#include <Watchdog.h>

Inheritance diagram for Watchdog:

Collaboration diagram for Watchdog:

Public Member Functions
	Watchdog ()

virtual	~Watchdog ()

bool	Feed ()

void	Kill ()

double	GetTimer ()

double	GetExpiration ()

void	SetExpiration (double expiration)

bool	GetEnabled ()

void	SetEnabled (bool enabled)

bool	IsAlive ()

bool	IsSystemActive ()

Public Member Functions inherited from SensorBase
	SensorBase ()

virtual	~SensorBase ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Static Public Attributes
static constexpr double	kDefaultWatchdogExpiration = 0.5

Static Public Attributes inherited from SensorBase
static const uint32_t	kSystemClockTicksPerMicrosecond = 40

static const uint32_t	kDigitalChannels = 14

static const uint32_t	kAnalogChannels = 8

static const uint32_t	kAnalogModules = 2

static const uint32_t	kDigitalModules = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 10

static const uint32_t	kRelayChannels = 8

static const uint32_t	kChassisSlots = 8

Additional Inherited Members
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()

static uint32_t	GetDefaultAnalogModule ()

static uint32_t	GetDefaultDigitalModule ()

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckAnalogModule (uint8_t moduleNumber)

static bool	CheckDigitalModule (uint8_t moduleNumber)

static bool	CheckPWMModule (uint8_t moduleNumber)

static bool	CheckRelayModule (uint8_t moduleNumber)

static bool	CheckSolenoidModule (uint8_t moduleNumber)

static bool	CheckDigitalChannel (uint32_t channel)

static bool	CheckRelayChannel (uint32_t channel)

static bool	CheckPWMChannel (uint32_t channel)

static bool	CheckAnalogChannel (uint32_t channel)

static bool	CheckSolenoidChannel (uint32_t channel)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

Watchdog timer class. The watchdog timer is designed to keep the robots safe. The idea is that the robot program must constantly "feed" the watchdog otherwise it will shut down all the motor outputs. That way if a program breaks, rather than having the robot continue to operate at the last known speed, the motors will be shut down.

This is serious business. Don't just disable the watchdog. You can't afford it!

http://thedailywtf.com/Articles/_0x2f__0x2f_TODO_0x3a__Uncomment_Later.aspx

Definition at line 25 of file Watchdog.h.

Constructor & Destructor Documentation

Watchdog::Watchdog ( )

The Watchdog is born.

Definition at line 14 of file Watchdog.cpp.

Watchdog::~Watchdog ( )

virtual

Time to bury him in the back yard.

Definition at line 27 of file Watchdog.cpp.

Member Function Documentation

bool Watchdog::Feed ( )

Throw the dog a bone.

When everything is going well, you feed your dog when you get home. Let's hope you don't drive your car off a bridge on the way home... Your dog won't get fed and he will starve to death.

By the way, it's not cool to ask the neighbor (some random task) to feed your dog for you. He's your responsibility!

Returns: Returns the previous state of the watchdog before feeding it.

Definition at line 46 of file Watchdog.cpp.

bool Watchdog::GetEnabled ( )

Find out if the watchdog is currently enabled or disabled (mortal or immortal).

Returns: Enabled or disabled.

Definition at line 111 of file Watchdog.cpp.

double Watchdog::GetExpiration ( )

Read what the current expiration is.

Returns: The number of seconds before starvation following a meal (watchdog starves if it doesn't eat this often).

Definition at line 86 of file Watchdog.cpp.

double Watchdog::GetTimer ( )

Read how long it has been since the watchdog was last fed.

Returns: The number of seconds since last meal.

Definition at line 73 of file Watchdog.cpp.

bool Watchdog::IsAlive ( )

Check in on the watchdog and make sure he's still kicking.

This indicates that your watchdog is allowing the system to operate. It is still possible that the network communications is not allowing the system to run, but you can check this to make sure it's not your fault. Check IsSystemActive() for overall system status.

If the watchdog is disabled, then your watchdog is immortal.

Returns: Is the watchdog still alive?

Definition at line 150 of file Watchdog.cpp.

bool Watchdog::IsSystemActive ( )

Check on the overall status of the system.

Returns: Is the system active (i.e. PWM motor outputs, etc. enabled)?

Definition at line 163 of file Watchdog.cpp.

void Watchdog::Kill ( )

Put the watchdog out of its misery.

Don't wait for your dying robot to starve when there is a problem. Kill it quickly, cleanly, and humanely.

Definition at line 61 of file Watchdog.cpp.

void Watchdog::SetEnabled ( bool enabled )

Enable or disable the watchdog timer.

When enabled, you must keep feeding the watchdog timer to keep the watchdog active, and hence the dangerous parts (motor outputs, etc.) can keep functioning. When disabled, the watchdog is immortal and will remain active even without being fed. It will also ignore any kill commands while disabled.

Parameters

enabled Enable or disable the watchdog.

Definition at line 131 of file Watchdog.cpp.

void Watchdog::SetExpiration ( double expiration )

Configure how many seconds your watchdog can be neglected before it starves to death.

Parameters

expiration The number of seconds before starvation following a meal (watchdog starves if it doesn't eat this often).

Definition at line 99 of file Watchdog.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation