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platforms/posix: cleanup macos legacy

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This commit is contained in:
Daniel Agar
2022-09-09 13:05:06 -04:00
parent b09329f287
commit 9d1aeb6aa7
3 changed files with 5 additions and 57 deletions
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platforms/posix/src/px4/common/drv_hrt.cpp
+5 -38
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@@ -95,31 +95,6 @@ static void hrt_unlock()
px4_sem_post(&_hrt_lock);
}
#if defined(__PX4_APPLE_LEGACY)
#include <sys/time.h>
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
struct timeval now;
int rv = gettimeofday(&now, nullptr);
if (rv) {
return rv;
}
tp->tv_sec = now.tv_sec;
tp->tv_nsec = now.tv_usec * 1000;
return 0;
}
int px4_clock_settime(clockid_t clk_id, struct timespec *tp)
{
/* do nothing right now */
return 0;
}
#endif
/*
* Get absolute time.
*/
@@ -465,23 +440,15 @@ hrt_call_invoke()
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{
if (clk_id == CLOCK_MONOTONIC) {
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
if (clk_id == CLOCK_MONOTONIC) {
abstime_to_ts(tp, lockstep_scheduler.get_absolute_time());
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);
}
#endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
return system_clock_gettime(clk_id, tp);
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)