When connected to the real field, this number only changes in full integer + * increments, and always counts down. + * + *
When the DS is in practice mode, this number is a floating point number, + * and counts down. + * + *
When the DS is in teleop or autonomous mode, this number is a floating + * point number, and counts up. + * + *
Simulation matches DS behavior without an FMS connected. * * @param[out] status the error code, or 0 for success - * @return time remaining in current match period (auto or teleop) + * @return Time remaining in current match period (auto or teleop) in seconds */ double HAL_GetMatchTime(int32_t* status); diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp index eb737dee75..8f80427d22 100644 --- a/wpilibc/src/main/native/cpp/DriverStation.cpp +++ b/wpilibc/src/main/native/cpp/DriverStation.cpp @@ -582,9 +582,9 @@ bool DriverStation::WaitForDsConnection(units::second_t timeout) { return result; } -double DriverStation::GetMatchTime() { +units::second_t DriverStation::GetMatchTime() { int32_t status = 0; - return HAL_GetMatchTime(&status); + return units::second_t{HAL_GetMatchTime(&status)}; } double DriverStation::GetBatteryVoltage() { diff --git a/wpilibc/src/main/native/cpp/Timer.cpp b/wpilibc/src/main/native/cpp/Timer.cpp index bf60021918..dfad62071b 100644 --- a/wpilibc/src/main/native/cpp/Timer.cpp +++ b/wpilibc/src/main/native/cpp/Timer.cpp @@ -90,5 +90,5 @@ units::second_t Timer::GetFPGATimestamp() { } units::second_t Timer::GetMatchTime() { - return units::second_t{frc::DriverStation::GetMatchTime()}; + return frc::DriverStation::GetMatchTime(); } diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h index 50181cefc9..ea568a722f 100644 --- a/wpilibc/src/main/native/include/frc/DriverStation.h +++ b/wpilibc/src/main/native/include/frc/DriverStation.h @@ -306,21 +306,26 @@ class DriverStation final { static bool WaitForDsConnection(units::second_t timeout); /** - * Return the approximate match time. - * - * The FMS does not send an official match time to the robots, but does send - * an approximate match time. The value will count down the time remaining in - * the current period (auto or teleop). - * + * Return the approximate match time. The FMS does not send an official match + * time to the robots, but does send an approximate match time. The value will + * count down the time remaining in the current period (auto or teleop). * Warning: This is not an official time (so it cannot be used to dispute ref * calls or guarantee that a function will trigger before the match ends). * - * The Practice Match function of the DS approximates the behavior seen on - * the field. + *
When connected to the real field, this number only changes in full + * integer increments, and always counts down. * - * @return Time remaining in current match period (auto or teleop) + *
When the DS is in practice mode, this number is a floating point number, + * and counts down. + * + *
When the DS is in teleop or autonomous mode, this number is a floating + * point number, and counts up. + * + *
Simulation matches DS behavior without an FMS connected. + * + * @return Time remaining in current match period (auto or teleop) in seconds */ - static double GetMatchTime(); + static units::second_t GetMatchTime(); /** * Read the battery voltage. diff --git a/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp index 55c94ac2db..22b77db441 100644 --- a/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp @@ -230,7 +230,7 @@ TEST(DriverStationTest, MatchTime) { DriverStationSim::SetMatchTime(kTestTime); frc::sim::DriverStationSim::NotifyNewData(); EXPECT_EQ(kTestTime, DriverStationSim::GetMatchTime()); - EXPECT_EQ(kTestTime, DriverStation::GetMatchTime()); + EXPECT_EQ(kTestTime, DriverStation::GetMatchTime().value()); EXPECT_TRUE(callback.WasTriggered()); EXPECT_EQ(kTestTime, callback.GetLastValue()); } diff --git a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp index fa43e98d8d..e95a0d7745 100644 --- a/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp @@ -19,7 +19,7 @@ void Robot::RobotPeriodic() { // pull alert port high if match time remaining is between 30 and 25 seconds auto matchTime = frc::DriverStation::GetMatchTime(); - m_alertOutput.Set(matchTime <= 30 && matchTime >= 25); + m_alertOutput.Set(matchTime <= 30_s && matchTime >= 25_s); } #ifndef RUNNING_FRC_TESTS diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java index fbcb2661cd..ce3a3e0a6a 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java @@ -1183,8 +1183,17 @@ public final class DriverStation { * Return the approximate match time. The FMS does not send an official match time to the robots, * but does send an approximate match time. The value will count down the time remaining in the * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to - * dispute ref calls or guarantee that a function will trigger before the match ends) The Practice - * Match function of the DS approximates the behavior seen on the field. + * dispute ref calls or guarantee that a function will trigger before the match ends). + * + *
When connected to the real field, this number only changes in full integer increments, and + * always counts down. + * + *
When the DS is in practice mode, this number is a floating point number, and counts down. + * + *
When the DS is in teleop or autonomous mode, this number is a floating point number, and + * counts up. + * + *
Simulation matches DS behavior without an FMS connected. * * @return Time remaining in current match period (auto or teleop) in seconds */