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Add frc2::Timer (#1968)

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This is a unit-safe version of frc::Timer.
Undo previous (#1815) deprecation of parts of frc::Timer.
This commit is contained in:
Oblarg
2019-10-26 11:21:40 -04:00
committed by Peter Johnson
parent 36ea865edc
commit 73a30182c3
5 changed files with 293 additions and 122 deletions
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27
wpilibc/src/main/native/include/frc/Timer.h
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@@ -12,11 +12,10 @@
#include <wpi/mutex.h>
#include "frc/Base.h"
#include "frc2/Timer.h"
namespace frc {
using TimerInterruptHandler = void (*)(void* param);
/**
* Pause the task for a specified time.
*
@@ -57,10 +56,10 @@ class Timer {
virtual ~Timer() = default;
Timer(const Timer& rhs);
Timer& operator=(const Timer& rhs);
Timer(Timer&& rhs);
Timer& operator=(Timer&& rhs);
Timer(const Timer& rhs) = default;
Timer& operator=(const Timer& rhs) = default;
Timer(Timer&& rhs) = default;
Timer& operator=(Timer&& rhs) = default;
/**
* Get the current time from the timer. If the clock is running it is derived
@@ -104,19 +103,8 @@ class Timer {
* @param period The period to check for (in seconds).
* @return True if the period has passed.
*/
WPI_DEPRECATED("Use unit-safe HasPeriodPassed method instead.")
bool HasPeriodPassed(double period);
/**
* Check if the period specified has passed and if it has, advance the start
* time by that period. This is useful to decide if it's time to do periodic
* work without drifting later by the time it took to get around to checking.
*
* @param period The period to check for.
* @return True if the period has passed.
*/
bool HasPeriodPassed(units::second_t period);
/**
* Return the FPGA system clock time in seconds.
*
@@ -148,10 +136,7 @@ class Timer {
static const double kRolloverTime;
private:
double m_startTime = 0.0;
double m_accumulatedTime = 0.0;
bool m_running = false;
mutable wpi::mutex m_mutex;
frc2::Timer m_timer;
};
} // namespace frc