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[sim] Map wpi::Now() to simulated FPGA time (#2631)

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This matches on-robot behavior for things like NetworkTables timestamps.
This commit is contained in:
Peter Johnson
2020-08-06 23:03:42 -07:00
committed by GitHub
parent 77954bb3dd
commit ad817d4f23
2 changed files with 7 additions and 7 deletions
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12
hal/src/main/native/sim/MockHooks.cpp
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@@ -23,24 +23,24 @@ static std::atomic<uint64_t> programStepTime{0};
namespace hal {
namespace init {
void InitializeMockHooks() {}
void InitializeMockHooks() { wpi::SetNowImpl(GetFPGATime); }
} // namespace init
} // namespace hal
namespace hal {
void RestartTiming() {
programStartTime = wpi::Now();
programStartTime = wpi::NowDefault();
programStepTime = 0;
if (programPauseTime != 0) programPauseTime = programStartTime.load();
}
void PauseTiming() {
if (programPauseTime == 0) programPauseTime = wpi::Now();
if (programPauseTime == 0) programPauseTime = wpi::NowDefault();
}
void ResumeTiming() {
if (programPauseTime != 0) {
programStartTime += wpi::Now() - programPauseTime;
programStartTime += wpi::NowDefault() - programPauseTime;
programPauseTime = 0;
}
}
@@ -49,9 +49,9 @@ bool IsTimingPaused() { return programPauseTime != 0; }
void StepTiming(uint64_t delta) { programStepTime += delta; }
int64_t GetFPGATime() {
uint64_t GetFPGATime() {
uint64_t curTime = programPauseTime;
if (curTime == 0) curTime = wpi::Now();
if (curTime == 0) curTime = wpi::NowDefault();
return curTime + programStepTime - programStartTime;
}

2
hal/src/main/native/sim/MockHooksInternal.h
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@@ -22,7 +22,7 @@ bool IsTimingPaused();
void StepTiming(uint64_t delta);
int64_t GetFPGATime();
uint64_t GetFPGATime();
double GetFPGATimestamp();