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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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57
wpilibc/src/main/native/include/frc/Timer.h
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@@ -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