mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
ac9be78e27
Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
87 lines
1.8 KiB
C++
87 lines
1.8 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 "frc/Timer.h"
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#include <chrono>
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#include <thread>
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#include "frc/DriverStation.h"
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#include "frc/RobotController.h"
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namespace frc {
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void Wait(units::second_t seconds) {
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std::this_thread::sleep_for(std::chrono::duration<double>(seconds.value()));
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}
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units::second_t GetTime() {
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using std::chrono::duration;
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using std::chrono::duration_cast;
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using std::chrono::system_clock;
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return units::second_t{
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duration_cast<duration<double>>(system_clock::now().time_since_epoch())
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.count()};
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}
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} // namespace frc
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using namespace frc;
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Timer::Timer() {
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Reset();
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}
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units::second_t Timer::Get() const {
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if (m_running) {
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return (GetFPGATimestamp() - m_startTime) + m_accumulatedTime;
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} else {
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return m_accumulatedTime;
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}
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}
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void Timer::Reset() {
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m_accumulatedTime = 0_s;
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m_startTime = GetFPGATimestamp();
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}
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void Timer::Start() {
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if (!m_running) {
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m_startTime = GetFPGATimestamp();
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m_running = true;
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}
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}
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void Timer::Stop() {
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if (m_running) {
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m_accumulatedTime = Get();
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m_running = false;
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}
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}
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bool Timer::HasElapsed(units::second_t period) const {
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return Get() >= period;
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}
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bool Timer::AdvanceIfElapsed(units::second_t period) {
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if (Get() >= period) {
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// Advance the start time by the period.
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m_startTime += period;
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// Don't set it to the current time... we want to avoid drift.
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return true;
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} else {
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return false;
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}
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}
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units::second_t Timer::GetFPGATimestamp() {
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// FPGA returns the timestamp in microseconds
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return units::second_t{frc::RobotController::GetFPGATime() * 1.0e-6};
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}
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units::second_t Timer::GetMatchTime() {
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return units::second_t{frc::DriverStation::GetMatchTime()};
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}
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