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Bugfix: Timestamp wrapping when initializing SubscriptionInterval less than the interval time after boot #23384

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merged 3 commits into from
Jul 10, 2024
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Bugfix: Timestamp wrapping when initializing SubscriptionInterval less than the interval time after boot #23384

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5419d01
SubscriptionInterval: ensure _last_update is never before timer start
MaEtUgR Jul 10, 2024
13a452a
Update platforms/common/uORB/SubscriptionInterval.hpp
dagar Jul 10, 2024
a7d3e6d
astyle fix
dagar Jul 10, 2024
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14 changes: 11 additions & 3 deletions platforms/common/uORB/SubscriptionInterval.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,8 +125,16 @@ class SubscriptionInterval
{
if (_subscription.copy(dst)) {
const hrt_abstime now = hrt_absolute_time();
// shift last update time forward, but don't let it get further behind than the interval
_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);

// make sure we don't set a timestamp before the timer started counting (now - _interval_us would wrap because it's unsigned)
if (now > _interval_us) {
// shift last update time forward, but don't let it get further behind than the interval
_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);

} else {
_last_update = now;
}
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return true;
}

Expand Down Expand Up @@ -160,7 +168,7 @@ class SubscriptionInterval
protected:

Subscription _subscription;
uint64_t _last_update{0}; // last update in microseconds
uint64_t _last_update{0}; // last subscription update in microseconds
uint32_t _interval_us{0}; // maximum update interval in microseconds

};
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