FrameStoreConfig * FrameStoreInit::createFrameStoreConfig() { FrameStoreConfig * config = NULL; #ifdef RTIDDS_FOUND config = FrameStoreConfigTypeSupport::create_data(); Miro::RobotParameters * params = Miro::RobotParameters::instance(); // populate header strncpy(config->hdr.srcName, params->name.c_str(), 32); strncpy(config->hdr.assetName, params->name.c_str(), 32); config->hdr.serial = m_serialId++; ACE_Time_Value const timestamp = ACE_OS::gettimeofday(); ACE_UINT64 uSec; timestamp.to_usec(uSec); config->hdr.timeStamp = ACE_INT64(uSec); FrameStore::FrameTree tree; m_frameStore->cloneTree(tree); FrameStore::FrameTree::const_iterator first, last = tree.end(); for (first = tree.begin(); first != last; ++first) { addToConfig(config, *first); } #endif return config; }
uint64 get_usec_tick() { uint64 tick; ACE_Time_Value tv = ACE_OS::gettimeofday(); tv.to_usec(tick); return tick; }