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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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12
wpilibc/src/main/native/include/frc/TimedRobot.h
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@@ -56,6 +56,17 @@ class TimedRobot : public IterativeRobotBase {
~TimedRobot() override;
/**
* Return the system clock time in micrseconds for the start of the current
* periodic loop. This is in the same time base as Timer.GetFPGATimestamp(),
* but is stable through a loop. It is updated at the beginning of every
* periodic callback (including the normal periodic loop).
*
* @return Robot running time in microseconds, as of the start of the current
* periodic function.
*/
uint64_t GetLoopStartTime();
/**
* Add a callback to run at a specific period with a starting time offset.
*
@@ -103,6 +114,7 @@ class TimedRobot : public IterativeRobotBase {
hal::Handle<HAL_NotifierHandle, HAL_CleanNotifier> m_notifier;
std::chrono::microseconds m_startTime;
uint64_t m_loopStartTimeUs = 0;
wpi::priority_queue<Callback, std::vector<Callback>, std::greater<Callback>>
m_callbacks;