mirror of https://github.com/ArduPilot/ardupilot
145 lines
4.3 KiB
C++
145 lines
4.3 KiB
C++
#include "AP_HAL.h"
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#include "Util.h"
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#include "utility/print_vprintf.h"
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#include <time.h>
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#if defined(__APPLE__) && defined(__MACH__)
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#include <sys/time.h>
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#endif
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/* Helper class implements AP_HAL::Print so we can use utility/vprintf */
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class BufferPrinter : public AP_HAL::Print {
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public:
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BufferPrinter(char* str, size_t size) : _offs(0), _str(str), _size(size) {}
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size_t write(uint8_t c) {
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if (_offs < _size) {
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_str[_offs] = c;
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_offs++;
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return 1;
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} else {
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return 0;
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}
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}
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size_t write(const uint8_t *buffer, size_t size) {
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size_t n = 0;
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while (size--) {
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n += write(*buffer++);
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}
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return n;
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}
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size_t _offs;
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char* const _str;
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const size_t _size;
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};
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int AP_HAL::Util::snprintf(char* str, size_t size, const char *format, ...)
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{
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va_list ap;
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va_start(ap, format);
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int res = vsnprintf(str, size, format, ap);
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va_end(ap);
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return res;
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}
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int AP_HAL::Util::vsnprintf(char* str, size_t size, const char *format, va_list ap)
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{
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BufferPrinter buf(str, size);
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print_vprintf(&buf, format, ap);
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// null terminate if possible
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int ret = buf._offs;
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buf.write(0);
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return ret;
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}
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uint64_t AP_HAL::Util::get_system_clock_ms() const
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{
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#if defined(__APPLE__) && defined(__MACH__)
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struct timeval ts;
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gettimeofday(&ts, nullptr);
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return ((long long)((ts.tv_sec * 1000) + (ts.tv_usec / 1000)));
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#else
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struct timespec ts;
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clock_gettime(CLOCK_REALTIME, &ts);
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const uint64_t seconds = ts.tv_sec;
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const uint64_t nanoseconds = ts.tv_nsec;
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return (seconds * 1000UL + nanoseconds/1000000UL);
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#endif
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}
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void AP_HAL::Util::get_system_clock_utc(int32_t &hour, int32_t &min, int32_t &sec, int32_t &ms) const
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{
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// get time of day in ms
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uint64_t time_ms = get_system_clock_ms();
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// separate time into ms, sec, min, hour and days but all expressed in milliseconds
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ms = time_ms % 1000;
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uint32_t sec_ms = (time_ms % (60 * 1000)) - ms;
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uint32_t min_ms = (time_ms % (60 * 60 * 1000)) - sec_ms - ms;
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uint32_t hour_ms = (time_ms % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms;
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// convert times as milliseconds into appropriate units
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sec = sec_ms / 1000;
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min = min_ms / (60 * 1000);
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hour = hour_ms / (60 * 60 * 1000);
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}
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// get milliseconds from now to a target time of day expressed as hour, min, sec, ms
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// 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)
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uint32_t AP_HAL::Util::get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms) const
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{
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// determine highest value specified (0=none, 1=ms, 2=sec, 3=min, 4=hour)
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int8_t largest_element = 0;
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if (hour != -1) {
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largest_element = 4;
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} else if (min != -1) {
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largest_element = 3;
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} else if (sec != -1) {
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largest_element = 2;
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} else if (ms != -1) {
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largest_element = 1;
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} else {
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// exit immediately if no time specified
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return 0;
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}
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// get start_time_ms as h, m, s, ms
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int32_t curr_hour, curr_min, curr_sec, curr_ms;
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get_system_clock_utc(curr_hour, curr_min, curr_sec, curr_ms);
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int32_t total_delay_ms = 0;
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// calculate ms to target
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if (largest_element >= 1) {
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total_delay_ms += ms - curr_ms;
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}
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if (largest_element == 1 && total_delay_ms < 0) {
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return static_cast<uint32_t>(total_delay_ms += 1000);
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}
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// calculate sec to target
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if (largest_element >= 2) {
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total_delay_ms += (sec - curr_sec)*1000;
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}
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if (largest_element == 2 && total_delay_ms < 0) {
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return static_cast<uint32_t>(total_delay_ms += (60*1000));
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}
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// calculate min to target
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if (largest_element >= 3) {
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total_delay_ms += (min - curr_min)*60*1000;
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}
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if (largest_element == 3 && total_delay_ms < 0) {
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return static_cast<uint32_t>(total_delay_ms += (60*60*1000));
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}
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// calculate hours to target
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if (largest_element >= 4) {
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total_delay_ms += (hour - curr_hour)*60*60*1000;
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}
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if (largest_element == 4 && total_delay_ms < 0) {
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return static_cast<uint32_t>(total_delay_ms += (24*60*60*1000));
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}
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// total delay in milliseconds
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return static_cast<uint32_t>(total_delay_ms);
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}
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