fix rtt_now when sim clock is running on xenomai #41
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| @@ -55,13 +55,17 @@ const ros::Time rtt_rosclock::rtt_now() | |||
| const uint64_t one_E9 = 1000000000ULL; | |||
| // NOTE: getNSecs returns wall time, getTicks returns offset time | |||
| #ifdef __XENO__ | |||
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Why is this distinction between Xenomai and non-Xenomai builds required here at all, independent of sim time?
Wouldn't getTicks() (the else branch) work for both cases?
getTicks() => rt_timer_tsc() (if system clock is enabled in the TimeService)
getNSecs() => rt_timer_ticks2ns(rt_timer_read()) (independent of sim/system time mode)
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I'll look into that next week. Thanks for the clarification !
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That's very true, I'm closing this PR until I provide a new one with your recommendations :)
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fixed PR with #65 |
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Discussed here :
jhu-lcsr/rtt_gazebo#21