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https://github.com/firestar5683/StarPilot.git
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firestar5683
ab81464bd1
Add navigation and map matching providers with the vendored map service sources. Co-authored-by: Daniel Koepping <elkoled@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com>
41 lines
1.1 KiB
Go
41 lines
1.1 KiB
Go
package cereal
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/*
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#include <time.h>
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#ifdef __APPLE__
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#include <mach/mach_time.h>
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#define CLOCK_BOOTTIME CLOCK_MONOTONIC
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#endif
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static unsigned long long get_nsecs(void)
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{
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struct timespec ts;
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clock_gettime(CLOCK_BOOTTIME, &ts);
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return (unsigned long long)ts.tv_sec * 1000000000UL + ts.tv_nsec;
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}
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static unsigned long long get_monotonic_nsecs(void)
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{
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#ifdef __APPLE__
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// CPython time.monotonic() uses mach_absolute_time on macOS, whose epoch
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// differs from clock_gettime(CLOCK_MONOTONIC) on this host.
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mach_timebase_info_data_t scale;
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if (mach_timebase_info(&scale) != 0 || scale.denom == 0) return 0;
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return (unsigned long long)(((__uint128_t)mach_absolute_time() * scale.numer) / scale.denom);
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#else
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return (unsigned long long)ts.tv_sec * 1000000000UL + ts.tv_nsec;
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#endif
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}
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*/
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import "C"
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func GetTime() uint64 {
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return uint64(C.get_nsecs())
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}
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// Python GPS publishers use messaging.new_message, whose Event.logMonoTime
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// comes from CLOCK_MONOTONIC rather than the BOOTTIME used by Mapd output.
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func GetMonotonicTime() uint64 {
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return uint64(C.get_monotonic_nsecs())
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}
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