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84 lines
2.7 KiB
84 lines
2.7 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name APL nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file ecl.h |
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* Adapter / shim layer for system calls needed by ECL |
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* |
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*/ |
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#pragma once |
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#if defined(__PX4_POSIX) || defined(__PX4_NUTTX) |
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#include <drivers/drv_hrt.h> |
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#include <px4_log.h> |
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#define ecl_absolute_time hrt_absolute_time |
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#define ecl_elapsed_time hrt_elapsed_time |
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using ecl_abstime = hrt_abstime; |
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#define ECL_INFO PX4_INFO |
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#define ECL_WARN PX4_WARN |
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#define ECL_ERR PX4_ERR |
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#elif defined(__PAPARAZZI) |
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#include "std.h" |
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#define ecl_absolute_time() (0) |
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#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions |
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using ecl_abstime = uint64_t; |
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#define ECL_INFO(...) |
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#define ECL_WARN(...) |
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#define ECL_ERR(...) |
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#else |
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#include <cstdio> |
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#include <cstdint> |
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#define ecl_absolute_time() (0) |
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#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions |
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using ecl_abstime = uint64_t; |
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#define ECL_INFO printf |
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#define ECL_WARN printf |
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#define ECL_ERR printf |
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#endif /* PX4_POSIX || PX4_NUTTX */ |
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#include <cmath> |
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#define ISFINITE(x) __builtin_isfinite(x)
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