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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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30
wpilibj/src/main/java/org/wpilib/system/RobotController.java
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@@ -22,7 +22,7 @@ import org.wpilib.units.measure.Voltage;
/** Contains functions for roboRIO functionality. */
public final class RobotController {
private static LongSupplier m_timeSource = RobotController::getFPGATime;
private static LongSupplier m_timeSource = RobotController::getMonotonicTime;
private RobotController() {
throw new UnsupportedOperationException("This is a utility class!");
@@ -69,9 +69,9 @@ public final class RobotController {
}
/**
* Read the microsecond timestamp. By default, the time is based on the FPGA hardware clock in
* microseconds since the FPGA started. However, the return value of this method may be modified
* to use any time base, including non-monotonic and non-continuous time bases.
* Read the microsecond timestamp. By default, the time is based on the monotonic clock. However,
* the return value of this method may be modified to use any time base, including non-monotonic
* and non-continuous time bases.
*
* @return The current time in microseconds.
*/
@@ -80,9 +80,9 @@ public final class RobotController {
}
/**
* Read the microsecond timestamp. By default, the time is based on the FPGA hardware clock in
* microseconds since the FPGA started. However, the return value of this method may be modified
* to use any time base, including non-monotonic and non-continuous time bases.
* Read the microsecond timestamp. By default, the time is based on the monotonic clock. However,
* the return value of this method may be modified to use any time base, including non-monotonic
* and non-continuous time bases.
*
* @return The current time in a measure.
*/
@@ -91,21 +91,21 @@ public final class RobotController {
}
/**
* Read the microsecond timer from the FPGA.
* Read the microsecond monotonic timer.
*
* @return The current time in microseconds according to the FPGA.
* @return The current monotonic time in microseconds.
*/
public static long getFPGATime() {
return HALUtil.getFPGATime();
public static long getMonotonicTime() {
return HALUtil.getMonotonicTime();
}
/**
* Read the microsecond timer in a measure from the FPGA.
* Read the microsecond monotonic timer in a measure.
*
* @return The current time according to the FPGA in a measure.
* @return The current monotonic time in a measure.
*/
public static Time getMeasureFPGATime() {
return Microseconds.of(HALUtil.getFPGATime());
public static Time getMeasureMonotonicTime() {
return Microseconds.of(HALUtil.getMonotonicTime());
}
/**