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Fixed clock_gettime to be portable to OSX 

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2017-07-28 10:40:12 -07:00 committed by Lorenz Meier
parent 319c1d2046
commit fd86ab7f69
1 changed files with 5 additions and 4 deletions
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9
msg/templates/uorb/microRTPS_client.cpp.template
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@ -63,6 +63,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
#include <termios.h>
#include <ctime>
#include <pthread.h>
#include <px4_time.h>
#include <microcdr/microCdr.h>
#include <uORB/uORB.h>
@ -177,7 +178,7 @@ void* send(void*)
initMicroCDR(&microCDRWriter, &microBufferWriter);
struct timespec begin;
clock_gettime(0, &begin);
px4_clock_gettime(CLOCK_REALTIME, &begin);
while (!_should_exit_task)
{
@ -204,7 +205,7 @@ void* send(void*)
}
struct timespec end;
clock_gettime(0, &end);
px4_clock_gettime(CLOCK_REALTIME, &end);
double elapsed_secs = double(end.tv_sec - begin.tv_sec) + double(end.tv_nsec - begin.tv_nsec)/double(1000000000);
printf("\nSENT: %lu messages in %d LOOPS, %lu bytes in %.03f seconds - %.02fKB/s\n",
sent, loop, total_sent, elapsed_secs, (double)total_sent/(1000*elapsed_secs));
@ -290,7 +291,7 @@ static int micrortps_start(int argc, char *argv[])
int total_read = 0;
uint32_t received = 0;
struct timespec begin;
clock_gettime(0, &begin);
px4_clock_gettime(CLOCK_REALTIME, &begin);
int loop = 0;
_should_exit_task = false;
@[if send_topics]@
@ -340,7 +341,7 @@ static int micrortps_start(int argc, char *argv[])
@[end if]@
struct timespec end;
clock_gettime(0, &end);
px4_clock_gettime(CLOCK_REALTIME, &end);
double elapsed_secs = double(end.tv_sec - begin.tv_sec) + double(end.tv_nsec - begin.tv_nsec)/double(1000000000);
printf("RECEIVED: %lu messages in %d LOOPS, %d bytes in %.03f seconds - %.02fKB/s\n\n",
(unsigned long)received, loop, total_read, elapsed_secs, (double)total_read/(1000*elapsed_secs));