virtual void adjustUtc(uavcan::UtcDuration adjustment)
{
assert(this);
const uint64_t prev_utc = utc;
utc = uint64_t(int64_t(utc) + adjustment.toUSec());
last_adjustment = adjustment;
std::cout << "Clock adjustment " << prev_utc << " --> " << utc << std::endl;
}
bool performGradualAdjustment(const uavcan::UtcDuration adjustment)
{
gradual_adj_cnt_++;
const std::int64_t usec = adjustment.toUSec();
timeval tv;
tv.tv_sec = usec / Int1e6;
tv.tv_usec = usec % Int1e6;
return adjtime(&tv, nullptr) == 0;
}
bool performStepAdjustment(const uavcan::UtcDuration adjustment)
{
step_adj_cnt_++;
const std::int64_t usec = adjustment.toUSec();
timeval tv;
if (gettimeofday(&tv, NULL) != 0)
{
return false;
}
tv.tv_sec += usec / Int1e6;
tv.tv_usec += usec % Int1e6;
return settimeofday(&tv, nullptr) == 0;
}