From 9778445a74068097f40462862b93a52f382d0970 Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Thu, 16 Jul 2020 22:15:59 -0700
Subject: [PATCH] [sim] Change stepTiming to take seconds (#2599)

This is consistent with other WPILib timer functions.
---
 wpilibc/src/main/native/cpp/simulation/SimHooks.cpp           | 4 +++-
 wpilibc/src/main/native/include/frc/simulation/SimHooks.h     | 3 ++-
 .../main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java  | 4 ++--
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp b/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
index 97c3aeac16..2fba6bc08d 100644
--- a/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
@@ -28,7 +28,9 @@ void ResumeTiming() { HALSIM_ResumeTiming(); }
 
 bool IsTimingPaused() { return HALSIM_IsTimingPaused(); }
 
-void StepTiming(uint64_t delta) { HALSIM_StepTiming(delta); }
+void StepTiming(units::second_t delta) {
+  HALSIM_StepTiming(static_cast<uint64_t>(delta.to<double>() * 1e6));
+}
 
 }  // namespace sim
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/simulation/SimHooks.h b/wpilibc/src/main/native/include/frc/simulation/SimHooks.h
index fa6aeeb71a..285068b7f8 100644
--- a/wpilibc/src/main/native/include/frc/simulation/SimHooks.h
+++ b/wpilibc/src/main/native/include/frc/simulation/SimHooks.h
@@ -10,6 +10,7 @@
 #include <stdint.h>
 
 #include <hal/HALBase.h>
+#include <units/time.h>
 
 namespace frc {
 namespace sim {
@@ -30,7 +31,7 @@ void ResumeTiming();
 
 bool IsTimingPaused();
 
-void StepTiming(uint64_t delta);
+void StepTiming(units::second_t delta);
 
 }  // namespace sim
 }  // namespace frc
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java
index 6097b47ca8..06a104f6ec 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java
@@ -45,7 +45,7 @@ public final class SimHooks {
     return SimulatorJNI.isTimingPaused();
   }
 
-  public static void stepTiming(long delta) {
-    SimulatorJNI.stepTiming(delta);
+  public static void stepTiming(double deltaSeconds) {
+    SimulatorJNI.stepTiming((long) (deltaSeconds * 1e6));
   }
 }