OS X porting: Make unit tests compile on OS X

src/platforms/posix/px4_layer/drv_hrt.c

@@ -77,6 +77,40 @@ static void hrt_unlock(void)
 	sem_post(&_hrt_lock);
 }
 
+#ifndef clock_gettime
+#include <mach/mach_time.h>
+#define MAC_NANO (+1.0E-9)
+#define MAC_GIGA UINT64_C(1000000000)
+#define CLOCK_MONOTONIC 1
+#define clockid_t int
+
+static double px4_timebase = 0.0;
+static uint64_t px4_timestart = 0;
+
+int clock_gettime(clockid_t clk_id, struct timespec *t)
+{
+if (clk_id != CLOCK_MONOTONIC) {
+	return 1;
+}
+
+	// XXX multithreading locking
+  if (!px4_timestart) {
+    mach_timebase_info_data_t tb = { 0 };
+    mach_timebase_info(&tb);
+    px4_timebase = tb.numer;
+    px4_timebase /= tb.denom;
+    px4_timestart = mach_absolute_time();
+  }
+
+  memset(t, 0, sizeof(*t));
+
+  double diff = (mach_absolute_time() - px4_timestart) * px4_timebase;
+  t->tv_sec = diff * MAC_NANO;
+  t->tv_nsec = diff - (t->tv_sec * MAC_GIGA);
+  return 0;
+}
+#endif
+
 /*
  * Get absolute time.
  */

src/platforms/px4_log.h

@@ -86,6 +86,21 @@
 #define PX4_WARN(...) 	__px4_log_verbose("WARN",  __VA_ARGS__)
 #define PX4_ERR(...)	__px4_log_verbose("ERROR", __VA_ARGS__)
 
+#elif defined(__PX4_DARWIN)
+#include <stdio.h>
+#include <pthread.h>
+
+#define __px4_log_threads(level, ...)   { \
+	printf("%-5s %ld ", level, pthread_self());\
+	printf(__VA_ARGS__);\
+	printf(" (file %s line %d)\n", __FILE__, __LINE__);\
+}
+
+#define PX4_DEBUG(...) 	__px4_log_omit("DEBUG", __VA_ARGS__)
+#define PX4_INFO(...) 	__px4_log("INFO",  __VA_ARGS__)
+#define PX4_WARN(...) 	__px4_log_verbose("WARN",  __VA_ARGS__)
+#define PX4_ERR(...)	__px4_log_verbose("ERROR", __VA_ARGS__)
+
 #elif defined(__PX4_ROS)
 
 #define PX4_DBG(...) 

src/platforms/px4_tasks.h

@@ -68,10 +68,16 @@ typedef int px4_task_t;
 #define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
 #define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
 #define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
+#elif defined(__PX4_DARWIN)
+#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
+#define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
+#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
 #elif defined(__PX4_QURT)
 #define SCHED_PRIORITY_MAX 0
 #define SCHED_PRIORITY_MIN 0
 #define SCHED_PRIORITY_DEFAULT 0
+#else
+#error "No target OS defined"
 #endif
 
 typedef int px4_task_t;