Watchdog
- class wpilib.Watchdog(timeout: wpimath.units.seconds, callback: collections.abc.Callable[[], None])
Bases:
pybind11_objectA 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.
Watchdog constructor.
- Parameters:
timeout – The watchdog’s timeout in seconds with microsecond resolution.
callback – This function is called when the timeout expires.
- addEpoch(epochName: str) None
Adds time since last epoch to the list printed by PrintEpochs().
Epochs are a way to partition the time elapsed so that when overruns occur, one can determine which parts of an operation consumed the most time.
- Parameters:
epochName – The name to associate with the epoch.
- disable() None
Disables the watchdog timer.
- enable() None
Enables the watchdog timer.
- getTime() wpimath.units.seconds
Returns the time since the watchdog was last fed.
- getTimeout() wpimath.units.seconds
Returns the watchdog’s timeout.
- isExpired() bool
Returns true if the watchdog timer has expired.
- printEpochs() None
Prints list of epochs added so far and their times.
- reset() None
Resets the watchdog timer.
This also enables the timer if it was previously disabled.
- setTimeout(timeout: wpimath.units.seconds) None
Sets the watchdog’s timeout.
- Parameters:
timeout – The watchdog’s timeout in seconds with microsecond resolution.
- suppressTimeoutMessage(suppress: bool) None
Enable or disable suppression of the generic timeout message.
This may be desirable if the user-provided callback already prints a more specific message.
- Parameters:
suppress – Whether to suppress generic timeout message.