Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add simulation pause/resume/step support

Browse Source 
Calling HALSIM_PauseTiming pauses the FPGA clock and notifiers.
Calling HALSIM_ResumeTiming resumes the FPGA clock and notifiers.
Calling HALSIM_StepTiming steps the FPGA clock and runs applicable notifiers.

This will effectively pause TimedRobot and any other notifier-based events,
but of course will not pause user threads that do not use the notifier (e.g.
image processing).
This commit is contained in:
Peter Johnson
2019-11-10 20:54:25 -08:00
parent f5446c7409
commit c5a0497124
8 changed files with 162 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
hal/src/main/native/sim/MockHooks.cpp
View File

@@ -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. */
@@ -13,10 +13,12 @@
#include <wpi/timestamp.h>
#include "MockHooksInternal.h"
#include "NotifierInternal.h"
static std::atomic<bool> programStarted{false};
static std::atomic<uint64_t> programStartTime{0};
static std::atomic<uint64_t> programPauseTime{0};
namespace hal {
namespace init {
@@ -25,12 +27,32 @@ void InitializeMockHooks() {}
} // namespace hal
namespace hal {
void RestartTiming() { programStartTime = wpi::Now(); }
void RestartTiming() {
programStartTime = wpi::Now();
if (programPauseTime != 0) programPauseTime = programStartTime.load();
}
void PauseTiming() {
if (programPauseTime == 0) programPauseTime = wpi::Now();
}
void ResumeTiming() {
if (programPauseTime != 0) {
programStartTime += wpi::Now() - programPauseTime;
programPauseTime = 0;
}
}
bool IsTimingPaused() { return programPauseTime != 0; }
void StepTiming(uint64_t delta) {
if (programPauseTime != 0) programPauseTime += delta;
}
int64_t GetFPGATime() {
auto now = wpi::Now();
auto currentTime = now - programStartTime;
return currentTime;
uint64_t curTime = programPauseTime;
if (curTime == 0) curTime = wpi::Now();
return curTime - programStartTime;
}
double GetFPGATimestamp() { return GetFPGATime() * 1.0e-6; }
@@ -56,4 +78,21 @@ void HALSIM_SetProgramStarted(void) { SetProgramStarted(); }
HAL_Bool HALSIM_GetProgramStarted(void) { return GetProgramStarted(); }
void HALSIM_RestartTiming(void) { RestartTiming(); }
void HALSIM_PauseTiming(void) {
PauseTiming();
PauseNotifiers();
}
void HALSIM_ResumeTiming(void) {
ResumeTiming();
ResumeNotifiers();
}
HAL_Bool HALSIM_IsTimingPaused(void) { return IsTimingPaused(); }
void HALSIM_StepTiming(uint64_t delta) {
StepTiming(delta);
WakeupNotifiers();
}
} // extern "C"