allwpilib/hal/lib/Athena/Utilities.cpp

#include "HAL/Utilities.hpp"
#include <time.h>

const int32_t HAL_NO_WAIT = 0;
const int32_t HAL_WAIT_FOREVER = -1;

void delayTicks(int32_t ticks)
{
	struct timespec test, remaining;
	test.tv_sec = 0;
	test.tv_nsec = ticks * 3;
	nanosleep(&test, &remaining);
}

void delayMillis(double ms)
{
	struct timespec test, remaining;
	test.tv_sec = ms / 1000;
	test.tv_nsec = 1000 * (((uint64_t)ms) % 1000000);
	nanosleep(&test, &remaining);
}

void delaySeconds(double s)
{
	struct timespec test, remaining;
	test.tv_sec = (int)s;
	test.tv_nsec = (s - (int)s) * 1000000000.0;
	nanosleep(&test, &remaining);
}