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platforms: fix clock build for macOS (yet again)

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This commit is contained in:
Julian Oes 2018-12-09 17:11:11 +01:00
parent 06c5037025
commit 14e5ebbbbc
5 changed files with 20 additions and 8 deletions
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13
platforms/posix/src/px4_layer/drv_hrt.cpp
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@ -594,20 +594,29 @@ void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
ts->tv_nsec = abstime * 1000;
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
if (clk_id == CLOCK_MONOTONIC) {
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
const uint64_t abstime = lockstep_scheduler.get_absolute_time();
abstime_to_ts(tp, abstime - px4_timestart_monotonic);
return 0;
#else // defined(ENABLE_LOCKSTEP_SCHEDULER)
#if defined(__PX4_DARWIN)
// We don't have CLOCK_MONOTONIC on macOS, so we just have to
// resort back to CLOCK_REALTIME here.
return system_clock_gettime(CLOCK_REALTIME, tp);
#else // defined(__PX4_DARWIN)
return system_clock_gettime(clk_id, tp);
#endif // defined(__PX4_DARWIN)
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
} else {
return system_clock_gettime(clk_id, tp);
}
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
int px4_clock_settime(clockid_t clk_id, const struct timespec *ts)
{
if (clk_id == CLOCK_REALTIME) {

5
platforms/posix/src/px4_layer/px4_sem.cpp
View File

@ -58,11 +58,14 @@ int px4_sem_init(px4_sem_t *s, int pshared, unsigned value)
pthread_cond_init(&(s->wait), nullptr);
pthread_mutex_init(&(s->lock), nullptr);
// We want to use CLOCK_MONOTONIC if possible.
#if !defined(__PX4_DARWIN)
// We want to use CLOCK_MONOTONIC if possible but we can't on macOS
// because it's not available.
pthread_condattr_t attr;
pthread_condattr_init(&attr);
pthread_condattr_setclock(&attr, CLOCK_MONOTONIC);
pthread_cond_init(&(s->wait), &attr);
#endif
return 0;
}

2
src/lib/DriverFramework

@ -1 +1 @@
Subproject commit 701a35b42ab2f5e4969630be262df023dbd04670
Subproject commit 28ccde918b00403d0c6ccb1b818751c3cc573f08

4
src/lib/cdev/posix/cdev_platform.cpp
View File

@ -379,8 +379,8 @@ extern "C" {
// Get the current time
struct timespec ts;
// px4_sem_timedwait is implemented using CLOCK_MONOTONIC,
// at least for lockstep, on Qurt and on Linux.
// Note, we can't actually use CLOCK_MONOTONIC on macOS
// but that's hidden and implemented in px4_clock_gettime.
px4_clock_gettime(CLOCK_MONOTONIC, &ts);
// Calculate an absolute time in the future

4
src/platforms/px4_time.h
View File

@ -9,10 +9,11 @@
#define clockid_t int
#endif
__EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
__BEGIN_DECLS
__EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
__EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp);
__EXPORT int px4_usleep(useconds_t usec);
@ -24,7 +25,6 @@ __END_DECLS
#else
#define px4_clock_gettime system_clock_gettime
#define px4_clock_settime system_clock_settime
#define px4_usleep system_usleep
#define px4_sleep system_sleep