:py:mod:`phoenix6.utils`
========================

.. py:module:: phoenix6.utils

Module Contents
---------------

Functions
~~~~~~~~~

.. autoapisummary::

   phoenix6.utils.get_current_time_seconds
   phoenix6.utils.get_system_time_seconds
   phoenix6.utils.is_simulation
   phoenix6.utils.is_replay
   phoenix6.utils.fpga_to_current_time
   phoenix6.utils.current_time_to_fpga_time



Attributes
~~~~~~~~~~

.. autoapisummary::

   phoenix6.utils.USE_WPILIB


.. py:data:: USE_WPILIB
   :value: 'True'

   

.. py:function:: get_current_time_seconds() -> phoenix6.units.second

   Get the current timestamp in seconds.

   This is the time source used for status signals.

   This time source is typically continuous and monotonic.
   However, it may be overridden in simulation to use a
   non-monotonic, non-continuous source.

   :returns: Current time in seconds
   :rtype: second


.. py:function:: get_system_time_seconds() -> phoenix6.units.second

   Get the system timestamp in seconds.

   This is NOT the time source used for status signals.
   Use GetCurrentTImeSeconds instead when working with
   status signal timing.

   This time source is guaranteed to be continuous and
   monotonic, making it useful for measuring time deltas
   in a robot program.

   :returns: System time in seconds
   :rtype: second


.. py:function:: is_simulation() -> bool

   Get whether the program is running in simulation.

   :returns: True if in simulation
   :rtype: bool


.. py:function:: is_replay() -> bool

   Get whether the program is running in replay mode.

   :returns: True if in replay mode
   :rtype: bool


.. py:function:: fpga_to_current_time(fpga_time: phoenix6.units.second) -> phoenix6.units.second

   Converts an FPGA timestamp to the timebase
   reported by get_current_time_seconds().

   :param fpga_time: The FPGA timestamp
   :type fpga_time: second
   :returns: The equivalent get_current_time_seconds() timestamp
   :rtype: second


.. py:function:: current_time_to_fpga_time(current_time: phoenix6.units.second) -> phoenix6.units.second

   Converts a timestamp in the timebase reported by
   get_current_time_seconds() to an FPGA timestamp.

   :param current_time: The timestamp reported by get_current_time_seconds()
   :type fpga_time: second
   :returns: The equivalent FPGA timestamp
   :rtype: second