ardupilot/libraries/AP_UAVCAN/AP_UAVCAN_Clock.h

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;
};
}