56 lines
1.6 KiB
C
56 lines
1.6 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "Base.h"
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#include "HAL/cpp/priority_mutex.h"
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typedef void (*TimerInterruptHandler)(void *param);
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void Wait(double seconds);
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double GetClock();
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double GetTime();
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/**
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* Timer objects measure accumulated time in seconds.
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* The timer object functions like a stopwatch. It can be started, stopped, and
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* cleared. When the
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* timer is running its value counts up in seconds. When stopped, the timer
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* holds the current
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* value. The implementation simply records the time when started and subtracts
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* the current time
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* whenever the value is requested.
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*/
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class Timer {
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public:
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Timer();
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virtual ~Timer() = default;
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Timer(const Timer&) = delete;
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Timer& operator=(const Timer&) = delete;
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double Get() const;
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void Reset();
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void Start();
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void Stop();
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bool HasPeriodPassed(double period);
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static double GetFPGATimestamp();
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static double GetPPCTimestamp();
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static double GetMatchTime();
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// The time, in seconds, at which the 32-bit FPGA timestamp rolls over to 0
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static const double kRolloverTime;
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private:
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double m_startTime = 0.0;
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double m_accumulatedTime = 0.0;
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bool m_running = false;
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mutable priority_mutex m_mutex;
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};
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