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Watchdog: use units::second_t instead of double (#1863)

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Fixes #1827.
This commit is contained in:
Tyler Veness
2019-09-03 15:58:31 -07:00
committed by Peter Johnson
parent 761bc3ef85
commit 7112add67f
7 changed files with 63 additions and 25 deletions
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2
wpilibc/src/main/native/include/frc/IterativeRobotBase.h
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@@ -161,7 +161,7 @@ class IterativeRobotBase : public RobotBase {
void LoopFunc();
double m_period;
units::second_t m_period;
private:
enum class Mode { kNone, kDisabled, kAutonomous, kTeleop, kTest };

2
wpilibc/src/main/native/include/frc/TimedRobot.h
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@@ -63,7 +63,7 @@ class TimedRobot : public IterativeRobotBase, public ErrorBase {
hal::Handle<HAL_NotifierHandle> m_notifier;
// The absolute expiration time
double m_expirationTime = 0;
units::second_t m_expirationTime{0};
/**
* Update the HAL alarm time.

32
wpilibc/src/main/native/include/frc/Watchdog.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,9 +12,11 @@
#include <utility>
#include <hal/cpp/fpga_clock.h>
#include <units/units.h>
#include <wpi/SafeThread.h>
#include <wpi/StringMap.h>
#include <wpi/StringRef.h>
#include <wpi/deprecated.h>
namespace frc {
@@ -36,10 +38,25 @@ class Watchdog {
* resolution.
* @param callback This function is called when the timeout expires.
*/
WPI_DEPRECATED("Use unit-safe version instead")
Watchdog(double timeout, std::function<void()> callback);
/**
* Watchdog constructor.
*
* @param timeout The watchdog's timeout in seconds with microsecond
* resolution.
* @param callback This function is called when the timeout expires.
*/
Watchdog(units::second_t timeout, std::function<void()> callback);
template <typename Callable, typename Arg, typename... Args>
WPI_DEPRECATED("Use unit-safe version instead")
Watchdog(double timeout, Callable&& f, Arg&& arg, Args&&... args)
: Watchdog(units::second_t{timeout}, arg, args...) {}
template <typename Callable, typename Arg, typename... Args>
Watchdog(units::second_t timeout, Callable&& f, Arg&& arg, Args&&... args)
: Watchdog(timeout,
std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
std::forward<Args>(args)...)) {}
@@ -60,8 +77,17 @@ class Watchdog {
* @param timeout The watchdog's timeout in seconds with microsecond
* resolution.
*/
WPI_DEPRECATED("Use unit-safe version instead")
void SetTimeout(double timeout);
/**
* Sets the watchdog's timeout.
*
* @param timeout The watchdog's timeout in seconds with microsecond
* resolution.
*/
void SetTimeout(units::second_t timeout);
/**
* Returns the watchdog's timeout in seconds.
*/
@@ -119,13 +145,13 @@ class Watchdog {
static constexpr std::chrono::milliseconds kMinPrintPeriod{1000};
hal::fpga_clock::time_point m_startTime;
std::chrono::microseconds m_timeout;
std::chrono::nanoseconds m_timeout;
hal::fpga_clock::time_point m_expirationTime;
std::function<void()> m_callback;
hal::fpga_clock::time_point m_lastTimeoutPrintTime = hal::fpga_clock::epoch();
hal::fpga_clock::time_point m_lastEpochsPrintTime = hal::fpga_clock::epoch();
wpi::StringMap<std::chrono::microseconds> m_epochs;
wpi::StringMap<std::chrono::nanoseconds> m_epochs;
bool m_isExpired = false;
bool m_suppressTimeoutMessage = false;