diff --git a/scripts/generators/templates/FSMController.cpp.template b/scripts/generators/templates/FSMController.cpp.template
index 2ea5f355f54898bee5e1eb88647bcb87b97ac4e9..0f4c88f9578467108cd8f183f50f2c6a4ea10047 100644
--- a/scripts/generators/templates/FSMController.cpp.template
+++ b/scripts/generators/templates/FSMController.cpp.template
@@ -58,7 +58,7 @@ void {state_machine_name}Controller::logStatus({state_machine_name}ControllerSta
void {state_machine_name}Controller::logStatus()
{{
- status.timestamp = miosix::getTick();
+ status.timestamp = miosix::getTime();
logger.log(status);
StackLogger::getInstance().updateStack(THID);
}}
diff --git a/src/shared/utils/Debug.h b/src/shared/utils/Debug.h
index 9056bcdbd40b3d845e95aa9776d0457c8585f79b..7f27affe6d74d218f1d06663c23fb0203ac26bcb 100644
--- a/src/shared/utils/Debug.h
+++ b/src/shared/utils/Debug.h
@@ -24,6 +24,7 @@
#ifdef DEBUG
#include <miosix.h>
+#include <utils/Constants.h>
#include <cstdarg>
#include <cstdio>
@@ -42,14 +43,18 @@ inline void TRACE(const char* format, ...)
va_list argptr;
va_start(argptr, format);
- printf("%.2f> ", miosix::getTick() / 1000.0f);
+ printf("%.2f> ", (float)miosix::getTime() / Boardcore::Constants::NS_IN_S);
vprintf(format, argptr);
va_end(argptr);
}
-// #define TRACE(...) printf("%.2f> ", miosix::getTick()/1000.0f);
-// printf(__VA_ARGS__)
+/*
+#define TRACE(...) \
+ printf("%.2f> ", \
+ (float)miosix::getTime() / Boardcore::Constants::NS_IN_S); \
+ printf(__VA_ARGS__)
+*/
#else
diff --git a/src/shared/utils/TestUtils/TestHelper.cpp b/src/shared/utils/TestUtils/TestHelper.cpp
index 6d0111bd1ab69255962dc27b49961a53337c2f9d..8103a2efcddbc215f8ecfcbcb54cb3f6d0c7abce 100644
--- a/src/shared/utils/TestUtils/TestHelper.cpp
+++ b/src/shared/utils/TestUtils/TestHelper.cpp
@@ -22,13 +22,16 @@
#include "TestHelper.h"
-namespace Boardcore
-{
+#include <events/utils/EventCounter.h>
+
+#include <cmath>
-long long tickToMilliseconds(long long tick)
+using miosix::FastMutex;
+using miosix::getTime;
+using miosix::Lock;
+
+namespace Boardcore
{
- return tick * 1000 / miosix::TICK_FREQ;
-}
bool expectEvent(uint8_t eventId, uint8_t topic, long long when,
long long uncertainty, EventBroker& broker)
@@ -36,23 +39,23 @@ bool expectEvent(uint8_t eventId, uint8_t topic, long long when,
EventCounter c{broker};
c.subscribe(topic);
- long long windowStart = when - uncertainty;
- long long windowEnd = when + uncertainty;
+ long long windowStart = when - uncertainty * Constants::NS_IN_MS;
+ long long windowEnd = when + uncertainty * Constants::NS_IN_MS;
- while (getTick() < windowEnd)
+ while (getTime() < windowEnd)
{
if (c.getCount(eventId) > 0)
{
- long long recvTick = getTick();
- if (recvTick < windowStart)
+ long long recvTime = getTime();
+ if (recvTime < windowStart)
{
TRACE(
"[expectEvent] Event %d on topic %d receveid %d ms before "
"the opening of "
"the window.\n",
eventId, topic,
- static_cast<int>(
- tickToMilliseconds(windowStart - recvTick)));
+ static_cast<int>((windowStart - recvTime) /
+ Constants::NS_IN_MS));
return false;
}
TRACE(
@@ -60,7 +63,7 @@ bool expectEvent(uint8_t eventId, uint8_t topic, long long when,
"window, %d ms from "
"the target time.\n",
eventId, topic,
- static_cast<int>(tickToMilliseconds(abs(recvTick - when))));
+ static_cast<int>(abs(recvTime - when) / Constants::NS_IN_MS));
return true;
}
@@ -80,8 +83,8 @@ bool waitForEvent(uint8_t event, uint8_t topic, long long timeout,
{
EventCounter c{broker};
c.subscribe(topic);
- long long end = getTick() + timeout;
- while (timeout == 0 || getTick() < end)
+ long long end = getTime() + timeout * Constants::NS_IN_MS;
+ while (timeout == 0 || getTime() < end)
{
if (c.getCount(event) > 0)
return true;
diff --git a/src/shared/utils/TestUtils/TestHelper.h b/src/shared/utils/TestUtils/TestHelper.h
index 2e7592f4273969efca7d3ea6a4d38c70b7d02695..d4e1150da09d9dfdb1ccc8888136c238e8e02caf 100644
--- a/src/shared/utils/TestUtils/TestHelper.h
+++ b/src/shared/utils/TestUtils/TestHelper.h
@@ -25,17 +25,8 @@
#include <events/EventBroker.h>
#include <events/FSM.h>
#include <events/HSM.h>
-#include <events/utils/EventCounter.h>
#include <miosix.h>
-#include <cmath>
-#include <map>
-
-using miosix::FastMutex;
-using miosix::getTick;
-using miosix::Lock;
-using std::map;
-
namespace Boardcore
{
@@ -45,11 +36,6 @@ namespace Boardcore
*/
static const int EVENT_TIMING_UNCERTAINTY = 1;
-/**
- * @brief Helper function used convert system ticks to milliseconds
- */
-long long tickToMilliseconds(long long tick);
-
/**
* Tests if a specific transition occurs in a Finite State Machine
* in response to an event.
@@ -176,7 +162,7 @@ bool testHSMAsyncTransition(HSM_type& hsm, const Event& ev, uint8_t topic,
*
* @param eventId The event to be checked
* @param topic The topic the event will be posted on
- * @param when Expected time at which the event will be posted, in system ticks
+ * @param when Absolute system time the event will be posted at [ns]
* @param uncertainty Size of the time window
* @param broker
* @return True if the event is posted inside the time window
diff --git a/src/shared/utils/TestUtils/TestSensor.h b/src/shared/utils/TestUtils/TestSensor.h
index 07b19e98b8c415c4f98e4388d1e42b02dec8414b..38892b3688c1c6006cede341544ac2d587cbcb24 100644
--- a/src/shared/utils/TestUtils/TestSensor.h
+++ b/src/shared/utils/TestUtils/TestSensor.h
@@ -37,12 +37,12 @@ struct TestData : public TimestampData
float value;
TestData(float v)
- : TimestampData{static_cast<uint64_t>(miosix::getTick())}, value(v)
+ : TimestampData{static_cast<uint64_t>(miosix::getTime())}, value(v)
{
}
TestData()
- : TimestampData{static_cast<uint64_t>(miosix::getTick())}, value(0.0)
+ : TimestampData{static_cast<uint64_t>(miosix::getTime())}, value(0.0)
{
}
};
@@ -61,8 +61,8 @@ public:
{
TRACE("[TestSensor] sampleImpl() \n");
return TestData(
- 10 * sin(Constants::PI * static_cast<float>(miosix::getTick()) /
- static_cast<float>(miosix::TICK_FREQ)));
+ 10 * sin(Constants::PI * static_cast<float>(miosix::getTime()) /
+ static_cast<float>(Constants::NS_IN_MS)));
}
};
diff --git a/src/shared/utils/TestUtils/ThroughputCalculator.h b/src/shared/utils/TestUtils/ThroughputCalculator.h
index 6de5a3fe071ad49f9503cc4622bc013adbded170..13f1ff4e47bc8bbdd1064696fca5316183c576d5 100644
--- a/src/shared/utils/TestUtils/ThroughputCalculator.h
+++ b/src/shared/utils/TestUtils/ThroughputCalculator.h
@@ -54,8 +54,9 @@ public:
*
* @param expectedPktInterval Expected packet delivery interval for packet
* loss estimation
- * @param windowDuration Duration of the observation window. Longer windows
- * means more stable values but slow response to abrupt changes
+ * @param windowDuration Duration of the observation window in milliseconds.
+ * Longer windows means more stable values but slow response to abrupt
+ * changes
*/
ThroughputCalculator(unsigned int expectedPktInterval,
unsigned int windowDuration = 2000)
@@ -74,7 +75,7 @@ public:
{
Lock<FastMutex> lock(mutexPkt);
- long long ts = miosix::getTick();
+ long long ts = miosix::getTime();
unsigned int interval = 0;
if (packets.size() > 0)
@@ -95,7 +96,7 @@ public:
{
Lock<FastMutex> lock(mutexPkt);
- long long ts = miosix::getTick();
+ long long ts = miosix::getTime();
removeOldPackets(ts);
float sum = 0;
@@ -113,7 +114,7 @@ public:
float getPacketLoss()
{
Lock<FastMutex> lock(mutexPkt);
- long long ts = miosix::getTick();
+ long long ts = miosix::getTime();
removeOldPackets(ts);
float avgInterval = std::numeric_limits<float>::infinity();
@@ -137,7 +138,7 @@ public:
float getPacketsPerSecond()
{
Lock<FastMutex> lock(mutexPkt);
- long long ts = miosix::getTick();
+ long long ts = miosix::getTime();
removeOldPackets(ts);
return (float)packets.size() / (windowDuration / 1000.0f);
@@ -156,22 +157,26 @@ public:
private:
struct Packet
{
- long long timestamp;
+ long long timestamp; //!< Timestamp of the packet in nanoseconds
size_t size;
- unsigned int interval;
+ unsigned int interval; //!< Time interval from the previous packet in
+ //!< nanoseconds
};
void removeOldPackets(long long ts)
{
while (packets.size() > 0 &&
- packets.front().timestamp < ts - windowDuration)
+ packets.front().timestamp <
+ ts - (windowDuration * Constants::NS_IN_MS))
{
packets.pop_front();
}
}
- unsigned int expectedPktInterval;
- unsigned int windowDuration;
+ unsigned int expectedPktInterval; //!< Expected packet delivery interval in
+ //!< nanoseconds
+ unsigned int windowDuration; //!< Duration of the observation window in
+ //!< milliseconds
deque<Packet> packets;
FastMutex mutexPkt;
diff --git a/src/shared/utils/gui/ScreenManager.h b/src/shared/utils/gui/ScreenManager.h
index ce731f437f638bdf904b44e0f5d1fb89ff11a69b..d150d835eccf3d5bb08b222538a288cdf69b1c4f 100644
--- a/src/shared/utils/gui/ScreenManager.h
+++ b/src/shared/utils/gui/ScreenManager.h
@@ -82,11 +82,12 @@ protected:
screens[activeScreen]->invalidateTree();
}
- long long start = miosix::getTick();
+ long long start = miosix::getTime();
drawViewTree(screens[activeScreen], dc);
- miosix::Thread::sleepUntil(start + refreshInterval);
+ miosix::Thread::nanoSleepUntil(
+ start + (refreshInterval * Constants::NS_IN_MS));
}
}
@@ -119,7 +120,7 @@ private:
mxgui::DrawingContext dc;
- unsigned int refreshInterval;
+ unsigned int refreshInterval; ///< Refresh interval in ms
NavController controller;
std::map<uint8_t, View*> screens;