Watchdog.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "Watchdog.h"

const double Watchdog::kDefaultWatchdogExpiration;

Watchdog::Watchdog()
        :       m_fpgaWatchDog(NULL)
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_fpgaWatchDog = tWatchdog::create(&localStatus);
        wpi_setError(localStatus);
        SetExpiration(kDefaultWatchdogExpiration);
        SetEnabled(true);
}

Watchdog::~Watchdog()
{
        SetEnabled(false);
        delete m_fpgaWatchDog;
        m_fpgaWatchDog = NULL;
}

bool Watchdog::Feed()
{
        bool previous = GetEnabled();
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_fpgaWatchDog->strobeFeed(&localStatus);
        wpi_setError(localStatus);
        return previous;
}

void Watchdog::Kill()
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_fpgaWatchDog->strobeKill(&localStatus);
        wpi_setError(localStatus);
}

double Watchdog::GetTimer()
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        UINT32 timer = m_fpgaWatchDog->readTimer(&localStatus);
        wpi_setError(localStatus);
        return timer / (kSystemClockTicksPerMicrosecond * 1e6);
}

double Watchdog::GetExpiration()
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        UINT32 expiration = m_fpgaWatchDog->readExpiration(&localStatus);
        wpi_setError(localStatus);
        return expiration / (kSystemClockTicksPerMicrosecond * 1e6);
}

void Watchdog::SetExpiration(double expiration)
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_fpgaWatchDog->writeExpiration((UINT32)(expiration * (kSystemClockTicksPerMicrosecond * 1e6)), &localStatus);
        wpi_setError(localStatus);
}

bool Watchdog::GetEnabled()
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        bool enabled = !m_fpgaWatchDog->readImmortal(&localStatus);
        wpi_setError(localStatus);
        return enabled;
}

void Watchdog::SetEnabled(bool enabled)
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_fpgaWatchDog->writeImmortal(!enabled, &localStatus);
        wpi_setError(localStatus);
}

bool Watchdog::IsAlive()
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        bool alive = m_fpgaWatchDog->readStatus_Alive(&localStatus);
        wpi_setError(localStatus);
        return alive;
}

bool Watchdog::IsSystemActive()
{
        tRioStatusCode localStatus = NiFpga_Status_Success;
        bool alive = m_fpgaWatchDog->readStatus_SystemActive(&localStatus);
        wpi_setError(localStatus);
        return alive;
}