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platforms: fix clock build for macOS (yet again)

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This commit is contained in:
Julian Oes
2018-12-22 10:32:18 +01:00
parent 06c5037025
commit 14e5ebbbbc
5 changed files with 20 additions and 8 deletions
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platforms/posix/src/px4_layer/drv_hrt.cpp
+11 -2
View File
@@ -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) {
platforms/posix/src/px4_layer/px4_sem.cpp
+4 -1
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;
}