commit bb227f85edcd214d6193ad07a79224626118018b
author Austin Schuh <austin@peloton-tech.com> Sun Sep 06 15:27:52 2015 -0700
committer Brian Silverman <brians> Tue Sep 08 15:46:17 2015 -0400
tree b0b46379560c64d5121e60ba423610fd9f9a1959
parent 3590d190bbc5d37dd7b30c566cbe06fe122c20dd

Added cangrabber auto.

Change-Id: I67c2b363df5fc3e431acf0cfd56c9537bb89804b

frc971/wpilib/loop_output_handler.cc

diff --git a/frc971/wpilib/loop_output_handler.cc b/frc971/wpilib/loop_output_handler.cc
index cb5e4ec..658b064 100644
--- a/frc971/wpilib/loop_output_handler.cc
+++ b/frc971/wpilib/loop_output_handler.cc
@@ -11,9 +11,8 @@
 namespace frc971 {
 namespace wpilib {
 
-constexpr ::aos::time::Time LoopOutputHandler::kStopTimeout;
-
-LoopOutputHandler::LoopOutputHandler() : watchdog_(this) {}
+LoopOutputHandler::LoopOutputHandler(const ::aos::time::Time &timeout)
+    : watchdog_(this, timeout) {}
 
 void LoopOutputHandler::operator()() {
   ::aos::SetCurrentThreadName("OutputHandler");
@@ -44,8 +43,10 @@
   watchdog_thread.join();
 }
 
-LoopOutputHandler::Watchdog::Watchdog(LoopOutputHandler *handler)
+LoopOutputHandler::Watchdog::Watchdog(LoopOutputHandler *handler,
+                                      const ::aos::time::Time &timeout)
     : handler_(handler),
+      timeout_(timeout),
       timerfd_(timerfd_create(::aos::time::Time::kDefaultClock, 0)) {
   if (timerfd_.get() == -1) {
     PLOG(FATAL, "timerfd_create(Time::kDefaultClock, 0)");
@@ -64,7 +65,7 @@
 
 void LoopOutputHandler::Watchdog::Reset() {
   itimerspec value = itimerspec();
-  value.it_value = kStopTimeout.ToTimespec();
+  value.it_value = timeout_.ToTimespec();
   PCHECK(timerfd_settime(timerfd_.get(), 0, &value, nullptr));
 }
 

frc971/wpilib/loop_output_handler.h

diff --git a/frc971/wpilib/loop_output_handler.h b/frc971/wpilib/loop_output_handler.h
index fe32763..d7b6283 100644
--- a/frc971/wpilib/loop_output_handler.h
+++ b/frc971/wpilib/loop_output_handler.h
@@ -20,7 +20,8 @@
 // loops writing values until Quit() is called.
 class LoopOutputHandler {
  public:
-  LoopOutputHandler();
+  LoopOutputHandler(
+      const ::aos::time::Time &timeout = ::aos::time::Time::InSeconds(0.10));
 
   void Quit() { run_ = false; }
 
@@ -52,7 +53,7 @@
   // LoopOutputHandler whenever the timerfd expires.
   class Watchdog {
    public:
-    Watchdog(LoopOutputHandler *handler);
+    Watchdog(LoopOutputHandler *handler, const ::aos::time::Time &timeout);
 
     void operator()();
 
@@ -63,14 +64,13 @@
    private:
     LoopOutputHandler *const handler_;
 
+    const ::aos::time::Time timeout_;
+
     ::aos::ScopedFD timerfd_;
 
     ::std::atomic<bool> run_{true};
   };
 
-  static constexpr ::aos::time::Time kStopTimeout =
-      ::aos::time::Time::InSeconds(0.02);
-
   Watchdog watchdog_;
 
   ::std::atomic<bool> run_{true};