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b2b1d9e1bd
Weak symbols have problems on cygwin. These are only defined and used in SITL so no point having an empty definition here, which would cause a redefinition error if not weak. Keeping the declaration in AP_HAL itself is not the best, but it works and avoids significant surgery to AP_HAL_SITL to move their declarations and usages into a better place.
55 lines
2.1 KiB
C++
55 lines
2.1 KiB
C++
#pragma once
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#include <stdint.h>
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#include <AP_Common/AP_Common.h>
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#include "AP_HAL_Macros.h"
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namespace AP_HAL {
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void init();
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void panic(const char *errormsg, ...) FMT_PRINTF(1, 2) NORETURN;
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uint16_t micros16();
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uint32_t micros();
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uint32_t millis();
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uint16_t millis16();
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uint64_t micros64();
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uint64_t millis64();
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// only defined and used on SITL, but declared here for historical reasons
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void dump_stack_trace();
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void dump_core_file();
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// Function to reliably determine whether a timeout has expired using any unsigned time type and interval
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// The template makes sure that callers do not mix up different types for storing time or assessing the
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// current time.
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// The comparison is guaranteed to work even if the present and the past cross a wrap boundary
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template <typename T, typename S, typename R>
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inline bool timeout_expired(const T past_time, const S now, const R timeout)
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{
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static_assert(std::is_same<T, S>::value, "timeout_expired() must compare values of the same unsigned type");
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static_assert(std::is_unsigned<T>::value, "timeout_expired() must use unsigned times");
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static_assert(std::is_unsigned<R>::value, "timeout_expired() must use unsigned timeouts");
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const T dt = now - past_time;
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return (dt >= timeout);
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}
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// Function to reliably determine whether how much of a timeout is left using any unsigned time type and interval
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// The template makes sure that callers do not mix up different types for storing time or assessing the
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// current time.
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// The comparison is guaranteed to work even if the present and the past cross a wrap boundary
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template <typename T, typename S, typename R>
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inline T timeout_remaining(const T past_time, const S now, const R timeout)
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{
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static_assert(std::is_same<T, S>::value, "timeout_remaining() must compare values of the same unsigned type");
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static_assert(std::is_unsigned<T>::value, "timeout_remaining() must use unsigned times");
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static_assert(std::is_unsigned<R>::value, "timeout_remaining() must use unsigned timeouts");
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const T dt = now - past_time;
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return (dt >= timeout) ? T(0) : (timeout - dt);
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}
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} // namespace AP_HAL
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