1 files changed, 52 insertions, 0 deletions
diff --git a/LIDAR/sdk/src/arch/linux/timer.cpp b/LIDAR/sdk/src/arch/linux/timer.cpp
new file mode 100644
index 0000000..a727e46
--- /dev/null
+++ b/LIDAR/sdk/src/arch/linux/timer.cpp
@@ -0,0 +1,52 @@
+/*
+ *  RPLIDAR SDK
+ *
+ *  Copyright (c) 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+/*
+ * 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.
+ *
+ * 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 HOLDER 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.
+ *
+ */
+
+#include "arch/linux/arch_linux.h"
+
+namespace rp{ namespace arch{
+_u64 rp_getus()
+{
+    struct timespec t;
+    t.tv_sec = t.tv_nsec = 0;
+    clock_gettime(CLOCK_MONOTONIC, &t);
+    return t.tv_sec*1000000LL + t.tv_nsec/1000;
+}
+_u64 rp_getms()
+{
+    struct timespec t;
+    t.tv_sec = t.tv_nsec = 0;
+    clock_gettime(CLOCK_MONOTONIC, &t);
+    return t.tv_sec*1000L + t.tv_nsec/1000000L;
+}
+}}