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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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9
wpilibc/src/main/native/cpp/system/Watchdog.cpp
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@@ -87,7 +87,6 @@ void Watchdog::Impl::UpdateAlarm() {
void Watchdog::Impl::Main() {
for (;;) {
int32_t status = 0;
HAL_NotifierHandle notifier = m_notifier.load();
if (notifier == 0) {
break;
@@ -95,7 +94,7 @@ void Watchdog::Impl::Main() {
if (WPI_WaitForObject(notifier) == 0) {
break;
}
uint64_t curTime = HAL_GetFPGATime(&status);
uint64_t curTime = HAL_GetMonotonicTime();
std::unique_lock lock(m_mutex);
@@ -163,11 +162,11 @@ Watchdog& Watchdog::operator=(Watchdog&& rhs) {
}
wpi::units::second_t Watchdog::GetTime() const {
return Timer::GetFPGATimestamp() - m_startTime;
return Timer::GetMonotonicTimestamp() - m_startTime;
}
void Watchdog::SetTimeout(wpi::units::second_t timeout) {
m_startTime = Timer::GetFPGATimestamp();
m_startTime = Timer::GetMonotonicTimestamp();
m_tracer.ClearEpochs();
std::scoped_lock lock(m_impl->m_mutex);
@@ -203,7 +202,7 @@ void Watchdog::Reset() {
}
void Watchdog::Enable() {
m_startTime = Timer::GetFPGATimestamp();
m_startTime = Timer::GetMonotonicTimestamp();
m_tracer.ClearEpochs();
std::scoped_lock lock(m_impl->m_mutex);