mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.5 KiB
C++
59 lines
1.5 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Siddharth Bharat Purohit
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*/
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#pragma once
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#include <uavcan/uavcan.hpp>
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namespace uavcan
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{
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class SystemClock: public uavcan::ISystemClock, uavcan::Noncopyable
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{
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public:
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SystemClock() = default;
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void adjustUtc(uavcan::UtcDuration adjustment) override
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{
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utc_adjustment_usec = adjustment.toUSec();
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}
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uavcan::MonotonicTime getMonotonic() const override
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{
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return uavcan::MonotonicTime::fromUSec(AP_HAL::native_micros64());
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}
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uavcan::UtcTime getUtc() const override
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{
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return uavcan::UtcTime::fromUSec(AP_HAL::native_micros64() + utc_adjustment_usec);
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}
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int64_t getAdjustUsec() const
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{
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return utc_adjustment_usec;
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}
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static SystemClock& instance()
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{
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static SystemClock inst;
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return inst;
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}
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private:
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int64_t utc_adjustment_usec;
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};
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} |