Diff: libuavcan_drivers/linux/apps/test_clock.cpp

Revision:

0:dfe6edabb8ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libuavcan_drivers/linux/apps/test_clock.cpp	Sat Apr 14 10:25:32 2018 +0000
@@ -0,0 +1,70 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <iostream>
+#include <cerrno>
+#include <chrono>
+#include <uavcan_linux/uavcan_linux.hpp>
+
+static std::string systime2str(const std::chrono::system_clock::time_point& tp)
+{
+    const auto tt = std::chrono::system_clock::to_time_t(tp);
+    return std::ctime(&tt);
+}
+
+int main()
+{
+    uavcan_linux::SystemClock clock;
+
+    /*
+     * Auto-detected clock adjustment mode
+     */
+    std::cout << "Clock adjustment mode: ";
+    switch (clock.getAdjustmentMode())
+    {
+    case uavcan_linux::ClockAdjustmentMode::SystemWide:
+    {
+        std::cout << "SystemWide";
+        break;
+    }
+    case uavcan_linux::ClockAdjustmentMode::PerDriverPrivate:
+    {
+        std::cout << "PerDriverPrivate";
+        break;
+    }
+    default:
+    {
+        std::abort();
+        break;
+    }
+    }
+    std::cout << std::endl;
+
+    /*
+     * Test adjustment
+     */
+    double sec = 0;
+    std::cout << "Enter system time adjustment in seconds (fractions allowed): " << std::endl;
+    std::cin >> sec;
+
+    const auto before = std::chrono::system_clock::now();
+    try
+    {
+        clock.adjustUtc(uavcan::UtcDuration::fromUSec(sec * 1e6));
+    }
+    catch (const uavcan_linux::Exception& ex)
+    {
+        std::cout << ex.what() << std::endl;
+        std::cout << strerror(ex.getErrno()) << std::endl;
+        return 1;
+    }
+    const auto after = std::chrono::system_clock::now();
+
+    std::cout << "Time before: " << systime2str(before) << "\n"
+              << "Time after:  " << systime2str(after) << "\n"
+              << "Millisecond diff (after - before): "
+              << std::chrono::duration_cast<std::chrono::milliseconds>(after - before).count() << std::endl;
+
+    return 0;
+}