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[sim] Support StepTiming() even when timing is not paused (#2558)

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This commit is contained in:
Peter Johnson
2020-06-29 21:52:23 -07:00
committed by GitHub
parent e08c8a1fc9
commit c6e6346642
1 changed files with 5 additions and 5 deletions
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10
hal/src/main/native/sim/MockHooks.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -19,6 +19,7 @@ static std::atomic<bool> programStarted{false};
static std::atomic<uint64_t> programStartTime{0};
static std::atomic<uint64_t> programPauseTime{0};
static std::atomic<uint64_t> programStepTime{0};
namespace hal {
namespace init {
@@ -29,6 +30,7 @@ void InitializeMockHooks() {}
namespace hal {
void RestartTiming() {
programStartTime = wpi::Now();
programStepTime = 0;
if (programPauseTime != 0) programPauseTime = programStartTime.load();
}
@@ -45,14 +47,12 @@ void ResumeTiming() {
bool IsTimingPaused() { return programPauseTime != 0; }
void StepTiming(uint64_t delta) {
if (programPauseTime != 0) programPauseTime += delta;
}
void StepTiming(uint64_t delta) { programStepTime += delta; }
int64_t GetFPGATime() {
uint64_t curTime = programPauseTime;
if (curTime == 0) curTime = wpi::Now();
return curTime - programStartTime;
return curTime + programStepTime - programStartTime;
}
double GetFPGATimestamp() { return GetFPGATime() * 1.0e-6; }