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SITL: update to work on newer cygwin versions

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Andrew Tridgell 2024-05-27 17:25:53 +10:00 committed by Peter Barker
parent 3f6ce2dc09
commit e0af22ad8f
1 changed files with 5 additions and 8 deletions
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13
libraries/SITL/SIM_Aircraft.cpp
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@ -22,12 +22,6 @@
#include <sys/time.h> #include <sys/time.h>
#include <unistd.h> #include <unistd.h>
#if defined(__CYGWIN__) || defined(__CYGWIN64__)
#include <windows.h>
#include <time.h>
#include <mmsystem.h>
#endif
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
@ -561,18 +555,21 @@ float Aircraft::rangefinder_range() const
return altitude; return altitude;
} }
#if defined(__CYGWIN__) || defined(__CYGWIN64__)
extern "C" { uint32_t timeGetTime(); }
#endif
// potentially replace this with a call to AP_HAL::Util::get_hw_rtc // potentially replace this with a call to AP_HAL::Util::get_hw_rtc
uint64_t Aircraft::get_wall_time_us() const uint64_t Aircraft::get_wall_time_us() const
{ {
#if defined(__CYGWIN__) || defined(__CYGWIN64__) #if defined(__CYGWIN__) || defined(__CYGWIN64__)
static DWORD tPrev; static uint32_t tPrev;
static uint64_t last_ret_us; static uint64_t last_ret_us;
if (tPrev == 0) { if (tPrev == 0) {
tPrev = timeGetTime(); tPrev = timeGetTime();
return 0; return 0;
} }
DWORD now = timeGetTime(); uint32_t now = timeGetTime();
last_ret_us += (uint64_t)((now - tPrev)*1000UL); last_ret_us += (uint64_t)((now - tPrev)*1000UL);
tPrev = now; tPrev = now;
return last_ret_us; return last_ret_us;