示例#1
0
    /**
     * Adjusts the wall clock.
     * Behavior depends on the selected clock adjustment mode - @ref ClockAdjustmentMode.
     * Clock adjustment mode can be set only once via constructor.
     *
     * If the system wide adjustment mode is selected, two ways for performing adjustment exist:
     *  - Gradual adjustment using adjtime(), if the phase error is less than gradual adjustment limit.
     *  - Step adjustment using settimeofday(), if the phase error is above gradual adjustment limit.
     * The gradual adjustment limit can be configured at any time via the setter method.
     *
     * @throws uavcan_linux::Exception.
     */
    virtual void adjustUtc(const uavcan::UtcDuration adjustment)
    {
        if (adj_mode_ == ClockAdjustmentMode::PerDriverPrivate)
        {
            private_adj_ += adjustment;
        }
        else
        {
            assert(private_adj_.isZero());
            assert(!gradual_adj_limit_.isNegative());

            bool success = false;
            if (adjustment.getAbs() < gradual_adj_limit_)
            {
                success = performGradualAdjustment(adjustment);
            }
            else
            {
                success = performStepAdjustment(adjustment);
            }
            if (!success)
            {
                throw Exception("Clock adjustment failed");
            }
        }
    }
示例#2
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 /**
  * Sets the maximum phase error to use adjtime().
  * If the phase error exceeds this value, settimeofday() will be used instead.
  */
 void setGradualAdjustmentLimit(uavcan::UtcDuration limit)
 {
     if (limit.isNegative())
     {
         limit = uavcan::UtcDuration();
     }
     gradual_adj_limit_ = limit;
 }
示例#3
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 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;
 }
示例#4
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 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;
 }
示例#5
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 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;
 }