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

libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp

@@ -31,12 +31,12 @@ class DefaultLogSink : public uavcan::ILogSink
  */
 struct DriverPack
 {
-    SocketCanDriver can;
     SystemClock clock;
+    SocketCanDriver can;
 
     DriverPack(ClockAdjustmentMode clock_adjustment_mode)
-        : can()
+        : clock(clock_adjustment_mode)
-        , clock(clock_adjustment_mode)
+        , can(clock)
     { }
 };
 

libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp

@@ -116,7 +116,7 @@ class SocketCanIface : public uavcan::ICanIface
         { }
     };
 
-    const SystemClock clock_;
+    const SystemClock& clock_;
     const int fd_;
 
     const unsigned max_frames_in_socket_tx_queue_;
@@ -280,6 +280,7 @@ class SocketCanIface : public uavcan::ICanIface
                 }
                 if (accept)
                 {
+                    rx.ts_utc += clock_.getPrivateAdjustment();
                     rx_queue_.push(rx);
                 }
             }
@@ -298,8 +299,9 @@ public:
     /**
      * Takes ownership of socket's file descriptor.
      */
-    explicit SocketCanIface(int socket_fd, int max_frames_in_socket_tx_queue = 3)
+    SocketCanIface(const SystemClock& clock, int socket_fd, int max_frames_in_socket_tx_queue = 3)
-        : fd_(socket_fd)
+        : clock_(clock)
+        , fd_(socket_fd)
         , max_frames_in_socket_tx_queue_(max_frames_in_socket_tx_queue)
         , frames_in_socket_tx_queue_(0)
     {
@@ -487,14 +489,15 @@ public:
     static constexpr unsigned MaxIfaces = uavcan::MaxCanIfaces;
 
 private:
-    const SystemClock clock_;
+    const SystemClock& clock_;
     uavcan::LazyConstructor<SocketCanIface> ifaces_[MaxIfaces];
     ::pollfd pollfds_[MaxIfaces];
     std::uint8_t num_ifaces_;
 
 public:
-    SocketCanDriver()
+    explicit SocketCanDriver(const SystemClock& clock)
-        : num_ifaces_(0)
+        : clock_(clock)
+        , num_ifaces_(0)
     {
         for (auto& p : pollfds_)
         {
@@ -601,7 +604,7 @@ public:
         // Construct the iface - upon successful construction the iface will take ownership of the fd.
         try
         {
-            ifaces_[num_ifaces_].construct<int>(fd);
+            ifaces_[num_ifaces_].construct<const SystemClock&, int>(clock_, fd);
         }
         catch (...)
         {

libuavcan_drivers/linux/test/test_socket.cpp

@@ -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;