new stopwatch :-)

osal/FreeRTOS/Clock.cpp

@@ -3,8 +3,11 @@
 #include <stdlib.h>
 #include "Timekeeper.h"
 
+extern "C" {
 #include <FreeRTOS.h>
 #include <task.h>
+}
+
 
 //TODO sanitize input?
 //TODO much of this code can be reused for tick-only systems
@@ -56,7 +59,6 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 
 timeval Clock::getUptime() {
 	TickType_t ticksSinceStart = xTaskGetTickCount();
-
 	return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 

osal/FreeRTOS/Timekeeper.cpp

@@ -1,20 +1,24 @@
-#include "Timekeeper.h"
-#include <FreeRTOSConfig.h>
+/**
+ * @file Timekeeper.cpp
+ * @date
+ */
 
-Timekeeper::Timekeeper() :
-		offset( { 0, 0 }) {
-	// TODO Auto-generated constructor stub
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
+extern "C" {
+#include <task.h>
 }
 
-Timekeeper * Timekeeper::myinstance = NULL;
+Timekeeper * Timekeeper::myinstance = nullptr;
+
+Timekeeper::Timekeeper() : offset( { 0, 0 }) {}
 
 const timeval& Timekeeper::getOffset() const {
 	return offset;
 }
 
 Timekeeper* Timekeeper::instance() {
-	if (myinstance == NULL) {
+	if (myinstance == nullptr) {
 		myinstance = new Timekeeper();
 	}
 	return myinstance;
@@ -24,9 +28,7 @@ void Timekeeper::setOffset(const timeval& offset) {
 	this->offset = offset;
 }
 
-Timekeeper::~Timekeeper() {
-	// TODO Auto-generated destructor stub
-}
+Timekeeper::~Timekeeper() {}
 
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 	timeval uptime;
@@ -40,3 +42,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 
 	return uptime;
 }
+
+TickType_t Timekeeper::getTicks() {
+    return xTaskGetTickCount();
+}

osal/FreeRTOS/Timekeeper.h

@@ -2,8 +2,10 @@
 #define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 
 #include <framework/timemanager/Clock.h>
-
+extern "C" {
 #include <FreeRTOS.h>
+}
+
 
 /**
  * A Class to basically store the time difference between uptime and UTC
@@ -25,6 +27,11 @@ public:
 	virtual ~Timekeeper();
 
 	static timeval ticksToTimeval(TickType_t ticks);
+    /**
+     * Get elapsed time in system ticks.
+     * @return
+     */
+    static TickType_t getTicks();
 
 	const timeval& getOffset() const;
 	void setOffset(const timeval& offset);