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78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2024 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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#include "SubscriptionInterval.hpp"
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namespace uORB
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{
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bool SubscriptionInterval::updated()
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{
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if (advertised() && (hrt_elapsed_time(&_last_update) >= _interval_us)) {
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return _subscription.updated();
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}
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return false;
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}
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bool SubscriptionInterval::update(void *dst)
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{
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if (updated()) {
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return copy(dst);
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}
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return false;
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}
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bool SubscriptionInterval::copy(void *dst)
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{
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if (_subscription.copy(dst)) {
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const hrt_abstime now = hrt_absolute_time();
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// make sure we don't set a timestamp before the timer started counting (now - _interval_us would wrap because it's unsigned)
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if (now > _interval_us) {
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// shift last update time forward, but don't let it get further behind than the interval
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_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
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} else {
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_last_update = now;
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}
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return true;
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}
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return false;
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}
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} // namespace uORB
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