[wpilib] Add Timer.isRunning() method (wpilibsuite#7220)

rzblue · Oct 18, 2024 · 796dbd3 · 796dbd3
1 parent 0424e5b
commit 796dbd3
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Showing 5 changed files with 28 additions and 0 deletions.
diff --git a/wpilibc/src/main/native/cpp/Timer.cpp b/wpilibc/src/main/native/cpp/Timer.cpp
@@ -84,6 +84,10 @@ bool Timer::AdvanceIfElapsed(units::second_t period) {
   }
 }
 
+bool Timer::IsRunning() const {
+  return m_running;
+}
+
 units::second_t Timer::GetFPGATimestamp() {
   // FPGA returns the timestamp in microseconds
   return units::second_t{frc::RobotController::GetFPGATime() * 1.0e-6};

diff --git a/wpilibc/src/main/native/include/frc/Timer.h b/wpilibc/src/main/native/include/frc/Timer.h
@@ -111,6 +111,13 @@ class Timer {
    */
   bool AdvanceIfElapsed(units::second_t period);
 
+  /**
+   * Whether the timer is currently running.
+   *
+   * @return true if running.
+   */
+  bool IsRunning() const;
+
   /**
    * Return the FPGA system clock time in seconds.
    *

diff --git a/wpilibc/src/test/native/cpp/TimerTest.cpp b/wpilibc/src/test/native/cpp/TimerTest.cpp
@@ -28,18 +28,22 @@ TEST_F(TimerTest, StartStop) {
 
   // Verify timer is initialized as stopped
   EXPECT_EQ(timer.Get(), 0_s);
+  EXPECT_FALSE(timer.IsRunning());
   frc::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 0_s);
+  EXPECT_FALSE(timer.IsRunning());
 
   // Verify timer increments after it's started
   timer.Start();
   frc::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 500_ms);
+  EXPECT_TRUE(timer.IsRunning());
 
   // Verify timer stops incrementing after it's stopped
   timer.Stop();
   frc::sim::StepTiming(500_ms);
   EXPECT_EQ(timer.Get(), 500_ms);
+  EXPECT_FALSE(timer.IsRunning());
 }
 
 TEST_F(TimerTest, Reset) {

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
@@ -151,4 +151,13 @@ public boolean advanceIfElapsed(double seconds) {
       return false;
     }
   }
+
+  /**
+   * Whether the timer is currently running.
+   *
+   * @return true if running.
+   */
+  public boolean isRunning() {
+    return m_running;
+  }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimerTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimerTest.java
@@ -35,18 +35,22 @@ void startStopTest() {
 
     // Verify timer is initialized as stopped
     assertEquals(timer.get(), 0.0);
+    assertFalse(timer.isRunning());
     SimHooks.stepTiming(0.5);
     assertEquals(timer.get(), 0.0);
+    assertFalse(timer.isRunning());
 
     // Verify timer increments after it's started
     timer.start();
     SimHooks.stepTiming(0.5);
     assertEquals(timer.get(), 0.5, 1e-9);
+    assertTrue(timer.isRunning());
 
     // Verify timer stops incrementing after it's stopped
     timer.stop();
     SimHooks.stepTiming(0.5);
     assertEquals(timer.get(), 0.5, 1e-9);
+    assertFalse(timer.isRunning());
   }
 
   @Test