Function verify_watchdog

pub fn verify_watchdog(
    slave_number: u32,
    data: &mut [u8],
    watchdog_timeout_ms: u32,
    watchdog_counter: u8,
    slave_watchdog_control_offsets: &Vec<Vec<Range<usize>>>,
    slave_watchdog_status_offsets: &Vec<Vec<Range<usize>>>,
    slave_watchdog_timestamps: &mut Vec<Instant>,
    slave_is_watchdog_responding: &mut Vec<bool>,
    slave_previous_watchdog_counter: &mut Vec<u8>,
    slave_name_from_id: &impl Fn(u16) -> String,
) -> bool

verify the watchdog of the slaves verify that the slaves are still writing checking if the watchdog counter is the same as the previous cycle

• if the counter is the same, check for how long has it been the same
  • if it is the same for more than 1s the slave is considered not responding
• if the counter is different, update the timestamp
• write the watchdog counter to the controlword

Arguments

• slave_number - The number of slaves
• data - The domain data
• watchdog_timeout_ms - The timeout for the watchdog in milliseconds
• watchdog_counter - The watchdog counter to be written
• slave_watchdog_control_offsets - The controlword offsets for each slave
• slave_watchdog_status_offsets - The statusword offsets for each slave
• slave_watchdog_timestamps - The timestamps of the last watchdog update for each slave
• slave_is_watchdog_responding - The flag to check if each slave is responding
• slave_previous_watchdog_counter - The buffer to store the previous watchdog counter for each slave
• slave_name_from_id - A function to get the slave name from the id

Returns

• bool - The flag to check if all the slaves are responding