GlobalTimeSyncSlave

libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp

@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/node/subscriber.hpp>
+#include <uavcan/util/method_binder.hpp>
+#include <uavcan/protocol/GlobalTimeSync.hpp>
+
+namespace uavcan
+{
+
+class GlobalTimeSyncSlave : Noncopyable
+{
+    typedef MethodBinder<GlobalTimeSyncSlave*,
+        void (GlobalTimeSyncSlave::*)(const ReceivedDataStructure<protocol::GlobalTimeSync>&)> GlobalTimeSyncCallback;
+
+    // Static buffers are explicitly disabled because time should never be unicasted.
+    Subscriber<protocol::GlobalTimeSync, GlobalTimeSyncCallback, 2, 0> sub_;
+
+    UtcTime prev_ts_utc_;
+    MonotonicTime prev_ts_mono_;
+    enum State { Update, Adjust } state;
+    NodeID master_nid_;
+    uint8_t prev_iface_index_;
+
+    ISystemClock& getSystemClock() { return sub_.getNode().getSystemClock(); }
+
+    void adjustFromMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg);
+
+    void updateFromMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg);
+
+    void processMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg);
+
+    void handleGlobalTimeSync(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg);
+
+public:
+    GlobalTimeSyncSlave(INode& node)
+    : sub_(node)
+    , state(Update)
+    , prev_iface_index_(0xFF)
+    { }
+
+    int start();
+};
+
+}