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59 lines
1.5 KiB
59 lines
1.5 KiB
/* |
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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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} |