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https://github.com/wpilibsuite/allwpilib
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53 lines
1.6 KiB
C++
53 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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 "HAL/Utilities.h"
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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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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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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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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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