def getFPGATime():
"""Read the microsecond timer from the FPGA.
:returns: The current time in microseconds according to the FPGA.
:rtype: int
"""
return hal.getFPGATime()
def printEpochs(self) -> None:
"""Prints list of epochs added so far and their times."""
now = hal.getFPGATime()
if now - self._lastEpochsPrintTime > self.kMinPrintPeriod:
self._lastEpochsPrintTime = now
for key, value in self._epochs.items():
logger.info("\t%s: %.6fs", key, value / 1e6)
def getFPGATimestamp() -> float:
"""Return the system clock time in seconds. Return the time from the
FPGA hardware clock in seconds since the FPGA started.
:returns: Robot running time in seconds.
"""
return hal.getFPGATime() / 1000000.0
def getFPGATime():
"""Read the microsecond timer from the FPGA.
:returns: The current time in microseconds according to the FPGA.
:rtype: int
"""
return hal.getFPGATime()
def getFPGATimestamp() -> float:
"""Return the system clock time in seconds. Return the time from the
FPGA hardware clock in seconds since the FPGA started.
:returns: Robot running time in seconds.
"""
return hal.getFPGATime() / 1000000.0
def setTimeout(self, timeout: float) -> None:
"""Sets the watchdog's timeout.
:param timeout: The watchdog's timeout in seconds with microsecond
resolution.
"""
self._startTime = hal.getFPGATime()
self._epochs.clear()
timeout = int(timeout * 1e6) # us
with self._queueMutex:
self._timeout = timeout
self._isExpired = False
watchdogs = self._watchdogs
try:
watchdogs.remove(self)
except ValueError:
pass
else:
heapq.heapify(watchdogs)
self._expirationTime = self._startTime + timeout
heapq.heappush(watchdogs, self)
self._schedulerWaiter.notify_all()
def setTimeout(self, timeout: float) -> None:
"""Sets the watchdog's timeout.
:param timeout: The watchdog's timeout in seconds with microsecond
resolution.
"""
self._startTime = hal.getFPGATime()
self._epochs.clear()
timeout = int(timeout * 1e6) # us
with self._queueMutex:
self._timeout = timeout
self._isExpired = False
watchdogs = self._watchdogs
try:
watchdogs.remove(self)
except ValueError:
pass
else:
heapq.heapify(watchdogs)
self._expirationTime = self._startTime + timeout
heapq.heappush(watchdogs, self)
self._schedulerWaiter.notify_all()
def printEpochs(self) -> None:
"""Prints list of epochs added so far and their times."""
now = hal.getFPGATime()
if now - self._lastEpochsPrintTime > self.kMinPrintPeriod:
self._lastEpochsPrintTime = now
log = logger.info
for key, value in self._epochs.items():
log("\t%s: %.6fs", key, value / 1e6)
def getFPGATime() -> int:
"""Read the microsecond timer from the FPGA.
.. deprecated:: 2018.0.0
Use :meth:`.RobotController.getFPGATime` instead
:returns: The current time in microseconds according to the FPGA.
"""
return hal.getFPGATime()
def getFPGATime() -> int:
"""Read the microsecond timer from the FPGA.
.. deprecated:: 2018.0.0
Use :meth:`.RobotController.getFPGATime` instead
:returns: The current time in microseconds according to the FPGA.
"""
return hal.getFPGATime()
def _updateControlWord(self, force):
"""Updates the data in the control word cache. Updates if the force parameter is set, or if
50ms have passed since the last update.
:param force: True to force an update to the cache, otherwise update if 50ms have passed.
"""
now = hal.getFPGATime()
with self.controlWordMutex:
if now - self.lastControlWordUpdate > 50 or force:
hal.getControlWord(self.controlWordCache)
self.lastControlWordUpdate = now
def _updateControlWord(self, force):
"""Updates the data in the control word cache. Updates if the force parameter is set, or if
50ms have passed since the last update.
:param force: True to force an update to the cache, otherwise update if 50ms have passed.
"""
now = hal.getFPGATime()
with self.controlWordMutex:
if now - self.lastControlWordUpdate > 50 or force:
hal.getControlWord(self.controlWordCache)
self.lastControlWordUpdate = now
def addEpoch(self, epochName: str) -> None:
"""
Adds time since last epoch to the list printed by printEpochs().
Epochs are a way to partition the time elapsed so that when
overruns occur, one can determine which parts of an operation
consumed the most time.
:param epochName: The name to associate with the epoch.
"""
currentTime = hal.getFPGATime()
self._epochs[epochName] = currentTime - self._startTime
self._startTime = currentTime
def addEpoch(self, epochName: str) -> None:
"""
Adds time since last epoch to the list printed by printEpochs().
Epochs are a way to partition the time elapsed so that when
overruns occur, one can determine which parts of an operation
consumed the most time.
:param epochName: The name to associate with the epoch.
"""
currentTime = hal.getFPGATime()
self._epochs[epochName] = currentTime - self._startTime
self._startTime = currentTime
def enable(self) -> None:
"""Enables the watchdog timer."""
self._startTime = hal.getFPGATime()
self._epochs.clear()
with self._queueMutex:
self._isExpired = False
watchdogs = self._watchdogs
try:
watchdogs.remove(self)
except ValueError:
pass
else:
heapq.heapify(watchdogs)
self._expirationTime = self._startTime + self._timeout
heapq.heappush(watchdogs, self)
self._schedulerWaiter.notify_all()
def enable(self) -> None:
"""Enables the watchdog timer."""
self._startTime = hal.getFPGATime()
self._epochs.clear()
with self._queueMutex:
self._isExpired = False
watchdogs = self._watchdogs
try:
watchdogs.remove(self)
except ValueError:
pass
else:
heapq.heapify(watchdogs)
self._expirationTime = self._startTime + self._timeout
heapq.heappush(watchdogs, self)
self._schedulerWaiter.notify_all()
def getMsClock(self):
"""
:returns: the system clock time in milliseconds.
:rtype: int
"""
return hal.getFPGATime() / 1000
def getMsClock(self) -> int:
"""
:returns: the system clock time in milliseconds.
"""
return hal.getFPGATime() / 1000
def getMsClock(self) -> int:
"""
:returns: the system clock time in milliseconds.
"""
return hal.getFPGATime() / 1000
def getTime(self) -> float:
"""Returns the time in seconds since the watchdog was last fed."""
return (hal.getFPGATime() - self._startTime) / 1e6
def getTime(self) -> float:
"""Returns the time in seconds since the watchdog was last fed."""
return (hal.getFPGATime() - self._startTime) / 1e6
