int test_hrt(int argc, char *argv[])
{
struct hrt_call call;
hrt_abstime prev, now;
int i;
struct timeval tv1, tv2;
printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per 1/10 second\n");
for (i = 0; i < 10; i++) {
prev = hrt_absolute_time();
gettimeofday(&tv1, nullptr);
usleep(100000);
now = hrt_absolute_time();
gettimeofday(&tv2, nullptr);
printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
(unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec,
(unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec,
(unsigned long)(hrt_absolute_time() - prev));
fflush(stdout);
}
usleep(1000000);
printf("one-second ticks\n");
for (i = 0; i < 3; i++) {
hrt_call_after(&call, 1000000, nullptr, nullptr);
while (!hrt_called(&call)) {
usleep(1000);
}
printf("tick\n");
fflush(stdout);
}
return 0;
}
bool
ORBDevNode::appears_updated(SubscriberData *sd)
{
/* assume it doesn't look updated */
bool ret = false;
/* avoid racing between interrupt and non-interrupt context calls */
irqstate_t state = irqsave();
/* check if this topic has been published yet, if not bail out */
if (_data == nullptr) {
ret = false;
goto out;
}
/*
* If the subscriber's generation count matches the update generation
* count, there has been no update from their perspective; if they
* don't match then we might have a visible update.
*/
while (sd->generation != _generation) {
/*
* Handle non-rate-limited subscribers.
*/
if (sd->update_interval == 0) {
ret = true;
break;
}
/*
* If we have previously told the subscriber that there is data,
* and they have not yet collected it, continue to tell them
* that there has been an update. This mimics the non-rate-limited
* behaviour where checking / polling continues to report an update
* until the topic is read.
*/
if (sd->update_reported) {
ret = true;
break;
}
/*
* If the interval timer is still running, the topic should not
* appear updated, even though at this point we know that it has.
* We have previously been through here, so the subscriber
* must have collected the update we reported, otherwise
* update_reported would still be true.
*/
if (!hrt_called(&sd->update_call))
break;
/*
* Make sure that we don't consider the topic to be updated again
* until the interval has passed once more by restarting the interval
* timer and thereby re-scheduling a poll notification at that time.
*/
hrt_call_after(&sd->update_call,
sd->update_interval,
&ORBDevNode::update_deferred_trampoline,
(void *)this);
/*
* Remember that we have told the subscriber that there is data.
*/
sd->update_reported = true;
ret = true;
break;
}
out:
irqrestore(state);
/* consider it updated */
return ret;
}
