Converted PhasedLoop over to monotonic_clock.
Change-Id: Ic8857c4412abb7c19dd3df4aaa5f6c8aa74e9dc6
diff --git a/aos/common/time.h b/aos/common/time.h
index 40b72b0..ba795a9 100644
--- a/aos/common/time.h
+++ b/aos/common/time.h
@@ -28,8 +28,10 @@
// Returns the epoch (0).
static constexpr monotonic_clock::time_point epoch() {
- return time_point(duration(0));
+ return time_point(zero());
}
+
+ static constexpr monotonic_clock::duration zero() { return duration(0); }
};
namespace time {
@@ -146,8 +148,10 @@
}
// Construct a time representing the period of hertz.
- static constexpr Time FromRate(int hertz) {
- return Time(0, kNSecInSec / hertz);
+ static constexpr ::std::chrono::nanoseconds FromRate(int hertz) {
+ return ::std::chrono::duration_cast<::std::chrono::nanoseconds>(
+ ::std::chrono::seconds(1)) /
+ hertz;
}
// Checks whether or not this time is within amount nanoseconds of other.
diff --git a/aos/common/time_test.cc b/aos/common/time_test.cc
index 3ae82ab..e1811db 100644
--- a/aos/common/time_test.cc
+++ b/aos/common/time_test.cc
@@ -255,7 +255,7 @@
}
TEST(TimeTest, FromRate) {
- EXPECT_EQ(MACRO_DARG(Time(0, Time::kNSecInSec / 100)), Time::FromRate(100));
+ EXPECT_EQ(::std::chrono::milliseconds(10), Time::FromRate(100));
}
// Test the monotonic_clock and sleep_until functions.
diff --git a/aos/common/util/phased_loop.cc b/aos/common/util/phased_loop.cc
index b5804c8..9c81ffb 100644
--- a/aos/common/util/phased_loop.cc
+++ b/aos/common/util/phased_loop.cc
@@ -10,15 +10,21 @@
frequency + Time::InUS(offset));
}
-int PhasedLoop::Iterate(const Time &now) {
- const Time next_time = Time::InNS(((now - offset_).ToNSec() + 1) /
- interval_.ToNSec() * interval_.ToNSec()) +
- ((now < offset_) ? Time::kZero : interval_) + offset_;
+int PhasedLoop::Iterate(const monotonic_clock::time_point now) {
+ const monotonic_clock::time_point next_time =
+ monotonic_clock::time_point(
+ (((now - offset_).time_since_epoch() + monotonic_clock::duration(1)) /
+ interval_) *
+ interval_) +
+ ((now.time_since_epoch() < offset_) ? monotonic_clock::zero()
+ : interval_) +
+ offset_;
- const Time difference = next_time - last_time_;
- const int result = difference.ToNSec() / interval_.ToNSec();
+ const monotonic_clock::duration difference = next_time - last_time_;
+ const int result = difference / interval_;
CHECK_EQ(difference, interval_ * result);
- CHECK_EQ(0, (next_time - offset_).ToNSec() % interval_.ToNSec());
+ CHECK_EQ(
+ 0, (next_time - offset_).time_since_epoch().count() % interval_.count());
CHECK_GE(next_time, now);
CHECK_LE(next_time - now, interval_);
last_time_ = next_time;
diff --git a/aos/common/util/phased_loop.h b/aos/common/util/phased_loop.h
index fc0f247..7614ed2 100644
--- a/aos/common/util/phased_loop.h
+++ b/aos/common/util/phased_loop.h
@@ -22,40 +22,47 @@
// ...
// 10000.1s
// offset must be >= Time::kZero and < interval.
- PhasedLoop(const Time &interval, const Time &offset = Time::kZero)
+ PhasedLoop(
+ const monotonic_clock::duration interval,
+ const monotonic_clock::duration offset = monotonic_clock::duration(0))
: interval_(interval), offset_(offset), last_time_(offset) {
- CHECK_GE(offset, Time::kZero);
- CHECK_GT(interval, Time::kZero);
+ CHECK_GE(offset, monotonic_clock::duration(0));
+ CHECK_GT(interval, monotonic_clock::duration(0));
CHECK_LT(offset, interval);
Reset();
}
// Resets the count of skipped iterations.
- // Iterate(now) will return 1 and set sleep_time() to something within
- // interval of now.
- void Reset(const Time &now = Time::Now()) { Iterate(now - interval_); }
+ // Iterate(monotonic_now) will return 1 and set sleep_time() to something
+ // within interval of monotonic_now.
+ void Reset(const monotonic_clock::time_point monotonic_now =
+ monotonic_clock::now()) {
+ Iterate(monotonic_now - interval_);
+ }
- // Calculates the next time to run after now.
+ // Calculates the next time to run after monotonic_now.
// The result can be retrieved with sleep_time().
// Returns the number of iterations which have passed (1 if this is called
- // often enough). This can be < 1 iff now goes backwards between calls.
- int Iterate(const Time &now = Time::Now());
+ // often enough). This can be < 1 iff monotonic_now goes backwards between
+ // calls.
+ int Iterate(const monotonic_clock::time_point monotonic_now =
+ monotonic_clock::now());
// Sleeps until the next time and returns the number of iterations which have
// passed.
int SleepUntilNext() {
- const int r = Iterate(Time::Now());
- SleepUntil(sleep_time());
+ const int r = Iterate(monotonic_clock::now());
+ ::std::this_thread::sleep_until(sleep_time());
return r;
}
- const Time &sleep_time() const { return last_time_; }
+ monotonic_clock::time_point sleep_time() const { return last_time_; }
private:
- const Time interval_, offset_;
+ const monotonic_clock::duration interval_, offset_;
// The time we most recently slept until.
- Time last_time_ = Time::kZero;
+ monotonic_clock::time_point last_time_ = monotonic_clock::epoch();
};
} // namespace time
diff --git a/aos/common/util/phased_loop_test.cc b/aos/common/util/phased_loop_test.cc
index 1641a92..b013c2e 100644
--- a/aos/common/util/phased_loop_test.cc
+++ b/aos/common/util/phased_loop_test.cc
@@ -8,111 +8,115 @@
namespace time {
namespace testing {
+using ::std::chrono::milliseconds;
+
class PhasedLoopTest : public ::testing::Test {
protected:
- PhasedLoopTest() {
- ::aos::testing::EnableTestLogging();
- }
+ PhasedLoopTest() { ::aos::testing::EnableTestLogging(); }
};
typedef PhasedLoopTest PhasedLoopDeathTest;
+monotonic_clock::time_point InMs(int ms) {
+ return monotonic_clock::time_point(::std::chrono::milliseconds(ms));
+}
+
TEST_F(PhasedLoopTest, Reset) {
{
- PhasedLoop loop(Time::InMS(100), Time::kZero);
+ PhasedLoop loop(milliseconds(100), milliseconds(0));
- loop.Reset(Time::kZero);
- EXPECT_EQ(Time::InMS(0), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(100), loop.sleep_time());
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(InMs(0), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(100), loop.sleep_time());
- loop.Reset(Time::InMS(99));
- EXPECT_EQ(Time::InMS(0), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(99)));
- EXPECT_EQ(Time::InMS(100), loop.sleep_time());
+ loop.Reset(InMs(99));
+ EXPECT_EQ(InMs(0), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(99)));
+ EXPECT_EQ(InMs(100), loop.sleep_time());
- loop.Reset(Time::InMS(100));
- EXPECT_EQ(Time::InMS(100), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(199)));
- EXPECT_EQ(Time::InMS(200), loop.sleep_time());
+ loop.Reset(InMs(100));
+ EXPECT_EQ(InMs(100), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(199)));
+ EXPECT_EQ(InMs(200), loop.sleep_time());
- loop.Reset(Time::InMS(101));
- EXPECT_EQ(Time::InMS(100), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(101)));
- EXPECT_EQ(Time::InMS(200), loop.sleep_time());
+ loop.Reset(InMs(101));
+ EXPECT_EQ(InMs(100), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(101)));
+ EXPECT_EQ(InMs(200), loop.sleep_time());
}
{
- PhasedLoop loop(Time::InMS(100), Time::InMS(1));
- loop.Reset(Time::kZero);
- EXPECT_EQ(Time::InMS(-99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
+ PhasedLoop loop(milliseconds(100), milliseconds(1));
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(InMs(-99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
}
{
- PhasedLoop loop(Time::InMS(100), Time::InMS(99));
+ PhasedLoop loop(milliseconds(100), milliseconds(99));
- loop.Reset(Time::kZero);
- EXPECT_EQ(Time::InMS(-1), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(InMs(-1), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
- loop.Reset(Time::InMS(98));
- EXPECT_EQ(Time::InMS(-1), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(98)));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
+ loop.Reset(InMs(98));
+ EXPECT_EQ(InMs(-1), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(98)));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
- loop.Reset(Time::InMS(99));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(99)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
+ loop.Reset(InMs(99));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(99)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
- loop.Reset(Time::InMS(100));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
+ loop.Reset(InMs(100));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
}
}
TEST_F(PhasedLoopTest, Iterate) {
{
- PhasedLoop loop(Time::InMS(100), Time::InMS(99));
- loop.Reset(Time::kZero);
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(101)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(198)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(199)));
- EXPECT_EQ(Time::InMS(299), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(300)));
- EXPECT_EQ(Time::InMS(399), loop.sleep_time());
- EXPECT_EQ(3, loop.Iterate(Time::InMS(600)));
- EXPECT_EQ(Time::InMS(699), loop.sleep_time());
+ PhasedLoop loop(milliseconds(100), milliseconds(99));
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(101)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(198)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(199)));
+ EXPECT_EQ(InMs(299), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(300)));
+ EXPECT_EQ(InMs(399), loop.sleep_time());
+ EXPECT_EQ(3, loop.Iterate(InMs(600)));
+ EXPECT_EQ(InMs(699), loop.sleep_time());
}
{
- PhasedLoop loop(Time::InMS(100), Time::InMS(1));
- loop.Reset(Time::kZero);
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(101), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(101), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(103)));
- EXPECT_EQ(Time::InMS(201), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(198)));
- EXPECT_EQ(Time::InMS(201), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(200)));
- EXPECT_EQ(Time::InMS(201), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(201)));
- EXPECT_EQ(Time::InMS(301), loop.sleep_time());
- EXPECT_EQ(3, loop.Iterate(Time::InMS(600)));
- EXPECT_EQ(Time::InMS(601), loop.sleep_time());
+ PhasedLoop loop(milliseconds(100), milliseconds(1));
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(101), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(101), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(103)));
+ EXPECT_EQ(InMs(201), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(198)));
+ EXPECT_EQ(InMs(201), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(200)));
+ EXPECT_EQ(InMs(201), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(201)));
+ EXPECT_EQ(InMs(301), loop.sleep_time());
+ EXPECT_EQ(3, loop.Iterate(InMs(600)));
+ EXPECT_EQ(InMs(601), loop.sleep_time());
}
}
@@ -120,40 +124,42 @@
// This seems like a rare case at first, but starting from zero needs to
// work, which means negatives should too.
TEST_F(PhasedLoopTest, CrossingZero) {
- PhasedLoop loop(Time::InMS(100), Time::InMS(1));
- loop.Reset(Time::InMS(-1000));
- EXPECT_EQ(Time::InMS(-1099), loop.sleep_time());
- EXPECT_EQ(9, loop.Iterate(Time::InMS(-250)));
- EXPECT_EQ(Time::InMS(-199), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(-199)));
- EXPECT_EQ(Time::InMS(-99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(-90)));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(0)));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(1)));
- EXPECT_EQ(Time::InMS(101), loop.sleep_time());
+ PhasedLoop loop(milliseconds(100), milliseconds(1));
+ loop.Reset(InMs(-1000));
+ EXPECT_EQ(InMs(-1099), loop.sleep_time());
+ EXPECT_EQ(9, loop.Iterate(InMs(-250)));
+ EXPECT_EQ(InMs(-199), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(-199)));
+ EXPECT_EQ(InMs(-99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(-90)));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(0)));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(1)));
+ EXPECT_EQ(InMs(101), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(2)));
- EXPECT_EQ(Time::InMS(101), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(2)));
+ EXPECT_EQ(InMs(101), loop.sleep_time());
- EXPECT_EQ(-2, loop.Iterate(Time::InMS(-101)));
- EXPECT_EQ(Time::InMS(-99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(-99)));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
+ EXPECT_EQ(-2, loop.Iterate(InMs(-101)));
+ EXPECT_EQ(InMs(-99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(-99)));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(-99)));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(-99)));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
}
// Tests that passing invalid values to the constructor dies correctly.
TEST_F(PhasedLoopDeathTest, InvalidValues) {
- EXPECT_DEATH(PhasedLoop(Time::InMS(1), Time::InMS(2)), ".*offset<interval.*");
- EXPECT_DEATH(PhasedLoop(Time::InMS(1), Time::InMS(1)), ".*offset<interval.*");
- EXPECT_DEATH(PhasedLoop(Time::InMS(1), Time::InMS(-1)),
- ".*offset>=Time::kZero.*");
- EXPECT_DEATH(PhasedLoop(Time::InMS(0), Time::InMS(0)),
- ".*interval>Time::kZero.*");
+ EXPECT_DEATH(PhasedLoop(milliseconds(1), milliseconds(2)),
+ ".*offset<interval.*");
+ EXPECT_DEATH(PhasedLoop(milliseconds(1), milliseconds(1)),
+ ".*offset<interval.*");
+ EXPECT_DEATH(PhasedLoop(milliseconds(1), milliseconds(-1)),
+ ".*offset>=monotonic_clock::duration\\(0\\).*");
+ EXPECT_DEATH(PhasedLoop(milliseconds(0), milliseconds(0)),
+ ".*interval>monotonic_clock::duration\\(0\\).*");
}
} // namespace testing
diff --git a/frc971/wpilib/pdp_fetcher.cc b/frc971/wpilib/pdp_fetcher.cc
index 4e6be32..846de60 100644
--- a/frc971/wpilib/pdp_fetcher.cc
+++ b/frc971/wpilib/pdp_fetcher.cc
@@ -1,5 +1,7 @@
#include "frc971/wpilib/pdp_fetcher.h"
+#include <chrono>
+
#include "aos/common/logging/queue_logging.h"
#include "aos/linux_code/init.h"
#include "aos/common/util/phased_loop.h"
@@ -12,8 +14,8 @@
::aos::SetCurrentThreadName("PDPFetcher");
::std::unique_ptr<PowerDistributionPanel> pdp(new PowerDistributionPanel());
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(20),
- ::aos::time::Time::InMS(4));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+ ::std::chrono::milliseconds(4));
while (true) {
{
diff --git a/y2012/wpilib/wpilib_interface.cc b/y2012/wpilib/wpilib_interface.cc
index 6702dc4..290f067 100644
--- a/y2012/wpilib/wpilib_interface.cc
+++ b/y2012/wpilib/wpilib_interface.cc
@@ -3,6 +3,7 @@
#include <unistd.h>
#include <inttypes.h>
+#include <chrono>
#include <thread>
#include <mutex>
#include <functional>
@@ -104,8 +105,8 @@
&DriverStation::GetInstance();
#endif
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(4));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(4));
::aos::SetCurrentThreadRealtimePriority(40);
while (run_) {
@@ -183,8 +184,8 @@
::aos::SetCurrentThreadName("Solenoids");
::aos::SetCurrentThreadRealtimePriority(27);
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(20),
- ::aos::time::Time::InMS(1));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+ ::std::chrono::milliseconds(1));
while (run_) {
{
diff --git a/y2014/wpilib/wpilib_interface.cc b/y2014/wpilib/wpilib_interface.cc
index 5195ab6..a53d54b 100644
--- a/y2014/wpilib/wpilib_interface.cc
+++ b/y2014/wpilib/wpilib_interface.cc
@@ -4,6 +4,7 @@
#include <inttypes.h>
#include <thread>
+#include <chrono>
#include <mutex>
#include <functional>
@@ -260,8 +261,8 @@
bottom_reader_.Start();
dma_synchronizer_->Start();
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(4));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(4));
::aos::SetCurrentThreadRealtimePriority(40);
while (run_) {
@@ -504,8 +505,8 @@
::aos::SetCurrentThreadName("Solenoids");
::aos::SetCurrentThreadRealtimePriority(27);
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(20),
- ::aos::time::Time::InMS(1));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+ ::std::chrono::milliseconds(1));
while (run_) {
{
diff --git a/y2014_bot3/wpilib/wpilib_interface.cc b/y2014_bot3/wpilib/wpilib_interface.cc
index e1e07a0..6a3457a 100644
--- a/y2014_bot3/wpilib/wpilib_interface.cc
+++ b/y2014_bot3/wpilib/wpilib_interface.cc
@@ -3,6 +3,7 @@
#include <unistd.h>
#include <inttypes.h>
+#include <chrono>
#include <thread>
#include <mutex>
#include <functional>
@@ -97,8 +98,8 @@
&DriverStation::GetInstance();
#endif
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(4));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(4));
::aos::SetCurrentThreadRealtimePriority(40);
while (run_) {
@@ -185,8 +186,8 @@
::aos::SetCurrentThreadName("Solenoids");
::aos::SetCurrentThreadRealtimePriority(27);
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(20),
- ::aos::time::Time::InMS(1));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+ ::std::chrono::milliseconds(1));
while (run_) {
{
diff --git a/y2015/wpilib/wpilib_interface.cc b/y2015/wpilib/wpilib_interface.cc
index 3130424..14ca146 100644
--- a/y2015/wpilib/wpilib_interface.cc
+++ b/y2015/wpilib/wpilib_interface.cc
@@ -3,9 +3,10 @@
#include <unistd.h>
#include <inttypes.h>
-#include <thread>
-#include <mutex>
+#include <chrono>
#include <functional>
+#include <mutex>
+#include <thread>
#include "Encoder.h"
#include "Talon.h"
@@ -241,8 +242,8 @@
wrist_encoder_.Start();
dma_synchronizer_->Start();
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(4));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(4));
::aos::SetCurrentThreadRealtimePriority(40);
while (run_) {
@@ -418,8 +419,8 @@
::aos::SetCurrentThreadName("Solenoids");
::aos::SetCurrentThreadRealtimePriority(27);
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(20),
- ::aos::time::Time::InMS(1));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+ ::std::chrono::milliseconds(1));
while (run_) {
{
diff --git a/y2015_bot3/wpilib/wpilib_interface.cc b/y2015_bot3/wpilib/wpilib_interface.cc
index cb2acf1..bbfa91e 100644
--- a/y2015_bot3/wpilib/wpilib_interface.cc
+++ b/y2015_bot3/wpilib/wpilib_interface.cc
@@ -3,6 +3,7 @@
#include <unistd.h>
#include <inttypes.h>
+#include <chrono>
#include <thread>
#include <mutex>
#include <functional>
@@ -137,8 +138,8 @@
&DriverStation::GetInstance();
#endif
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(4));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(4));
::aos::SetCurrentThreadRealtimePriority(40);
while (run_) {
@@ -242,8 +243,8 @@
::aos::SetCurrentThreadName("Solenoids");
::aos::SetCurrentThreadRealtimePriority(27);
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(20),
- ::aos::time::Time::InMS(1));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+ ::std::chrono::milliseconds(1));
while (run_) {
{
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 199dda5..6636e77 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -2,6 +2,7 @@
#include <inttypes.h>
+#include <chrono>
#include <cmath>
#include "aos/common/util/phased_loop.h"
@@ -102,8 +103,8 @@
return;
}
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (true) {
// Poll the running bit and see if we should cancel.
phased_loop.SleepUntilNext();
@@ -116,8 +117,8 @@
constexpr double kDoNotTurnCare = 2.0;
bool AutonomousActor::WaitForDriveNear(double distance, double angle) {
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
constexpr double kPositionTolerance = 0.02;
constexpr double kProfileTolerance = 0.001;
@@ -164,8 +165,8 @@
}
bool AutonomousActor::WaitForDriveProfileDone() {
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
constexpr double kProfileTolerance = 0.001;
while (true) {
@@ -187,8 +188,8 @@
}
bool AutonomousActor::WaitForMaxBy(double angle) {
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
double max_angle = -M_PI;
while (true) {
if (ShouldCancel()) {
@@ -211,8 +212,8 @@
}
bool AutonomousActor::WaitForAboveAngle(double angle) {
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (true) {
if (ShouldCancel()) {
return false;
@@ -231,8 +232,8 @@
}
bool AutonomousActor::WaitForBelowAngle(double angle) {
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (true) {
if (ShouldCancel()) {
return false;
@@ -276,8 +277,8 @@
}
bool AutonomousActor::WaitForDriveDone() {
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (true) {
if (ShouldCancel()) {
@@ -397,8 +398,8 @@
LOG(ERROR, "Sending shooter goal failed.\n");
}
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (true) {
if (ShouldCancel()) return;
@@ -414,8 +415,8 @@
}
void AutonomousActor::WaitForShooterSpeed() {
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (true) {
if (ShouldCancel()) return;
@@ -442,8 +443,8 @@
double last_angle = 0.0;
int ready_to_fire = 0;
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
::aos::time::Time end_time =
::aos::time::Time::Now() + align_duration;
while (end_time > ::aos::time::Time::Now()) {
@@ -783,8 +784,8 @@
}
void AutonomousActor::WaitForBallOrDriveDone() {
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (true) {
if (ShouldCancel()) {
return;
@@ -1164,8 +1165,8 @@
LOG(INFO, "Done %f\n", (aos::time::Time::Now() - start_time).ToSeconds());
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (!ShouldCancel()) {
phased_loop.SleepUntilNext();
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index 00695f0..9491cd4 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -1,5 +1,6 @@
#include "y2016/actors/vision_align_actor.h"
+#include <chrono>
#include <functional>
#include <numeric>
@@ -28,8 +29,8 @@
const actors::VisionAlignActionParams & /*params*/) {
const double robot_radius =
control_loops::drivetrain::GetDrivetrainConfig().robot_radius;
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(5) / 2);
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
while (true) {
const int iterations = phased_loop.SleepUntilNext();
if (iterations != 1) {
diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index acf820f..d7fc261 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -3,6 +3,7 @@
#include <unistd.h>
#include <inttypes.h>
+#include <chrono>
#include <thread>
#include <mutex>
#include <functional>
@@ -282,8 +283,8 @@
dma_synchronizer_->Start();
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(5),
- ::aos::time::Time::InMS(4));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(4));
::aos::SetCurrentThreadRealtimePriority(40);
while (run_) {
@@ -472,8 +473,8 @@
::aos::SetCurrentThreadName("Solenoids");
::aos::SetCurrentThreadRealtimePriority(27);
- ::aos::time::PhasedLoop phased_loop(::aos::time::Time::InMS(20),
- ::aos::time::Time::InMS(1));
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+ ::std::chrono::milliseconds(1));
while (run_) {
{