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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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21
wpilibc/src/main/native/cpp/Watchdog.cpp
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@@ -14,7 +14,7 @@
#include <wpi/priority_queue.h>
#include "frc/Errors.h"
#include "frc2/Timer.h"
#include "frc/Timer.h"
using namespace frc;
@@ -131,9 +131,6 @@ void Watchdog::Impl::Main() {
}
}
Watchdog::Watchdog(double timeout, std::function<void()> callback)
: Watchdog(units::second_t{timeout}, callback) {}
Watchdog::Watchdog(units::second_t timeout, std::function<void()> callback)
: m_timeout(timeout), m_callback(std::move(callback)), m_impl(GetImpl()) {}
@@ -167,16 +164,12 @@ Watchdog& Watchdog::operator=(Watchdog&& rhs) {
return *this;
}
double Watchdog::GetTime() const {
return (frc2::Timer::GetFPGATimestamp() - m_startTime).to<double>();
}
void Watchdog::SetTimeout(double timeout) {
SetTimeout(units::second_t{timeout});
units::second_t Watchdog::GetTime() const {
return Timer::GetFPGATimestamp() - m_startTime;
}
void Watchdog::SetTimeout(units::second_t timeout) {
m_startTime = frc2::Timer::GetFPGATimestamp();
m_startTime = Timer::GetFPGATimestamp();
m_tracer.ClearEpochs();
std::scoped_lock lock(m_impl->m_mutex);
@@ -189,9 +182,9 @@ void Watchdog::SetTimeout(units::second_t timeout) {
m_impl->UpdateAlarm();
}
double Watchdog::GetTimeout() const {
units::second_t Watchdog::GetTimeout() const {
std::scoped_lock lock(m_impl->m_mutex);
return m_timeout.to<double>();
return m_timeout;
}
bool Watchdog::IsExpired() const {
@@ -212,7 +205,7 @@ void Watchdog::Reset() {
}
void Watchdog::Enable() {
m_startTime = frc2::Timer::GetFPGATimestamp();
m_startTime = Timer::GetFPGATimestamp();
m_tracer.ClearEpochs();
std::scoped_lock lock(m_impl->m_mutex);