ecl.h
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/****************************************************************************
*
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name APL nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ecl.h
* Adapter / shim layer for system calls needed by ECL
*
*/
#pragma once
#if defined(__PX4_POSIX) || defined(__PX4_NUTTX)
#include <drivers/drv_hrt.h>
#include <px4_log.h>
#define ecl_absolute_time hrt_absolute_time
#define ecl_elapsed_time hrt_elapsed_time
using ecl_abstime = hrt_abstime;
#if defined(__PX4_NUTTX)
# define ECL_INFO PX4_DEBUG
# define ECL_WARN PX4_DEBUG
# define ECL_ERR PX4_DEBUG
#else
# define ECL_INFO PX4_INFO
# define ECL_WARN PX4_WARN
# define ECL_ERR PX4_ERR
#endif
#elif defined(__PAPARAZZI)
#include "std.h"
#define ecl_absolute_time() (0)
#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions
using ecl_abstime = uint64_t;
#define ECL_INFO(...)
#define ECL_WARN(...)
#define ECL_ERR(...)
#else
#include <cstdio>
#include <cstdint>
#define ecl_absolute_time() (0)
#define ecl_elapsed_time(t) (*t * 0UL) // TODO: add simple time functions
using ecl_abstime = uint64_t;
#define ECL_INFO(X, ...) printf(X "\n", ##__VA_ARGS__)
#define ECL_WARN(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__)
#define ECL_ERR(X, ...) fprintf(stderr, X "\n", ##__VA_ARGS__)
#endif /* PX4_POSIX || PX4_NUTTX */
#include <math.h>
#define ISFINITE(x) __builtin_isfinite(x)