SleepUs.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <chrono>
#include <thread>
 
#ifdef __FRC_ROBORIO__
#include <unistd.h>
#endif
 
namespace ctre {
namespace phoenix {
namespace platform {
 
    /**
     * @param timeUs    How long to yield current thread in microseconds (us).
     *                  If platform cannot honor us resolution, round to nearest
     *                  value that platform can honor.
     */
    static inline void SleepUs(int timeUs)
    {
#ifdef __FRC_ROBORIO__
        usleep(timeUs);
#else
        std::this_thread::sleep_for(std::chrono::microseconds(timeUs));
#endif
    }
 
} // namespace platform
} // namespace phoenix
} // namespace ctre