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Linux clock driver - minor improvements

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This commit is contained in:
Pavel Kirienko 2014-03-30 17:07:17 +04:00
parent ec6a4cd328
commit a869c46f73
1 changed files with 6 additions and 5 deletions
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11
libuavcan_drivers/linux/include/uavcan_linux/clock.hpp
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@ -29,12 +29,13 @@ class SystemClockDriver : public uavcan::ISystemClock
std::uint64_t step_adj_cnt_;
std::uint64_t gradual_adj_cnt_;
static constexpr int64_t Int1e6 = 1000000;
static constexpr std::int64_t Int1e6 = 1000000;
static constexpr std::uint64_t UInt1e6 = 1000000;
bool performStepAdjustment(const uavcan::UtcDuration adjustment)
{
step_adj_cnt_++;
const int64_t usec = adjustment.toUSec();
const std::int64_t usec = adjustment.toUSec();
timeval tv;
if (gettimeofday(&tv, NULL) != 0)
{
@ -48,7 +49,7 @@ class SystemClockDriver : public uavcan::ISystemClock
bool performGradualAdjustment(const uavcan::UtcDuration adjustment)
{
gradual_adj_cnt_++;
const int64_t usec = adjustment.toUSec();
const std::int64_t usec = adjustment.toUSec();
timeval tv;
tv.tv_sec = usec / Int1e6;
tv.tv_usec = usec % Int1e6;
@ -70,7 +71,7 @@ public:
{
throw Exception("Failed to get monotonic time");
}
return uavcan::MonotonicTime::fromUSec(uint64_t(ts.tv_sec) * 1000000UL + ts.tv_nsec / 1000UL);
return uavcan::MonotonicTime::fromUSec(std::uint64_t(ts.tv_sec) * UInt1e6 + ts.tv_nsec / 1000);
}
virtual uavcan::UtcTime getUtc() const
@ -80,7 +81,7 @@ public:
{
throw Exception("Failed to get UTC time");
}
uavcan::UtcTime utc = uavcan::UtcTime::fromUSec(uint64_t(tv.tv_sec) * 1000000UL + tv.tv_usec);
uavcan::UtcTime utc = uavcan::UtcTime::fromUSec(std::uint64_t(tv.tv_sec) * UInt1e6 + tv.tv_usec);
if (adj_mode_ == ClockAdjustmentMode::PerDriverPrivate)
{
utc += private_adj_;