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[wpilib] Add timestamp getters with configurable time base (#7378)

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This commit is contained in:
Jonah Bonner
2024-11-16 10:43:38 -05:00
committed by GitHub
parent 91142ba5fe
commit ca51197486
27 changed files with 180 additions and 53 deletions
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13
wpilibc/src/main/native/cpp/RobotController.cpp
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@@ -4,6 +4,7 @@
#include "frc/RobotController.h"
#include <functional>
#include <string>
#include <hal/CAN.h>
@@ -15,6 +16,10 @@
using namespace frc;
std::function<uint64_t()> RobotController::m_timeSource = [] {
return RobotController::GetFPGATime();
};
int RobotController::GetFPGAVersion() {
int32_t status = 0;
int version = HAL_GetFPGAVersion(&status);
@@ -49,6 +54,14 @@ int32_t RobotController::GetTeamNumber() {
return HAL_GetTeamNumber();
}
void RobotController::SetTimeSource(std::function<uint64_t()> supplier) {
m_timeSource = supplier;
}
uint64_t RobotController::GetTime() {
return m_timeSource();
}
uint64_t RobotController::GetFPGATime() {
int32_t status = 0;
uint64_t time = HAL_GetFPGATime(&status);