WATCHDOG(9)

💖 WATCHDOG(9) 💖

okay bestie, this is a HAL Component manual page and it's lowkey one of the most important ones, so lock in 🫶

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✨ NAME ✨

watchdog — monitor multiple inputs for a "heartbeat"

it's giving "are you still alive??" energy, but for your machine 💅

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🌸 SYNOPSIS 🌸

loadrt watchdog num_inputs=N

you must specify the number of inputs, and it's gotta be from 1 to 32. no more, no less. each input gets its own separate timeout value, so they're all living their own independent lives fr fr 🌈

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🎀 FUNCTIONS 🎀

• process — checks all the input pins for transitions, and clears ok-out if any input has had no transition within its timeout period. this one does not use floating point, so you should add it to a fast thread. speedy queen behavior 🔥
• set-timeouts — checks for timeout changes, and converts the float timeout inputs into int values that process can actually use. this function also monitors enable-in for false to true transitions, and re-enables monitoring when it catches one of those transitions. heads up: this one does use floating point, so it's appropriate to add it to the servo thread ⭐

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🦋 PINS 🦋

• watchdog.input-n bit in — input number n. the inputs are numbered from 0 to num_inputs-1. yes bestie, zero-indexed, it's iconic like that 💜
• watchdog.enable-in bit in (default: FALSE) — if TRUE, forces out-ok to be false. also, if a timeout occurs on any input, this pin must be set FALSE and then TRUE again to re-start the monitoring of input pins. so like, you have to actually toggle it, no cap 😭
• watchdog.ok-out bit out (default: FALSE) — the OK output. this pin is true only if enable-in is TRUE and no timeout has been detected. you can connect this output to the enable input of a charge_pump or stepgen (in v mode), to provide a heartbeat signal to external monitoring hardware 🫶 main character output fr

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💅 PARAMETERS 💅

• watchdog.timeout-n float in — timeout value for input number n. the inputs are numbered from 0 to num_inputs-1. the timeout is in seconds, and it may not be below zero.

⚠️ note that a timeout of 0.0 will likely prevent ok-out from ever becoming true. also note that excessively long timeouts are relatively useless for monitoring purposes. like, why even have a watchdog at that point bestie 💀

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👑 LICENSE 👑

GPL

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and that's the whole vibe 💖 this page is from the LinuxCNC Documentation, dated 2010-06-22, and the manual is WATCHDOG(9) — a certified classic, no notes, obsessed 🎀✨