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AP_HAL: add support for get realtime on Darwin systems

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Siddharth Bharat Purohit 2016-06-21 16:20:01 +05:30 committed by Lucas De Marchi
parent 3a8ed06267
commit 8903bc9eab
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_HAL/Util.cpp
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@ -2,6 +2,9 @@
#include "Util.h"
#include "utility/print_vprintf.h"
#include <time.h>
#if defined(__APPLE__) && defined(__MACH__)
#include <sys/time.h>
#endif
/* Helper class implements AP_HAL::Print so we can use utility/vprintf */
class BufferPrinter : public AP_HAL::Print {
@ -50,9 +53,15 @@ int AP_HAL::Util::vsnprintf(char* str, size_t size, const char *format, va_list
uint64_t AP_HAL::Util::get_system_clock_ms() const
{
#if defined(__APPLE__) && defined(__MACH__)
struct timeval ts;
gettimeofday(&ts, NULL);
return ((long long)((ts.tv_sec * 1000) + (ts.tv_usec / 1000)));
#else
struct timespec ts;
clock_gettime(CLOCK_REALTIME, &ts);
return ((long long)(ts.tv_sec * 1000 + ts.tv_nsec/1000000));
#endif
}
void AP_HAL::Util::get_system_clock_utc(int32_t &hour, int32_t &min, int32_t &sec, int32_t &ms) const