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| author | Finomnis <Finomnis@users.noreply.github.com> | 2023-12-01 08:59:22 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-12-01 07:59:22 +0000 |
| commit | 612a47ef4d09da3553145d77bf1750314bbb7b16 (patch) | |
| tree | 7f6f6beca7e0c81397994b4f835c6a7f0bbee331 /rtic-time/src/lib.rs | |
| parent | 9f5820da1d36a8c84455b1bc0458d34eb7dd9a70 (diff) | |
Fix mono delay (#843)
* rtic-time: Compenstate for timer uncertainty
* Update changelog and incorrect cargo.lock in an example
* Fix Monotonic impls
* Fix tests
* Fix other monotonics, again
* Update changelog
* Fix example
* Fix DelayUs and DelayMs impls
* Minor coding style fix in u64 conversions
* Fix all changelogs
* Fix changelog
* Fix blocking DelayUs
* Minor monotonic rework
* Add delay precision test
* Add more tests
* Add rust-version tags to Cargo.toml
* Fix imxrt, rp2040 and systick timer
* Fix more monotonics
* Fix systick monotonic
* Some reverts
* Fix imxrt
* Fix nrf
* Fix rp2040
* Fix stm32
* Fix systick
* Fix rtic-time tests
* Bump to e-h.rc2
* Apply e-h.rc2 fixes to rtic-time
* Apply fixes from arbiter
* Fix clippy warning
* Minor beautification
* Revert previous changes
* Fix variable name
* Add blocking tests, but disable them by default
Diffstat (limited to 'rtic-time/src/lib.rs')
| -rw-r--r-- | rtic-time/src/lib.rs | 22 |
1 files changed, 18 insertions, 4 deletions
diff --git a/rtic-time/src/lib.rs b/rtic-time/src/lib.rs index 0c3e349..4c89d52 100644 --- a/rtic-time/src/lib.rs +++ b/rtic-time/src/lib.rs @@ -181,22 +181,36 @@ impl<Mono: Monotonic> TimerQueue<Mono> { } } - /// Timeout after a specific duration. + /// Timeout after at least a specific duration. #[inline] pub async fn timeout_after<F: Future>( &self, duration: Mono::Duration, future: F, ) -> Result<F::Output, TimeoutError> { - self.timeout_at(Mono::now() + duration, future).await + let now = Mono::now(); + let mut timeout = now + duration; + if now != timeout { + timeout = timeout + Mono::TICK_PERIOD; + } + + // Wait for one period longer, because by definition timers have an uncertainty + // of one period, so waiting for 'at least' needs to compensate for that. + self.timeout_at(timeout, future).await } - /// Delay for some duration of time. + /// Delay for at least some duration of time. #[inline] pub async fn delay(&self, duration: Mono::Duration) { let now = Mono::now(); + let mut timeout = now + duration; + if now != timeout { + timeout = timeout + Mono::TICK_PERIOD; + } - self.delay_until(now + duration).await; + // Wait for one period longer, because by definition timers have an uncertainty + // of one period, so waiting for 'at least' needs to compensate for that. + self.delay_until(timeout).await; } /// Delay to some specific time instant. |