From 7b2af2e41c802c3c2057f37c135aa71302178a2e Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Thu, 30 Nov 2023 10:08:56 +0100
Subject: [PATCH] Allow for usage of different clocks in armarx::rtNow()
---
source/RobotAPI/components/units/RobotUnit/util/RtTiming.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h b/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
index 78c86b836..7b9e6a630 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
@@ -36,11 +36,11 @@ namespace armarx
} // namespace rt_timing::constants
inline IceUtil::Time
- rtNow()
+ rtNow(clockid_t clockId = CLOCK_MONOTONIC_RAW)
{
using namespace rt_timing::constants;
struct timespec ts;
- clock_gettime(CLOCK_MONOTONIC_RAW, &ts);
+ clock_gettime(clockId, &ts);
return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
ts.tv_nsec / nanoSeconds2MicroSeconds);
}
--
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