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https://github.com/wpilibsuite/allwpilib
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351e8599ac
This turns accidental parameter mismatches between header and implementation into compiler errors. Change-Id: Ic26fabb82b2fd5f79407a11435cdbd35348af15f
49 lines
1.1 KiB
C++
49 lines
1.1 KiB
C++
#include "HAL/Utilities.hpp"
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#include <time.h>
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const int32_t HAL_NO_WAIT = 0;
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const int32_t HAL_WAIT_FOREVER = -1;
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extern "C" {
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void delayTicks(int32_t ticks)
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{
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struct timespec test, remaining;
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test.tv_sec = 0;
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test.tv_nsec = ticks * 3;
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/* Sleep until the requested number of ticks has passed, with additional
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time added if nanosleep is interrupted. */
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while(nanosleep(&test, &remaining) == -1) {
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test = remaining;
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}
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}
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void delayMillis(double ms)
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{
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struct timespec test, remaining;
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test.tv_sec = ms / 1000;
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test.tv_nsec = 1000 * (((uint64_t)ms) % 1000000);
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/* Sleep until the requested number of milliseconds has passed, with
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additional time added if nanosleep is interrupted. */
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while(nanosleep(&test, &remaining) == -1) {
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test = remaining;
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}
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}
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void delaySeconds(double s)
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{
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struct timespec test, remaining;
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test.tv_sec = (int)s;
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test.tv_nsec = (s - (int)s) * 1000000000.0;
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/* Sleep until the requested number of seconds has passed, with additional
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time added if nanosleep is interrupted. */
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while(nanosleep(&test, &remaining) == -1) {
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test = remaining;
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}
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}
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} // extern "C"
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