统一跨平台时间函数接口。

energy/src/energy/judge/judge_shoot.cpp

@@ -19,7 +19,7 @@ void Energy::judgeShootInWorld() {
 //        is_predicting = false;
 //        is_guessing = true;
 //        start_guess = true;
-//        gettimeofday(&time_start_guess, NULL);
+//        getsystime(time_start_guess);
         LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!"));
     } else
         shoot = 2;
@@ -35,7 +35,7 @@ void Energy::judgeShootInGimbal() {
 //        is_predicting = false;
 //        is_guessing = true;
 //        start_guess = true;
-//        gettimeofday(&time_start_guess, NULL);
+//        getsystime(time_start_guess);
 //        LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!"));
     } else
         shoot = 2;

energy/src/energy/judge/judge_time.cpp

@@ -14,8 +14,7 @@ using namespace cv;
 // 此函数用于判断guess模式是否超时
 // ---------------------------------------------------------------------------------------------------------------------
 bool Energy::isGuessingTimeout() {
-    timeval cur_time;
-    gettimeofday(&cur_time, NULL);
-    return (cur_time.tv_sec - time_start_guess.tv_sec) * 1000.0 +
-           (cur_time.tv_usec - time_start_guess.tv_usec) / 1000.0 > 1000;
+    systime cur_time;
+    getsystime(cur_time);
+    return getTimeIntervalms(cur_time, time_start_guess) > 1000;
 };

energy/src/energy/run.cpp

@@ -4,8 +4,7 @@
 #include "energy/energy.h"
 #include "log.h"
 #include "config/setconfig.h"
-#include "options/options.h"
-#include <sys/time.h>
+#include "options.h"
 
 using namespace std;
 using namespace cv;