Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <stdint.h>
       4             : 
       5             : #include <AP_Common/AP_Common.h>
       6             : 
       7             : #include "AP_HAL_Macros.h"
       8             : 
       9             : namespace AP_HAL {
      10             : 
      11             : void init();
      12             : 
      13             : void panic(const char *errormsg, ...) FMT_PRINTF(1, 2) NORETURN;
      14             : 
      15             : uint16_t micros16();
      16             : uint32_t micros();
      17             : uint32_t millis();
      18             : uint16_t millis16();
      19             : uint64_t micros64();
      20             : uint64_t millis64();
      21             : 
      22             : // only defined and used on SITL, but declared here for historical reasons
      23             : void dump_stack_trace();
      24             : void dump_core_file();
      25             : 
      26             : // Function to reliably determine whether a timeout has expired using any unsigned time type and interval
      27             : // The template makes sure that callers do not mix up different types for storing time or assessing the
      28             : // current time.
      29             : // The comparison is guaranteed to work even if the present and the past cross a wrap boundary
      30             : template <typename T, typename S, typename R>
      31  1321711636 : inline bool timeout_expired(const T past_time, const S now, const R timeout)
      32             : {
      33             :     static_assert(std::is_same<T, S>::value, "timeout_expired() must compare values of the same unsigned type");
      34             :     static_assert(std::is_unsigned<T>::value, "timeout_expired() must use unsigned times");
      35             :     static_assert(std::is_unsigned<R>::value, "timeout_expired() must use unsigned timeouts");
      36  1321711636 :     const T dt = now - past_time;
      37  1321711636 :     return (dt >= timeout);
      38             : }
      39             : 
      40             : // Function to reliably determine whether how much of a timeout is left using any unsigned time type and interval
      41             : // The template makes sure that callers do not mix up different types for storing time or assessing the
      42             : // current time.
      43             : // The comparison is guaranteed to work even if the present and the past cross a wrap boundary
      44             : template <typename T, typename S, typename R>
      45       12006 : inline T timeout_remaining(const T past_time, const S now, const R timeout)
      46             : {
      47             :     static_assert(std::is_same<T, S>::value, "timeout_remaining() must compare values of the same unsigned type");
      48             :     static_assert(std::is_unsigned<T>::value, "timeout_remaining() must use unsigned times");
      49             :     static_assert(std::is_unsigned<R>::value, "timeout_remaining() must use unsigned timeouts");
      50       12006 :     const T dt = now - past_time;
      51       12006 :     return (dt >= timeout) ? T(0) : (timeout - dt);
      52             : }
      53             : 
      54             : } // namespace AP_HAL