px4-firmware/ecl.h

/****************************************************************************
 *
 *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 ****************************************************************************/

/**
 * @file ecl.h
 * Adapter / shim layer for system calls needed by ECL
 *
 */
#pragma once

#if defined(__PX4_POSIX) || defined(__PX4_NUTTX)

#include <drivers/drv_hrt.h>
#include <px4_log.h>

#define ecl_absolute_time hrt_absolute_time
#define ecl_elapsed_time hrt_elapsed_time
using ecl_abstime = hrt_abstime;

#define ECL_INFO PX4_INFO
#define ECL_WARN PX4_WARN
#define ECL_ERR	 PX4_ERR

#else

#include <cstdio>
#include <cstdint>

#define ecl_absolute_time() (0)
#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions

using ecl_abstime = uint64_t;

#define ECL_INFO printf
#define ECL_WARN printf
#define ECL_ERR printf

#endif /* PX4_POSIX || PX4_NUTTX */


#if defined(__PX4_QURT)

// Missing math.h defines
#define ISFINITE(x) __builtin_isfinite(x)

#else /* !QuRT */

#include <cmath>
#if defined(__cplusplus) && !defined(__PX4_NUTTX)
#define ISFINITE(x) std::isfinite(x)
#else
#define ISFINITE(x) isfinite(x)
#endif

#endif