mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.5 KiB
C
59 lines
1.5 KiB
C
|
/*
|
||
|
|
* This file is free software: you can redistribute it and/or modify it
|
||
|
|
* under the terms of the GNU General Public License as published by the
|
||
|
|
* Free Software Foundation, either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This file is distributed in the hope that it will be useful, but
|
||
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||
|
|
* See the GNU General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License along
|
||
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*
|
||
|
|
* Author: Siddharth Bharat Purohit
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <uavcan/uavcan.hpp>
|
||
|
|
|
||
|
|
namespace uavcan
|
||
|
|
{
|
||
|
|
class SystemClock: public uavcan::ISystemClock, uavcan::Noncopyable
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
SystemClock() = default;
|
||
|
|
|
||
|
|
void adjustUtc(uavcan::UtcDuration adjustment) override
|
||
|
|
{
|
||
|
|
utc_adjustment_usec = adjustment.toUSec();
|
||
|
|
}
|
||
|
|
|
||
|
|
uavcan::MonotonicTime getMonotonic() const override
|
||
|
|
{
|
||
|
|
return uavcan::MonotonicTime::fromUSec(AP_HAL::native_micros64());
|
||
|
|
}
|
||
|
|
|
||
|
|
uavcan::UtcTime getUtc() const override
|
||
|
|
{
|
||
|
|
return uavcan::UtcTime::fromUSec(AP_HAL::native_micros64() + utc_adjustment_usec);
|
||
|
|
}
|
||
|
|
|
||
|
|
int64_t getAdjustUsec() const
|
||
|
|
{
|
||
|
|
return utc_adjustment_usec;
|
||
|
|
}
|
||
|
|
|
||
|
|
static SystemClock& instance()
|
||
|
|
{
|
||
|
|
static SystemClock inst;
|
||
|
|
return inst;
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
int64_t utc_adjustment_usec;
|
||
|
|
};
|
||
|
|
}
|