*/
#include <time.h>
-#include <stdlib.h>
+#include <stdlib.h>
+#include <cmath>
#include "timer.hpp"
long long int system_time_us()
{
struct timespec t_usec;
- long long int timestamp_usec;
-
+ long long int timestamp_usec = 0;
+
if(!::clock_gettime(CLOCK_MONOTONIC, &t_usec))
timestamp_usec = (t_usec.tv_nsec / 1000ll) + (t_usec.tv_sec* 1000000ll);
return timestamp_usec;
long long int system_time_ms()
{
struct timespec t_msec;
- long long int timestamp_msec;
-
+ long long int timestamp_msec = 0;
+
if(!::clock_gettime(CLOCK_MONOTONIC, &t_msec))
timestamp_msec = (t_msec.tv_nsec / 1000000ll) + (t_msec.tv_sec* 1000ll);
return timestamp_msec;
long long int system_time_s()
{
struct timespec t_sec;
- long long int timestamp_sec;
-
+ long long int timestamp_sec = 0;
+
if(!::clock_gettime(CLOCK_MONOTONIC, &t_sec))
timestamp_sec = t_sec.tv_sec;
return timestamp_sec;
: unit_{1000000}, frequency_{10.0}, last_tick_{0}, time_function_{nullptr}
{}
-
frequency_clock_t::frequency_clock_t(float frequency)
: unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
-{}
+{
+ if(frequency_ <= 0)
+ frequency_ = 2000;
+}
+
+frequency_clock_t::frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function)
+ : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
+{
+ if(frequency_ <= 0)
+ frequency_ = 1;
+}
/// @brief Return the period in ms given the frequency in hertz.
/// @param[in] frequency - Frequency to convert, in hertz
-float frequency_clock_t::frequency_to_period()
+float frequency_clock_t::frequency_to_period() const
{
- return 1 / frequency_ * unit_;
+ return frequency_ == 0 ? 0 : 1 / frequency_;
+}
+
+/// @brief Return a timeval struct based on the frequency_ member. used to
+/// specified CAN BCM timers.
+const struct timeval frequency_clock_t::get_timeval_from_period() const
+{
+ struct timeval freq = {0, 0};
+ float f;
+ freq.tv_usec = (long int)(std::modf(frequency_to_period(), &f) * unit_);
+ freq.tv_sec = (time_t)f;
+
+ return freq;
}
bool frequency_clock_t::started()
last_tick_ = get_time_function()() - (rand() % int(period));
// Make sure it ticks the the first call
- elapsed_time = !started() ? period : get_time_function()() - last_tick_;
+ elapsed_time = !started() ? period : (float)get_time_function()() - (float)last_tick_;
return frequency_ == 0 || elapsed_time >= period;
}
return frequency_;
}
+uint64_t frequency_clock_t::get_last_tick() const
+{
+ return last_tick_;
+}
+
/// @brief Force the clock to tick, regardless of it its time has actually
/// elapsed.
-void frequency_clock_t::tick()
+void frequency_clock_t::tick(uint64_t timestamp)
{
- last_tick_ = get_time_function()();
-}
\ No newline at end of file
+ last_tick_ = timestamp;
+}