[wpilibc] Transition C++ classes to units::second_t (#3396)

A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -359,12 +359,13 @@ void CommandScheduler::CancelAll() {
   Cancel(commands);
 }
 
-double CommandScheduler::TimeSinceScheduled(const Command* command) const {
+units::second_t CommandScheduler::TimeSinceScheduled(
+    const Command* command) const {
   auto find = m_impl->scheduledCommands.find(command);
   if (find != m_impl->scheduledCommands.end()) {
     return find->second.TimeSinceInitialized();
   } else {
-    return -1;
+    return -1_s;
   }
 }
 bool CommandScheduler::IsScheduled(

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandState.cpp

@@ -16,9 +16,12 @@ CommandState::CommandState(bool interruptible)
 void CommandState::StartTiming() {
   m_startTime = frc::Timer::GetFPGATimestamp();
 }
+
 void CommandState::StartRunning() {
-  m_startTime = -1;
+  m_startTime = -1_s;
 }
-double CommandState::TimeSinceInitialized() const {
-  return m_startTime != -1 ? frc::Timer::GetFPGATimestamp() - m_startTime : -1;
+
+units::second_t CommandState::TimeSinceInitialized() const {
+  return m_startTime != -1_s ? frc::Timer::GetFPGATimestamp() - m_startTime
+                             : -1_s;
 }

wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp

@@ -4,7 +4,7 @@
 
 #include "frc2/command/WaitUntilCommand.h"
 
-#include "frc2/Timer.h"
+#include <frc/Timer.h>
 
 using namespace frc2;
 
@@ -12,7 +12,7 @@ WaitUntilCommand::WaitUntilCommand(std::function<bool()> condition)
     : m_condition{std::move(condition)} {}
 
 WaitUntilCommand::WaitUntilCommand(units::second_t time)
-    : m_condition{[=] { return Timer::GetMatchTime() - time > 0_s; }} {}
+    : m_condition{[=] { return frc::Timer::GetMatchTime() - time > 0_s; }} {}
 
 bool WaitUntilCommand::IsFinished() {
   return m_condition();

wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h

@@ -249,9 +249,9 @@ class CommandScheduler final : public frc::Sendable,
    * them.
    *
    * @param command the command to query
-   * @return the time since the command was scheduled, in seconds
+   * @return the time since the command was scheduled
    */
-  double TimeSinceScheduled(const Command* command) const;
+  units::second_t TimeSinceScheduled(const Command* command) const;
 
   /**
    * Whether the given commands are running.  Note that this only works on

wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <units/time.h>
+
 namespace frc2 {
 /**
  * Class that holds scheduling state for a command.  Used internally by the
@@ -18,10 +20,10 @@ class CommandState final {
   bool IsInterruptible() const { return m_interruptible; }
 
   // The time since this command was initialized.
-  double TimeSinceInitialized() const;
+  units::second_t TimeSinceInitialized() const;
 
  private:
-  double m_startTime = -1;
+  units::second_t m_startTime = -1_s;
   bool m_interruptible;
 
   void StartTiming();

wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h

@@ -7,6 +7,7 @@
 #include <initializer_list>
 #include <memory>
 
+#include <frc/Timer.h>
 #include <frc/controller/HolonomicDriveController.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
@@ -24,7 +25,6 @@
 
 #include "CommandBase.h"
 #include "CommandHelper.h"
-#include "frc2/Timer.h"
 
 #pragma once
 
@@ -444,7 +444,7 @@ class MecanumControllerCommand
       m_outputVolts;
 
   bool m_usePID;
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
   frc::MecanumDriveWheelSpeeds m_prevSpeeds;
   units::second_t m_prevTime;
 };

wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h

@@ -8,6 +8,7 @@
 #include <initializer_list>
 #include <memory>
 
+#include <frc/Timer.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/RamseteController.h>
 #include <frc/controller/SimpleMotorFeedforward.h>
@@ -18,7 +19,6 @@
 #include <units/voltage.h>
 #include <wpi/ArrayRef.h>
 
-#include "frc2/Timer.h"
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
 
@@ -185,7 +185,7 @@ class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {
   std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
       m_outputVel;
 
-  Timer m_timer;
+  frc::Timer m_timer;
   units::second_t m_prevTime;
   frc::DifferentialDriveWheelSpeeds m_prevSpeeds;
   bool m_usePID;

wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h

@@ -7,6 +7,7 @@
 #include <initializer_list>
 #include <memory>
 
+#include <frc/Timer.h>
 #include <frc/controller/HolonomicDriveController.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
@@ -22,7 +23,6 @@
 
 #include "CommandBase.h"
 #include "CommandHelper.h"
-#include "frc2/Timer.h"
 
 #pragma once
 
@@ -225,7 +225,7 @@ class SwerveControllerCommand
 
   std::function<frc::Rotation2d()> m_desiredRotation;
 
-  frc2::Timer m_timer;
+  frc::Timer m_timer;
   units::second_t m_prevTime;
   frc::Rotation2d m_finalRotation;
 };

wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h

@@ -7,10 +7,10 @@
 #include <functional>
 #include <initializer_list>
 
+#include <frc/Timer.h>
 #include <frc/trajectory/TrapezoidProfile.h>
 #include <wpi/ArrayRef.h>
 
-#include "frc2/Timer.h"
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
 
@@ -76,7 +76,7 @@ class TrapezoidProfileCommand
   frc::TrapezoidProfile<Distance> m_profile;
   std::function<void(State)> m_output;
 
-  Timer m_timer;
+  frc::Timer m_timer;
 };
 
 }  // namespace frc2

wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h

@@ -4,9 +4,9 @@
 
 #pragma once
 
+#include <frc/Timer.h>
 #include <units/time.h>
 
-#include "frc2/Timer.h"
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"
 
@@ -39,7 +39,7 @@ class WaitCommand : public CommandHelper<CommandBase, WaitCommand> {
   bool RunsWhenDisabled() const override;
 
  protected:
-  Timer m_timer;
+  frc::Timer m_timer;
 
  private:
   units::second_t m_duration;