Python SwerveWithPathPlanner and Tuner X code execution takes too long

[martinrioux]

The code example SwerveWithPathPlanner and also the similar code generated by Phoenix Tuner X generates the error: Watchdog not fed within 20.000000s Main at <no python frames> at + 0x35468 [0xb4d66468]

Here is an example log

[22.02] ********** Robot program startup complete **********
[22.12] 16 Warning: Watchdog not fed within 0.020000s Main      at <no python frames>
        at  + 0x35468 [0xb4c99468]

[22.12] Warning at Main: Warning: Watchdog not fed within 0.020000s
[22.13]         at <no python frames>
[22.14]         at  + 0x35468 [0xb4c99468]
[22.14]
[22.14]
[22.15] -111 Error: Loop time of 0.020000s overrun PrintLoopOverrunMessage      at <no python frames>
        at  + 0x35468 [0xb4c99468]

[22.15] Error at PrintLoopOverrunMessage: Error: Loop time of 0.020000s overrun
[22.16]         at <no python frames>
[22.16]         at  + 0x35468 [0xb4c99468]
[22.16]
[22.16]
[22.18] 16 Warning:     DisabledPeriodic(): 0.000204s
        LiveWindow::UpdateValues(): 0.000000s
        RobotPeriodic(): 0.062272s
        Shuffleboard::Update(): 0.000018s
        SmartDashboard::UpdateValues(): 0.000075s
 PrintEpochs   File "/usr/local/lib/python3.14/site-packages/wpilib/_impl/start.py", line 247, in _start
    self.robot.startCompetition()

[22.18] Warning at PrintEpochs: Warning:        DisabledPeriodic(): 0.000204s
[22.19]         LiveWindow::UpdateValues(): 0.000000s
[22.19]         RobotPeriodic(): 0.062272s
[22.19]         Shuffleboard::Update(): 0.000018s
[22.19]         SmartDashboard::UpdateValues(): 0.000075s
[22.19]
[22.19]   File "/usr/local/lib/python3.14/site-packages/wpilib/_impl/start.py", line 247, in _start
[22.20]     self.robot.startCompetition()
[22.20] 
[22.20]
[22.22] 16 Warning: Watchdog not fed within 20.000000s Main     at <no python frames>
        at  + 0x35468 [0xb4c99468]

[22.22] Warning at Main: Warning: Watchdog not fed within 20.000000s
[22.22]         at <no python frames>
[22.22]         at  + 0x35468 [0xb4c99468]
[22.22]
[22.22]
[22.23] 16 Warning:     CommandSwerveDrivetrain.periodic(): 0.002838s
        buttons.run(): 0.002652s
 PrintEpochs   File "/usr/local/lib/python3.14/site-packages/wpilib/_impl/start.py", line 247, in _start
    self.robot.startCompetition()

  File "/usr/local/lib/python3.14/site-packages/commands2/commandscheduler.py", line 308, in run
    self._watchdog.printEpochs()

[22.23] Warning at PrintEpochs: Warning:        CommandSwerveDrivetrain.periodic(): 0.002838s
[22.23]         buttons.run(): 0.002652s
[22.23]
[22.23]   File "/usr/local/lib/python3.14/site-packages/wpilib/_impl/start.py", line 247, in _start
[22.23]     self.robot.startCompetition()
[22.23]
[22.23]   File "/usr/local/lib/python3.14/site-packages/commands2/commandscheduler.py", line 308, in run
[22.23]     self._watchdog.printEpochs()
[22.23]
[22.24]
[23.22] 16 Warning: Watchdog not fed within 0.020000s Main      at <no python frames>
        at  + 0x35468 [0xb4c99468]

[23.23] Warning at Main: Warning: Watchdog not fed within 0.020000s
[23.23]         at <no python frames>
[23.23] -111 Error: Loop time of 0.020000s overrun PrintLoopOverrunMessage      at <no python frames>
        at  + 0x35468 [0xb4c99468]

[23.23]         at  + 0x35468 [0xb4c99468]
[23.23]
[23.23]
[23.23] Error at PrintLoopOverrunMessage: Error: Loop time of 0.020000s overrun
[23.23]         at <no python frames>
[23.23]         at  + 0x35468 [0xb4c99468]
[23.23]
[23.23]
[23.24] 16 Warning:     DisabledPeriodic(): 0.007235s
        LiveWindow::UpdateValues(): 0.000018s
        RobotPeriodic(): 0.020479s
        Shuffleboard::Update(): 0.000000s
        SmartDashboard::UpdateValues(): 0.000056s
 PrintEpochs   File "/usr/local/lib/python3.14/site-packages/wpilib/_impl/start.py", line 247, in _start
    self.robot.startCompetition()

[23.24] Warning at PrintEpochs: Warning:        DisabledPeriodic(): 0.007235s
[23.24]         LiveWindow::UpdateValues(): 0.000018s
[23.24]         RobotPeriodic(): 0.020479s
[23.24]         Shuffleboard::Update(): 0.000000s
[23.24]         SmartDashboard::UpdateValues(): 0.000056s
[23.24]
[23.24]   File "/usr/local/lib/python3.14/site-packages/wpilib/_impl/start.py", line 247, in _start
[23.24]     self.robot.startCompetition()
[23.24]
[23.25]
[23.38] 16 Warning: Watchdog not fed within 20.000000s Main     at <no python frames>
        at  + 0x35468 [0xb4c99468]

[23.38] Warning at Main: Warning: Watchdog not fed within 20.000000s
[23.38]         at <no python frames>
[23.38]         at  + 0x35468 [0xb4c99468]
[23.38]
[23.38]
[23.39] 16 Warning:     CommandSwerveDrivetrain.periodic(): 0.000593s
        buttons.run(): 0.011446s
 PrintEpochs   File "/usr/local/lib/python3.14/site-packages/wpilib/_impl/start.py", line 247, in _start
    self.robot.startCompetition()

  File "/usr/local/lib/python3.14/site-packages/commands2/commandscheduler.py", line 308, in run
    self._watchdog.printEpochs()

Also (might be related?), running the tests or in simulation, we get this error for the various swerve drive devices:
CAN message is stale, data is valid but old. Check the CAN bus wiring, CAN bus utilization, and power to the device.