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Support getting of time on MacOSX/XCode versions that don't support `… #144

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merged 1 commit into from
Nov 28, 2017
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Support getting of time on MacOSX/XCode versions that don't support `… #144

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15 changes: 15 additions & 0 deletions c/src/dynamixel_sdk/port_handler_mac.c
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,11 @@
#include <sys/time.h>
#include <sys/ioctl.h>

#ifdef __MACH__
#include <mach/clock.h>
#include <mach/mach.h>
#endif

#include "port_handler_mac.h"

#define LATENCY_TIMER 8 // msec (USB latency timer) [was changed from 4 due to the Ubuntu update 16.04.2]
Expand Down Expand Up @@ -207,7 +212,17 @@ uint8_t isPacketTimeoutMac(int port_num)
double getCurrentTimeMac()
{
struct timespec tv;
#ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
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);
tv.tv_sec = mts.tv_sec;
tv.tv_nsec = mts.tv_nsec;
#else
clock_gettime(CLOCK_REALTIME, &tv);
#endif
return ((double)tv.tv_sec*1000.0 + (double)tv.tv_nsec*0.001*0.001);
}

Expand Down