43 lines
1.1 KiB
C++
43 lines
1.1 KiB
C++
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#include "autoware_v2x/time_trigger.hpp"
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <functional>
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#include <iostream>
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namespace asio = boost::asio;
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namespace posix_time = boost::posix_time;
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using namespace vanetza;
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TimeTrigger::TimeTrigger(asio::io_service & io_service)
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: io_service_(io_service), timer_(io_service), runtime_(Clock::at(now()))
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{
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std::cout << "Starting runtime at " << now() << "\n";
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schedule();
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}
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posix_time::ptime TimeTrigger::now() const { return posix_time::microsec_clock::universal_time(); }
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void TimeTrigger::schedule()
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{
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update_runtime();
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auto next = runtime_.next();
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if (next < Clock::time_point::max()) {
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timer_.expires_at(Clock::at(next));
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timer_.async_wait(std::bind(&TimeTrigger::on_timeout, this, std::placeholders::_1));
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} else {
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timer_.cancel();
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}
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}
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void TimeTrigger::on_timeout(const boost::system::error_code & ec)
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{
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if (asio::error::operation_aborted != ec) {
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schedule();
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}
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}
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void TimeTrigger::update_runtime()
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{
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auto current_time = now();
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runtime_.trigger(Clock::at(current_time));
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}
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