commit f2a50ba841f843e01da373aaad271974ea4fa99e
author Austin Schuh <austin.linux@gmail.com> Sat Dec 24 16:16:26 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Jan 02 00:16:12 2017 -0800
tree ca12c1c87e8c57dde7b107b598a25f6581b69543
parent 908516a237e4772007ba7b2a48dc75c10d8cfecd

Upgraded the rest of Time.

Change-Id: I0ee083837e51d8f74a798b7ba14a3b6bb3859f35

frc971/wpilib/ADIS16448.cc

diff --git a/frc971/wpilib/ADIS16448.cc b/frc971/wpilib/ADIS16448.cc
index cf1a6f8..ec219cc 100644
--- a/frc971/wpilib/ADIS16448.cc
+++ b/frc971/wpilib/ADIS16448.cc
@@ -5,18 +5,21 @@
 
 #include <inttypes.h>
 #include <math.h>
+#include <chrono>
 
 #include "aos/common/logging/queue_logging.h"
 #include "aos/common/messages/robot_state.q.h"
 #include "aos/common/time.h"
 #include "aos/linux_code/init.h"
-
 #include "frc971/wpilib/imu.q.h"
 #include "frc971/zeroing/averager.h"
 
 namespace frc971 {
 namespace wpilib {
 
+using ::aos::monotonic_clock;
+namespace chrono = ::std::chrono;
+
 template <uint8_t size>
 bool ADIS16448::DoTransaction(uint8_t to_send[size], uint8_t to_receive[size]) {
   switch (spi_->Transaction(to_send, to_receive, size)) {
@@ -128,7 +131,7 @@
 
   // Try to initialize repeatedly as long as we're supposed to be running.
   while (run_ && !Initialize()) {
-    ::aos::time::SleepFor(::aos::time::Time::InMS(50));
+    ::std::this_thread::sleep_for(::std::chrono::milliseconds(50));
   }
   LOG(INFO, "IMU initialized successfully\n");
 
@@ -150,7 +153,7 @@
       }
     }
     got_an_interrupt = true;
-    const ::aos::time::Time read_time = ::aos::time::Time::Now();
+    const monotonic_clock::time_point read_time = monotonic_clock::now();
 
     uint8_t to_send[2 * 14], to_receive[2 * 14];
     memset(&to_send[0], 0, sizeof(to_send));
@@ -188,7 +191,9 @@
 
     auto message = imu_values.MakeMessage();
     message->fpga_timestamp = dio1_->ReadRisingTimestamp();
-    message->monotonic_timestamp_ns = read_time.ToNSec();
+    message->monotonic_timestamp_ns =
+        chrono::duration_cast<chrono::nanoseconds>(read_time.time_since_epoch())
+            .count();
 
     message->gyro_x =
         ConvertValue(&to_receive[4], kGyroLsbDegreeSecond * M_PI / 180.0);
@@ -364,7 +369,7 @@
   {
     uint16_t value;
     do {
-      ::aos::time::SleepFor(::aos::time::Time::InMS(10));
+      ::std::this_thread::sleep_for(::std::chrono::milliseconds(10));
       if (!ReadRegister(kMscCtrlAddress, &value)) return false;
     } while ((value & (1 << 10)) != 0);
   }