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Fixed Linux driver: SocketCan driver adds time offset from the provided clock instance, which fixes time synchronization in PerDriverPrivate clock adjustment mode

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This commit is contained in:
Pavel Kirienko
2014-04-17 16:14:39 +04:00
parent bd27ab02ac
commit c17a2bbd5b
3 changed files with 42 additions and 18 deletions
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libuavcan_drivers/linux/test/test_socket.cpp
+29 -8
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@@ -32,8 +32,16 @@ static void testSocketRxTx(const std::string& iface_name)
const int sock2 = uavcan_linux::SocketCanIface::openSocket(iface_name);
ENFORCE(sock1 >= 0 && sock2 >= 0);
uavcan_linux::SocketCanIface if1(sock1);
uavcan_linux::SocketCanIface if2(sock2);
/*
* Clocks will have some offset from the true system time
* SocketCAN driver must handle this correctly
*/
uavcan_linux::SystemClock clock_impl(uavcan_linux::ClockAdjustmentMode::PerDriverPrivate);
clock_impl.adjustUtc(uavcan::UtcDuration::fromMSec(100000));
const uavcan_linux::SystemClock& clock = clock_impl;
uavcan_linux::SocketCanIface if1(clock, sock1);
uavcan_linux::SocketCanIface if2(clock, sock2);
/*
* Sending two frames, one of which must be returned back
@@ -69,8 +77,6 @@ static void testSocketRxTx(const std::string& iface_name)
uavcan::UtcTime ts_utc;
uavcan::CanIOFlags flags = 0;
const uavcan_linux::SystemClock clock(uavcan_linux::ClockAdjustmentMode::PerDriverPrivate);
/*
* Read first
*/
@@ -132,8 +138,16 @@ static void testSocketFilters(const std::string& iface_name)
const int sock2 = uavcan_linux::SocketCanIface::openSocket(iface_name);
ENFORCE(sock1 >= 0 && sock2 >= 0);
uavcan_linux::SocketCanIface if1(sock1);
uavcan_linux::SocketCanIface if2(sock2);
/*
* Clocks will have some offset from the true system time
* SocketCAN driver must handle this correctly
*/
uavcan_linux::SystemClock clock_impl(uavcan_linux::ClockAdjustmentMode::PerDriverPrivate);
clock_impl.adjustUtc(uavcan::UtcDuration::fromMSec(-1000));
const uavcan_linux::SystemClock& clock = clock_impl;
uavcan_linux::SocketCanIface if1(clock, sock1);
uavcan_linux::SocketCanIface if2(clock, sock2);
/*
* Configuring filters
@@ -199,7 +213,15 @@ static void testSocketFilters(const std::string& iface_name)
static void testDriver(const std::vector<std::string>& iface_names)
{
uavcan_linux::SocketCanDriver driver;
/*
* Clocks will have some offset from the true system time
* SocketCAN driver must handle this correctly
*/
uavcan_linux::SystemClock clock_impl(uavcan_linux::ClockAdjustmentMode::PerDriverPrivate);
clock_impl.adjustUtc(uavcan::UtcDuration::fromMSec(9000000));
const uavcan_linux::SystemClock& clock = clock_impl;
uavcan_linux::SocketCanDriver driver(clock);
for (auto ifn : iface_names)
{
std::cout << "Adding iface " << ifn << std::endl;
@@ -254,7 +276,6 @@ static void testDriver(const std::vector<std::string>& iface_names)
/*
* Receive loopback
*/
const uavcan_linux::SystemClock clock(uavcan_linux::ClockAdjustmentMode::PerDriverPrivate);
for (int i = 0; i < driver.getNumIfaces(); i++)
{
uavcan::CanFrame frame;