From 5397aa7c6ed20a7672a58fb86c8859eb91ecaa2f Mon Sep 17 00:00:00 2001
From: NoRePercussions <tucker@tuckershea.com>
Date: Tue, 7 Feb 2023 21:22:22 -0500
Subject: [PATCH] Fix: make more universally buildable

OkapiLib did not build on all systems due to not-officially-supported idioms and by referencing some attributes of high_resolution_clock.
---
 include/okapi/api/units/RQuantityName.hpp                   | 1 +
 include/test/tests/api/implMocks.hpp                        | 2 +-
 src/api/chassis/controller/defaultOdomChassisController.cpp | 4 +++-
 test/implMocks.cpp                                          | 2 +-
 4 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/include/okapi/api/units/RQuantityName.hpp b/include/okapi/api/units/RQuantityName.hpp
index 28e629846..ad7a17416 100644
--- a/include/okapi/api/units/RQuantityName.hpp
+++ b/include/okapi/api/units/RQuantityName.hpp
@@ -2,6 +2,7 @@
 #include "okapi/api/units/QLength.hpp"
 #include "okapi/api/units/QSpeed.hpp"
 #include <stdexcept>
+#include <string>
 #include <typeindex>
 #include <unordered_map>
 
diff --git a/include/test/tests/api/implMocks.hpp b/include/test/tests/api/implMocks.hpp
index ee5841811..34943fb86 100644
--- a/include/test/tests/api/implMocks.hpp
+++ b/include/test/tests/api/implMocks.hpp
@@ -251,7 +251,7 @@ class MockTimer : public AbstractTimer {
 
   QTime millis() const override;
 
-  std::chrono::system_clock::time_point epoch = std::chrono::high_resolution_clock::from_time_t(0);
+  std::chrono::system_clock::time_point epoch = std::chrono::system_clock::from_time_t(0);
 };
 
 /**
diff --git a/src/api/chassis/controller/defaultOdomChassisController.cpp b/src/api/chassis/controller/defaultOdomChassisController.cpp
index ed95a7df4..a28c9e4d8 100644
--- a/src/api/chassis/controller/defaultOdomChassisController.cpp
+++ b/src/api/chassis/controller/defaultOdomChassisController.cpp
@@ -39,7 +39,9 @@ void DefaultOdomChassisController::driveToPoint(const Point &ipoint,
                                                 const QLength &ioffset) {
   waitForOdomTask();
 
-  auto [length, angle] = OdomMath::computeDistanceAndAngleToPoint(
+  QLength length;
+  QAngle angle;
+  std::tie<QLength, QAngle>(length, angle) = OdomMath::computeDistanceAndAngleToPoint(
     ipoint.inFT(defaultStateMode), odom->getState(StateMode::FRAME_TRANSFORMATION));
 
   if (ibackwards) {
diff --git a/test/implMocks.cpp b/test/implMocks.cpp
index e7737fbbe..beb3d4df2 100644
--- a/test/implMocks.cpp
+++ b/test/implMocks.cpp
@@ -192,7 +192,7 @@ MockTimer::MockTimer() : AbstractTimer(millis()) {
 
 QTime MockTimer::millis() const {
   return std::chrono::duration_cast<std::chrono::milliseconds>(
-           std::chrono::high_resolution_clock::now() - epoch)
+           std::chrono::system_clock::now() - epoch)
            .count() *
          millisecond;
 }