From a8885321d8e9a90ca7c93646a3f48360c2bd16c0 Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Tue, 19 Mar 2024 16:10:34 -0400
Subject: [PATCH] Switch everything to Duration

---
 src/cscore/Raw/RawSink.cs          | 8 +++++---
 src/ntcore/NetworkTableInstance.cs | 7 ++++---
 src/wpilibsharp/AddressableLED.cs  | 9 +++++----
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/src/cscore/Raw/RawSink.cs b/src/cscore/Raw/RawSink.cs
index ffc27fef..9c6a997b 100644
--- a/src/cscore/Raw/RawSink.cs
+++ b/src/cscore/Raw/RawSink.cs
@@ -1,5 +1,7 @@
 using CsCore.Handles;
 using CsCore.Natives;
+using UnitsNet;
+using UnitsNet.NumberExtensions.NumberToDuration;
 using WPIUtil;
 
 namespace CsCore.Raw;
@@ -15,12 +17,12 @@ private static CsSink CreateRawSink(string name)
 
     public long GrabFrame(RawFrameReader frame)
     {
-        return GrabFrame(frame, TimeSpan.FromSeconds(0.225));
+        return GrabFrame(frame, 0.225.Seconds());
     }
 
-    public long GrabFrame(RawFrameReader frame, TimeSpan timeout)
+    public long GrabFrame(RawFrameReader frame, Duration timeout)
     {
-        var time = CsNative.GrabRawSinkFrame(Handle, frame, timeout.TotalSeconds);
+        var time = CsNative.GrabRawSinkFrame(Handle, frame, timeout.Seconds);
 
         return (long)time;
     }
diff --git a/src/ntcore/NetworkTableInstance.cs b/src/ntcore/NetworkTableInstance.cs
index 55bde863..b6a92c02 100644
--- a/src/ntcore/NetworkTableInstance.cs
+++ b/src/ntcore/NetworkTableInstance.cs
@@ -12,6 +12,7 @@
 using CommunityToolkit.Diagnostics;
 using NetworkTables.Handles;
 using NetworkTables.Natives;
+using UnitsNet;
 using WPIUtil.Concurrent;
 using WPIUtil.Handles;
 using WPIUtil.Logging;
@@ -198,7 +199,7 @@ public void RemoveListener(NtListener listener)
         m_listeners.Remove(listener);
     }
 
-    public bool WaitForListenerQueue(TimeSpan? timeout)
+    public bool WaitForListenerQueue(Duration? timeout)
     {
         return m_listeners.WaitForQueue(timeout);
     }
@@ -389,7 +390,7 @@ private void StartThread()
             m_thread.Start();
         }
 
-        public bool WaitForQueue(TimeSpan? timeout)
+        public bool WaitForQueue(Duration? timeout)
         {
             lock (m_lock)
             {
@@ -406,7 +407,7 @@ public bool WaitForQueue(TimeSpan? timeout)
                     }
                     else
                     {
-                        return Monitor.Wait(m_lock, timeout.Value);
+                        return Monitor.Wait(m_lock, timeout.Value.ToTimeSpan());
                     }
                 }
             }
diff --git a/src/wpilibsharp/AddressableLED.cs b/src/wpilibsharp/AddressableLED.cs
index c60b8255..51dc9418 100644
--- a/src/wpilibsharp/AddressableLED.cs
+++ b/src/wpilibsharp/AddressableLED.cs
@@ -1,3 +1,4 @@
+using UnitsNet;
 using WPIHal.Handles;
 using WPIHal.Natives;
 
@@ -41,14 +42,14 @@ public void SetData(ReadOnlySpan<HalAddressableLED.LedData> buffer)
         HalAddressableLED.WriteAddressableLEDData(m_handle, buffer);
     }
 
-    public void SetBitTiming(TimeSpan highTime0, TimeSpan lowTime0, TimeSpan highTime1, TimeSpan lowTime1)
+    public void SetBitTiming(Duration highTime0, Duration lowTime0, Duration highTime1, Duration lowTime1)
     {
-        HalAddressableLED.SetAddressableLEDBitTiming(m_handle, (int)highTime0.TotalNanoseconds, (int)lowTime0.TotalNanoseconds, (int)highTime1.TotalNanoseconds, (int)lowTime1.TotalNanoseconds);
+        HalAddressableLED.SetAddressableLEDBitTiming(m_handle, (int)highTime0.Nanoseconds, (int)lowTime0.Nanoseconds, (int)highTime1.Nanoseconds, (int)lowTime1.Nanoseconds);
     }
 
-    public void SetSyncTime(TimeSpan syncTime)
+    public void SetSyncTime(Duration syncTime)
     {
-        HalAddressableLED.SetAddressableLEDSyncTime(m_handle, (int)syncTime.TotalMicroseconds);
+        HalAddressableLED.SetAddressableLEDSyncTime(m_handle, (int)syncTime.Microseconds);
     }
 
     public void Start()