87 lines
1.8 KiB
C++
87 lines
1.8 KiB
C++
#include <stdint.h>
|
|
#include <stdio.h>
|
|
#include <sys/resource.h>
|
|
#include <sys/time.h>
|
|
#include <unistd.h>
|
|
|
|
// Apple doesn't have timerfd
|
|
#ifdef __APPLE__
|
|
#include <thread>
|
|
#else
|
|
#include <sys/timerfd.h>
|
|
#endif
|
|
|
|
#include <cassert>
|
|
#include <chrono>
|
|
|
|
#include "cereal/messaging/messaging.h"
|
|
#include "selfdrive/common/timing.h"
|
|
#include "selfdrive/common/util.h"
|
|
|
|
ExitHandler do_exit;
|
|
|
|
#ifdef QCOM
|
|
namespace {
|
|
int64_t arm_cntpct() {
|
|
int64_t v;
|
|
asm volatile("mrs %0, cntpct_el0" : "=r"(v));
|
|
return v;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
int main() {
|
|
setpriority(PRIO_PROCESS, 0, -13);
|
|
PubMaster pm({"clocks"});
|
|
|
|
#ifndef __APPLE__
|
|
int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
|
|
assert(timerfd >= 0);
|
|
|
|
struct itimerspec spec = {0};
|
|
spec.it_interval.tv_sec = 1;
|
|
spec.it_interval.tv_nsec = 0;
|
|
spec.it_value.tv_sec = 1;
|
|
spec.it_value.tv_nsec = 0;
|
|
|
|
int err = timerfd_settime(timerfd, 0, &spec, 0);
|
|
assert(err == 0);
|
|
|
|
uint64_t expirations = 0;
|
|
while (!do_exit && (err = read(timerfd, &expirations, sizeof(expirations)))) {
|
|
if (err < 0) break;
|
|
#else
|
|
// Just run at 1Hz on apple
|
|
while (!do_exit){
|
|
util::sleep_for(1000);
|
|
#endif
|
|
|
|
uint64_t boottime = nanos_since_boot();
|
|
uint64_t monotonic = nanos_monotonic();
|
|
uint64_t monotonic_raw = nanos_monotonic_raw();
|
|
uint64_t wall_time = nanos_since_epoch();
|
|
|
|
#ifdef QCOM
|
|
uint64_t modem_uptime_v = arm_cntpct() / 19200ULL; // 19.2 mhz clock
|
|
#endif
|
|
|
|
MessageBuilder msg;
|
|
auto clocks = msg.initEvent().initClocks();
|
|
|
|
clocks.setBootTimeNanos(boottime);
|
|
clocks.setMonotonicNanos(monotonic);
|
|
clocks.setMonotonicRawNanos(monotonic_raw);
|
|
clocks.setWallTimeNanos(wall_time);
|
|
#ifdef QCOM
|
|
clocks.setModemUptimeMillis(modem_uptime_v);
|
|
#endif
|
|
|
|
pm.send("clocks", msg);
|
|
}
|
|
|
|
#ifndef __APPLE__
|
|
close(timerfd);
|
|
#endif
|
|
return 0;
|
|
}
|