Files
fs2open.github.com/code/io/timer.cpp
T
a97db52bf6 Update 25.0.1 with four PRs (#7392)
* Fix stencil attachment for RTT textures and enable depth/stencil for cockpit RTT (#7386)

* Fix stale subsystem model_num references across mission boundaries (#3147)

Fixes the long-standing intermittent bug where the GTD Orion#Repulse in
Silent Threat: Reborn's "Forced Hand" mission spawns with all subsystems
unlinked, leaving the ship untargetable and undisableable.  The same root
cause has been reported since at least 2015 (HLP topic 89403) and was
provisionally closed in #3147 as fixed by #3858, but #3858 was an unrelated
parse_ship_values memory leak fix and never actually addressed this
behavior.  Recently the underlying check at ship.cpp ~8043 was promoted
from Warning to Error (#5591), which is why Release players are now
hitting a hard error dialog instead of just seeing missing subsystems.

Root cause
----------
model_unload() walks Ship_info and resets si.model_num = -1 on every
ship_info that referenced the model, but does not touch
si.subsystems[k].model_num.  Subsystem entries are left pointing at the
freed model id.  When a subsequent mission reloads the same pof under a
new id, ship variants that share the model rely on
ship_copy_subsystem_fixup() to re-link their subsystem arrays, but the
fixup matches by name via model_copy_subsystems() and any unmatched
destination subsystem stays at -1.  The mismatch case in
model_copy_subsystems() was guarded only by Int3(), which is a no-op in
Release builds, so the failure was completely silent until subsys_set()
errored out much later with no useful context.

The bug is intermittent because it depends on three independent ordering
factors: which prior mission was last played, which Orion variant that
mission used, and the iteration order of Ship_info during the next
mission's ship_page_in().

Changes
-------
* model_unload(): when clearing si.model_num for an unloaded model, also
  clear every si.subsystems[k].model_num that pointed at the same id.
  This is the structural fix and eliminates the entire class of stale
  subsystem pointers surviving across mission boundaries.

* model_copy_subsystems(): replace the silent Int3() in the name-mismatch
  branch with Error(LOCATION, ...) naming the unmatched subsystem.  This
  surfaces a failure mode that has been invisible in Release builds for
  over a decade and gives modders an actionable diagnostic when sibling
  ship classes that share a model have inconsistent subsystem names.

* ship.cpp: introduce verify_ship_subsystems_linked() helper that checks
  every model_subsystem on a ship_info is linked into the same model the
  ship is using, and fails with Error(LOCATION, ...) naming both
  polymodels if not.  This is the canonical post-condition for both
  ship_copy_subsystem_fixup() and model_load() (which is supposed to
  link subsystems via do_new_subsystem()).

* ship_create(): call verify_ship_subsystems_linked() after
  ship_copy_subsystem_fixup() so that any failure to link a subsystem
  is surfaced with full context (ship name, subsystem name, both model
  filenames) instead of propagating to a generic error in subsys_set()
  much later.  This closes a long-standing asymmetry where ship_page_in()
  had a guard (added by zookeeper in 2015) but ship_create() did not.

* ship_page_in(): three post-fixup verifications were gated by
  #ifndef NDEBUG with Warning() or Assertion() calls, both of which are
  no-ops in Release builds.  Replace each with a verify_ship_subsystems_linked()
  call so they fire in Release as well.

Co-Authored-By: Claude Opus 4.6 (1M context) <[email protected]>

* fix two timestamp bugs

A timestamp set to 1 means an immediate timestamp, and so the `int` version of `timestamp_elapsed` should account for that, just as it does in the `TIMESTAMP` and `UI_TIMESTAMP` versions.  Normally the number comparison means the check will still work, but during mission initialization the timestamp code is not running.  This caused destroy-before-mission ships to be added to the arrival list when they shouldn't have been.

Also fix logic in `timestamp_elapsed_safe`, where the `TIMESTAMP` and `UI_TIMESTAMP` versions were correct, but the `int` version had a bug dating back to retail that caused it to return true for uninitialized (zero) timestamps rather than false.  Practically speaking, this fix has no effect because the function is only used in multiplayer and none of the instances use integer-0 to indicate uninitialized, but this will at least fix any uses in the future.

* Fix dirty modelcollide state in shipfx and harden with assert (#7390)

---------

Co-authored-by: Goober5000 <[email protected]>
Co-authored-by: Claude Opus 4.6 (1M context) <[email protected]>
2026-04-21 12:27:43 +09:00

714 lines
19 KiB
C++

/*
* Copyright (C) Volition, Inc. 1999. All rights reserved.
*
* All source code herein is the property of Volition, Inc. You may not sell
* or otherwise commercially exploit the source or things you created based on the
* source.
*
*/
#include "globalincs/pstypes.h"
#include "io/timer.h"
#include "graphics/2d.h"
#include "globalincs/alphacolors.h"
#include "osapi/osapi.h" // for multi-thread macros
#include <SDL_timer.h>
#include <climits>
static Uint64 Timer_perf_counter_freq = 0; // perf counter frequency - number of ticks per second
static Uint64 Timer_base_value;
static bool Timer_inited = false;
static long double Timer_to_microseconds;
static long double Timer_to_nanoseconds;
static uint64_t Timestamp_offset_from_counter = 0;
static uint64_t Timestamp_paused_at_counter = 0;
static fix Timestamp_current_time_compression = F1_0;
static float Timestamp_time_compression_multiplier = 1.0f;
static uint64_t Timestamp_time_compression_microseconds_offset = 0;
static bool Timestamp_is_paused = false;
static bool Timestamp_sudo_paused = false;
static uint64_t Timestamp_microseconds_at_mission_start = 0;
static uint64_t timestamp_get_raw(bool start_frame = false);
static uint64_t get_performance_counter()
{
Assertion(Timer_inited, "This function can only be used when the timer system is initialized!");
auto counter = SDL_GetPerformanceCounter();
return counter - Timer_base_value;
}
void timer_close()
{
if ( Timer_inited ) {
Timer_inited = false;
}
}
void timer_init()
{
if ( !Timer_inited ) {
Timer_perf_counter_freq = SDL_GetPerformanceFrequency();
Timer_base_value = SDL_GetPerformanceCounter();
Timer_to_nanoseconds = (long double) NANOSECONDS_PER_SECOND / (long double) Timer_perf_counter_freq;
Timer_to_microseconds = (long double) MICROSECONDS_PER_SECOND / (long double) Timer_perf_counter_freq;
Timer_inited = true;
// set up the config so that timestamps are usable
// (timestamps are used in the UI and in some init functions, not just within the mission)
timestamp_pause(true);
timestamp_unpause(true);
atexit(timer_close);
}
}
void timer_start_frame()
{
// take a snapshot of the raw timestamp at the beginning of the frame
timestamp_get_raw(true);
}
// ======================================== getting time ========================================
fix timer_get_fixed_seconds()
{
if (!Timer_inited) {
UNREACHABLE("Make sure you call timer_init before anything that uses timer functions!");
return 0;
}
auto time = timer_get_microseconds();
time *= F1_0;
return static_cast<fix>(time / MICROSECONDS_PER_SECOND);
}
fix timer_get_approx_seconds()
{
return timer_get_fixed_seconds();
}
int timer_get_seconds()
{
if (!Timer_inited) {
UNREACHABLE("Make sure you call timer_init before anything that uses timer functions!");
return 0;
}
return static_cast<int>(timer_get_microseconds() / MICROSECONDS_PER_SECOND);
}
int timer_get_milliseconds()
{
if (!Timer_inited) {
UNREACHABLE("Make sure you call timer_init before anything that uses timer functions!");
return 0;
}
return static_cast<int>(timer_get_microseconds() / MICROSECONDS_PER_MILLISECOND);
}
std::uint64_t timer_get_microseconds()
{
auto time = get_performance_counter();
return static_cast<uint64_t>(time * Timer_to_microseconds);
}
std::uint64_t timer_get_nanoseconds()
{
auto time = get_performance_counter();
return static_cast<uint64_t>(time * Timer_to_nanoseconds);
}
static uint64_t timestamp_get_raw(bool start_frame)
{
static uint64_t timestamp_raw = 0;
// The simulation timestamp is only updated at the beginning of the frame
// because we want all timestamps within a frame to be identical.
if (start_frame)
{
if (Timestamp_is_paused)
timestamp_raw = Timestamp_paused_at_counter;
else
timestamp_raw = get_performance_counter();
timestamp_raw -= Timestamp_offset_from_counter;
}
return timestamp_raw;
}
static uint64_t timestamp_get_microseconds()
{
return Timestamp_time_compression_microseconds_offset + static_cast<uint64_t>(timestamp_get_raw() * Timer_to_microseconds * Timestamp_time_compression_multiplier);
}
static int timestamp_ms() {
return static_cast<int>(timestamp_get_microseconds() / MICROSECONDS_PER_MILLISECOND);
}
int timestamp() {
return timestamp_ms();
}
TIMESTAMP _timestamp() {
return TIMESTAMP(timestamp_ms());
}
UI_TIMESTAMP ui_timestamp() {
return UI_TIMESTAMP(timer_get_milliseconds());
}
TIMESTAMP timestamp_delta(TIMESTAMP stamp, int delta_ms)
{
if (!stamp.isFinite())
return stamp;
if (stamp.isImmediate())
return TIMESTAMP(timestamp_ms() + delta_ms);
return TIMESTAMP(stamp.value() + delta_ms);
}
UI_TIMESTAMP ui_timestamp_delta(UI_TIMESTAMP stamp, int delta_ms)
{
if (!stamp.isFinite())
return stamp;
if (stamp.isImmediate())
return UI_TIMESTAMP(timer_get_milliseconds() + delta_ms);
return UI_TIMESTAMP(stamp.value() + delta_ms);
}
// Returns the difference between two timestamps as an int, does not check that the result will be positive.
// Also only error check if a timestamp is invalid, but when either is immediate or never, it returns 0.
int timestamp_get_delta(TIMESTAMP before, TIMESTAMP after)
{
Assertion(before.isValid(), "timestamp_get_delta called with an invalid before timestamp%s. This is a coder mistake, please report!", (after.isValid()) ? "" : " and an invalid after timestamp.");
Assertion(after.isValid(), "timestamp_get_delta called with an invalid after timestamp. This is a coder mistake, please report!");
if (!before.isValid() || !after.isValid()) {
return 0;
}
// infinite difference in the future.
if (before.isImmediate() && after.isNever()) {
return INT_MAX;
// infinite difference in the past
} else if (after.isImmediate() && before.isNever()) {
return INT_MIN;
// no difference
} else if ((before.isImmediate() && after.isImmediate())
|| (before.isNever() && after.isNever())) {
return 0;
}
return (after.value() - before.value());
}
// Returns the difference between two timestamps, does not check that the result will be positive.
// Also only error check if a timestamp is invalid, but when either is immediate or never, it returns 0.
int ui_timestamp_get_delta(UI_TIMESTAMP before, UI_TIMESTAMP after)
{
Assertion(before.isValid(), "ui_timestamp_get_delta called with an invalid before timestamp%s. This is a coder mistake, please report!", (after.isValid()) ? "" : " and an invalid after timestamp.");
Assertion(after.isValid(), "ui_timestamp_get_delta called with an invalid after timestamp. This is a coder mistake, please report!");
if (!before.isValid() || !after.isValid()) {
return 0;
}
// infinite difference in the future.
if (before.isImmediate() && after.isNever()) {
return INT_MAX;
// infinite difference in the past
} else if (after.isImmediate() && before.isNever()) {
return INT_MIN;
// no difference
} else if ((before.isImmediate() && after.isImmediate())
|| (before.isNever() && after.isNever())) {
return 0;
}
return (after.value() - before.value());
}
// ======================================== checking timestamps ========================================
// Restrict all time values between 0 and MAX_TIME
// so we don't have to use UINTs to calculate rollover.
// For debugging & testing, you could set this to
// something like 1 minute (60000).
// Although this is around 12.4 days (1073741823 milliseconds).
extern const std::uint32_t MAX_TIME = INT_MAX / 2;
int timestamp(int delta_ms) {
int t2;
if (delta_ms < 0 ) return 0;
if (delta_ms == 0 ) return 1;
t2 = timestamp_ms() + delta_ms;
if ( t2 > (int)MAX_TIME ) {
// wrap!!!
t2 = delta_ms - (MAX_TIME-timestamp_ms());
}
if (t2 < 2 ) t2 = 2; // hack??
return t2;
}
TIMESTAMP _timestamp(int delta_ms) {
int t2;
if (delta_ms < 0 ) return TIMESTAMP::never();
if (delta_ms == 0 ) return TIMESTAMP::immediate();
t2 = timestamp_ms() + delta_ms;
if ( t2 > (int)MAX_TIME ) {
// wrap!!!
t2 = delta_ms - (MAX_TIME-timestamp_ms());
}
if (t2 < 2 ) t2 = 2; // hack??
return TIMESTAMP(t2);
}
UI_TIMESTAMP ui_timestamp(int delta_ms) {
int t2;
if (delta_ms < 0 ) return UI_TIMESTAMP::never();
if (delta_ms == 0 ) return UI_TIMESTAMP::immediate();
t2 = timer_get_milliseconds() + delta_ms;
if ( t2 > (int)MAX_TIME ) {
// wrap!!!
t2 = delta_ms - (MAX_TIME-timer_get_milliseconds());
}
if (t2 < 2 ) t2 = 2; // hack??
return UI_TIMESTAMP(t2);
}
// Returns milliseconds until timestamp will elapse.
// Negative value gives milliseconds ago that timestamp elapsed.
int timestamp_until(int stamp)
{
// handle special values
if (stamp <= 0)
return INT_MAX;
if (stamp == 1)
return 0;
// JAS: FIX
// HACK!! This doesn't handle rollover!
// (Will it ever happen?)
return stamp - timestamp_ms();
/*
uint delta;
delta = stamp - timestamp_ticker;
if (delta > UINT_MAX/2)
delta = UINT_MAX - delta + 1;
else if (delta < - ( (int) (UINT_MAX/2)))
delta = UINT_MAX + delta + 1;
return delta;
*/
}
int timestamp_until(TIMESTAMP stamp)
{
Assertion(stamp.isFinite(), "timestamp_until was called with a%s timestamp!", !stamp.isValid() ? "n invalid" : " Never");
if (!stamp.isFinite())
return INT_MAX;
if (stamp.isImmediate())
return 0;
return stamp.value() - timestamp_ms();
}
int ui_timestamp_until(UI_TIMESTAMP stamp)
{
Assertion(stamp.isFinite(), "timestamp_until was called with a%s timestamp!", !stamp.isValid() ? "n invalid" : " Never");
if (!stamp.isFinite())
return INT_MAX;
if (stamp.isImmediate())
return 0;
return stamp.value() - timer_get_milliseconds();
}
int timestamp_since(int stamp)
{
// handle special values
if (stamp <= 0)
return INT_MIN;
if (stamp == 1)
return 0;
return timestamp_ms() - stamp;
}
int timestamp_since(TIMESTAMP stamp)
{
Assertion(stamp.isFinite(), "timestamp_since was called with a%s timestamp!", !stamp.isValid() ? "n invalid" : " Never");
if (!stamp.isFinite())
return INT_MIN;
if (stamp.isImmediate())
return 0;
return timestamp_ms() - stamp.value();
}
int ui_timestamp_since(UI_TIMESTAMP stamp)
{
Assertion(stamp.isFinite(), "timestamp_since was called with a%s timestamp!", !stamp.isValid() ? "n invalid" : " Never");
if (!stamp.isFinite())
return INT_MIN;
if (stamp.isImmediate())
return 0;
return timer_get_milliseconds() - stamp.value();
}
int timestamp_compare(TIMESTAMP t1, TIMESTAMP t2)
{
Assertion(t1.isValid(), "timestamp_compare called with an invalid 't1' timestamp!");
Assertion(t2.isValid(), "timestamp_compare called with an invalid 't2' timestamp!");
if (!t1.isValid() || !t2.isValid())
return 0;
if (t1.isImmediate())
{
if (t2.isImmediate())
return 0;
else
return -1;
}
else if (t2.isImmediate())
return 1;
if (t1.isNever())
{
if (t2.isNever())
return 0;
else
return 1;
}
else if (t2.isNever())
return -1;
if (t1.value() == t2.value())
return 0;
else if (t1.value() > t2.value())
return 1;
else
return -1;
}
int ui_timestamp_compare(UI_TIMESTAMP t1, UI_TIMESTAMP t2)
{
Assertion(t1.isValid(), "ui_timestamp_compare called with an invalid 't1' timestamp!");
Assertion(t2.isValid(), "ui_timestamp_compare called with an invalid 't2' timestamp!");
if (!t1.isValid() || !t2.isValid())
return 0;
if (t1.isImmediate())
{
if (t2.isImmediate())
return 0;
else
return -1;
}
else if (t2.isImmediate())
return 1;
if (t1.isNever())
{
if (t2.isNever())
return 0;
else
return 1;
}
else if (t2.isNever())
return -1;
if (t1.value() == t2.value())
return 0;
else if (t1.value() > t2.value())
return 1;
else
return -1;
}
bool timestamp_in_between(TIMESTAMP stamp, TIMESTAMP before, TIMESTAMP after)
{
Assertion(stamp.isFinite(), "timestamp_in_between was called with a%s 'stamp' timestamp!", !stamp.isValid() ? "n invalid" : " Never");
Assertion(before.isFinite(), "timestamp_in_between was called with a%s 'before' timestamp!", !before.isValid() ? "n invalid" : " Never");
Assertion(after.isFinite(), "timestamp_in_between was called with a%s 'after' timestamp!", !after.isValid() ? "n invalid" : " Never");
if (!stamp.isValid() || !before.isValid() || !after.isValid())
return false;
return timestamp_compare(before, stamp) <= 0 && timestamp_compare(stamp, after) <= 0;
}
bool ui_timestamp_in_between(UI_TIMESTAMP stamp, UI_TIMESTAMP before, UI_TIMESTAMP after)
{
Assertion(stamp.isFinite(), "ui_timestamp_in_between was called with a%s 'stamp' timestamp!", !stamp.isValid() ? "n invalid" : " Never");
Assertion(before.isFinite(), "ui_timestamp_in_between was called with a%s 'before' timestamp!", !before.isValid() ? "n invalid" : " Never");
Assertion(after.isFinite(), "ui_timestamp_in_between was called with a%s 'after' timestamp!", !after.isValid() ? "n invalid" : " Never");
if (!stamp.isValid() || !before.isValid() || !after.isValid())
return false;
return ui_timestamp_compare(before, stamp) <= 0 && ui_timestamp_compare(stamp, after) <= 0;
}
bool timestamp_elapsed(int stamp) {
if (stamp == 0) {
return false;
}
if (stamp == 1) {
return true;
}
return timestamp_ms() >= stamp;
}
bool timestamp_elapsed(TIMESTAMP stamp) {
if (!stamp.isFinite()) {
return false;
}
if (stamp.isImmediate()) {
return true;
}
return timestamp_ms() >= stamp.value();
}
bool ui_timestamp_elapsed(UI_TIMESTAMP ui_stamp) {
if (!ui_stamp.isFinite()) {
return false;
}
if (ui_stamp.isImmediate()) {
return true;
}
return timer_get_milliseconds() >= ui_stamp.value();
}
bool timestamp_elapsed_last_frame(TIMESTAMP stamp) {
if (!stamp.isFinite()) {
return false;
}
if (stamp.isImmediate()) {
return true;
}
return timestamp_ms() > stamp.value();
}
bool ui_timestamp_elapsed_last_frame(UI_TIMESTAMP ui_stamp) {
if (!ui_stamp.isFinite()) {
return false;
}
if (ui_stamp.isImmediate()) {
return true;
}
return timer_get_milliseconds() > ui_stamp.value();
}
bool timestamp_elapsed_safe(int a, int b) {
if (a == 0) {
return false;
}
if (a == 1) {
return true;
}
return timestamp_ms() >= a || timestamp_ms() < (a - b + 100);
}
bool timestamp_elapsed_safe(TIMESTAMP a, int b) {
if (!a.isFinite()) {
return false;
}
if (a.isImmediate()) {
return true;
}
return timestamp_ms() >= a.value() || timestamp_ms() < (a.value() - b + 100);
}
bool ui_timestamp_elapsed_safe(UI_TIMESTAMP a, int b) {
if (!a.isFinite()) {
return false;
}
if (a.isImmediate()) {
return true;
}
return timer_get_milliseconds() >= a.value() || timer_get_milliseconds() < (a.value() - b + 100);
}
// ======================================== pausing/unpausing/adjusting ========================================
void timestamp_pause(bool sudo)
{
if (sudo)
Timestamp_sudo_paused = true;
if (Timestamp_is_paused)
return;
Timestamp_is_paused = true;
Timestamp_paused_at_counter = get_performance_counter();
}
void timestamp_unpause(bool sudo)
{
if (Timestamp_sudo_paused && !sudo)
return;
if (sudo)
Timestamp_sudo_paused = false;
if (!Timestamp_is_paused)
return;
Timestamp_is_paused = false;
auto counter = get_performance_counter();
if (Timestamp_offset_from_counter == 0) {
Timestamp_offset_from_counter = counter;
} else {
// update our offset to take into account the time we were paused
Timestamp_offset_from_counter += (counter - Timestamp_paused_at_counter);
}
}
bool timestamp_is_paused()
{
return Timestamp_is_paused;
}
void timestamp_adjust_pause_offset(int delta_milliseconds)
{
Assertion(!Timestamp_is_paused, "This function is not needed if the game is actually paused.");
Assertion(delta_milliseconds > 0, "Pausing for a negative amount of time doesn't make sense. Also, negative numbers won't work with uint64_t.");
// act like we were paused for a certain period of time, even though we weren't
if (Timestamp_offset_from_counter == 0) {
Timestamp_offset_from_counter = get_performance_counter();
} else {
Timestamp_offset_from_counter += static_cast<uint64_t>(static_cast<uint64_t>(delta_milliseconds) * MICROSECONDS_PER_MILLISECOND / Timer_to_microseconds);
}
}
void timestamp_adjust_seconds(float delta_seconds, TIMER_DIRECTION dir)
{
timestamp_adjust_microseconds(static_cast<uint64_t>(static_cast<long double>(delta_seconds) * MICROSECONDS_PER_SECOND), dir);
}
void timestamp_adjust_microseconds(uint64_t delta_microseconds, TIMER_DIRECTION dir)
{
Assertion(Timer_inited, "Timer should be initialized at this point!");
Assertion(Timestamp_offset_from_counter != 0 && Timestamp_paused_at_counter != 0, "Warranty void if these variables have not been set!");
auto delta_timer = static_cast<uint64_t>(delta_microseconds / Timer_to_microseconds);
// adjust the internal variables so it is as if the timer jumped forward or backward
if (dir == TIMER_DIRECTION::FORWARD)
{
Timestamp_offset_from_counter -= delta_timer;
Timestamp_paused_at_counter -= delta_timer;
}
else
{
Timestamp_offset_from_counter += delta_timer;
Timestamp_paused_at_counter += delta_timer;
}
}
extern fix Game_time_compression;
void timestamp_update_time_compression()
{
// if no change, no need to update
if (Game_time_compression == Timestamp_current_time_compression) {
return;
}
// grab the independent variable of the equation before we change anything
// (we need to get the live value to be accurate, which takes a new snapshot,
// but this is ok since time compression is only updated at the start of the frame)
auto timestamp_raw = timestamp_get_raw(true);
// we need to move the counter offset to make the raw timestamp zero (so that it can start ticking with a new multiplier)
Timestamp_offset_from_counter += timestamp_raw;
Timestamp_paused_at_counter += timestamp_raw;
// add the accumulated time so we don't lose any of it
auto delta_microseconds = static_cast<uint64_t>(timestamp_raw * Timer_to_microseconds * Timestamp_time_compression_multiplier);
Timestamp_time_compression_microseconds_offset += delta_microseconds;
// now we can set the new info
Timestamp_current_time_compression = Game_time_compression;
Timestamp_time_compression_multiplier = static_cast<float>(Game_time_compression) / F1_0;
// and now take a new snapshot so that the raw timestamp is correct for this frame
timestamp_get_raw(true);
}
// ======================================== mission-specific stuff ========================================
void timestamp_start_mission()
{
Timestamp_microseconds_at_mission_start = timestamp_get_microseconds();
}
fix timestamp_get_mission_time()
{
// convert timestamp to mission time
// c.f. timer_get_fixed_seconds
auto time = (timestamp_get_microseconds() - Timestamp_microseconds_at_mission_start);
time *= F1_0;
return static_cast<fix>(time / MICROSECONDS_PER_SECOND);
}
uint64_t timestamp_get_mission_time_in_microseconds()
{
return timestamp_get_microseconds() - Timestamp_microseconds_at_mission_start;
}
int timestamp_get_mission_time_in_milliseconds()
{
return static_cast<int>(timestamp_get_mission_time_in_microseconds() / MICROSECONDS_PER_MILLISECOND);
}
void timestamp_offset_mission_time(float offset)
{
auto time = static_cast<uint64_t>(static_cast<long double>(offset) * MICROSECONDS_PER_SECOND);
Timestamp_microseconds_at_mission_start -= time;
}