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AP_HAL_Linux: throw warning if we ever stop-clock backwards

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Also don't compile in the stop_clock symbol to make it clear changes in
this method won't affect vehicles
This commit is contained in:
Peter Barker 2020-03-12 11:37:54 +11:00 committed by Andrew Tridgell
parent 0d396f4235
commit 4ebde78bbf
2 changed files with 16 additions and 3 deletions
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18
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -313,13 +313,25 @@ void Scheduler::reboot(bool hold_in_bootloader)
exit(1); exit(1);
} }
#if APM_BUILD_TYPE(APM_BUILD_Replay)
void Scheduler::stop_clock(uint64_t time_usec) void Scheduler::stop_clock(uint64_t time_usec)
{ {
if (time_usec >= _stopped_clock_usec) { if (time_usec < _stopped_clock_usec) {
_stopped_clock_usec = time_usec; ::fprintf(stderr, "Warning: setting time backwards from (%" PRIu64 ") to (%" PRIu64 ")\n", _stopped_clock_usec, time_usec);
_run_io(); return;
} }
_stopped_clock_usec = time_usec;
_run_io();
} }
#else
void Scheduler::stop_clock(uint64_t time_usec)
{
// stop_clock() is not called outside of Replay, but we can't
// guard it in the header because of the vehicle-dependent-library
// checks in waf.
}
#endif
bool Scheduler::SchedulerThread::_run() bool Scheduler::SchedulerThread::_run()
{ {

1
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -3,6 +3,7 @@
#include <pthread.h> #include <pthread.h>
#include "AP_HAL_Linux.h" #include "AP_HAL_Linux.h"
#include "Semaphores.h" #include "Semaphores.h"
#include "Thread.h" #include "Thread.h"