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Linux clock driver - minor improvements

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This commit is contained in:
Pavel Kirienko
2014-03-30 17:07:26 +04:00
parent ec6a4cd328
commit a869c46f73
1 changed files with 6 additions and 5 deletions
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libuavcan_drivers/linux/include/uavcan_linux/clock.hpp
+6 -5
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@@ -29,12 +29,13 @@ class SystemClockDriver : public uavcan::ISystemClock
std::uint64_t step_adj_cnt_; std::uint64_t step_adj_cnt_;
std::uint64_t gradual_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) bool performStepAdjustment(const uavcan::UtcDuration adjustment)
{ {
step_adj_cnt_++; step_adj_cnt_++;
const int64_t usec = adjustment.toUSec(); const std::int64_t usec = adjustment.toUSec();
timeval tv; timeval tv;
if (gettimeofday(&tv, NULL) != 0) if (gettimeofday(&tv, NULL) != 0)
{ {
@@ -48,7 +49,7 @@ class SystemClockDriver : public uavcan::ISystemClock
bool performGradualAdjustment(const uavcan::UtcDuration adjustment) bool performGradualAdjustment(const uavcan::UtcDuration adjustment)
{ {
gradual_adj_cnt_++; gradual_adj_cnt_++;
const int64_t usec = adjustment.toUSec(); const std::int64_t usec = adjustment.toUSec();
timeval tv; timeval tv;
tv.tv_sec = usec / Int1e6; tv.tv_sec = usec / Int1e6;
tv.tv_usec = usec % Int1e6; tv.tv_usec = usec % Int1e6;
@@ -70,7 +71,7 @@ public:
{ {
throw Exception("Failed to get monotonic time"); 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 virtual uavcan::UtcTime getUtc() const
@@ -80,7 +81,7 @@ public:
{ {
throw Exception("Failed to get UTC time"); 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) if (adj_mode_ == ClockAdjustmentMode::PerDriverPrivate)
{ {
utc += private_adj_; utc += private_adj_;