From 796dbd3b864a4d251acf7ea427a51fd6d0f6ff62 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=C3=89tienne=20Beaulac?=
 <etiennebeaulac@users.noreply.github.com>
Date: Thu, 17 Oct 2024 20:03:40 -0400
Subject: [PATCH] [wpilib] Add Timer.isRunning() method (#7220)

---
 wpilibc/src/main/native/cpp/Timer.cpp                    | 4 ++++
 wpilibc/src/main/native/include/frc/Timer.h              | 7 +++++++
 wpilibc/src/test/native/cpp/TimerTest.cpp                | 4 ++++
 wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java   | 9 +++++++++
 .../src/test/java/edu/wpi/first/wpilibj/TimerTest.java   | 4 ++++
 5 files changed, 28 insertions(+)

diff --git a/wpilibc/src/main/native/cpp/Timer.cpp b/wpilibc/src/main/native/cpp/Timer.cpp
index dfad62071ba..02dd9bad6ab 100644
--- 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
index e1639826c71..37fe5e0c646 100644
--- 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
index fd66541e90d..badeacbca9e 100644
--- 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
index 63e5ed4c99a..3e0aaf522b0 100644
--- 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
index 89619dd6335..aa64c6d0979 100644
--- 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