mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 "Base.h"
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#include "HAL/cpp/priority_mutex.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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/**
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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
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* cleared. When the
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* timer is running its value counts up in seconds. When stopped, the timer
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* holds the current
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* value. The implementation simply records the time when started and subtracts
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* 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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public:
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Timer();
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virtual ~Timer() = default;
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Timer(const Timer&) = delete;
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Timer& operator=(const Timer&) = delete;
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double Get() const;
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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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static double GetMatchTime();
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// The time, in seconds, at which the 32-bit FPGA timestamp rolls over to 0
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static const double kRolloverTime;
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private:
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double m_startTime = 0.0;
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double m_accumulatedTime = 0.0;
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bool m_running = false;
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mutable priority_mutex m_mutex;
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};
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