mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
e4e199f066
This allows control loops to behave more predictably in the face of the simulator running at non-realtime speeds. Change-Id: I3508ed7ad316a3bf8b2c54b68c93baaf8cc4d941 Closes: artf2607 Conflicts: wpilibc/wpilibC++Sim/include/Timer.h wpilibc/wpilibC++Sim/src/Utility.cpp
51 lines
1.4 KiB
C++
51 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HAL/Semaphore.hpp"
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#include "Base.h"
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typedef void (*TimerInterruptHandler)(void *param);
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void Wait(double seconds);
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double GetClock();
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double GetTime();
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namespace wpilib { namespace internal {
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extern double simTime;
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extern MULTIWAIT_ID time_wait;
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// transport::SubscriberPtr time_sub;
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}}
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/**
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* Timer objects measure accumulated time in seconds.
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* The timer object functions like a stopwatch. It can be started, stopped, and cleared. When the
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* timer is running its value counts up in seconds. When stopped, the timer holds the current
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* value. The implementation simply records the time when started and subtracts the current time
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* whenever the value is requested.
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*/
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class Timer
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{
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public:
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Timer();
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virtual ~Timer();
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double Get();
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void Reset();
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void Start();
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void Stop();
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bool HasPeriodPassed(double period);
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static double GetFPGATimestamp();
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static double GetPPCTimestamp();
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private:
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double m_startTime;
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double m_accumulatedTime;
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bool m_running;
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MUTEX_ID m_semaphore;
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DISALLOW_COPY_AND_ASSIGN(Timer);
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};
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