RoboBuggy

/* Watchdog Library. Woof! woof!

 *         Cats beware! Meow.

 * 

 * The watchdog library checks everytime its called how long time has passed

 * between change in signals. If the time passed between signals is more than

 * the threshold initialized in the begining, it enters the fail case. In the case

 * of buggy, it drops the brakes. 

 * 

 * The watchdog can be fed, preferably with a bone, everytime a signal is made. 

 * ie. rc_available is true. If the dog has been fed recently, then the time last fed

 * is reset to the current time. 

 *

 * @author: Audrey Yeoh (ayeoh)

 * 

 */

#include <Arduino.h>

#include "watchdog.h" 

static fail_function_ptr fail_mode = NULL;

static unsigned long time;

static int thresh;

/* Initializes the watchdog.

 * Sets the threshold of the maximum time to wait for a new signal

 * Sets the fail case function if the time passed between signals is more

 * than the threshold. 

 */

void watchdog_init(int timeThresh, fail_function_ptr f ){

        thresh = timeThresh;

        fail_mode = f;

        time = 0;

}

void watchdog_feed(){

        time = millis();

}

void watchdog_loop(){

        if(millis() - time > thresh){

                fail_mode();

        }

}