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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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16
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -89,7 +89,7 @@ class MatchDataSender {
using namespace frc;
static constexpr double kJoystickUnpluggedMessageInterval = 1.0;
static constexpr auto kJoystickUnpluggedMessageInterval = 1_s;
static int& GetDSLastCount() {
// There is a rollover error condition here. At Packet# = n * (uintmax), this
@@ -485,12 +485,12 @@ int DriverStation::GetLocation() const {
}
void DriverStation::WaitForData() {
WaitForData(0);
WaitForData(0_s);
}
bool DriverStation::WaitForData(double timeout) {
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
bool DriverStation::WaitForData(units::second_t timeout) {
auto timeoutTime = std::chrono::steady_clock::now() +
std::chrono::steady_clock::duration{timeout};
std::unique_lock lock(m_waitForDataMutex);
int& lastCount = GetDSLastCount();
@@ -500,7 +500,7 @@ bool DriverStation::WaitForData(double timeout) {
return true;
}
while (m_waitForDataCounter == currentCount) {
if (timeout > 0) {
if (timeout > 0_s) {
auto timedOut = m_waitForDataCond.wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
return false;
@@ -586,7 +586,7 @@ DriverStation::DriverStation() {
void DriverStation::ReportJoystickUnpluggedErrorV(fmt::string_view format,
fmt::format_args args) {
double currentTime = Timer::GetFPGATimestamp();
auto currentTime = Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
ReportErrorV(err::Error, "", 0, "", format, args);
m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
@@ -596,7 +596,7 @@ void DriverStation::ReportJoystickUnpluggedErrorV(fmt::string_view format,
void DriverStation::ReportJoystickUnpluggedWarningV(fmt::string_view format,
fmt::format_args args) {
if (IsFMSAttached() || !m_silenceJoystickWarning) {
double currentTime = Timer::GetFPGATimestamp();
auto currentTime = Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
ReportErrorV(warn::Warning, "", 0, "", format, args);
m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;