ardupilot/libraries/AP_RTC/AP_RTC.cpp

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#include "AP_RTC.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS.h>
#include <time.h>
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extern const AP_HAL::HAL& hal;
AP_RTC::AP_RTC()
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
// it's an error to get here. But I don't want to include
// AP_HAL here
return;
}
_singleton = this;
}
// table of user settable parameters
const AP_Param::GroupInfo AP_RTC::var_info[] = {
// @Param: _TYPES
// @DisplayName: Allowed sources of RTC time
// @Description: Specifies which sources of UTC time will be accepted
// @Bitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW
// @User: Advanced
AP_GROUPINFO("_TYPES", 1, AP_RTC, allowed_types, 1),
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// @Param: _TZ_MIN
// @DisplayName: Timezone offset from UTC
// @Description: Adds offset in +- minutes from UTC to calculate local time
// @Range: -720 +840
// @User: Advanced
AP_GROUPINFO("_TZ_MIN", 2, AP_RTC, tz_min, 0),
AP_GROUPEND
};
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void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
{
const uint64_t oldest_acceptable_date = 1546300800000; // 2019-01-01 0:00
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if (type >= rtc_source_type) {
// e.g. system-time message when we've been set by the GPS
return;
}
// check it's from an allowed sources:
if (!(allowed_types & (1<<type))) {
return;
}
// don't allow old times
if (time_utc_usec < oldest_acceptable_date) {
return;
}
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const uint64_t now = AP_HAL::micros64();
const int64_t tmp = int64_t(time_utc_usec) - int64_t(now);
if (tmp < rtc_shift) {
// can't allow time to go backwards, ever
return;
}
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WITH_SEMAPHORE(rsem);
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rtc_shift = tmp;
// update hardware clock:
if (type != SOURCE_HW) {
hal.util->set_hw_rtc(time_utc_usec);
}
rtc_source_type = type;
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#ifndef HAL_NO_GCS
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// update signing timestamp
GCS_MAVLINK::update_signing_timestamp(time_utc_usec);
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#endif
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}
bool AP_RTC::get_utc_usec(uint64_t &usec) const
{
if (rtc_source_type == SOURCE_NONE) {
return false;
}
usec = AP_HAL::micros64() + rtc_shift;
return true;
}
bool AP_RTC::get_system_clock_utc(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms)
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{
// get time of day in ms
uint64_t time_ms = 0;
if (!get_utc_usec(time_ms)) {
return false;
}
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time_ms /= 1000U;
// separate time into ms, sec, min, hour and days but all expressed in milliseconds
ms = time_ms % 1000;
uint32_t sec_ms = (time_ms % (60 * 1000)) - ms;
uint32_t min_ms = (time_ms % (60 * 60 * 1000)) - sec_ms - ms;
uint32_t hour_ms = (time_ms % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms;
// convert times as milliseconds into appropriate units
sec = sec_ms / 1000;
min = min_ms / (60 * 1000);
hour = hour_ms / (60 * 60 * 1000);
return true;
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}
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bool AP_RTC::get_local_time(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms)
{
// get local time of day in ms
uint64_t time_ms = 0;
uint64_t ms_local = 0;
if (!get_utc_usec(time_ms)) {
return false;
}
time_ms /= 1000U;
ms_local = time_ms + (tz_min * 60000);
// separate time into ms, sec, min, hour and days but all expressed in milliseconds
ms = ms_local % 1000;
uint32_t sec_ms = (ms_local % (60 * 1000)) - ms;
uint32_t min_ms = (ms_local % (60 * 60 * 1000)) - sec_ms - ms;
uint32_t hour_ms = (ms_local % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms;
// convert times as milliseconds into appropriate units
sec = sec_ms / 1000;
min = min_ms / (60 * 1000);
hour = hour_ms / (60 * 60 * 1000);
return true;
}
// get milliseconds from now to a target time of day expressed as
// hour, min, sec, ms. Match starts from first value that is not
// -1. I.e. specifying hour=-1, minutes=10 will ignore the hour and
// return time until 10 minutes past 12am (utc) NOTE: if this time has
// just past then you can expect a return value of roughly 86340000 -
// the number of milliseconds in a day.
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uint32_t AP_RTC::get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms)
{
// determine highest value specified (0=none, 1=ms, 2=sec, 3=min, 4=hour)
int8_t largest_element = 0;
if (hour != -1) {
largest_element = 4;
} else if (min != -1) {
largest_element = 3;
} else if (sec != -1) {
largest_element = 2;
} else if (ms != -1) {
largest_element = 1;
} else {
// exit immediately if no time specified
return 0;
}
// get start_time_ms as h, m, s, ms
uint8_t curr_hour, curr_min, curr_sec;
uint16_t curr_ms;
if (!get_system_clock_utc(curr_hour, curr_min, curr_sec, curr_ms)) {
return 0;
}
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int32_t total_delay_ms = 0;
// calculate ms to target
if (largest_element >= 1) {
total_delay_ms += ms - curr_ms;
}
if (largest_element == 1 && total_delay_ms < 0) {
return static_cast<uint32_t>(total_delay_ms += 1000);
}
// calculate sec to target
if (largest_element >= 2) {
total_delay_ms += (sec - curr_sec)*1000;
}
if (largest_element == 2 && total_delay_ms < 0) {
return static_cast<uint32_t>(total_delay_ms += (60*1000));
}
// calculate min to target
if (largest_element >= 3) {
total_delay_ms += (min - curr_min)*60*1000;
}
if (largest_element == 3 && total_delay_ms < 0) {
return static_cast<uint32_t>(total_delay_ms += (60*60*1000));
}
// calculate hours to target
if (largest_element >= 4) {
total_delay_ms += (hour - curr_hour)*60*60*1000;
}
if (largest_element == 4 && total_delay_ms < 0) {
return static_cast<uint32_t>(total_delay_ms += (24*60*60*1000));
}
// total delay in milliseconds
return static_cast<uint32_t>(total_delay_ms);
}
/*
mktime replacement from Samba
*/
time_t AP_RTC::mktime(const struct tm *t)
{
time_t epoch = 0;
int n;
int mon [] = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 }, y, m, i;
const unsigned MINUTE = 60;
const unsigned HOUR = 60*MINUTE;
const unsigned DAY = 24*HOUR;
const unsigned YEAR = 365*DAY;
if (t->tm_year < 70) {
return (time_t)-1;
}
n = t->tm_year + 1900 - 1;
epoch = (t->tm_year - 70) * YEAR +
((n / 4 - n / 100 + n / 400) - (1969 / 4 - 1969 / 100 + 1969 / 400)) * DAY;
y = t->tm_year + 1900;
m = 0;
for (i = 0; i < t->tm_mon; i++) {
epoch += mon [m] * DAY;
if (m == 1 && y % 4 == 0 && (y % 100 != 0 || y % 400 == 0)) {
epoch += DAY;
}
if (++m > 11) {
m = 0;
y++;
}
}
epoch += (t->tm_mday - 1) * DAY;
epoch += t->tm_hour * HOUR + t->tm_min * MINUTE + t->tm_sec;
return epoch;
}
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// singleton instance
AP_RTC *AP_RTC::_singleton;
namespace AP {
AP_RTC &rtc()
{
return *AP_RTC::get_singleton();
}
}