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Fix NPS compilation on Mac OS (#1891)

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This commit is contained in:
Michal Podhradsky
2016-10-07 15:59:49 -07:00
committed by GitHub
parent 88a9bce08d
commit 760793254f
6 changed files with 45 additions and 16 deletions
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sw/simulator/nps/nps_main.h
+8
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@@ -9,6 +9,14 @@
#include "nps_sensors.h"
#include "nps_autopilot.h"
#ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
#include <mach/clock.h>
#include <mach/mach.h>
void clock_get_current_time(struct timespec *ts);
#else // Linux
#define clock_get_current_time(_x) clock_gettime(CLOCK_REALTIME, _x)
#endif // #ifdef __MACH__
#define SIM_DT (1./SYS_TIME_FREQUENCY)
#define DISPLAY_DT (1./30.)
#define HOST_TIMEOUT_MS 40
sw/simulator/nps/nps_main_common.c
+20 -4
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@@ -30,6 +30,22 @@
#include "nps_ivy.h"
#ifdef __MACH__
pthread_mutex_t clock_mutex; // mutex for clock
void clock_get_current_time(struct timespec *ts)
{
pthread_mutex_lock(&clock_mutex);
clock_serv_t cclock;
mach_timespec_t mts;
host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock);
clock_get_time(cclock, &mts);
mach_port_deallocate(mach_task_self(), cclock);
ts->tv_sec = mts.tv_sec;
ts->tv_nsec = mts.tv_nsec;
pthread_mutex_unlock(&clock_mutex);
}
#endif
void tstp_hdl(int n __attribute__((unused)))
{
if (pauseSignal) {
@@ -239,7 +255,7 @@ void *nps_flight_gear_loop(void *data __attribute__((unused)))
nps_flightgear_init(nps_main.fg_host, nps_main.fg_port, nps_main.fg_port_in, nps_main.fg_time_offset);
while (TRUE) {
clock_gettime(CLOCK_REALTIME, &requestStart);
clock_get_current_time(&requestStart);
pthread_mutex_lock(&fdm_mutex);
if (nps_main.fg_host) {
@@ -251,7 +267,7 @@ void *nps_flight_gear_loop(void *data __attribute__((unused)))
}
pthread_mutex_unlock(&fdm_mutex);
clock_gettime(CLOCK_REALTIME, &requestEnd);
clock_get_current_time(&requestEnd);
// Calculate time it took
task_ns = (requestEnd.tv_sec - requestStart.tv_sec) * 1000000000L + (requestEnd.tv_nsec - requestStart.tv_nsec);
@@ -287,7 +303,7 @@ void *nps_main_display(void *data __attribute__((unused)))
nps_ivy_init(nps_main.ivy_bus);
while (TRUE) {
clock_gettime(CLOCK_REALTIME, &requestStart);
clock_get_current_time(&requestStart);
pthread_mutex_lock(&fdm_mutex);
memcpy(&fdm_ivy, &fdm, sizeof(fdm));
@@ -296,7 +312,7 @@ void *nps_main_display(void *data __attribute__((unused)))
nps_ivy_display(&fdm_ivy, &sensors_ivy);
clock_gettime(CLOCK_REALTIME, &requestEnd);
clock_get_current_time(&requestEnd);
// Calculate time it took
task_ns = (requestEnd.tv_sec - requestStart.tv_sec) * 1000000000L + (requestEnd.tv_nsec - requestStart.tv_nsec);
sw/simulator/nps/nps_main_hitl.c
+6 -6
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@@ -138,7 +138,7 @@ void *nps_ins_data_loop(void *data __attribute__((unused)))
pthread_mutex_lock(&fdm_mutex);
// start timing
clock_gettime(CLOCK_REALTIME, &requestStart);
clock_get_current_time(&requestStart);
// make a copy of fdm struct to speed things up
memcpy(&fdm_ins, &fdm, sizeof(fdm));
@@ -159,7 +159,7 @@ void *nps_ins_data_loop(void *data __attribute__((unused)))
printf("INS THREAD: Warning - sent only %u bytes to the autopilot, instead of expected %u\n", wlen, idx);
}
clock_gettime(CLOCK_REALTIME, &requestEnd);
clock_get_current_time(&requestEnd);
// Calculate time it took
task_ns = (requestEnd.tv_sec - requestStart.tv_sec) * 1000000000L + (requestEnd.tv_nsec - requestStart.tv_nsec);
@@ -285,19 +285,19 @@ void *nps_main_loop(void *data __attribute__((unused)))
// fdm.time - simulation time
struct timespec startTime;
struct timespec realTime;
clock_gettime(CLOCK_REALTIME, &startTime);
clock_get_current_time(&startTime);
double start_secs = ntime_to_double(&startTime);
double real_secs = 0;
double real_time = 0;
static int guard;
while (TRUE) {
clock_gettime(CLOCK_REALTIME, &requestStart);
clock_get_current_time(&requestStart);
pthread_mutex_lock(&fdm_mutex);
// check the current simulation time
clock_gettime(CLOCK_REALTIME, &realTime);
clock_get_current_time(&realTime);
real_secs = ntime_to_double(&realTime);
real_time = real_secs - start_secs; // real time elapsed
@@ -312,7 +312,7 @@ void *nps_main_loop(void *data __attribute__((unused)))
}
pthread_mutex_unlock(&fdm_mutex);
clock_gettime(CLOCK_REALTIME, &requestEnd);
clock_get_current_time(&requestEnd);
// Calculate time it took
task_ns = (requestEnd.tv_sec - requestStart.tv_sec) * 1000000000L + (requestEnd.tv_nsec - requestStart.tv_nsec);
sw/simulator/nps/nps_main_sitl.c
+2 -2
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@@ -127,7 +127,7 @@ void *nps_main_loop(void *data __attribute__((unused)))
pauseSignal = 0;
}
clock_gettime(CLOCK_REALTIME, &requestStart); // init measurement (after the pause signal)
clock_get_current_time(&requestStart); // init measurement (after the pause signal)
gettimeofday(&tv_now, NULL);
host_time_now = time_to_double(&tv_now);
@@ -163,7 +163,7 @@ void *nps_main_loop(void *data __attribute__((unused)))
printf("%f,%f\n", nps_main.sim_time, nps_main.display_time);
#endif
clock_gettime(CLOCK_REALTIME, &requestEnd); // end measurement
clock_get_current_time(&requestEnd); // end measurement
// Calculate time it took
task_ns = (requestEnd.tv_sec - requestStart.tv_sec) * 1000000000L + (requestEnd.tv_nsec - requestStart.tv_nsec);