text: /****************************************************************************
   *
   *   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;
  
  #define ECL_INFO PX4_INFO
  #define ECL_WARN PX4_WARN
  #define ECL_ERR	 PX4_ERR
  
  #if defined(__PX4_POSIX)
  #define ECL_INFO_TIMESTAMPED(X) PX4_INFO("%llu: " X, (unsigned long long)_imu_sample_delayed.time_us)
  #define ECL_WARN_TIMESTAMPED(X) PX4_WARN("%llu: " X, (unsigned long long)_imu_sample_delayed.time_us)
  #define ECL_ERR_TIMESTAMPED(X) PX4_ERR("%llu: " X, (unsigned long long)_imu_sample_delayed.time_us)
  #else
  #define ECL_INFO_TIMESTAMPED PX4_INFO
  #define ECL_WARN_TIMESTAMPED PX4_WARN
  #define ECL_ERR_TIMESTAMPED 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(...)
  #define ECL_INFO_TIMESTAMPED PX4_INFO
  #define ECL_WARN_TIMESTAMPED PX4_WARN
  #define ECL_ERR_TIMESTAMPED PX4_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 printf
  #define ECL_WARN printf
  #define ECL_ERR printf
  #define ECL_INFO_TIMESTAMPED printf
  #define ECL_WARN_TIMESTAMPED printf
  #define ECL_ERR_TIMESTAMPED printf
  
  #endif /* PX4_POSIX || PX4_NUTTX */
  
  #include <cmath>
  #define ISFINITE(x) __builtin_isfinite(x)
  