Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp
new file mode 100644
index 0000000..a9358dd
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/TimedRobot.cpp
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 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/TimedRobot.h"
+
+#include <stdint.h>
+
+#include <utility>
+
+#include <hal/DriverStation.h>
+#include <hal/FRCUsageReporting.h>
+#include <hal/Notifier.h>
+
+#include "frc/Timer.h"
+#include "frc/Utility.h"
+#include "frc/WPIErrors.h"
+
+using namespace frc;
+
+void TimedRobot::StartCompetition() {
+ RobotInit();
+
+ // Tell the DS that the robot is ready to be enabled
+ HAL_ObserveUserProgramStarting();
+
+ m_expirationTime = units::second_t{Timer::GetFPGATimestamp()} + m_period;
+ UpdateAlarm();
+
+ // Loop forever, calling the appropriate mode-dependent function
+ while (true) {
+ int32_t status = 0;
+ uint64_t curTime = HAL_WaitForNotifierAlarm(m_notifier, &status);
+ if (curTime == 0 || status != 0) break;
+
+ m_expirationTime += m_period;
+
+ UpdateAlarm();
+
+ // Call callback
+ LoopFunc();
+ }
+}
+
+void TimedRobot::EndCompetition() {
+ int32_t status = 0;
+ HAL_StopNotifier(m_notifier, &status);
+}
+
+units::second_t TimedRobot::GetPeriod() const {
+ return units::second_t(m_period);
+}
+
+TimedRobot::TimedRobot(double period) : TimedRobot(units::second_t(period)) {}
+
+TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
+ int32_t status = 0;
+ m_notifier = HAL_InitializeNotifier(&status);
+ wpi_setHALError(status);
+ HAL_SetNotifierName(m_notifier, "TimedRobot", &status);
+
+ HAL_Report(HALUsageReporting::kResourceType_Framework,
+ HALUsageReporting::kFramework_Timed);
+}
+
+TimedRobot::~TimedRobot() {
+ int32_t status = 0;
+
+ HAL_StopNotifier(m_notifier, &status);
+ wpi_setHALError(status);
+
+ HAL_CleanNotifier(m_notifier, &status);
+}
+
+void TimedRobot::UpdateAlarm() {
+ int32_t status = 0;
+ HAL_UpdateNotifierAlarm(
+ m_notifier, static_cast<uint64_t>(m_expirationTime * 1e6), &status);
+ wpi_setHALError(status);
+}