Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/wpilibc/src/main/native/cpp/Timer.cpp b/wpilibc/src/main/native/cpp/Timer.cpp
new file mode 100644
index 0000000..ae4a66e
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/Timer.cpp
@@ -0,0 +1,107 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/Timer.h"
+
+#include <chrono>
+#include <thread>
+
+#include <hal/HAL.h>
+
+#include "frc/DriverStation.h"
+#include "frc/RobotController.h"
+
+namespace frc {
+
+void Wait(double seconds) {
+ std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
+}
+
+double GetClock() { return Timer::GetFPGATimestamp(); }
+
+double GetTime() {
+ using std::chrono::duration;
+ using std::chrono::duration_cast;
+ using std::chrono::system_clock;
+
+ return duration_cast<duration<double>>(system_clock::now().time_since_epoch())
+ .count();
+}
+
+} // namespace frc
+
+using namespace frc;
+
+// for compatibility with msvc12--see C2864
+const double Timer::kRolloverTime = (1ll << 32) / 1e6;
+
+Timer::Timer() { Reset(); }
+
+double Timer::Get() const {
+ double result;
+ double currentTime = GetFPGATimestamp();
+
+ std::lock_guard<wpi::mutex> lock(m_mutex);
+ if (m_running) {
+ // If the current time is before the start time, then the FPGA clock rolled
+ // over. Compensate by adding the ~71 minutes that it takes to roll over to
+ // the current time.
+ if (currentTime < m_startTime) {
+ currentTime += kRolloverTime;
+ }
+
+ result = (currentTime - m_startTime) + m_accumulatedTime;
+ } else {
+ result = m_accumulatedTime;
+ }
+
+ return result;
+}
+
+void Timer::Reset() {
+ std::lock_guard<wpi::mutex> lock(m_mutex);
+ m_accumulatedTime = 0;
+ m_startTime = GetFPGATimestamp();
+}
+
+void Timer::Start() {
+ std::lock_guard<wpi::mutex> lock(m_mutex);
+ if (!m_running) {
+ m_startTime = GetFPGATimestamp();
+ m_running = true;
+ }
+}
+
+void Timer::Stop() {
+ double temp = Get();
+
+ std::lock_guard<wpi::mutex> lock(m_mutex);
+ if (m_running) {
+ m_accumulatedTime = temp;
+ m_running = false;
+ }
+}
+
+bool Timer::HasPeriodPassed(double period) {
+ if (Get() > period) {
+ std::lock_guard<wpi::mutex> lock(m_mutex);
+ // Advance the start time by the period.
+ m_startTime += period;
+ // Don't set it to the current time... we want to avoid drift.
+ return true;
+ }
+ return false;
+}
+
+double Timer::GetFPGATimestamp() {
+ // FPGA returns the timestamp in microseconds
+ return RobotController::GetFPGATime() * 1.0e-6;
+}
+
+double Timer::GetMatchTime() {
+ return DriverStation::GetInstance().GetMatchTime();
+}