.. _program_listing_file__tmp_ws_src_ntpd_driver_include_ntpd_driver_NtpdShmDriver.hpp:

Program Listing for File NtpdShmDriver.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ntpd_driver_include_ntpd_driver_NtpdShmDriver.hpp>` (``/tmp/ws/src/ntpd_driver/include/ntpd_driver/NtpdShmDriver.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   //
   // Copyright (c) 2014-2021 Vladimir Ermakov. All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the copyright holder nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   //
   #pragma once
   
   #ifndef NTPD_DRIVER__NTPDSHMDRIVER_HPP_
   #define NTPD_DRIVER__NTPDSHMDRIVER_HPP_
   
   #include <chrono>
   #include <functional>
   #include <memory>
   
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/time_reference.hpp"
   
   namespace ntpd_driver
   {
   
   struct shmTime
   {
     int mode;    // 0 - if valid set
                  //       use values,
                  //       clear valid
                  // 1 - if valid set
                  //       if count before and after read of values is equal,
                  //         use values
                  //       clear valid
                  //
     volatile int count;
     time_t clockTimeStampSec;
     int clockTimeStampUSec;
     time_t receiveTimeStampSec;
     int receiveTimeStampUSec;
     int leap;
     int precision;
     int nsamples;
     volatile int valid;
     unsigned clockTimeStampNSec;      // Unsigned ns timestamps
     unsigned receiveTimeStampNSec;    // Unsigned ns timestamps
     int dummy[8];
   };
   
   constexpr uint32_t NTPD_SHM_BASE = 0x4e545030;
   
   using ShmTimeT = volatile struct shmTime;
   
   class NtpdShmDriver : public rclcpp::Node
   {
   public:
     explicit NtpdShmDriver(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
   
   private:
     rclcpp::Subscription<sensor_msgs::msg::TimeReference>::SharedPtr time_ref_sub_;
   
     rclcpp::Parameter shm_unit_;
     rclcpp::Parameter fixup_date_;
   
     std::unique_ptr<ShmTimeT, std::function<void(ShmTimeT *)>> shm_;
   
     void time_ref_cb(const sensor_msgs::msg::TimeReference::SharedPtr msg);
     void set_system_time(const double seconds);
   
     ShmTimeT * attach_shmTime(int unit);
     void detach_shmTime(ShmTimeT * shm);
   };
   
   }  // namespace ntpd_driver
   
   #endif  // NTPD_DRIVER__NTPDSHMDRIVER_HPP_