Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 20:28:37 +08:00
Code Issues Actions 20 Packages Projects Releases Wiki Activity

platforms/posix: cleanup macos legacy

Browse Source
This commit is contained in:
Daniel Agar
2022-09-01 21:04:14 -04:00
parent b09329f287
commit 9d1aeb6aa7
3 changed files with 5 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/include/px4_platform_common/time.h
-4
View File
@@ -5,10 +5,6 @@
#include <time.h>
#include <pthread.h>
#if defined(__PX4_APPLE_LEGACY)
#define clockid_t int
#endif
#if defined(__PX4_POSIX) || defined(__PX4_QURT)
__BEGIN_DECLS
__EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
platforms/posix/cmake/px4_impl_os.cmake
-15
View File
@@ -225,21 +225,6 @@ function(px4_os_add_flags)
if(UNIX AND APPLE)
add_definitions(-D__PX4_DARWIN)
if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
endif()
execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
if (DARWIN_VERSION LESS 16)
add_definitions(
-DCLOCK_MONOTONIC=1
-DCLOCK_REALTIME=0
-D__PX4_APPLE_LEGACY
)
endif()
elseif(CYGWIN)
add_definitions(
-D__PX4_CYGWIN
platforms/posix/src/px4/common/drv_hrt.cpp
+5 -38
View File
@@ -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)