commit a368880d5c366e0171ba794d44e609bd681bc803
author Brian Silverman <bsilver16384@gmail.com> Sat Feb 16 19:31:26 2019 -0800
committer Brian Silverman <bsilver16384@gmail.com> Sat Feb 16 20:08:18 2019 -0800
tree a27d9d093e65884b21df62123bcbfa5b87f68759
parent 3240e10a8117e7a024db556133566960da4613dc

Send more information to each camera

This is what I'm thinking so Parker can write code for it.

Change-Id: I766747ed6c1bf5adc8d1c29e5d1896b8806b6eb9

aos/time/time.cc

diff --git a/aos/time/time.cc b/aos/time/time.cc
index f585192..06f4b12 100644
--- a/aos/time/time.cc
+++ b/aos/time/time.cc
@@ -185,5 +185,17 @@
 #endif  // __linux__
 }
 
+#ifdef __linux__
+realtime_clock::time_point realtime_clock::now() noexcept {
+  struct timespec current_time;
+  if (clock_gettime(CLOCK_REALTIME, &current_time) != 0) {
+    PLOG(FATAL, "clock_gettime(%jd, %p) failed",
+         static_cast<uintmax_t>(CLOCK_REALTIME), &current_time);
+  }
+
+  return time_point(::std::chrono::seconds(current_time.tv_sec) +
+                    ::std::chrono::nanoseconds(current_time.tv_nsec));
+}
+#endif  // __linux__
 
 }  // namespace aos

aos/time/time.h

diff --git a/aos/time/time.h b/aos/time/time.h
index 6f69aa7..136629c 100644
--- a/aos/time/time.h
+++ b/aos/time/time.h
@@ -24,7 +24,32 @@
   typedef ::std::chrono::time_point<monotonic_clock> time_point;
 
   static monotonic_clock::time_point now() noexcept;
-  static constexpr bool is_steady = true;
+  // This clock is still subject to rate adjustments based on adjtime, so it is
+  // not steady.
+  static constexpr bool is_steady = false;
+
+  // Returns the epoch (0).
+  static constexpr monotonic_clock::time_point epoch() {
+    return time_point(zero());
+  }
+
+  static constexpr monotonic_clock::duration zero() { return duration(0); }
+
+  static constexpr time_point min_time{
+      time_point(duration(::std::numeric_limits<duration::rep>::min()))};
+};
+
+class realtime_clock {
+ public:
+  typedef ::std::chrono::nanoseconds::rep rep;
+  typedef ::std::chrono::nanoseconds::period period;
+  typedef ::std::chrono::nanoseconds duration;
+  typedef ::std::chrono::time_point<monotonic_clock> time_point;
+
+#ifdef __linux__
+  static monotonic_clock::time_point now() noexcept;
+#endif  // __linux__
+  static constexpr bool is_steady = false;
 
   // Returns the epoch (0).
   static constexpr monotonic_clock::time_point epoch() {