mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.8 KiB
C++
109 lines
2.8 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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#if defined(__APPLE__) && defined(__MACH__)
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#include <sys/time.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include "ch.h"
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#include "hal.h"
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#else
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#include <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::BetterStream {
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public:
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BufferPrinter(char* str, size_t size) :
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_offs(0), _str(str), _size(size) {}
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size_t write(uint8_t c) override {
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if (_offs < _size) {
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_str[_offs] = c;
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}
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_offs++;
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return 1;
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}
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size_t write(const uint8_t *buffer, size_t size) override {
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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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uint32_t available() override { return 0; }
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int16_t read() override { return -1; }
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uint32_t txspace() override { return 0; }
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bool discard_input() override { return false; }
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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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// note that size==0 must be handled as functions like vasprintf() rely on the return
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// value being the number of bytes that would be printed if there was enough space.
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BufferPrinter buf(str, size?size-1:0);
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print_vprintf(&buf, format, ap);
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// null terminate
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size_t ret = buf._offs;
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if (ret < size) {
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// if the string did fit then nul terminate
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str[ret] = '\0';
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} else if (size > 0) {
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// if it didn't fit then terminate using passed in size
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str[size-1] = 0;
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}
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return int(ret);
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}
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uint64_t AP_HAL::Util::get_hw_rtc() 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 * 1000000) + ts.tv_usec));
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#elif HAL_HAVE_GETTIME_SETTIME
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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 * 1000000ULL + nanoseconds/1000ULL);
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#endif
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// no HW clock (or not one worth bothering with)
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return 0;
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}
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void AP_HAL::Util::set_hw_rtc(uint64_t time_utc_usec)
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{
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#if HAL_HAVE_GETTIME_SETTIME
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timespec ts;
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ts.tv_sec = time_utc_usec/1000000ULL;
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ts.tv_nsec = (time_utc_usec % 1000000ULL) * 1000ULL;
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clock_settime(CLOCK_REALTIME, &ts);
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#endif
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}
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void AP_HAL::Util::set_soft_armed(const bool b)
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{
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if (b != soft_armed) {
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soft_armed = b;
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last_armed_change_ms = AP_HAL::millis();
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if (!was_watchdog_reset()) {
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persistent_data.armed = b;
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}
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}
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}
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