Remove obsolete timer functions and replace with std::chrono (#64)

Removed delayTicks(), delayMillis(), delaySeconds(), HAL_NO_WAIT, HAL_WAIT_FOREVER,
niTimestamp32(), and niTimestamp64().

Replaced clock_gettime() and usleep() with std::chrono.

hal/include/HAL/HAL.h

@@ -32,7 +32,6 @@
 #include "SerialPort.h"
 #include "Solenoid.h"
 #include "Task.h"
-#include "Utilities.h"
 
 #define HAL_IO_CONFIG_DATA_SIZE 32
 #define HAL_SYS_STATUS_DATA_SIZE 44

hal/include/HAL/Utilities.h

@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. 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.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <stdint.h>
-
-extern "C" {
-extern const int32_t HAL_NO_WAIT;
-extern const int32_t HAL_WAIT_FOREVER;
-
-void delayTicks(int32_t ticks);
-void delayMillis(double ms);
-void delaySeconds(double s);
-}

hal/lib/athena/DigitalInternal.cpp

@@ -11,6 +11,7 @@
 #include <stdio.h>
 
 #include <mutex>
+#include <thread>
 
 #include "ChipObject.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
@@ -61,7 +62,7 @@ void initializeDigital(int32_t* status) {
 
   // Make sure that the 9403 IONode has had a chance to initialize before
   // continuing.
-  while (pwmSystem->readLoopTiming(status) == 0) delayTicks(1);
+  while (pwmSystem->readLoopTiming(status) == 0) std::this_thread::yield();
 
   if (pwmSystem->readLoopTiming(status) != kExpectedLoopTiming) {
     // TODO: char err[128];

hal/lib/athena/HALAthena.cpp

@@ -6,6 +6,7 @@
 /*----------------------------------------------------------------------------*/
 
 #include "HAL/HAL.h"
+#include "HAL/cpp/priority_mutex.h"
 
 #include <signal.h>  // linux for kill
 #include <stdlib.h>
@@ -15,6 +16,7 @@
 #include <fstream>
 #include <iostream>
 #include <mutex>
+#include <thread>
 
 #include "ChipObject.h"
 #include "FRC_NetworkCommunication/CANSessionMux.h"
@@ -343,7 +345,7 @@ int HALInitialize(int mode) {
     if (pid >= 2 && kill(pid, 0) == 0 && pid != getpid()) {
       std::cout << "Killing previously running FRC program..." << std::endl;
       kill(pid, SIGTERM);  // try to kill it
-      delayMillis(100);
+      std::this_thread::sleep_for(std::chrono::milliseconds(100));
       if (kill(pid, 0) == 0) {
         // still not successfull
         if (mode == 0) {
@@ -388,6 +390,5 @@ void Occur() {}
 
 void imaqGetErrorText() {}
 void imaqGetLastError() {}
-void niTimestamp64() {}
 
 }  // extern "C"

hal/lib/athena/Utilities.cpp

@@ -1,53 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. 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.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "HAL/Utilities.h"
-
-#include <time.h>
-
-const int32_t HAL_NO_WAIT = 0;
-const int32_t HAL_WAIT_FOREVER = -1;
-
-extern "C" {
-
-void delayTicks(int32_t ticks) {
-  struct timespec test, remaining;
-  test.tv_sec = 0;
-  test.tv_nsec = ticks * 3;
-
-  /* Sleep until the requested number of ticks has passed, with additional
-          time added if nanosleep is interrupted. */
-  while (nanosleep(&test, &remaining) == -1) {
-    test = remaining;
-  }
-}
-
-void delayMillis(double ms) {
-  struct timespec test, remaining;
-  test.tv_sec = ms / 1000;
-  test.tv_nsec = 1000 * (((uint64_t)ms) % 1000000);
-
-  /* Sleep until the requested number of milliseconds has passed, with
-          additional time added if nanosleep is interrupted. */
-  while (nanosleep(&test, &remaining) == -1) {
-    test = remaining;
-  }
-}
-
-void delaySeconds(double s) {
-  struct timespec test, remaining;
-  test.tv_sec = (int)s;
-  test.tv_nsec = (s - (int)s) * 1000000000.0;
-
-  /* Sleep until the requested number of seconds has passed, with additional
-          time added if nanosleep is interrupted. */
-  while (nanosleep(&test, &remaining) == -1) {
-    test = remaining;
-  }
-}
-
-}  // extern "C"

hal/lib/athena/ctre/CanTalonSRX.cpp

@@ -107,7 +107,6 @@
 #include "HAL/CanTalonSRX.h"
 #include "FRC_NetworkCommunication/CANSessionMux.h"  //CAN Comm
 #include <string.h>                                  // memset
-#include <unistd.h>                                  // usleep
 
 #define STATUS_1 0x02041400
 #define STATUS_2 0x02041440

hal/lib/athena/ctre/CtreCanNode.cpp

@@ -3,7 +3,6 @@
 #include "ctre/CtreCanNode.h"
 #include "FRC_NetworkCommunication/CANSessionMux.h"
 #include <string.h> // memset
-#include <unistd.h> // usleep
 
 static const UINT32 kFullMessageIDMask = 0x1fffffff;
 

hal/lib/athena/ctre/PCM.cpp

@@ -3,7 +3,6 @@
 #include "ctre/PCM.h"
 #include "FRC_NetworkCommunication/CANSessionMux.h"
 #include <string.h> // memset
-#include <unistd.h> // usleep
 /* This can be a constant, as long as nobody needs to update solenoids within
     1/50 of a second. */
 static const INT32 kCANPeriod = 20;

hal/lib/athena/ctre/PDP.cpp

@@ -1,7 +1,6 @@
 #include "ctre/PDP.h"
 #include "FRC_NetworkCommunication/CANSessionMux.h"	//CAN Comm
 #include <string.h> // memset
-#include <unistd.h> // usleep
 
 #define STATUS_1  		0x8041400
 #define STATUS_2  		0x8041440

wpilibc/athena/include/CANTalon.h

@@ -500,7 +500,7 @@ class CANTalon : public MotorSafety,
    */
   FeedbackDevice m_feedbackDevice = QuadEncoder;
 
-  static const unsigned int kDelayForSolicitedSignalsUs = 4000;
+  static constexpr unsigned int kDelayForSolicitedSignalsUs = 4000;
   /**
    * @param devToLookup FeedbackDevice to lookup the scalar for.  Because Talon
    *                    allows multiple sensors to be attached simultaneously,

wpilibc/athena/src/CANTalon.cpp

@@ -7,9 +7,9 @@
 
 #include "CANTalon.h"
 
-#include <unistd.h>  // usleep
-
+#include <chrono>
 #include <sstream>
+#include <thread>
 
 #include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
@@ -31,6 +31,8 @@ const double kNativePwdUnitsPerRotation = 4096.0;
  */
 const double kMinutesPer100msUnit = 1.0 / 600.0;
 
+constexpr unsigned int CANTalon::kDelayForSolicitedSignalsUs;
+
 /**
  * Constructor for the CANTalon device.
  *
@@ -386,7 +388,9 @@ double CANTalon::GetP() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   double p;
   status = m_impl->GetPgain(m_profile, p);
   if (status != CTR_OKAY) {
@@ -407,7 +411,9 @@ double CANTalon::GetI() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
 
   double i;
   status = m_impl->GetIgain(m_profile, i);
@@ -429,8 +435,9 @@ double CANTalon::GetD() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
-
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   double d;
   status = m_impl->GetDgain(m_profile, d);
   if (status != CTR_OKAY) {
@@ -452,7 +459,9 @@ double CANTalon::GetF() const {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
 
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   double f;
   status = m_impl->GetFgain(m_profile, f);
   if (status != CTR_OKAY) {
@@ -473,7 +482,8 @@ int CANTalon::GetIzone() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs);
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
 
   int iz;
   status = m_impl->GetIzone(m_profile, iz);
@@ -1117,7 +1127,8 @@ uint32_t CANTalon::GetFirmwareVersion() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs);
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   status =
       m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers, firmwareVersion);
   if (status != CTR_OKAY) {
@@ -1141,7 +1152,9 @@ int CANTalon::GetIaccum() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   int iaccum;
   status = m_impl->GetParamResponseInt32(CanTalonSRX::ePidIaccum, iaccum);
   if (status != CTR_OKAY) {
@@ -1519,7 +1532,8 @@ bool CANTalon::GetParameter(uint32_t paramEnum, double& dvalue) const {
     retval = false;
   }
   /* small yield for getting response */
-  usleep(kDelayForSolicitedSignalsUs);
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   /* get the last received update */
   status = m_impl->GetParamResponse((CanTalonSRX::param_t)paramEnum, dvalue);
   if (status != CTR_OKAY) {

wpilibc/athena/src/IterativeRobot.cpp

@@ -172,7 +172,6 @@ void IterativeRobot::DisabledPeriodic() {
     printf("Default %s() method... Overload me!\n", __FUNCTION__);
     firstRun = false;
   }
-  delayTicks(1);
 }
 
 /**
@@ -187,7 +186,6 @@ void IterativeRobot::AutonomousPeriodic() {
     printf("Default %s() method... Overload me!\n", __FUNCTION__);
     firstRun = false;
   }
-  delayTicks(1);
 }
 
 /**
@@ -202,7 +200,6 @@ void IterativeRobot::TeleopPeriodic() {
     printf("Default %s() method... Overload me!\n", __FUNCTION__);
     firstRun = false;
   }
-  delayTicks(1);
 }
 
 /**
@@ -217,5 +214,4 @@ void IterativeRobot::TestPeriodic() {
     printf("Default %s() method... Overload me!\n", __FUNCTION__);
     firstRun = false;
   }
-  delayTicks(1);
 }

wpilibc/athena/src/Timer.cpp

@@ -7,9 +7,9 @@
 
 #include "Timer.h"
 
-#include <time.h>
-
+#include <chrono>
 #include <iostream>
+#include <thread>
 #include "HAL/HAL.h"
 #include "Utility.h"
 
@@ -25,7 +25,7 @@
  */
 void Wait(double seconds) {
   if (seconds < 0.0) return;
-  delaySeconds(seconds);
+  std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
 }
 
 /**
@@ -41,12 +41,9 @@ double GetClock() { return Timer::GetFPGATimestamp(); }
  *         on Saturday.
  */
 double GetTime() {
-  struct timespec tp;
-
-  clock_gettime(CLOCK_REALTIME, &tp);
-  double realTime = (double)tp.tv_sec + (double)((double)tp.tv_nsec * 1e-9);
-
-  return (realTime);
+  using namespace std::chrono;
+  return duration_cast<duration<double>>(system_clock::now().time_since_epoch())
+      .count();
 }
 
 // for compatibility with msvc12--see C2864
@@ -167,9 +164,3 @@ double Timer::GetFPGATimestamp() {
   // Call the helper GetFPGATime() in Utility.cpp
   return GetFPGATime() * 1.0e-6;
 }
-
-// Internal function that reads the PPC timestamp counter.
-extern "C" {
-uint32_t niTimestamp32(void);
-uint64_t niTimestamp64(void);
-}

wpilibc/sim/src/Timer.cpp

@@ -7,8 +7,6 @@
 
 #include "Timer.h"
 
-#include <time.h>
-
 #include "Utility.h"
 #include "simulation/simTime.h"
 
@@ -186,9 +184,3 @@ double Timer::GetFPGATimestamp() {
  * Not in a match.
  */
 double Timer::GetMatchTime() { return Timer::GetFPGATimestamp(); }
-
-// Internal function that reads the PPC timestamp counter.
-extern "C" {
-uint32_t niTimestamp32(void);
-uint64_t niTimestamp64(void);
-}