forked from Archive/PX4-Autopilot
85 lines
2.7 KiB
C++
85 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name APL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ecl.h
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* Adapter / shim layer for system calls needed by ECL
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*
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*/
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#pragma once
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#if defined(__PX4_POSIX) || defined(__PX4_NUTTX)
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#include <drivers/drv_hrt.h>
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#include <px4_log.h>
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#define ecl_absolute_time hrt_absolute_time
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#define ecl_elapsed_time hrt_elapsed_time
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using ecl_abstime = hrt_abstime;
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#define ECL_INFO PX4_INFO
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#define ECL_WARN PX4_WARN
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#define ECL_ERR PX4_ERR
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#elif defined(__PAPARAZZI)
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#include "std.h"
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#define ecl_absolute_time() (0)
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#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions
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using ecl_abstime = uint64_t;
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#define ECL_INFO(...)
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#define ECL_WARN(...)
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#define ECL_ERR(...)
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#else
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#include <cstdio>
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#include <cstdint>
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#define ecl_absolute_time() (0)
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#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions
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using ecl_abstime = uint64_t;
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#define ECL_INFO printf
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#define ECL_WARN printf
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#define ECL_ERR printf
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#endif /* PX4_POSIX || PX4_NUTTX */
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#include <cmath>
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#define ISFINITE(x) __builtin_isfinite(x)
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