From 1bb8f4b5558c2ffb30f6cffd17f43641833b4d9b Mon Sep 17 00:00:00 2001
From: MEFThunders7035 <95276965+kytpbs@users.noreply.github.com>
Date: Sat, 4 May 2024 19:53:25 +0300
Subject: [PATCH] expose printWatchdogEpochs with string consumer

---
 .../edu/wpi/first/wpilibj2/command/CommandScheduler.java   | 4 ++++
 .../src/main/native/cpp/frc2/command/CommandScheduler.cpp  | 4 ++++
 .../main/native/include/frc2/command/CommandScheduler.h    | 7 +++++++
 wpilibc/src/main/native/cpp/Watchdog.cpp                   | 4 ++++
 wpilibc/src/main/native/include/frc/Watchdog.h             | 7 +++++++
 wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java  | 5 +++++
 6 files changed, 31 insertions(+)

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
index 9f040523d14..fba1056bb45 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -530,6 +530,10 @@ public void enable() {
     m_disabled = false;
   }
 
+  public void printWatchdogEpochs(Consumer<String> output) {
+    m_watchdog.printEpochs(output);
+  }
+
   /**
    * Adds an action to perform on the initialization of any command by the scheduler.
    *
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index efeee4e6449..fd9b96962cb 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -428,6 +428,10 @@ void CommandScheduler::Enable() {
   m_impl->disabled = false;
 }
 
+void CommandScheduler::PrintWatchdogEpochs(wpi::raw_ostream& os) {
+  m_watchdog.PrintEpochs(os);
+}
+
 void CommandScheduler::OnCommandInitialize(Action action) {
   m_impl->initActions.emplace_back(std::move(action));
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
index 1f8d74297ad..046d5318a2d 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -333,6 +333,13 @@ class CommandScheduler final : public wpi::Sendable,
    */
   void Enable();
 
+  /**
+   * Prints list of epochs added so far and their times to a stream.
+   *
+   * @param os output stream
+   */
+  void PrintWatchdogEpochs(wpi::raw_ostream& os);
+
   /**
    * Adds an action to perform on the initialization of any command by the
    * scheduler.
diff --git a/wpilibc/src/main/native/cpp/Watchdog.cpp b/wpilibc/src/main/native/cpp/Watchdog.cpp
index 37e253616e9..e0dfcda5713 100644
--- a/wpilibc/src/main/native/cpp/Watchdog.cpp
+++ b/wpilibc/src/main/native/cpp/Watchdog.cpp
@@ -200,6 +200,10 @@ void Watchdog::PrintEpochs() {
   m_tracer.PrintEpochs();
 }
 
+void Watchdog::PrintEpochs(wpi::raw_ostream& os) {
+  m_tracer.PrintEpochs(os);
+}
+
 void Watchdog::Reset() {
   Enable();
 }
diff --git a/wpilibc/src/main/native/include/frc/Watchdog.h b/wpilibc/src/main/native/include/frc/Watchdog.h
index d85674d8c6f..91c0bd7247a 100644
--- a/wpilibc/src/main/native/include/frc/Watchdog.h
+++ b/wpilibc/src/main/native/include/frc/Watchdog.h
@@ -83,6 +83,13 @@ class Watchdog {
    */
   void PrintEpochs();
 
+  /**
+   * Prints list of epochs added so far and their times to a stream.
+   *
+   * @param os output stream
+   */
+  void PrintEpochs(wpi::raw_ostream& os);
+
   /**
    * Resets the watchdog timer.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
index e1860e38db3..d5bcc7cc71e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
@@ -8,6 +8,7 @@
 import java.io.Closeable;
 import java.util.PriorityQueue;
 import java.util.concurrent.locks.ReentrantLock;
+import java.util.function.Consumer;
 
 /**
  * A class that's a wrapper around a watchdog timer.
@@ -159,6 +160,10 @@ public void printEpochs() {
     m_tracer.printEpochs();
   }
 
+  public void printEpochs(Consumer<String> output) {
+    m_tracer.printEpochs(output);
+  }
+
   /**
    * Resets the watchdog timer.
    *