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fix rtt_now when sim clock is running on xenomai #41

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fix rtt_now when sim clock is running on xenomai #41

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8 changes: 6 additions & 2 deletions rtt_rosclock/src/rtt_rosclock.cpp
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Expand Up @@ -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 :)

uint64_t nsec64 = RTT::os::TimeService::Instance()->getNSecs(); //RTT::os::TimeService::Instance()->getNSecs();
uint64_t nsec64;
if(SimClockThread::GetInstance() && SimClockThread::GetInstance()->simTimeEnabled())
nsec64 = RTT::os::TimeService::ticks2nsecs(RTT::os::TimeService::Instance()->getTicks());
else
nsec64 = RTT::os::TimeService::Instance()->getNSecs();
#else
uint64_t nsec64 = RTT::os::TimeService::ticks2nsecs(RTT::os::TimeService::Instance()->getTicks()); //RTT::os::TimeService::Instance()->getNSecs();
#endif
uint32_t sec32_part = nsec64 / one_E9;
uint32_t nsec32_part = nsec64 % one_E9;
//RTT::log(RTT::Error) << "sec: " << sec32 << " nsec: " << nsec32 << RTT::endlog();
//RTT::log(RTT::Error) << "sec: " << sec32_part << " nsec: " << nsec32_part << RTT::endlog();
return ros::Time(sec32_part, nsec32_part);
}

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