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86 lines
1.8 KiB
86 lines
1.8 KiB
#include <stdint.h>
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#include <stdio.h>
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#include <sys/resource.h>
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#include <sys/time.h>
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#include <unistd.h>
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// Apple doesn't have timerfd
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#ifdef __APPLE__
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#include <thread>
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#else
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#include <sys/timerfd.h>
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#endif
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#include <cassert>
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#include <chrono>
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/common/timing.h"
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#include "selfdrive/common/util.h"
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ExitHandler do_exit;
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#ifdef QCOM
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namespace {
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int64_t arm_cntpct() {
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int64_t v;
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asm volatile("mrs %0, cntpct_el0" : "=r"(v));
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return v;
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}
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}
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#endif
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int main() {
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setpriority(PRIO_PROCESS, 0, -13);
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PubMaster pm({"clocks"});
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#ifndef __APPLE__
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int timerfd = timerfd_create(CLOCK_BOOTTIME, 0);
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assert(timerfd >= 0);
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struct itimerspec spec = {0};
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spec.it_interval.tv_sec = 1;
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spec.it_interval.tv_nsec = 0;
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spec.it_value.tv_sec = 1;
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spec.it_value.tv_nsec = 0;
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int err = timerfd_settime(timerfd, 0, &spec, 0);
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assert(err == 0);
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uint64_t expirations = 0;
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while (!do_exit && (err = read(timerfd, &expirations, sizeof(expirations)))) {
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if (err < 0) break;
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#else
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// Just run at 1Hz on apple
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while (!do_exit){
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util::sleep_for(1000);
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#endif
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uint64_t boottime = nanos_since_boot();
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uint64_t monotonic = nanos_monotonic();
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uint64_t monotonic_raw = nanos_monotonic_raw();
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uint64_t wall_time = nanos_since_epoch();
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#ifdef QCOM
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uint64_t modem_uptime_v = arm_cntpct() / 19200ULL; // 19.2 mhz clock
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#endif
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MessageBuilder msg;
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auto clocks = msg.initEvent().initClocks();
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clocks.setBootTimeNanos(boottime);
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clocks.setMonotonicNanos(monotonic);
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clocks.setMonotonicRawNanos(monotonic_raw);
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clocks.setWallTimeNanos(wall_time);
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#ifdef QCOM
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clocks.setModemUptimeMillis(modem_uptime_v);
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#endif
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pm.send("clocks", msg);
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}
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#ifndef __APPLE__
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close(timerfd);
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#endif
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return 0;
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}
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