoutSeconds, Runnable callback)
      Watchdog constructor.
      Parameters:
      timeoutSeconds - The watchdog's timeout in seconds with microsecond resolution.
      callback - This function is called when the timeout expires.

  • Method Details