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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
149 lines
4.3 KiB
C++
149 lines
4.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <units/time.h>
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#include <wpi/mutex.h>
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namespace frc2 {
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/**
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* Pause the task for a specified time.
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*
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* Pause the execution of the program for a specified period of time given in
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* seconds. Motors will continue to run at their last assigned values, and
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* sensors will continue to update. Only the task containing the wait will pause
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* until the wait time is expired.
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*
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* @param seconds Length of time to pause, in seconds.
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*/
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void Wait(units::second_t seconds);
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/**
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* @brief Gives real-time clock system time with nanosecond resolution
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* @return The time, just in case you want the robot to start autonomous at 8pm
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* on Saturday.
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*/
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units::second_t GetTime();
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/**
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* A wrapper for the frc::Timer class that returns unit-typed values.
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*/
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class Timer {
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public:
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/**
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* Create a new timer object.
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*
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* Create a new timer object and reset the time to zero. The timer is
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* initially not running and must be started.
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*/
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Timer();
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virtual ~Timer() = default;
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Timer(const Timer& rhs);
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Timer& operator=(const Timer& rhs);
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Timer(Timer&& rhs);
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Timer& operator=(Timer&& rhs);
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/**
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* Get the current time from the timer. If the clock is running it is derived
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* from the current system clock the start time stored in the timer class. If
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* the clock is not running, then return the time when it was last stopped.
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*
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* @return Current time value for this timer in seconds
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*/
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units::second_t Get() const;
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/**
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* Reset the timer by setting the time to 0.
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*
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* Make the timer startTime the current time so new requests will be relative
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* to now.
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*/
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void Reset();
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/**
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* Start the timer running.
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*
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* Just set the running flag to true indicating that all time requests should
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* be relative to the system clock. Note that this method is a no-op if the
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* timer is already running.
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*/
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void Start();
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/**
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* Stop the timer.
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*
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* This computes the time as of now and clears the running flag, causing all
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* subsequent time requests to be read from the accumulated time rather than
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* looking at the system clock.
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*/
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void Stop();
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/**
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* Check if the period specified has passed.
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*
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* @param seconds The period to check.
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* @return True if the period has passed.
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*/
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bool HasElapsed(units::second_t period) const;
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/**
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* Check if the period specified has passed and if it has, advance the start
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* time by that period. This is useful to decide if it's time to do periodic
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* work without drifting later by the time it took to get around to checking.
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*
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* @param period The period to check for.
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* @return True if the period has passed.
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*/
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bool HasPeriodPassed(units::second_t period);
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/**
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* Check if the period specified has passed and if it has, advance the start
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* time by that period. This is useful to decide if it's time to do periodic
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* work without drifting later by the time it took to get around to checking.
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*
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* @param period The period to check for.
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* @return True if the period has passed.
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*/
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bool AdvanceIfElapsed(units::second_t period);
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/**
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* Return the FPGA system clock time in seconds.
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*
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* Return the time from the FPGA hardware clock in seconds since the FPGA
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* started. Rolls over after 71 minutes.
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*
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* @returns Robot running time in seconds.
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*/
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static units::second_t GetFPGATimestamp();
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/**
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* Return the approximate match time.
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*
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* The FMS does not send an official match time to the robots, but does send
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* an approximate match time. The value will count down the time remaining in
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* the current period (auto or teleop).
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*
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* Warning: This is not an official time (so it cannot be used to dispute ref
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* calls or guarantee that a function will trigger before the match ends).
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*
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* The Practice Match function of the DS approximates the behavior seen on the
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* field.
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*
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* @return Time remaining in current match period (auto or teleop)
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*/
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static units::second_t GetMatchTime();
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private:
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units::second_t m_startTime = 0_s;
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units::second_t m_accumulatedTime = 0_s;
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bool m_running = false;
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mutable wpi::mutex m_mutex;
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};
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} // namespace frc2
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