From adbec900184795e3985b8a0dcb38da7c577209c1 Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Tue, 1 Jan 2019 23:03:51 +0000
Subject: [PATCH] microRTPS: replace usleep() by px4_usleep()

---
 msg/templates/uorb_microcdr/microRTPS_client.cpp.template | 4 ++--
 msg/templates/urtps/microRTPS_transport.cpp               | 5 +++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.template b/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
index 974012d445..762ae88aa9 100644
--- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.template
@@ -123,7 +123,7 @@ void* send(void* /*unused*/)
         }
 @[end for]@
 
-        usleep(_options.sleep_ms*1000);
+        px4_usleep(_options.sleep_ms*1000);
         ++loop;
     }
 
@@ -212,7 +212,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
         // loop forever if informed loop number is negative
         if (_options.loops >= 0 && loop >= _options.loops) break;
 
-        usleep(_options.sleep_ms*1000);
+        px4_usleep(_options.sleep_ms*1000);
         ++loop;
     }
 @[if send_topics]@
diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp
index 49a7621366..b0ba11117c 100644
--- a/msg/templates/urtps/microRTPS_transport.cpp
+++ b/msg/templates/urtps/microRTPS_transport.cpp
@@ -36,8 +36,9 @@
 #include <errno.h>
 #include <sys/socket.h>
 #include <cstdlib>
+#include <px4_time.h>
 
-#include "microRTPS_transport.h"
+#include <microRTPS_transport.h>
 
 #define DEFAULT_UART "/dev/ttyACM0"
 
@@ -326,7 +327,7 @@ int UART_node::init()
 	while (0 < ::read(uart_fd, (void *)&aux, 64)) {
 		//printf("%s ", aux);
 		flush = true;
-		usleep(1000);
+		px4_usleep(1000);
 	}
 
 	if (flush) {