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

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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.
This commit is contained in:
Tyler Veness
2021-05-28 22:06:59 -07:00
committed by GitHub
parent 827b17a52b
commit e09293a15e
99 changed files with 503 additions and 790 deletions
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5
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -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(

9
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandState.cpp
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@@ -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;
}

4
wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
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@@ -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();