commit 6a6f90c28b1fa0d28e50f01847d472e8c581aa86
author Austin Schuh <austin.linux@gmail.com> Fri Nov 25 21:36:42 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 26 13:04:55 2016 -0800
tree 7eb16f540dbf54c93557de8a89ead3560b02f25d
parent 02bd83e62bdf42fd8dfb542c6f103e987f5ab87c

Converted mock time over to using monotonic_clock

Change-Id: I17850e25586be9bf732a0ca3a4e0b1a76146a539

aos/common/controls/control_loop_test.cc

diff --git a/aos/common/controls/control_loop_test.cc b/aos/common/controls/control_loop_test.cc
index 44af93a..b71aa3a 100644
--- a/aos/common/controls/control_loop_test.cc
+++ b/aos/common/controls/control_loop_test.cc
@@ -5,14 +5,14 @@
 namespace aos {
 namespace testing {
 
-constexpr ::aos::time::Time ControlLoopTest::kTimeTick;
-constexpr ::aos::time::Time ControlLoopTest::kDSPacketTime;
+constexpr ::std::chrono::milliseconds ControlLoopTest::kTimeTick;
+constexpr ::std::chrono::milliseconds ControlLoopTest::kDSPacketTime;
 
 ControlLoopTest::ControlLoopTest() {
   ::aos::joystick_state.Clear();
   ::aos::robot_state.Clear();
 
-  ::aos::time::Time::EnableMockTime(current_time_);
+  ::aos::time::EnableMockTime(current_time_);
 
   SendMessages(false);
 }
@@ -21,11 +21,11 @@
   ::aos::joystick_state.Clear();
   ::aos::robot_state.Clear();
 
-  ::aos::time::Time::DisableMockTime();
+  ::aos::time::DisableMockTime();
 }
 
 void ControlLoopTest::SendMessages(bool enabled) {
-  if (current_time_ - last_ds_time_ >= kDSPacketTime ||
+  if (current_time_ >= kDSPacketTime + last_ds_time_ ||
       last_enabled_ != enabled) {
     last_ds_time_ = current_time_;
     auto new_state = ::aos::joystick_state.MakeMessage();

aos/common/controls/control_loop_test.h

diff --git a/aos/common/controls/control_loop_test.h b/aos/common/controls/control_loop_test.h
index 14fdd60..88ccfa5 100644
--- a/aos/common/controls/control_loop_test.h
+++ b/aos/common/controls/control_loop_test.h
@@ -25,9 +25,7 @@
   // Sends out all of the required queue messages.
   void SendMessages(bool enabled);
   // Ticks time for a single control loop cycle.
-  void TickTime() {
-    ::aos::time::Time::SetMockTime(current_time_ += kTimeTick);
-  }
+  void TickTime() { ::aos::time::SetMockTime(current_time_ += kTimeTick); }
 
   // Simulates everything that happens during 1 loop time step.
   void SimulateTimestep(bool enabled) {
@@ -47,16 +45,17 @@
   }
 
  private:
-  static constexpr ::aos::time::Time kTimeTick = ::aos::time::Time::InUS(5000);
-  static constexpr ::aos::time::Time kDSPacketTime =
-      ::aos::time::Time::InMS(20);
+  static constexpr ::std::chrono::milliseconds kTimeTick{5};
+  static constexpr ::std::chrono::milliseconds kDSPacketTime{20};
 
   uint16_t team_id_ = 971;
   int32_t reader_pid_ = 1;
   double battery_voltage_ = 12.4;
 
-  ::aos::time::Time last_ds_time_ = ::aos::time::Time::InSeconds(0);
-  ::aos::time::Time current_time_ = ::aos::time::Time::InSeconds(0);
+  ::aos::monotonic_clock::time_point last_ds_time_ =
+      ::aos::monotonic_clock::epoch();
+  ::aos::monotonic_clock::time_point current_time_ =
+      ::aos::monotonic_clock::epoch();
 
   ::aos::testing::TestSharedMemory my_shm_;