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Removed dependencies on pthread from frcsim.

Browse Source 
Because we want to be able to compile/run wpilibC++Sim on
windows, we would prefer not to require a windows version
of pthread. This commit moves from pthread constructs to
standard library constructs.

Change-Id: I12392a8910189537dd067afdf017e4994d570a66
This commit is contained in:
James Kuszmaul
2015-07-02 14:33:24 -04:00
parent 3f59f3472a
commit 5712565068
17 changed files with 91 additions and 95 deletions
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20
wpilibc/wpilibC++Sim/src/Timer.cpp
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@@ -13,11 +13,11 @@
/**
* Pause the task for a specified time.
*
*
* Pause the execution of the program for a specified period of time given in seconds.
* Motors will continue to run at their last assigned values, and sensors will continue to
* update. Only the task containing the wait will pause until the wait time is expired.
*
*
* @param seconds Length of time to pause, in seconds.
*/
void Wait(double seconds)
@@ -25,10 +25,10 @@ void Wait(double seconds)
if (seconds < 0.0) return;
double start = wpilib::internal::simTime;
while ((wpilib::internal::simTime - start) < seconds) {
takeMultiWait(wpilib::internal::time_wait,
wpilib::internal::time_wait_mutex, 0);
::std::unique_lock<::std::mutex> lock(wpilib::internal::time_wait_mutex);
wpilib::internal::time_wait.wait(lock);
}
}
@@ -53,7 +53,7 @@ double GetTime()
/**
* Create a new timer object.
*
*
* Create a new timer object and reset the time to zero. The timer is initially not running and
* must be started.
*/
@@ -71,7 +71,7 @@ Timer::Timer()
* Get the current time from the timer. If the clock is running it is derived from
* the current system clock the start time stored in the timer class. If the clock
* is not running, then return the time when it was last stopped.
*
*
* @return unsigned Current time value for this timer in seconds
*/
double Timer::Get() const
@@ -96,7 +96,7 @@ double Timer::Get() const
/**
* Reset the timer by setting the time to 0.
*
*
* Make the timer startTime the current time so new requests will be relative to now
*/
void Timer::Reset()
@@ -162,7 +162,7 @@ bool Timer::HasPeriodPassed(double period)
/*
* Return the FPGA system clock time in seconds.
*
*
* Return the time from the FPGA hardware clock in seconds since the FPGA
* started.
* Rolls over after 71 minutes.
@@ -198,7 +198,7 @@ namespace wpilib { namespace internal {
void time_callback(const msgs::ConstFloat64Ptr &msg) {
simTime = msg->data();
giveMultiWait(time_wait);
time_wait.notify_all();
}
transport::SubscriberPtr time_pub = MainNode::Subscribe("~/time", &time_callback);