diff --git a/hal/include/HAL/HAL.h b/hal/include/HAL/HAL.h index a982cecf74..a9a34fe83b 100644 --- a/hal/include/HAL/HAL.h +++ b/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 diff --git a/hal/include/HAL/Utilities.h b/hal/include/HAL/Utilities.h deleted file mode 100644 index c2dccce2b3..0000000000 --- a/hal/include/HAL/Utilities.h +++ /dev/null @@ -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 - -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); -} diff --git a/hal/lib/athena/DigitalInternal.cpp b/hal/lib/athena/DigitalInternal.cpp index 19138afd23..96d29c333e 100644 --- a/hal/lib/athena/DigitalInternal.cpp +++ b/hal/lib/athena/DigitalInternal.cpp @@ -11,6 +11,7 @@ #include #include +#include #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]; diff --git a/hal/lib/athena/HALAthena.cpp b/hal/lib/athena/HALAthena.cpp index 7380c5040b..e937966634 100644 --- a/hal/lib/athena/HALAthena.cpp +++ b/hal/lib/athena/HALAthena.cpp @@ -6,6 +6,7 @@ /*----------------------------------------------------------------------------*/ #include "HAL/HAL.h" +#include "HAL/cpp/priority_mutex.h" #include // linux for kill #include @@ -15,6 +16,7 @@ #include #include #include +#include #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" diff --git a/hal/lib/athena/Utilities.cpp b/hal/lib/athena/Utilities.cpp deleted file mode 100644 index 59bae55559..0000000000 --- a/hal/lib/athena/Utilities.cpp +++ /dev/null @@ -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 - -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" diff --git a/hal/lib/athena/ctre/CanTalonSRX.cpp b/hal/lib/athena/ctre/CanTalonSRX.cpp index 2f6198d4ba..746506cbf8 100644 --- a/hal/lib/athena/ctre/CanTalonSRX.cpp +++ b/hal/lib/athena/ctre/CanTalonSRX.cpp @@ -107,7 +107,6 @@ #include "HAL/CanTalonSRX.h" #include "FRC_NetworkCommunication/CANSessionMux.h" //CAN Comm #include // memset -#include // usleep #define STATUS_1 0x02041400 #define STATUS_2 0x02041440 diff --git a/hal/lib/athena/ctre/CtreCanNode.cpp b/hal/lib/athena/ctre/CtreCanNode.cpp index 0f190a5670..2eb42ab654 100644 --- a/hal/lib/athena/ctre/CtreCanNode.cpp +++ b/hal/lib/athena/ctre/CtreCanNode.cpp @@ -3,7 +3,6 @@ #include "ctre/CtreCanNode.h" #include "FRC_NetworkCommunication/CANSessionMux.h" #include // memset -#include // usleep static const UINT32 kFullMessageIDMask = 0x1fffffff; diff --git a/hal/lib/athena/ctre/PCM.cpp b/hal/lib/athena/ctre/PCM.cpp index 58f8bc9002..d662daab37 100644 --- a/hal/lib/athena/ctre/PCM.cpp +++ b/hal/lib/athena/ctre/PCM.cpp @@ -3,7 +3,6 @@ #include "ctre/PCM.h" #include "FRC_NetworkCommunication/CANSessionMux.h" #include // memset -#include // 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; diff --git a/hal/lib/athena/ctre/PDP.cpp b/hal/lib/athena/ctre/PDP.cpp index 89abce1f4d..127b1dce19 100644 --- a/hal/lib/athena/ctre/PDP.cpp +++ b/hal/lib/athena/ctre/PDP.cpp @@ -1,7 +1,6 @@ #include "ctre/PDP.h" #include "FRC_NetworkCommunication/CANSessionMux.h" //CAN Comm #include // memset -#include // usleep #define STATUS_1 0x8041400 #define STATUS_2 0x8041440 diff --git a/wpilibc/athena/include/CANTalon.h b/wpilibc/athena/include/CANTalon.h index deebcf49d0..6d57f94cd3 100644 --- a/wpilibc/athena/include/CANTalon.h +++ b/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, diff --git a/wpilibc/athena/src/CANTalon.cpp b/wpilibc/athena/src/CANTalon.cpp index 3fd3a0f088..c745afa10d 100644 --- a/wpilibc/athena/src/CANTalon.cpp +++ b/wpilibc/athena/src/CANTalon.cpp @@ -7,9 +7,9 @@ #include "CANTalon.h" -#include // usleep - +#include #include +#include #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) { diff --git a/wpilibc/athena/src/IterativeRobot.cpp b/wpilibc/athena/src/IterativeRobot.cpp index 702f040dfa..e9099ede43 100644 --- a/wpilibc/athena/src/IterativeRobot.cpp +++ b/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); } diff --git a/wpilibc/athena/src/Timer.cpp b/wpilibc/athena/src/Timer.cpp index facded105e..40acd9b94f 100644 --- a/wpilibc/athena/src/Timer.cpp +++ b/wpilibc/athena/src/Timer.cpp @@ -7,9 +7,9 @@ #include "Timer.h" -#include - +#include #include +#include #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(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>(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); -} diff --git a/wpilibc/sim/src/Timer.cpp b/wpilibc/sim/src/Timer.cpp index c0ece9700f..db09a471e4 100644 --- a/wpilibc/sim/src/Timer.cpp +++ b/wpilibc/sim/src/Timer.cpp @@ -7,8 +7,6 @@ #include "Timer.h" -#include - #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); -}