Struct Watchdog 

pub struct Watchdog { /* private fields */ }

A deadman timer: it expires unless fed often enough, catching a stalled controller or link.

Autonomy assumes a stream of fresh commands. If that stream stops, because the controller hung or the radio dropped, the last command must not run forever. A watchdog counts the time since it was last fed and reports expiry once that exceeds its timeout; the caller feeds it each time a fresh command arrives. It accumulates a supplied dt rather than reading a clock, so it works the same on a microcontroller with no wall time.

Examples

use pamoja_kit::Watchdog;

let mut dog = Watchdog::new(0.5); // expire after 0.5 s of silence
dog.feed();
assert!(!dog.update(0.3)); // 0.3 s since feeding: still alive
assert!(dog.update(0.3)); // 0.6 s total: expired
dog.feed(); // a fresh command revives it
assert!(!dog.is_expired());

Implementations

impl Watchdog

pub fn new(timeout: f32) -> Self

Creates a watchdog that expires after timeout without being fed.

Arguments

• timeout - the allowed silence before expiry; its magnitude is used.

Returns

A freshly fed watchdog.

pub fn feed(&mut self)

Feeds the watchdog, resetting the silence timer.

pub fn update(&mut self, dt: f32) -> bool

Advances the timer by dt and returns whether it has expired.

Arguments

• dt - the time since the previous update; its magnitude is used.

Returns

true if the watchdog is now expired.

pub fn is_expired(&self) -> bool

Returns whether the watchdog is currently expired.

Returns

true if the time since feeding exceeds the timeout.

Trait Implementations

impl Clone for Watchdog

fn clone(&self) -> Watchdog

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Watchdog

impl Debug for Watchdog

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.