void
Timeslice::reset()
{
m_last_duration = 0;
m_start_time = UtcTime();
m_never_ran_before = true;
m_expedite_next_run = false;
updateNextStartTime();
}
void GlobalTimeSyncMaster::IfaceMaster::setTxTimestamp(UtcTime ts)
{
if (ts.isZero())
{
UAVCAN_ASSERT(0);
pub_.getNode().registerInternalFailure("GlobalTimeSyncMaster zero TX ts");
return;
}
if (!prev_tx_utc_.isZero())
{
prev_tx_utc_ = UtcTime(); // Reset again, because there's something broken in the driver and we don't trust it
pub_.getNode().registerInternalFailure("GlobalTimeSyncMaster pub conflict");
return;
}
prev_tx_utc_ = ts;
}
int GlobalTimeSyncMaster::IfaceMaster::publish(TransferID tid, MonotonicTime current_time)
{
UAVCAN_ASSERT(pub_.getTransferSender()->getCanIOFlags() == CanIOFlagLoopback);
UAVCAN_ASSERT(pub_.getTransferSender()->getIfaceMask() == (1 << iface_index_));
const MonotonicDuration since_prev_pub = current_time - iface_prev_pub_mono_;
iface_prev_pub_mono_ = current_time;
UAVCAN_ASSERT(since_prev_pub.isPositive());
const bool long_period = since_prev_pub.toMSec() >= protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS;
protocol::GlobalTimeSync msg;
msg.prev_utc_usec = long_period ? 0 : prev_tx_utc_.toUSec();
prev_tx_utc_ = UtcTime();
UAVCAN_TRACE("GlobalTimeSyncMaster", "Publishing %llu iface=%i tid=%i",
static_cast<unsigned long long>(msg.prev_utc_usec), int(iface_index_), int(tid.get()));
return pub_.broadcast(msg, tid);
}
