[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.

wpilibc/src/main/native/include/frc/Counter.h

@@ -7,6 +7,7 @@
 #include <memory>
 
 #include <hal/Types.h>
+#include <units/time.h>
 
 #include "frc/AnalogTrigger.h"
 #include "frc/CounterBase.h"
@@ -368,7 +369,7 @@ class Counter : public CounterBase,
    *
    * @returns The period between the last two pulses in units of seconds.
    */
-  double GetPeriod() const override;
+  units::second_t GetPeriod() const override;
 
   /**
    * Set the maximum period where the device is still considered "moving".
@@ -380,7 +381,7 @@ class Counter : public CounterBase,
    * @param maxPeriod The maximum period where the counted device is considered
    *                  moving in seconds.
    */
-  void SetMaxPeriod(double maxPeriod) final;
+  void SetMaxPeriod(units::second_t maxPeriod) final;
 
   /**
    * Select whether you want to continue updating the event timer output when

wpilibc/src/main/native/include/frc/CounterBase.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <units/time.h>
+
 namespace frc {
 
 /**
@@ -27,8 +29,8 @@ class CounterBase {
 
   virtual int Get() const = 0;
   virtual void Reset() = 0;
-  virtual double GetPeriod() const = 0;
-  virtual void SetMaxPeriod(double maxPeriod) = 0;
+  virtual units::second_t GetPeriod() const = 0;
+  virtual void SetMaxPeriod(units::second_t maxPeriod) = 0;
   virtual bool GetStopped() const = 0;
   virtual bool GetDirection() const = 0;
 };

wpilibc/src/main/native/include/frc/DriverStation.h

@@ -12,6 +12,7 @@
 
 #include <fmt/format.h>
 #include <hal/DriverStationTypes.h>
+#include <units/time.h>
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
 
@@ -334,11 +335,11 @@ class DriverStation {
    * This is a good way to delay processing until there is new driver station
    * data to act on.
    *
-   * @param timeout Timeout time in seconds
+   * @param timeout Timeout
    *
    * @return true if new data, otherwise false
    */
-  bool WaitForData(double timeout);
+  bool WaitForData(units::second_t timeout);
 
   /**
    * Return the approximate match time.
@@ -494,7 +495,7 @@ class DriverStation {
   bool m_userInTeleop = false;
   bool m_userInTest = false;
 
-  double m_nextMessageTime = 0;
+  units::second_t m_nextMessageTime = 0_s;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/Encoder.h

@@ -167,7 +167,7 @@ class Encoder : public CounterBase,
    *
    * @return Period in seconds of the most recent pulse.
    */
-  double GetPeriod() const override;
+  units::second_t GetPeriod() const override;
 
   /**
    * Sets the maximum period for stopped detection.
@@ -188,7 +188,7 @@ class Encoder : public CounterBase,
   WPI_DEPRECATED(
       "Use SetMinRate() in favor of this method.  This takes unscaled periods "
       "and SetMinRate() scales using value from SetDistancePerPulse().")
-  void SetMaxPeriod(double maxPeriod) override;
+  void SetMaxPeriod(units::second_t maxPeriod) override;
 
   /**
    * Determine if the encoder is stopped.

wpilibc/src/main/native/include/frc/InterruptableSensorBase.h

@@ -8,6 +8,7 @@
 #include <memory>
 
 #include <hal/Interrupts.h>
+#include <units/time.h>
 
 #include "frc/AnalogTriggerType.h"
 
@@ -86,12 +87,12 @@ class InterruptableSensorBase {
    * waiting for an interrupt. This is not threadsafe, and can cause memory
    * corruption
    *
-   * @param timeout        Timeout in seconds
+   * @param timeout        Timeout
    * @param ignorePrevious If true, ignore interrupts that happened before
    *                       WaitForInterrupt was called.
    * @return What interrupts fired
    */
-  virtual WaitResult WaitForInterrupt(double timeout,
+  virtual WaitResult WaitForInterrupt(units::second_t timeout,
                                       bool ignorePrevious = true);
 
   /**
@@ -116,7 +117,7 @@ class InterruptableSensorBase {
    *
    * @return Timestamp in seconds since boot.
    */
-  virtual double ReadRisingTimestamp();
+  virtual units::second_t ReadRisingTimestamp();
 
   /**
    * Return the timestamp for the falling interrupt that occurred most recently.
@@ -127,7 +128,7 @@ class InterruptableSensorBase {
    *
    * @return Timestamp in seconds since boot.
    */
-  virtual double ReadFallingTimestamp();
+  virtual units::second_t ReadFallingTimestamp();
 
   /**
    * Set which edge to trigger interrupts on

wpilibc/src/main/native/include/frc/MotorSafety.h

@@ -6,6 +6,7 @@
 
 #include <string>
 
+#include <units/time.h>
 #include <wpi/mutex.h>
 
 #include "frc/Timer.h"
@@ -36,16 +37,16 @@ class MotorSafety {
   /**
    * Set the expiration time for the corresponding motor safety object.
    *
-   * @param expirationTime The timeout value in seconds.
+   * @param expirationTime The timeout value.
    */
-  void SetExpiration(double expirationTime);
+  void SetExpiration(units::second_t expirationTime);
 
   /**
    * Retrieve the timeout value for the corresponding motor safety object.
    *
-   * @return the timeout value in seconds.
+   * @return the timeout value.
    */
-  double GetExpiration() const;
+  units::second_t GetExpiration() const;
 
   /**
    * Determine if the motor is still operating or has timed out.
@@ -93,16 +94,16 @@ class MotorSafety {
   virtual std::string GetDescription() const = 0;
 
  private:
-  static constexpr double kDefaultSafetyExpiration = 0.1;
+  static constexpr auto kDefaultSafetyExpiration = 100_ms;
 
   // The expiration time for this object
-  double m_expiration = kDefaultSafetyExpiration;
+  units::second_t m_expiration = kDefaultSafetyExpiration;
 
   // True if motor safety is enabled for this motor
   bool m_enabled = false;
 
   // The FPGA clock value when the motor has expired
-  double m_stopTime = Timer::GetFPGATimestamp();
+  units::second_t m_stopTime = Timer::GetFPGATimestamp();
 
   mutable wpi::mutex m_thisMutex;
 };

wpilibc/src/main/native/include/frc/Notifier.h

@@ -15,7 +15,6 @@
 
 #include <hal/Types.h>
 #include <units/time.h>
-#include <wpi/deprecated.h>
 #include <wpi/mutex.h>
 
 namespace frc {
@@ -80,19 +79,6 @@ class Notifier {
    */
   void SetHandler(std::function<void()> handler);
 
-  /**
-   * Register for single event notification.
-   *
-   * A timer event is queued for a single event after the specified delay.
-   *
-   * @deprecated Use unit-safe StartSingle(units::second_t delay) method
-   * instead.
-   *
-   * @param delay Seconds to wait before the handler is called.
-   */
-  WPI_DEPRECATED("Use unit-safe StartSingle method instead.")
-  void StartSingle(double delay);
-
   /**
    * Register for single event notification.
    *
@@ -102,22 +88,6 @@ class Notifier {
    */
   void StartSingle(units::second_t delay);
 
-  /**
-   * Register for periodic event notification.
-   *
-   * A timer event is queued for periodic event notification. Each time the
-   * interrupt occurs, the event will be immediately requeued for the same time
-   * interval.
-   *
-   * @deprecated Use unit-safe StartPeriodic(units::second_t period) method
-   * instead
-   *
-   * @param period Period in seconds to call the handler starting one period
-   *               after the call to this method.
-   */
-  WPI_DEPRECATED("Use unit-safe StartPeriodic method instead.")
-  void StartPeriodic(double period);
-
   /**
    * Register for periodic event notification.
    *
@@ -184,10 +154,10 @@ class Notifier {
   std::function<void()> m_handler;
 
   // The absolute expiration time
-  double m_expirationTime = 0;
+  units::second_t m_expirationTime = 0_s;
 
   // The relative time (either periodic or single)
-  double m_period = 0;
+  units::second_t m_period = 0_s;
 
   // True if this is a periodic event
   bool m_periodic = false;

wpilibc/src/main/native/include/frc/SPI.h

@@ -242,32 +242,6 @@ class SPI {
   int ReadAutoReceivedData(uint32_t* buffer, int numToRead,
                            units::second_t timeout);
 
-  /**
-   * Read data that has been transferred by the automatic SPI transfer engine.
-   *
-   * Transfers may be made a byte at a time, so it's necessary for the caller
-   * to handle cases where an entire transfer has not been completed.
-   *
-   * Each received data sequence consists of a timestamp followed by the
-   * received data bytes, one byte per word (in the least significant byte).
-   * The length of each received data sequence is the same as the combined
-   * size of the data and zeroSize set in SetAutoTransmitData().
-   *
-   * Blocks until numToRead words have been read or timeout expires.
-   * May be called with numToRead=0 to retrieve how many words are available.
-   *
-   * @deprecated Use unit safe version instead.
-   *             ReadAutoReceivedData(uint32_t* buffer, int numToRead, <!--
-   * -->         units::second_t timeout)
-   *
-   * @param buffer buffer where read words are stored
-   * @param numToRead number of words to read
-   * @param timeout timeout in seconds (ms resolution)
-   * @return Number of words remaining to be read
-   */
-  WPI_DEPRECATED("Use ReadAutoReceivedData with unit-safety instead")
-  int ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout);
-
   /**
    * Get the number of bytes dropped by the automatic SPI transfer engine due
    * to the receive buffer being full.

wpilibc/src/main/native/include/frc/SerialPort.h

@@ -8,7 +8,7 @@
 #include <string_view>
 
 #include <hal/Types.h>
-#include <wpi/deprecated.h>
+#include <units/time.h>
 
 namespace frc {
 
@@ -155,9 +155,9 @@ class SerialPort {
    * This defines the timeout for transactions with the hardware.
    * It will affect reads and very large writes.
    *
-   * @param timeout The number of seconds to to wait for I/O.
+   * @param timeout The time to wait for I/O.
    */
-  void SetTimeout(double timeout);
+  void SetTimeout(units::second_t timeout);
 
   /**
    * Specify the size of the input buffer.

wpilibc/src/main/native/include/frc/SlewRateLimiter.h

@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc2/Timer.h>
-
 #include <algorithm>
 
 #include <units/time.h>
 
+#include "frc/Timer.h"
+
 namespace frc {
 /**
  * A class that limits the rate of change of an input value.  Useful for
@@ -36,7 +36,7 @@ class SlewRateLimiter {
   explicit SlewRateLimiter(Rate_t rateLimit, Unit_t initialValue = Unit_t{0})
       : m_rateLimit{rateLimit},
         m_prevVal{initialValue},
-        m_prevTime{frc2::Timer::GetFPGATimestamp()} {}
+        m_prevTime{Timer::GetFPGATimestamp()} {}
 
   /**
    * Filters the input to limit its slew rate.
@@ -46,7 +46,7 @@ class SlewRateLimiter {
    * rate.
    */
   Unit_t Calculate(Unit_t input) {
-    units::second_t currentTime = frc2::Timer::GetFPGATimestamp();
+    units::second_t currentTime = Timer::GetFPGATimestamp();
     units::second_t elapsedTime = currentTime - m_prevTime;
     m_prevVal += std::clamp(input - m_prevVal, -m_rateLimit * elapsedTime,
                             m_rateLimit * elapsedTime);
@@ -62,7 +62,7 @@ class SlewRateLimiter {
    */
   void Reset(Unit_t value) {
     m_prevVal = value;
-    m_prevTime = frc2::Timer::GetFPGATimestamp();
+    m_prevTime = Timer::GetFPGATimestamp();
   }
 
  private:

wpilibc/src/main/native/include/frc/Solenoid.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <hal/Types.h>
+#include <units/time.h>
 
 #include "frc/SolenoidBase.h"
 #include "frc/smartdashboard/Sendable.h"
@@ -93,7 +94,7 @@ class Solenoid : public SolenoidBase,
    *
    * @see startPulse()
    */
-  void SetPulseDuration(double durationSeconds);
+  void SetPulseDuration(units::second_t duration);
 
   /**
    * Trigger the PCM to generate a pulse of the duration set in

wpilibc/src/main/native/include/frc/TimedRobot.h

@@ -15,7 +15,7 @@
 #include <wpi/priority_queue.h>
 
 #include "frc/IterativeRobotBase.h"
-#include "frc2/Timer.h"
+#include "frc/Timer.h"
 
 namespace frc {
 
@@ -30,7 +30,7 @@ namespace frc {
  */
 class TimedRobot : public IterativeRobotBase {
  public:
-  static constexpr units::second_t kDefaultPeriod = 20_ms;
+  static constexpr auto kDefaultPeriod = 20_ms;
 
   /**
    * Provide an alternate "main loop" via StartCompetition().
@@ -99,12 +99,11 @@ class TimedRobot : public IterativeRobotBase {
              units::second_t period, units::second_t offset)
         : func{std::move(func)},
           period{period},
-          expirationTime{
-              startTime + offset +
-              units::math::floor((frc2::Timer::GetFPGATimestamp() - startTime) /
-                                 period) *
-                  period +
-              period} {}
+          expirationTime{startTime + offset +
+                         units::math::floor(
+                             (Timer::GetFPGATimestamp() - startTime) / period) *
+                             period +
+                         period} {}
 
     bool operator>(const Callback& rhs) const {
       return expirationTime > rhs.expirationTime;

wpilibc/src/main/native/include/frc/Timer.h

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "frc2/Timer.h"
+#include <units/time.h>
 
 namespace frc {
 
@@ -18,23 +18,17 @@ namespace frc {
  *
  * @param seconds Length of time to pause, in seconds.
  */
-void Wait(double seconds);
+void Wait(units::second_t seconds);
 
 /**
  * @brief  Gives real-time clock system time with nanosecond resolution
  * @return The time, just in case you want the robot to start autonomous at 8pm
  *         on Saturday.
  */
-double GetTime();
+units::second_t GetTime();
 
 /**
- * Timer objects measure accumulated time in seconds.
- *
- * The timer object functions like a stopwatch. It can be started, stopped, and
- * cleared. When the timer is running its value counts up in seconds. When
- * stopped, the timer holds the current value. The implementation simply records
- * the time when started and subtracts the current time whenever the value is
- * requested.
+ * A wrapper for the frc::Timer class that returns unit-typed values.
  */
 class Timer {
  public:
@@ -48,10 +42,10 @@ class Timer {
 
   virtual ~Timer() = default;
 
-  Timer(const Timer& rhs) = default;
-  Timer& operator=(const Timer& rhs) = default;
-  Timer(Timer&& rhs) = default;
-  Timer& operator=(Timer&& rhs) = default;
+  Timer(const Timer&) = default;
+  Timer& operator=(const Timer&) = default;
+  Timer(Timer&&) = default;
+  Timer& operator=(Timer&&) = default;
 
   /**
    * Get the current time from the timer. If the clock is running it is derived
@@ -60,7 +54,7 @@ class Timer {
    *
    * @return Current time value for this timer in seconds
    */
-  double Get() const;
+  units::second_t Get() const;
 
   /**
    * Reset the timer by setting the time to 0.
@@ -74,7 +68,8 @@ class Timer {
    * Start the timer running.
    *
    * Just set the running flag to true indicating that all time requests should
-   * be relative to the system clock.
+   * be relative to the system clock. Note that this method is a no-op if the
+   * timer is already running.
    */
   void Start();
 
@@ -87,15 +82,33 @@ class Timer {
    */
   void Stop();
 
+  /**
+   * Check if the period specified has passed.
+   *
+   * @param seconds The period to check.
+   * @return        True if the period has passed.
+   */
+  bool HasElapsed(units::second_t period) const;
+
   /**
    * Check if the period specified has passed and if it has, advance the start
    * time by that period. This is useful to decide if it's time to do periodic
    * work without drifting later by the time it took to get around to checking.
    *
-   * @param period The period to check for (in seconds).
+   * @param period The period to check for.
    * @return       True if the period has passed.
    */
-  bool HasPeriodPassed(double period);
+  bool HasPeriodPassed(units::second_t period);
+
+  /**
+   * Check if the period specified has passed and if it has, advance the start
+   * time by that period. This is useful to decide if it's time to do periodic
+   * work without drifting later by the time it took to get around to checking.
+   *
+   * @param period The period to check for.
+   * @return       True if the period has passed.
+   */
+  bool AdvanceIfElapsed(units::second_t period);
 
   /**
    * Return the FPGA system clock time in seconds.
@@ -105,7 +118,7 @@ class Timer {
    *
    * @returns Robot running time in seconds.
    */
-  static double GetFPGATimestamp();
+  static units::second_t GetFPGATimestamp();
 
   /**
    * Return the approximate match time.
@@ -122,10 +135,12 @@ class Timer {
    *
    * @return Time remaining in current match period (auto or teleop)
    */
-  static double GetMatchTime();
+  static units::second_t GetMatchTime();
 
  private:
-  frc2::Timer m_timer;
+  units::second_t m_startTime = 0_s;
+  units::second_t m_accumulatedTime = 0_s;
+  bool m_running = false;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/Ultrasonic.h

@@ -10,6 +10,8 @@
 #include <vector>
 
 #include <hal/SimDevice.h>
+#include <units/time.h>
+#include <units/velocity.h>
 
 #include "frc/Counter.h"
 #include "frc/smartdashboard/Sendable.h"
@@ -174,8 +176,8 @@ class Ultrasonic : public Sendable, public SendableHelper<Ultrasonic> {
   static constexpr int kPriority = 64;
 
   // Max time (ms) between readings.
-  static constexpr double kMaxUltrasonicTime = 0.1;
-  static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
+  static constexpr auto kMaxUltrasonicTime = 0.1_s;
+  static constexpr auto kSpeedOfSound = 1130_fps;
 
   // Thread doing the round-robin automatic sensing
   static std::thread m_thread;

wpilibc/src/main/native/include/frc/Watchdog.h

@@ -9,7 +9,6 @@
 
 #include <units/time.h>
 #include <wpi/StringRef.h>
-#include <wpi/deprecated.h>
 
 #include "frc/Tracer.h"
 
@@ -26,19 +25,6 @@ namespace frc {
  */
 class Watchdog {
  public:
-  /**
-   * Watchdog constructor.
-   *
-   * @deprecated use unit-safe version instead.
-   * Watchdog(units::second_t timeout, std::function<void()> callback)
-   *
-   * @param timeout  The watchdog's timeout in seconds with microsecond
-   *                 resolution.
-   * @param callback This function is called when the timeout expires.
-   */
-  WPI_DEPRECATED("Use unit-safe version instead")
-  Watchdog(double timeout, std::function<void()> callback);
-
   /**
    * Watchdog constructor.
    *
@@ -48,11 +34,6 @@ class Watchdog {
    */
   Watchdog(units::second_t timeout, std::function<void()> callback);
 
-  template <typename Callable, typename Arg, typename... Args>
-  WPI_DEPRECATED("Use unit-safe version instead")
-  Watchdog(double timeout, Callable&& f, Arg&& arg, Args&&... args)
-      : Watchdog(units::second_t{timeout}, arg, args...) {}
-
   template <typename Callable, typename Arg, typename... Args>
   Watchdog(units::second_t timeout, Callable&& f, Arg&& arg, Args&&... args)
       : Watchdog(timeout,
@@ -65,21 +46,9 @@ class Watchdog {
   Watchdog& operator=(Watchdog&& rhs);
 
   /**
-   * Returns the time in seconds since the watchdog was last fed.
+   * Returns the time since the watchdog was last fed.
    */
-  double GetTime() const;
-
-  /**
-   * Sets the watchdog's timeout.
-   *
-   * @deprecated use the unit safe version instead.
-   * SetTimeout(units::second_t timeout)
-   *
-   * @param timeout The watchdog's timeout in seconds with microsecond
-   *                resolution.
-   */
-  WPI_DEPRECATED("Use unit-safe version instead")
-  void SetTimeout(double timeout);
+  units::second_t GetTime() const;
 
   /**
    * Sets the watchdog's timeout.
@@ -90,9 +59,9 @@ class Watchdog {
   void SetTimeout(units::second_t timeout);
 
   /**
-   * Returns the watchdog's timeout in seconds.
+   * Returns the watchdog's timeout.
    */
-  double GetTimeout() const;
+  units::second_t GetTimeout() const;
 
   /**
    * Returns true if the watchdog timer has expired.
@@ -143,7 +112,7 @@ class Watchdog {
 
  private:
   // Used for timeout print rate-limiting
-  static constexpr units::second_t kMinPrintPeriod = 1_s;
+  static constexpr auto kMinPrintPeriod = 1_s;
 
   units::second_t m_startTime = 0_s;
   units::second_t m_timeout;

wpilibc/src/main/native/include/frc2/Timer.h

@@ -1,148 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <units/time.h>
-#include <wpi/mutex.h>
-
-namespace frc2 {
-
-/**
- * Pause the task for a specified time.
- *
- * Pause the execution of the program for a specified period of time given in
- * seconds. Motors will continue to run at their last assigned values, and
- * sensors will continue to update. Only the task containing the wait will pause
- * until the wait time is expired.
- *
- * @param seconds Length of time to pause, in seconds.
- */
-void Wait(units::second_t seconds);
-
-/**
- * @brief  Gives real-time clock system time with nanosecond resolution
- * @return The time, just in case you want the robot to start autonomous at 8pm
- *         on Saturday.
- */
-units::second_t GetTime();
-
-/**
- * A wrapper for the frc::Timer class that returns unit-typed values.
- */
-class Timer {
- public:
-  /**
-   * Create a new timer object.
-   *
-   * Create a new timer object and reset the time to zero. The timer is
-   * initially not running and must be started.
-   */
-  Timer();
-
-  virtual ~Timer() = default;
-
-  Timer(const Timer& rhs);
-  Timer& operator=(const Timer& rhs);
-  Timer(Timer&& rhs);
-  Timer& operator=(Timer&& rhs);
-
-  /**
-   * Get the current time from the timer. If the clock is running it is derived
-   * from the current system clock the start time stored in the timer class. If
-   * the clock is not running, then return the time when it was last stopped.
-   *
-   * @return Current time value for this timer in seconds
-   */
-  units::second_t Get() const;
-
-  /**
-   * Reset the timer by setting the time to 0.
-   *
-   * Make the timer startTime the current time so new requests will be relative
-   * to now.
-   */
-  void Reset();
-
-  /**
-   * Start the timer running.
-   *
-   * Just set the running flag to true indicating that all time requests should
-   * be relative to the system clock. Note that this method is a no-op if the
-   * timer is already running.
-   */
-  void Start();
-
-  /**
-   * Stop the timer.
-   *
-   * This computes the time as of now and clears the running flag, causing all
-   * subsequent time requests to be read from the accumulated time rather than
-   * looking at the system clock.
-   */
-  void Stop();
-
-  /**
-   * Check if the period specified has passed.
-   *
-   * @param seconds The period to check.
-   * @return        True if the period has passed.
-   */
-  bool HasElapsed(units::second_t period) const;
-
-  /**
-   * Check if the period specified has passed and if it has, advance the start
-   * time by that period. This is useful to decide if it's time to do periodic
-   * work without drifting later by the time it took to get around to checking.
-   *
-   * @param period The period to check for.
-   * @return       True if the period has passed.
-   */
-  bool HasPeriodPassed(units::second_t period);
-
-  /**
-   * Check if the period specified has passed and if it has, advance the start
-   * time by that period. This is useful to decide if it's time to do periodic
-   * work without drifting later by the time it took to get around to checking.
-   *
-   * @param period The period to check for.
-   * @return       True if the period has passed.
-   */
-  bool AdvanceIfElapsed(units::second_t period);
-
-  /**
-   * Return the FPGA system clock time in seconds.
-   *
-   * Return the time from the FPGA hardware clock in seconds since the FPGA
-   * started. Rolls over after 71 minutes.
-   *
-   * @returns Robot running time in seconds.
-   */
-  static units::second_t GetFPGATimestamp();
-
-  /**
-   * 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.
-   *
-   * @return Time remaining in current match period (auto or teleop)
-   */
-  static units::second_t GetMatchTime();
-
- private:
-  units::second_t m_startTime = 0_s;
-  units::second_t m_accumulatedTime = 0_s;
-  bool m_running = false;
-  mutable wpi::mutex m_mutex;
-};
-
-}  // namespace frc2