mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
b2c3b2dd8e
- Twine, StringRef, Format, and NativeFormatting have been removed - Logging now uses fmtlib style formatting - Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or std::puts()/std::fputs() (for unformatted strings). - A wpi/fmt/raw_ostream.h header has been added to enable fmt::print() with wpi::raw_ostream
139 lines
2.8 KiB
C++
139 lines
2.8 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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#include <algorithm>
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#include <atomic>
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#include <chrono>
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#include <cstdio>
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#include <thread>
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#include <fmt/format.h>
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#include <wpi/timestamp.h>
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#include "MockHooksInternal.h"
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#include "NotifierInternal.h"
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#include "hal/simulation/NotifierData.h"
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static std::atomic<bool> programStarted{false};
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static std::atomic<uint64_t> programStartTime{0};
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static std::atomic<uint64_t> programPauseTime{0};
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static std::atomic<uint64_t> programStepTime{0};
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namespace hal::init {
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void InitializeMockHooks() {
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wpi::SetNowImpl(GetFPGATime);
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}
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} // namespace hal::init
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namespace hal {
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void RestartTiming() {
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programStartTime = wpi::NowDefault();
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programStepTime = 0;
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if (programPauseTime != 0) {
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programPauseTime = programStartTime.load();
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}
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}
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void PauseTiming() {
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if (programPauseTime == 0) {
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programPauseTime = wpi::NowDefault();
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}
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}
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void ResumeTiming() {
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if (programPauseTime != 0) {
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programStartTime += wpi::NowDefault() - programPauseTime;
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programPauseTime = 0;
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}
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}
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bool IsTimingPaused() {
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return programPauseTime != 0;
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}
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void StepTiming(uint64_t delta) {
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programStepTime += delta;
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}
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uint64_t GetFPGATime() {
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uint64_t curTime = programPauseTime;
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if (curTime == 0) {
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curTime = wpi::NowDefault();
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}
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return curTime + programStepTime - programStartTime;
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}
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double GetFPGATimestamp() {
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return GetFPGATime() * 1.0e-6;
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}
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void SetProgramStarted() {
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programStarted = true;
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}
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bool GetProgramStarted() {
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return programStarted;
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}
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} // namespace hal
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using namespace hal;
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extern "C" {
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void HALSIM_WaitForProgramStart(void) {
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int count = 0;
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while (!programStarted) {
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count++;
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fmt::print("Waiting for program start signal: {}\n", count);
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std::this_thread::sleep_for(std::chrono::milliseconds(500));
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}
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}
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void HALSIM_SetProgramStarted(void) {
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SetProgramStarted();
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}
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HAL_Bool HALSIM_GetProgramStarted(void) {
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return GetProgramStarted();
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}
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void HALSIM_RestartTiming(void) {
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RestartTiming();
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}
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void HALSIM_PauseTiming(void) {
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PauseTiming();
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PauseNotifiers();
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}
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void HALSIM_ResumeTiming(void) {
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ResumeTiming();
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ResumeNotifiers();
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}
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HAL_Bool HALSIM_IsTimingPaused(void) {
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return IsTimingPaused();
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}
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void HALSIM_StepTiming(uint64_t delta) {
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WaitNotifiers();
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while (delta > 0) {
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int32_t status = 0;
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uint64_t curTime = HAL_GetFPGATime(&status);
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uint64_t nextTimeout = HALSIM_GetNextNotifierTimeout();
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uint64_t step = std::min(delta, nextTimeout - curTime);
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StepTiming(step);
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delta -= step;
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WakeupWaitNotifiers();
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}
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}
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void HALSIM_StepTimingAsync(uint64_t delta) {
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StepTiming(delta);
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WakeupNotifiers();
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}
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} // extern "C"
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