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https://github.com/wpilibsuite/allwpilib
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c5a0497124
Calling HALSIM_PauseTiming pauses the FPGA clock and notifiers. Calling HALSIM_ResumeTiming resumes the FPGA clock and notifiers. Calling HALSIM_StepTiming steps the FPGA clock and runs applicable notifiers. This will effectively pause TimedRobot and any other notifier-based events, but of course will not pause user threads that do not use the notifier (e.g. image processing).
99 lines
2.5 KiB
C++
99 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 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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namespace hal {
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namespace init {
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void InitializeMockHooks() {}
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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::Now();
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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::Now();
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}
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void ResumeTiming() {
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if (programPauseTime != 0) {
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programStartTime += wpi::Now() - 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) {
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if (programPauseTime != 0) programPauseTime += delta;
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}
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int64_t GetFPGATime() {
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uint64_t curTime = programPauseTime;
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if (curTime == 0) curTime = wpi::Now();
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return curTime - 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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WakeupNotifiers();
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}
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} // extern "C"
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