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[hal,wpilib] Rename FPGA clock to monotonic clock (#8672)

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- Remove status return from HAL level (clock getting should never fail)
- Remove 32-bit timestamp expand function
- Make monotonic_clock.hpp (formerly fpga_clock.hpp) header-only and
move to root hal include directory
This commit is contained in:
Peter Johnson
2026-03-15 15:08:41 -07:00
committed by GitHub
parent 1a5b023235
commit e944ae9aca
59 changed files with 233 additions and 358 deletions
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8
hal/src/main/native/systemcore/Notifier.cpp
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@@ -84,8 +84,7 @@ void NotifierThread::Main() {
// Wait until next alarm
const Alarm& alarm = m_alarmQueue.top();
int32_t status = 0;
uint64_t curTime = HAL_GetFPGATime(&status);
uint64_t curTime = HAL_GetMonotonicTime();
if (alarm.notifier->alarmTime > curTime) {
m_cond.wait_for(
lock, std::chrono::microseconds{alarm.notifier->alarmTime - curTime});
@@ -99,8 +98,7 @@ void NotifierThread::Main() {
}
void NotifierThread::ProcessAlarms() {
int32_t status = 0;
uint64_t curTime = HAL_GetFPGATime(&status);
uint64_t curTime = HAL_GetMonotonicTime();
while (!m_alarmQueue.empty() &&
m_alarmQueue.top().notifier->alarmTime <= curTime) {
@@ -190,7 +188,7 @@ void HAL_SetNotifierAlarm(HAL_NotifierHandle notifierHandle, uint64_t alarmTime,
}
if (!absolute) {
alarmTime += HAL_GetFPGATime(status);
alarmTime += HAL_GetMonotonicTime();
}
uint64_t prevWakeup = UINT64_MAX;