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Timer: add hasElapsed, advanceIfElapsed (#2322)

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The current hasPeriodPassed() function is confusing.  In preparation for deprecating it,
add new advanceIfElapsed() function with same functionality and hasElapsed() function
which only checks that the time period has elapsed and does not advance the timer.

Also fix a couple of incorrect usages of hasPeriodPassed().
This commit is contained in:
Oblarg
2020-02-08 13:23:29 -05:00
committed by GitHub
parent 29c82527a5
commit f0a18f31e7
13 changed files with 72 additions and 24 deletions
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4
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -348,6 +348,6 @@ public class MecanumControllerCommand extends CommandBase {
@Override
public boolean isFinished() {
return m_timer.hasPeriodPassed(m_trajectory.getTotalTimeSeconds());
return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
}
}

4
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -201,6 +201,6 @@ public class RamseteCommand extends CommandBase {
@Override
public boolean isFinished() {
return m_timer.hasPeriodPassed(m_trajectory.getTotalTimeSeconds());
return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
}
}

4
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -153,6 +153,6 @@ public class SwerveControllerCommand extends CommandBase {
@Override
public boolean isFinished() {
return m_timer.hasPeriodPassed(m_trajectory.getTotalTimeSeconds());
return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
}
}

4
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -59,6 +59,6 @@ public class TrapezoidProfileCommand extends CommandBase {
@Override
public boolean isFinished() {
return m_timer.hasPeriodPassed(m_profile.totalTime());
return m_timer.hasElapsed(m_profile.totalTime());
}
}

4
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -41,7 +41,7 @@ public class WaitCommand extends CommandBase {
@Override
public boolean isFinished() {
return m_timer.hasPeriodPassed(m_duration);
return m_timer.hasElapsed(m_duration);
}
@Override

2
wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
View File

@@ -247,5 +247,5 @@ void MecanumControllerCommand::Execute() {
void MecanumControllerCommand::End(bool interrupted) { m_timer.Stop(); }
bool MecanumControllerCommand::IsFinished() {
return m_timer.HasPeriodPassed(m_trajectory.TotalTime());
return m_timer.HasElapsed(m_trajectory.TotalTime());
}

2
wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
View File

@@ -138,5 +138,5 @@ void RamseteCommand::Execute() {
void RamseteCommand::End(bool interrupted) { m_timer.Stop(); }
bool RamseteCommand::IsFinished() {
return m_timer.HasPeriodPassed(m_trajectory.TotalTime());
return m_timer.HasElapsed(m_trajectory.TotalTime());
}

4
wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -21,6 +21,6 @@ void WaitCommand::Initialize() {
void WaitCommand::End(bool interrupted) { m_timer.Stop(); }
bool WaitCommand::IsFinished() { return m_timer.HasPeriodPassed(m_duration); }
bool WaitCommand::IsFinished() { return m_timer.HasElapsed(m_duration); }
bool WaitCommand::RunsWhenDisabled() const { return true; }

2
wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
View File

@@ -103,7 +103,7 @@ void SwerveControllerCommand<NumModules>::End(bool interrupted) {
template <size_t NumModules>
bool SwerveControllerCommand<NumModules>::IsFinished() {
return m_timer.HasPeriodPassed(m_trajectory.TotalTime());
return m_timer.HasElapsed(m_trajectory.TotalTime());
}
} // namespace frc2

2
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
View File

@@ -72,7 +72,7 @@ class TrapezoidProfileCommand
void End(bool interrupted) override { m_timer.Stop(); }
bool IsFinished() override {
return m_timer.HasPeriodPassed(m_profile.TotalTime());
return m_timer.HasElapsed(m_profile.TotalTime());
}
private:

11
wpilibc/src/main/native/cpp/frc2/Timer.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -116,15 +116,22 @@ void Timer::Stop() {
}
}
bool Timer::HasElapsed(units::second_t period) { return Get() > period; }
bool Timer::HasPeriodPassed(units::second_t period) {
return AdvanceIfElapsed(period);
}
bool Timer::AdvanceIfElapsed(units::second_t period) {
if (Get() > period) {
std::scoped_lock lock(m_mutex);
// Advance the start time by the period.
m_startTime += period;
// Don't set it to the current time... we want to avoid drift.
return true;
} else {
return false;
}
return false;
}
units::second_t Timer::GetFPGATimestamp() {

20
wpilibc/src/main/native/include/frc2/Timer.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -88,6 +88,14 @@ 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);
/**
* 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
@@ -98,6 +106,16 @@ class Timer {
*/
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.
*

33
wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -104,21 +104,44 @@ public class Timer {
m_running = false;
}
/**
* Check if the period specified has passed.
*
* @param seconds The period to check.
* @return Whether the period has passed.
*/
public synchronized boolean hasElapsed(double seconds) {
return get() > seconds;
}
/**
* 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).
* @return If the period has passed.
* @return Whether the period has passed.
*/
public synchronized boolean hasPeriodPassed(double period) {
if (get() > period) {
return advanceIfElapsed(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 seconds The period to check.
* @return Whether the period has passed.
*/
public synchronized boolean advanceIfElapsed(double seconds) {
if (get() > seconds) {
// Advance the start time by the period.
// Don't set it to the current time... we want to avoid drift.
m_startTime += period * 1000;
m_startTime += seconds * 1000;
return true;
} else {
return false;
}
return false;
}
}