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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Pavel Kirienko
66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
/*
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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 <uavcan/node/subscriber.hpp>
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#include <uavcan/util/method_binder.hpp>
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#include <uavcan/protocol/GlobalTimeSync.hpp>
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namespace uavcan
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{
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/**
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* Ref. M. Gergeleit, H. Streich - "Implementing a Distributed High-Resolution Real-Time Clock using the CAN-Bus"
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* http://modecs.cs.uni-salzburg.at/results/related_documents/CAN_clock.pdf
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*/
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class UAVCAN_EXPORT GlobalTimeSyncSlave : Noncopyable
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{
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typedef MethodBinder<GlobalTimeSyncSlave*,
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void (GlobalTimeSyncSlave::*)(const ReceivedDataStructure<protocol::GlobalTimeSync>&)>
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GlobalTimeSyncCallback;
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// Static buffers are explicitly disabled because time should never be unicasted.
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Subscriber<protocol::GlobalTimeSync, GlobalTimeSyncCallback, 2, 0> sub_;
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UtcTime prev_ts_utc_;
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MonotonicTime prev_ts_mono_;
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MonotonicTime last_adjustment_ts_;
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enum State { Update, Adjust } state_;
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NodeID master_nid_;
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TransferID prev_tid_;
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uint8_t prev_iface_index_;
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bool suppressed_;
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ISystemClock& getSystemClock() const { return sub_.getNode().getSystemClock(); }
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void adjustFromMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg);
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void updateFromMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg);
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void processMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg);
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void handleGlobalTimeSync(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg);
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public:
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explicit GlobalTimeSyncSlave(INode& node)
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: sub_(node)
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, state_(Update)
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, prev_iface_index_(0xFF)
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, suppressed_(false)
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{ }
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int start();
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void suppress(bool suppressed) { suppressed_ = suppressed; }
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bool isSuppressed() const { return suppressed_; }
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bool isActive() const;
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NodeID getMasterNodeID() const;
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MonotonicTime getLastAdjustmentTime() const { return last_adjustment_ts_; }
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};
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}
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