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[wpilibj] Add TimedRobot.addPeriodic() measure overloads (#6654)

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Wispy
2024-05-24 18:02:36 -05:00
committed by GitHub
parent 652c721895
commit 8c107e4b75
1 changed files with 32 additions and 0 deletions
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32
wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
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@@ -4,11 +4,15 @@
package edu.wpi.first.wpilibj;
import static edu.wpi.first.units.Units.Seconds;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.NotifierJNI;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Time;
import java.util.PriorityQueue;
/**
@@ -178,4 +182,32 @@ public class TimedRobot extends IterativeRobotBase {
public final void addPeriodic(Runnable callback, double periodSeconds, double offsetSeconds) {
m_callbacks.add(new Callback(callback, m_startTime, periodSeconds, offsetSeconds));
}
/**
* Add a callback to run at a specific period.
*
* <p>This is scheduled on TimedRobot's Notifier, so TimedRobot and the callback run
* synchronously. Interactions between them are thread-safe.
*
* @param callback The callback to run.
* @param period The period at which to run the callback.
*/
public final void addPeriodic(Runnable callback, Measure<Time> period) {
addPeriodic(callback, period.in(Seconds));
}
/**
* Add a callback to run at a specific period with a starting time offset.
*
* <p>This is scheduled on TimedRobot's Notifier, so TimedRobot and the callback run
* synchronously. Interactions between them are thread-safe.
*
* @param callback The callback to run.
* @param period The period at which to run the callback.
* @param offset The offset from the common starting time. This is useful for scheduling a
* callback in a different timeslot relative to TimedRobot.
*/
public final void addPeriodic(Runnable callback, Measure<Time> period, Measure<Time> offset) {
addPeriodic(callback, period.in(Seconds), offset.in(Seconds));
}
}