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wpilibc: Add overloads for units (#1815)

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Add unit-taking overloads to the following classes:
- IterativeRobotBase
- LinearFilter
- Notifier
- TimedRobot
- Timer (HasPeriodPassed only)
- frc2::PIDController

The corresponding non-units-taking functions have been deprecated.

The return value of TimedRobot::GetPeriod() was updated.
This is a breaking change, users should use to<double> to get the value in seconds.

Other return values, e.g. Timer::Get(), have NOT been updated due to much wider use.
This commit is contained in:
Prateek Machiraju
2019-08-17 00:56:48 -04:00
committed by Peter Johnson
parent f1d71da8a9
commit c07ac23532
15 changed files with 136 additions and 35 deletions
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15
wpilibc/src/main/native/cpp/TimedRobot.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 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. */
@@ -43,7 +43,9 @@ void TimedRobot::StartCompetition() {
}
}
double TimedRobot::GetPeriod() const { return m_period; }
units::second_t TimedRobot::GetPeriod() const {
return units::second_t(m_period);
}
TimedRobot::TimedRobot(double period) : IterativeRobotBase(period) {
int32_t status = 0;
@@ -54,6 +56,15 @@ TimedRobot::TimedRobot(double period) : IterativeRobotBase(period) {
HALUsageReporting::kFramework_Timed);
}
TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
HAL_Report(HALUsageReporting::kResourceType_Framework,
HALUsageReporting::kFramework_Timed);
}
TimedRobot::~TimedRobot() {
int32_t status = 0;