mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
54 lines
1.6 KiB
C++
54 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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