openpilot/common/timing.h
Vehicle Researcher c5d5c5d1f3 openpilot v0.10.1 release
date: 2025-10-24T00:30:59
master commit: 405631baf9685e171a0dd19547cb763f1b163d18
2025-10-24 00:31:03 -07:00

52 lines
1.2 KiB
C++

#pragma once
#include <cstdint>
#include <ctime>
#ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
#endif
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 * 1e-6;
}
static inline double seconds_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return (double)t.tv_sec + t.tv_nsec * 1e-9;
}
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 * 1e-9;
}
// you probably should use nanos_since_boot instead
static inline uint64_t nanos_monotonic() {
struct timespec t;
clock_gettime(CLOCK_MONOTONIC, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}
static inline uint64_t nanos_monotonic_raw() {
struct timespec t;
clock_gettime(CLOCK_MONOTONIC_RAW, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}