#include <clock.hpp>

Inheritance diagram for uavcan_linux::SystemClock:

Public Member Functions
void	adjustUtc (const uavcan::UtcDuration adjustment) override

std::uint64_t	getAdjustmentCount () const

ClockAdjustmentMode	getAdjustmentMode () const

std::uint64_t	getGradualAdjustmentCount () const

uavcan::UtcDuration	getGradualAdjustmentLimit () const

uavcan::MonotonicTime	getMonotonic () const override

uavcan::UtcDuration	getPrivateAdjustment () const

std::uint64_t	getStepAdjustmentCount () const

uavcan::UtcTime	getUtc () const override

void	setGradualAdjustmentLimit (uavcan::UtcDuration limit)

	SystemClock (ClockAdjustmentMode adj_mode=detectPreferredClockAdjustmentMode())

Public Member Functions inherited from uavcan::ISystemClock
virtual	~ISystemClock ()

Static Public Member Functions
static ClockAdjustmentMode	detectPreferredClockAdjustmentMode ()

Private Member Functions
bool	performGradualAdjustment (const uavcan::UtcDuration adjustment)

bool	performStepAdjustment (const uavcan::UtcDuration adjustment)

Private Attributes
const ClockAdjustmentMode	adj_mode_

std::uint64_t	gradual_adj_cnt_

uavcan::UtcDuration	gradual_adj_limit_

uavcan::UtcDuration	private_adj_

std::uint64_t	step_adj_cnt_

Static Private Attributes
static constexpr std::int64_t	Int1e6 = 1000000

static constexpr std::uint64_t	UInt1e6 = 1000000

Detailed Description

Linux system clock driver. Requires librt.

Definition at line 33 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/clock.hpp.

Constructor & Destructor Documentation

◆ SystemClock()

uavcan_linux::SystemClock::SystemClock ( ClockAdjustmentMode adj_mode = detectPreferredClockAdjustmentMode() )

inlineexplicit

By default, the clock adjustment mode will be selected automatically - global if root, private otherwise.

Definition at line 72 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/clock.hpp.

Member Function Documentation

◆ adjustUtc()

void uavcan_linux::SystemClock::adjustUtc ( const uavcan::UtcDuration adjustment )

inlineoverridevirtual

Adjusts the wall clock. Behavior depends on the selected clock adjustment mode - ClockAdjustmentMode. Clock adjustment mode can be set only once via constructor.

If the system wide adjustment mode is selected, two ways for performing adjustment exist:

Gradual adjustment using adjtime(), if the phase error is less than gradual adjustment limit.
Step adjustment using settimeofday(), if the phase error is above gradual adjustment limit. The gradual adjustment limit can be configured at any time via the setter method.

Exceptions

uavcan_linux::Exception.

Implements uavcan::ISystemClock.

Definition at line 124 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/clock.hpp.

◆ detectPreferredClockAdjustmentMode()

static ClockAdjustmentMode uavcan_linux::SystemClock::detectPreferredClockAdjustmentMode ( )

inlinestatic

This static method decides what is the optimal clock sync adjustment mode for the current configuration. It selects system wide mode if the application is running as root; otherwise it prefers the private adjustment mode because the system wide mode requires root privileges.

Definition at line 189 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/clock.hpp.