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Superrefactoring - all time values were replaced with new safer classes from uavcan/time.hpp; generated types were moved away from anonymous namespaces because this makes it impossible to use a type from different compilation units. Some less vital fixes are to follow - see the next few commits

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This commit is contained in:
Pavel Kirienko
2014-03-11 14:41:48 +04:00
parent 633fa9d8bd
commit 65a4dcc2cf
48 changed files with 654 additions and 565 deletions
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libuavcan/test/clock.hpp
+20 -14
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@@ -28,21 +28,21 @@ public:
utc += usec;
}
uint64_t getMonotonicMicroseconds() const
uavcan::MonotonicTime getMonotonic() const
{
assert(this);
const uint64_t res = monotonic;
advance(monotonic_auto_advance);
return res;
return uavcan::MonotonicTime::fromUSec(res);
}
uint64_t getUtcMicroseconds() const
uavcan::UtcTime getUtc() const
{
assert(this);
return utc;
return uavcan::UtcTime::fromUSec(utc);
}
void adjustUtcMicroseconds(uint64_t new_timestamp_usec, int64_t offset_usec)
void adjustUtc(uavcan::UtcTime, uavcan::UtcDuration)
{
assert(0);
}
@@ -52,37 +52,43 @@ public:
class SystemClockDriver : public uavcan::ISystemClock
{
public:
uint64_t getMonotonicMicroseconds() const
uavcan::MonotonicTime getMonotonic() const
{
struct timespec ts;
const int ret = clock_gettime(CLOCK_MONOTONIC, &ts);
if (ret != 0)
{
assert(0);
return 0;
return uavcan::MonotonicTime();
}
return uint64_t(ts.tv_sec) * 1000000UL + ts.tv_nsec / 1000UL;
return uavcan::MonotonicTime::fromUSec(uint64_t(ts.tv_sec) * 1000000UL + ts.tv_nsec / 1000UL);
}
uint64_t getUtcMicroseconds() const
uavcan::UtcTime getUtc() const
{
struct timeval tv;
const int ret = gettimeofday(&tv, NULL);
if (ret != 0)
{
assert(0);
return 0;
return uavcan::UtcTime();
}
return uint64_t(tv.tv_sec) * 1000000UL + tv.tv_usec;
return uavcan::UtcTime::fromUSec(uint64_t(tv.tv_sec) * 1000000UL + tv.tv_usec);
}
void adjustUtcMicroseconds(uint64_t new_timestamp_usec, int64_t offset_usec)
void adjustUtc(uavcan::UtcTime, uavcan::UtcDuration)
{
assert(0);
}
};
static bool areTimestampsClose(int64_t a, int64_t b, int64_t precision_usec = 10000)
static uavcan::MonotonicTime tsMono(uint64_t usec) { return uavcan::MonotonicTime::fromUSec(usec); }
static uavcan::UtcTime tsUtc(uint64_t usec) { return uavcan::UtcTime::fromUSec(usec); }
static uavcan::MonotonicDuration durMono(int64_t usec) { return uavcan::MonotonicDuration::fromUSec(usec); }
template <typename T>
static bool areTimestampsClose(const T& a, const T& b, int64_t precision_usec = 10000)
{
return std::abs(a - b) < precision_usec;
return (a - b).getAbs().toUSec() < precision_usec;
}