mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-05 02:20:34 +08:00
Daniel Agar
77 lines
2.9 KiB
C++
77 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef SYSTEM_TIME_HPP
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#define SYSTEM_TIME_HPP
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class MavlinkStreamSystemTime : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSystemTime(mavlink); }
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static constexpr const char *get_name_static() { return "SYSTEM_TIME"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SYSTEM_TIME; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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return MAVLINK_MSG_ID_SYSTEM_TIME_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
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}
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private:
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explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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bool send() override
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{
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timespec tv;
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px4_clock_gettime(CLOCK_REALTIME, &tv);
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mavlink_system_time_t msg{};
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msg.time_boot_ms = hrt_absolute_time() / 1000;
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msg.time_unix_usec = (uint64_t)tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
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// If the time is before 2001-01-01, it's probably the default 2000
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// and we don't need to bother sending it because it's definitely wrong.
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if (msg.time_unix_usec > 978307200000000) {
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mavlink_msg_system_time_send_struct(_mavlink->get_channel(), &msg);
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return true;
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}
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return false;
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}
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};
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#endif // SYSTEM_TIME_HPP
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