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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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112 lines
3.5 KiB
C++
112 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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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/**
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* @file mavlink_timesync.cpp
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* Mavlink timesync implementation.
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*
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* @author Mohammed Kabir <mhkabir98@gmail.com>
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*/
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#include "mavlink_timesync.h"
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#include "mavlink_main.h"
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#include <stdlib.h>
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MavlinkTimesync::MavlinkTimesync(Mavlink &mavlink) :
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_mavlink(mavlink)
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{
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}
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void
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MavlinkTimesync::handle_message(const mavlink_message_t *msg)
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{
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switch (msg->msgid) {
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case MAVLINK_MSG_ID_TIMESYNC: {
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mavlink_timesync_t tsync = {};
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mavlink_msg_timesync_decode(msg, &tsync);
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const uint64_t now = hrt_absolute_time();
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if (tsync.tc1 == 0) { // Message originating from remote system, timestamp and return it
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mavlink_timesync_t rsync;
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rsync.tc1 = now * 1000ULL;
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rsync.ts1 = tsync.ts1;
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mavlink_msg_timesync_send_struct(_mavlink.get_channel(), &rsync);
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return;
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} else if (tsync.tc1 > 0) { // Message originating from this system, compute time offset from it
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_timesync.update(now, tsync.tc1, tsync.ts1);
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}
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break;
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}
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case MAVLINK_MSG_ID_SYSTEM_TIME: {
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mavlink_system_time_t time;
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mavlink_msg_system_time_decode(msg, &time);
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timespec tv = {};
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px4_clock_gettime(CLOCK_REALTIME, &tv);
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// Set the system time if we are lagging behind by more than a minute
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time_t seconds_behind = 60;
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time_t local_time = tv.tv_sec;
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time_t remote_time = time.time_unix_usec / 1000000;
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bool update = (remote_time > PX4_EPOCH_SECS) && (remote_time > local_time + seconds_behind);
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if (update) {
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PX4_INFO("Setting system clock from SYSTEM_TIME sent by %d/%d", msg->sysid, msg->compid);
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tv.tv_sec = time.time_unix_usec / 1000000ULL;
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tv.tv_nsec = (time.time_unix_usec % 1000000ULL) * 1000ULL;
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if (px4_clock_settime(CLOCK_REALTIME, &tv)) {
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PX4_ERR("[timesync] Failed setting realtime clock");
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}
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}
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break;
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}
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default:
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break;
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}
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}
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