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HAL_Linux: implement time_shift() API

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This commit is contained in:
Andrew Tridgell 2013-12-30 09:31:33 +11:00
parent 7e1e10f941
commit ecbfdfba6c
2 changed files with 20 additions and 0 deletions
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18
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -316,4 +316,22 @@ void LinuxScheduler::reboot(bool hold_in_bootloader)
for(;;); for(;;);
} }
void LinuxScheduler::time_shift(uint32_t shift_ms)
{
if (shift_ms == 0) {
return;
}
// produce a minimal delay so other threads get a chance to run
_microsleep(100);
// shift the sketch start time so that time advances
int64_t new_ns = _sketch_start_time.tv_nsec - (shift_ms * 1.0e6);
while (new_ns < 0) {
new_ns += 1.0e9;
_sketch_start_time.tv_sec -= 1;
}
_sketch_start_time.tv_nsec = new_ns;
}
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD

2
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -39,6 +39,8 @@ public:
void panic(const prog_char_t *errormsg); void panic(const prog_char_t *errormsg);
void reboot(bool hold_in_bootloader); void reboot(bool hold_in_bootloader);
void time_shift(uint32_t shift_ms);
private: private:
struct timespec _sketch_start_time; struct timespec _sketch_start_time;
void _timer_handler(int signum); void _timer_handler(int signum);