00001 ros::Time now() { 00002 00003 #if OROCOS_TARGET_XENOMAI == 1 00004 ros::Time t; 00005 00006 timespec start; 00007 clock_gettime(CLOCK_HOST_REALTIME, &start); 00008 t.sec = start.tv_sec; 00009 t.nsec = start.tv_nsec; 00010 return t; 00011 #elif OROCOS_TARGET_GNULINUX == 1 00012 return ros::Time::now(); 00013 #else 00014 #error "unsupported OROCOS_TARGET" 00015 #endif 00016 }