openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#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