commit 651fc3ff0105ab373cd26121e081d7080b5780db
author James Kuszmaul <jabukuszmaul@gmail.com> Wed May 15 21:14:25 2019 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Thu May 16 20:49:03 2019 -0700
tree 2c9e4010ac8fc3e6043a5054136e51d0eef6d218
parent f5f50dd8044247504eec5c89656caac3f8d6588a

Make a DurationInSeconds function

Also, run clang-format on all the files I changed because I am too lazy
to figure out how to call clang-format on just the lines I changed.

Change-Id: I071c6f81dced533a0a269f25a258348132a7056a

frc971/wpilib/ADIS16448.cc

diff --git a/frc971/wpilib/ADIS16448.cc b/frc971/wpilib/ADIS16448.cc
index e902691..aec4d4f 100644
--- a/frc971/wpilib/ADIS16448.cc
+++ b/frc971/wpilib/ADIS16448.cc
@@ -7,10 +7,10 @@
 #include <math.h>
 #include <chrono>
 
+#include "aos/init.h"
 #include "aos/logging/queue_logging.h"
 #include "aos/robot_state/robot_state.q.h"
 #include "aos/time/time.h"
-#include "aos/init.h"
 #include "frc971/wpilib/imu.q.h"
 #include "frc971/zeroing/averager.h"
 
@@ -214,9 +214,8 @@
     // interrupt delay among other things), but it will catch the code
     // constantly falling behind, which seems like the most likely failure
     // scenario.
-    if (!dio1_->Get() ||
-        dio1_->WaitForInterrupt(0, false) !=
-            frc::InterruptableSensorBase::kTimeout) {
+    if (!dio1_->Get() || dio1_->WaitForInterrupt(0, false) !=
+                             frc::InterruptableSensorBase::kTimeout) {
       LOG(ERROR, "IMU read took too long\n");
       continue;
     }
@@ -243,10 +242,8 @@
     }
 
     auto message = imu_values.MakeMessage();
-    message->fpga_timestamp =
-        chrono::duration_cast<chrono::duration<double>>(
-            dio1_->ReadRisingTimestamp().time_since_epoch())
-            .count();
+    message->fpga_timestamp = ::aos::time::DurationInSeconds(
+        dio1_->ReadRisingTimestamp().time_since_epoch());
     message->monotonic_timestamp_ns =
         chrono::duration_cast<chrono::nanoseconds>(read_time.time_since_epoch())
             .count();

frc971/wpilib/encoder_and_potentiometer.h

diff --git a/frc971/wpilib/encoder_and_potentiometer.h b/frc971/wpilib/encoder_and_potentiometer.h
index 42fb86b..eb55664 100644
--- a/frc971/wpilib/encoder_and_potentiometer.h
+++ b/frc971/wpilib/encoder_and_potentiometer.h
@@ -7,6 +7,7 @@
 
 #include "aos/macros.h"
 #include "aos/mutex/mutex.h"
+#include "aos/time/time.h"
 
 #include "frc971/wpilib/ahal/AnalogInput.h"
 #include "frc971/wpilib/ahal/Counter.h"
@@ -236,9 +237,7 @@
   static constexpr ::std::chrono::nanoseconds kNominalPeriod =
       ::std::chrono::microseconds(4096);
   static constexpr double kMaxPeriod =
-      (::std::chrono::duration_cast<::std::chrono::duration<double>>(
-           kNominalPeriod) *
-       2).count();
+      ::aos::time::DurationInSeconds(kNominalPeriod * 2);
 
   ::std::unique_ptr<::frc::Counter> high_counter_, period_length_counter_;
   ::std::unique_ptr<::frc::DigitalInput> input_;