mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-21 11:17:36 +08:00
Pavel Kirienko
51 lines
1.4 KiB
C++
51 lines
1.4 KiB
C++
/*
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* System clock driver interface.
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <stdint.h>
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#include <uavcan/internal/impl_constants.hpp>
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#include <uavcan/time.hpp>
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namespace uavcan
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{
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/**
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* System clock interface - monotonic and UTC.
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* Note that this library uses microseconds for all time related values (timestamps, deadlines, delays),
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* if not explicitly specified otherwise.
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* All time values are represented as 64-bit integers.
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*/
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class ISystemClock
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{
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public:
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virtual ~ISystemClock() { }
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/**
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* Monototic system clock.
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* This shall never jump during UTC timestamp adjustments; the base time is irrelevant.
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* On POSIX systems use clock_gettime() with CLOCK_MONOTONIC.
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*/
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virtual MonotonicTime getMonotonic() const = 0;
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/**
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* UTC clock.
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* This can jump when the UTC timestamp is being adjusted.
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* Return 0 if the UTC time is not available yet (e.g. the device just started up with no battery clock).
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* On POSIX systems use gettimeofday().
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*/
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virtual UtcTime getUtc() const = 0;
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/**
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* Set the UTC system clock.
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* @param [in] timestamp New UTC timestamp. Avoid when possible.
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* @param [in] offset Current UTC time error. More precise than just timestamp, use it if possible.
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* For POSIX refer to adjtime(), settimeofday().
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*/
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virtual void adjustUtc(UtcTime new_time, UtcDuration offset) = 0;
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};
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}
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