Adjustements and improvements in the simulation interface

src/platforms/posix/main.cpp

@@ -165,6 +165,10 @@ static void restore_term(void)
 	tcsetattr(0, TCSANOW, &orig_term);
 }
 
+bool px4_exit_requested(void) {
+	return _ExitFlag;
+}
+
 int main(int argc, char **argv)
 {
 	bool daemon_mode = false;
@@ -237,6 +241,10 @@ int main(int argc, char **argv)
 
 		if (infile.is_open()) {
 			for (string line; getline(infile, line, '\n');) {
+
+				if (px4_exit_requested()) {
+					break;
+				}
 				// TODO: this should be true but for that we have to check all startup files
 				process_line(line, false);
 			}

src/platforms/posix/px4_layer/drv_hrt.c

@@ -130,6 +130,16 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
 
 #endif
 
+/*
+ * Get system time in us
+ */
+unsigned long long hrt_system_time(void)
+{
+	struct timespec ts;
+	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
+	return ts_to_abstime(&ts) - px4_timestart;
+}
+
 /*
  * Get absolute time.
  */