[Personalrobots-commit] SF.net SVN: personalrobots:[2124] pkg/trunk

[<rob...@us...>]

Revision: 2124
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2124&view=rev
Author:   rob_wheeler
Date:     2008-07-25 06:44:34 +0000 (Fri, 25 Jul 2008)

Log Message:
-----------
Add current time to HardwareInterface

Modified Paths:
--------------
    pkg/trunk/mechanism/hw_interface/include/hw_interface/hardware_interface.h
    pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp

Modified: pkg/trunk/mechanism/hw_interface/include/hw_interface/hardware_interface.h
===================================================================
--- pkg/trunk/mechanism/hw_interface/include/hw_interface/hardware_interface.h	2008-07-25 03:55:16 UTC (rev 2123)
+++ pkg/trunk/mechanism/hw_interface/include/hw_interface/hardware_interface.h	2008-07-25 06:44:34 UTC (rev 2124)
@@ -84,6 +84,7 @@
   }
   Actuator *actuator;
   int numActuators;
+  double current_time_;
 };
 
 #endif

Modified: pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp
===================================================================
--- pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp	2008-07-25 03:55:16 UTC (rev 2123)
+++ pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp	2008-07-25 06:44:34 UTC (rev 2124)
@@ -55,7 +55,7 @@
 
   // Switch to hard real-time
   int period = 1000000;
-  struct timespec tick;
+  struct timespec tick, now;
 #if defined(__XENO__)
   pthread_set_mode_np(0, PTHREAD_PRIMARY|PTHREAD_WARNSW);
 #endif
@@ -64,6 +64,8 @@
   while (!quit)
   {
     ec.update();
+    clock_gettime(CLOCK_REALTIME, &now);
+    ec.hw->current_time_ = now.tv_nsec / NSEC_PER_SEC + now.tv_sec;
     mc.update();
     tick.tv_nsec += period;
     while (tick.tv_nsec >= NSEC_PER_SEC)


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.