You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
72 lines
1.8 KiB
72 lines
1.8 KiB
#include <stdio.h>
|
|
#include <stdint.h>
|
|
#include <sys/resource.h>
|
|
#include <sys/timerfd.h>
|
|
#include <sys/time.h>
|
|
#include <utils/Timers.h>
|
|
#include <capnp/serialize.h>
|
|
#include "messaging.hpp"
|
|
#include "common/timing.h"
|
|
#include "cereal/gen/cpp/log.capnp.h"
|
|
|
|
namespace {
|
|
int64_t arm_cntpct() {
|
|
int64_t v;
|
|
asm volatile("mrs %0, cntpct_el0" : "=r"(v));
|
|
return v;
|
|
}
|
|
}
|
|
|
|
int main() {
|
|
setpriority(PRIO_PROCESS, 0, -13);
|
|
|
|
int err = 0;
|
|
Context *context = Context::create();
|
|
|
|
PubSocket* clock_publisher = PubSocket::create(context, "clocks");
|
|
assert(clock_publisher != NULL);
|
|
|
|
int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
|
|
assert(timerfd >= 0);
|
|
|
|
struct itimerspec spec = {0};
|
|
spec.it_interval.tv_sec = 1;
|
|
spec.it_interval.tv_nsec = 0;
|
|
spec.it_value.tv_sec = 1;
|
|
spec.it_value.tv_nsec = 0;
|
|
|
|
err = timerfd_settime(timerfd, 0, &spec, 0);
|
|
assert(err == 0);
|
|
|
|
uint64_t expirations = 0;
|
|
while ((err = read(timerfd, &expirations, sizeof(expirations)))) {
|
|
if (err < 0) break;
|
|
|
|
uint64_t boottime = nanos_since_boot();
|
|
uint64_t monotonic = nanos_monotonic();
|
|
uint64_t monotonic_raw = nanos_monotonic_raw();
|
|
uint64_t wall_time = nanos_since_epoch();
|
|
|
|
uint64_t modem_uptime_v = arm_cntpct() / 19200ULL; // 19.2 mhz clock
|
|
|
|
capnp::MallocMessageBuilder msg;
|
|
cereal::Event::Builder event = msg.initRoot<cereal::Event>();
|
|
event.setLogMonoTime(boottime);
|
|
auto clocks = event.initClocks();
|
|
|
|
clocks.setBootTimeNanos(boottime);
|
|
clocks.setMonotonicNanos(monotonic);
|
|
clocks.setMonotonicRawNanos(monotonic_raw);
|
|
clocks.setWallTimeNanos(wall_time);
|
|
clocks.setModemUptimeMillis(modem_uptime_v);
|
|
|
|
auto words = capnp::messageToFlatArray(msg);
|
|
auto bytes = words.asBytes();
|
|
clock_publisher->send((char*)bytes.begin(), bytes.size());
|
|
}
|
|
|
|
close(timerfd);
|
|
delete clock_publisher;
|
|
|
|
return 0;
|
|
} |