diff options
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 0c3e3495..4c89d52c 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. |