From 686c9555c9f22c3cd3da23ff3163dd7c0d041d6b Mon Sep 17 00:00:00 2001
From: Toby Schneider <toby@gobysoft.org>
Date: Tue, 1 Nov 2016 12:14:09 -0400
Subject: [PATCH] Fix overflow in register_timer functionality in GobyMOOSApp;
 also adjust for time skews in system clock. Fixes #15

---
 src/moos/goby_moos_app.h | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/src/moos/goby_moos_app.h b/src/moos/goby_moos_app.h
index 9129363e..3f90674f 100644
--- a/src/moos/goby_moos_app.h
+++ b/src/moos/goby_moos_app.h
@@ -293,7 +293,7 @@ template <class MOOSAppType = MOOSAppShell>
 
       struct SynchronousLoop
       {
-          int unix_next;
+          double unix_next;
           int period_seconds;
           boost::function<void ()> handler;
       };
@@ -368,7 +368,17 @@ template <class MOOSAppType>
             {
                 loop.handler();
                 loop.unix_next += loop.period_seconds;
+
+                // fix jumps forward in time
+                if(loop.unix_next < now)
+                    loop.unix_next = now + loop.period_seconds;
+
             }
+
+            // fix jumps backwards in time
+            if(loop.unix_next > (now + 2*loop.period_seconds))
+                loop.unix_next = now + loop.period_seconds;
+
         }
     }