mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
c3b3fb8b74
Old behavior is available via StepTimingAsync. This makes it significantly easier to use simulation timing with notifiers. Also update tests to use simulation framework. This also speeds up the timing-dependent tests by using simulation timing. ResourceLock is used in the Java tests to prevent parallel execution. While we're here, tweak HAL Notifier implementation: - Use wait_for instead of wait_until in WaitForNotifierAlarm - Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm
104 lines
2.7 KiB
C++
104 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2020 FIRST. 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 <atomic>
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#include <chrono>
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#include <cstdio>
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#include <thread>
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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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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 {
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namespace init {
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void InitializeMockHooks() { wpi::SetNowImpl(GetFPGATime); }
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} // namespace init
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} // namespace hal
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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) programPauseTime = programStartTime.load();
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}
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void PauseTiming() {
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if (programPauseTime == 0) programPauseTime = wpi::NowDefault();
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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() { return programPauseTime != 0; }
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void StepTiming(uint64_t delta) { programStepTime += delta; }
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uint64_t GetFPGATime() {
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uint64_t curTime = programPauseTime;
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if (curTime == 0) curTime = wpi::NowDefault();
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return curTime + programStepTime - programStartTime;
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}
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double GetFPGATimestamp() { return GetFPGATime() * 1.0e-6; }
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void SetProgramStarted() { programStarted = true; }
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bool GetProgramStarted() { return programStarted; }
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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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std::printf("Waiting for program start signal: %d\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) { SetProgramStarted(); }
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HAL_Bool HALSIM_GetProgramStarted(void) { return GetProgramStarted(); }
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void HALSIM_RestartTiming(void) { RestartTiming(); }
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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) { return IsTimingPaused(); }
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void HALSIM_StepTiming(uint64_t delta) {
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StepTiming(delta);
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WakeupWaitNotifiers();
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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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