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;
}