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Add support for nanoseconds in SHM

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This commit is contained in:
Miroslav Lichvar
2012-09-06 19:00:32 +02:00
parent df6c2a432f
commit bbbb3633a7
2 changed files with 17 additions and 11 deletions
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26
refclock_shm.c
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@@ -45,7 +45,7 @@ struct shmTime {
* use values
* clear valid
*/
int count;
volatile int count;
time_t clockTimeStampSec;
int clockTimeStampUSec;
time_t receiveTimeStampSec;
@@ -53,8 +53,10 @@ struct shmTime {
int leap;
int precision;
int nsamples;
int valid;
int dummy[10];
volatile int valid;
int clockTimeStampNSec;
int receiveTimeStampNSec;
int dummy[8];
};
static int shm_initialise(RCL_Instance instance) {
@@ -89,7 +91,7 @@ static void shm_finalise(RCL_Instance instance)
static int shm_poll(RCL_Instance instance)
{
struct timeval tv1, tv2;
struct timeval tv;
struct shmTime t, *shm;
double offset;
@@ -107,13 +109,17 @@ static int shm_poll(RCL_Instance instance)
shm->valid = 0;
tv1.tv_sec = t.receiveTimeStampSec;
tv1.tv_usec = t.receiveTimeStampUSec;
tv2.tv_sec = t.clockTimeStampSec;
tv2.tv_usec = t.clockTimeStampUSec;
tv.tv_sec = t.receiveTimeStampSec;
tv.tv_usec = t.receiveTimeStampUSec;
UTI_DiffTimevalsToDouble(&offset, &tv2, &tv1);
return RCL_AddSample(instance, &tv1, offset, t.leap);
offset = t.clockTimeStampSec - t.receiveTimeStampSec;
if (t.clockTimeStampNSec / 1000 == t.clockTimeStampUSec &&
t.receiveTimeStampNSec / 1000 == t.receiveTimeStampUSec)
offset += (t.clockTimeStampNSec - t.receiveTimeStampNSec) * 1e-9;
else
offset += (t.clockTimeStampUSec - t.receiveTimeStampUSec) * 1e-6;
return RCL_AddSample(instance, &tv, offset, t.leap);
}
RefclockDriver RCL_SHM_driver = {