returned to clock_realtime in prep for workaround

src/driver_serial.cpp

@@ -211,14 +211,14 @@ int driver_serial::receive(char *buf, int buflen, double timeout,
     // Timeout in nanoseconds
     if (timeout>0){
         // clock_gettime(CLOCK_REALTIME, &start_time);
-        clock_gettime(CLOCK_MONOTONIC_RAW, &start_time);
+        clock_gettime(CLOCK_REALTIME, &start_time);
 
     }
 
     // Repeat loop until all termination characters have been received
     while (n < termlen) {
 
-        // clock_gettime(CLOCK_MONOTONIC, &test_time);
+        // clock_gettime(CLOCK_REALTIME, &test_time);
         // fprintf(stderr,"LOOP TIME: %d\n",(int)(test_time.tv_nsec/1e3));
         
         //
@@ -226,11 +226,11 @@ int driver_serial::receive(char *buf, int buflen, double timeout,
         //
         if (timeout > 0) {
             // clock_gettime(CLOCK_REALTIME, &end_time);
-            clock_gettime(CLOCK_MONOTONIC_RAW, &end_time);
+            clock_gettime(CLOCK_REALTIME, &end_time);
             if ( (end_time.tv_sec-start_time.tv_sec)+end_time.tv_nsec/1e9 >=
                 start_time.tv_nsec/1e9+timeout ) {
                 //flush();
-                //fprintf(stderr,"TIMEOUT: %f %f\n",start_time.tv_nsec/1e9+timeout,
+                // fprintf(stderr,"TIMEOUT: %f %f\n",start_time.tv_nsec/1e9+timeout,
                 //        (end_time.tv_sec-start_time.tv_sec)+end_time.tv_nsec/1e9);
                 fprintf(stderr, "Warning: Timeout. No response received.\n");
                 return (-1);
@@ -255,6 +255,9 @@ int driver_serial::receive(char *buf, int buflen, double timeout,
                 // Time of first received character is saved
                 if (i == 0) {
                     clock_gettime(CLOCK_REALTIME, recv_time);
+					// clock_gettime(CLOCK_REALTIME, &test_time);
+					// fprintf(stderr,"MONO REAL DIFF: %d\n",(int)(recv_time->tv_nsec/1e3) - (int)(test_time.tv_nsec/1e3));
+					// fprintf(stderr,"REAL TIME: %d\n",(int)(test_time.tv_nsec/1e3));
                 }
                 // Reset termination check if not all characters are received in a row
                 if (n > 0) {