StarPilot/selfdrive/common/timing.h

#ifndef COMMON_TIMING_H
#define COMMON_TIMING_H

#include <stdint.h>
#include <time.h>

static inline uint64_t nanos_since_boot() {
  struct timespec t;
  clock_gettime(CLOCK_BOOTTIME, &t);
  return t.tv_sec * 1000000000ULL + t.tv_nsec;
}

static inline double millis_since_boot() {
  struct timespec t;
  clock_gettime(CLOCK_BOOTTIME, &t);
  return t.tv_sec * 1000.0 + t.tv_nsec / 1000000.0;
}

static inline uint64_t nanos_since_epoch() {
  struct timespec t;
  clock_gettime(CLOCK_REALTIME, &t);
  return t.tv_sec * 1000000000ULL + t.tv_nsec;
}

static inline double seconds_since_epoch() {
  struct timespec t;
  clock_gettime(CLOCK_REALTIME, &t);
  return (double)t.tv_sec + t.tv_nsec / 1000000000.0;
}

#endif