mirror of
https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
108 lines
2.7 KiB
C++
108 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/Timer.h"
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#include <chrono>
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#include <thread>
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#include <hal/HAL.h>
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#include "frc/DriverStation.h"
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#include "frc/RobotController.h"
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namespace frc {
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void Wait(double seconds) {
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std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
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}
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double GetClock() { return Timer::GetFPGATimestamp(); }
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double GetTime() {
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using std::chrono::duration;
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using std::chrono::duration_cast;
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using std::chrono::system_clock;
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return duration_cast<duration<double>>(system_clock::now().time_since_epoch())
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.count();
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}
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} // namespace frc
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using namespace frc;
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// for compatibility with msvc12--see C2864
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const double Timer::kRolloverTime = (1ll << 32) / 1e6;
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Timer::Timer() { Reset(); }
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double Timer::Get() const {
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double result;
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double currentTime = GetFPGATimestamp();
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std::lock_guard<wpi::mutex> lock(m_mutex);
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if (m_running) {
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// If the current time is before the start time, then the FPGA clock rolled
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// over. Compensate by adding the ~71 minutes that it takes to roll over to
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// the current time.
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if (currentTime < m_startTime) {
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currentTime += kRolloverTime;
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}
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result = (currentTime - m_startTime) + m_accumulatedTime;
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} else {
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result = m_accumulatedTime;
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}
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return result;
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}
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void Timer::Reset() {
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std::lock_guard<wpi::mutex> lock(m_mutex);
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m_accumulatedTime = 0;
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m_startTime = GetFPGATimestamp();
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}
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void Timer::Start() {
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std::lock_guard<wpi::mutex> lock(m_mutex);
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if (!m_running) {
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m_startTime = GetFPGATimestamp();
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m_running = true;
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}
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}
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void Timer::Stop() {
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double temp = Get();
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std::lock_guard<wpi::mutex> lock(m_mutex);
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if (m_running) {
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m_accumulatedTime = temp;
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m_running = false;
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}
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}
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bool Timer::HasPeriodPassed(double period) {
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if (Get() > period) {
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std::lock_guard<wpi::mutex> lock(m_mutex);
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// Advance the start time by the period.
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m_startTime += period;
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// Don't set it to the current time... we want to avoid drift.
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return true;
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}
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return false;
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}
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double Timer::GetFPGATimestamp() {
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// FPGA returns the timestamp in microseconds
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return RobotController::GetFPGATime() * 1.0e-6;
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}
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double Timer::GetMatchTime() {
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return DriverStation::GetInstance().GetMatchTime();
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}
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