ardupilot/libraries/AP_HAL/Util.cpp

101 lines
2.4 KiB
C++

#include "AP_HAL.h"
#include "Util.h"
#include "utility/print_vprintf.h"
#if defined(__APPLE__) && defined(__MACH__)
#include <sys/time.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include "ch.h"
#include "hal.h"
#else
#include <time.h>
#endif
/* Helper class implements AP_HAL::Print so we can use utility/vprintf */
class BufferPrinter : public AP_HAL::BetterStream {
public:
BufferPrinter(char* str, size_t size) : _offs(0), _str(str), _size(size) {}
size_t write(uint8_t c) override {
if (_offs < _size) {
_str[_offs] = c;
_offs++;
return 1;
} else {
return 0;
}
}
size_t write(const uint8_t *buffer, size_t size) override {
size_t n = 0;
while (size--) {
n += write(*buffer++);
}
return n;
}
size_t _offs;
char* const _str;
const size_t _size;
uint32_t available() override { return 0; }
int16_t read() override { return -1; }
uint32_t txspace() override { return 0; }
};
int AP_HAL::Util::snprintf(char* str, size_t size, const char *format, ...)
{
va_list ap;
va_start(ap, format);
int res = vsnprintf(str, size, format, ap);
va_end(ap);
return res;
}
int AP_HAL::Util::vsnprintf(char* str, size_t size, const char *format, va_list ap)
{
if (size == 0) {
return 0;
}
BufferPrinter buf(str, size-1);
print_vprintf(&buf, format, ap);
// null terminate
int ret = buf._offs;
buf.write(0);
return ret;
}
uint64_t AP_HAL::Util::get_hw_rtc() const
{
#if defined(__APPLE__) && defined(__MACH__)
struct timeval ts;
gettimeofday(&ts, nullptr);
return ((long long)((ts.tv_sec * 1000000) + ts.tv_usec));
#elif HAL_HAVE_GETTIME_SETTIME
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
const uint64_t seconds = ts.tv_sec;
const uint64_t nanoseconds = ts.tv_nsec;
return (seconds * 1000000ULL + nanoseconds/1000ULL);
#endif
// no HW clock (or not one worth bothering with)
return 0;
}
void AP_HAL::Util::set_hw_rtc(uint64_t time_utc_usec)
{
#if HAL_HAVE_GETTIME_SETTIME
timespec ts;
ts.tv_sec = time_utc_usec/1000000ULL;
ts.tv_nsec = (time_utc_usec % 1000000ULL) * 1000ULL;
clock_settime(CLOCK_REALTIME, &ts);
#endif
}
void AP_HAL::Util::set_soft_armed(const bool b)
{
soft_armed = b;
if (!was_watchdog_reset()) {
persistent_data.armed = b;
}
}