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change rcutils_time_point_value_t type from uint64_t to int64_t (#208)

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serge-nikulin 2018-02-01 13:50:26 -08:00 • committed by William Woodall
parent 90f478eb1a
commit 44801b398e
2 changed files with 19 additions and 19 deletions
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28
rcl/include/rcl/timer.h
View file

@ -50,7 +50,7 @@ typedef struct rcl_timer_t
* was called, because that information is no longer accessible via the timer. * was called, because that information is no longer accessible via the timer.
* The time since the last callback call is given in nanoseconds. * The time since the last callback call is given in nanoseconds.
*/ */
typedef void (* rcl_timer_callback_t)(rcl_timer_t *, uint64_t); typedef void (* rcl_timer_callback_t)(rcl_timer_t *, int64_t);
/// Return a zero initialized timer. /// Return a zero initialized timer.
RCL_PUBLIC RCL_PUBLIC
@ -86,7 +86,7 @@ rcl_get_zero_initialized_timer(void);
* If the callback is `NULL`, the caller client library is responsible for * If the callback is `NULL`, the caller client library is responsible for
* firing the timer callback. * firing the timer callback.
* Else, it must be a function which returns void and takes two arguments, * Else, it must be a function which returns void and takes two arguments,
* the first being a pointer to the associated timer, and the second a uint64_t * the first being a pointer to the associated timer, and the second a int64_t
* which is the time since the previous call, or since the timer was created * which is the time since the previous call, or since the timer was created
* if it is the first call to the callback. * if it is the first call to the callback.
* *
@ -95,7 +95,7 @@ rcl_get_zero_initialized_timer(void);
* ```c * ```c
* #include <rcl/rcl.h> * #include <rcl/rcl.h>
* *
* void my_timer_callback(rcl_timer_t * timer, uint64_t last_call_time) * void my_timer_callback(rcl_timer_t * timer, int64_t last_call_time)
* { * {
* // Do timer work... * // Do timer work...
* // Optionally reconfigure, cancel, or reset the timer... * // Optionally reconfigure, cancel, or reset the timer...
@ -137,7 +137,7 @@ RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_timer_init( rcl_timer_init(
rcl_timer_t * timer, rcl_timer_t * timer,
uint64_t period, int64_t period,
const rcl_timer_callback_t callback, const rcl_timer_callback_t callback,
rcl_allocator_t allocator); rcl_allocator_t allocator);
@ -284,13 +284,13 @@ rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_unt
/// Retrieve the time since the previous call to rcl_timer_call() occurred. /// Retrieve the time since the previous call to rcl_timer_call() occurred.
/** /**
* This function calculates the time since the last call and copies it into * This function calculates the time since the last call and copies it into
* the given uint64_t variable. * the given int64_t variable.
* *
* Calling this function within a callback will not return the time since the * Calling this function within a callback will not return the time since the
* previous call but instead the time since the current callback was called. * previous call but instead the time since the current callback was called.
* *
* The time_since_last_call argument must be a pointer to an already allocated * The time_since_last_call argument must be a pointer to an already allocated
* uint64_t. * int64_t.
* *
* <hr> * <hr>
* Attribute | Adherence * Attribute | Adherence
@ -311,13 +311,13 @@ rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_unt
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, uint64_t * time_since_last_call); rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, int64_t * time_since_last_call);
/// Retrieve the period of the timer. /// Retrieve the period of the timer.
/** /**
* This function retrieves the period and copies it into the give variable. * This function retrieves the period and copies it into the give variable.
* *
* The period argument must be a pointer to an already allocated uint64_t. * The period argument must be a pointer to an already allocated int64_t.
* *
* <hr> * <hr>
* Attribute | Adherence * Attribute | Adherence
@ -329,7 +329,7 @@ rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, uint64_t * time_si
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i> * <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
* *
* \param[in] timer the handle to the timer which is being queried * \param[in] timer the handle to the timer which is being queried
* \param[out] period the uint64_t in which the period is stored * \param[out] period the int64_t in which the period is stored
* \return `RCL_RET_OK` if the period was retrieved successfully, or * \return `RCL_RET_OK` if the period was retrieved successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_TIMER_INVALID` if the timer is invalid, or * \return `RCL_RET_TIMER_INVALID` if the timer is invalid, or
@ -338,7 +338,7 @@ rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, uint64_t * time_si
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period); rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period);
/// Exchange the period of the timer and return the previous period. /// Exchange the period of the timer and return the previous period.
/** /**
@ -347,7 +347,7 @@ rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period);
* *
* Exchanging (changing) the period will not affect already waiting wait sets. * Exchanging (changing) the period will not affect already waiting wait sets.
* *
* The old_period argument must be a pointer to an already allocated uint64_t. * The old_period argument must be a pointer to an already allocated int64_t.
* *
* <hr> * <hr>
* Attribute | Adherence * Attribute | Adherence
@ -359,8 +359,8 @@ rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period);
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i> * <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
* *
* \param[in] timer the handle to the timer which is being modified * \param[in] timer the handle to the timer which is being modified
* \param[out] new_period the uint64_t to exchange into the timer * \param[out] new_period the int64_t to exchange into the timer
* \param[out] old_period the uint64_t in which the previous period is stored * \param[out] old_period the int64_t in which the previous period is stored
* \return `RCL_RET_OK` if the period was retrieved successfully, or * \return `RCL_RET_OK` if the period was retrieved successfully, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_TIMER_INVALID` if the timer is invalid, or * \return `RCL_RET_TIMER_INVALID` if the timer is invalid, or
@ -369,7 +369,7 @@ rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_timer_exchange_period(const rcl_timer_t * timer, uint64_t new_period, uint64_t * old_period); rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t * old_period);
/// Return the current timer callback. /// Return the current timer callback.
/** /**

10
rcl/src/rcl/timer.c
View file

@ -50,7 +50,7 @@ rcl_get_zero_initialized_timer()
rcl_ret_t rcl_ret_t
rcl_timer_init( rcl_timer_init(
rcl_timer_t * timer, rcl_timer_t * timer,
uint64_t period, int64_t period,
const rcl_timer_callback_t callback, const rcl_timer_callback_t callback,
rcl_allocator_t allocator) rcl_allocator_t allocator)
{ {
@ -116,7 +116,7 @@ rcl_timer_call(rcl_timer_t * timer)
(rcl_timer_callback_t)rcl_atomic_load_uintptr_t(&timer->impl->callback); (rcl_timer_callback_t)rcl_atomic_load_uintptr_t(&timer->impl->callback);
if (typed_callback != NULL) { if (typed_callback != NULL) {
uint64_t since_last_call = now_steady - previous_ns; int64_t since_last_call = now_steady - previous_ns;
typed_callback(timer, since_last_call); typed_callback(timer, since_last_call);
} }
return RCL_RET_OK; return RCL_RET_OK;
@ -154,7 +154,7 @@ rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_unt
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
return ret; // rcl error state should already be set. return ret; // rcl error state should already be set.
} }
uint64_t period = rcl_atomic_load_uint64_t(&timer->impl->period); int64_t period = rcl_atomic_load_uint64_t(&timer->impl->period);
*time_until_next_call = *time_until_next_call =
(rcl_atomic_load_uint64_t(&timer->impl->last_call_time) + period) - now; (rcl_atomic_load_uint64_t(&timer->impl->last_call_time) + period) - now;
return RCL_RET_OK; return RCL_RET_OK;
@ -182,7 +182,7 @@ rcl_timer_get_time_since_last_call(
} }
rcl_ret_t rcl_ret_t
rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period) rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
const rcl_allocator_t * allocator = rcl_timer_get_allocator(timer); const rcl_allocator_t * allocator = rcl_timer_get_allocator(timer);
@ -195,7 +195,7 @@ rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period)
} }
rcl_ret_t rcl_ret_t
rcl_timer_exchange_period(const rcl_timer_t * timer, uint64_t new_period, uint64_t * old_period) rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t * old_period)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
const rcl_allocator_t * allocator = rcl_timer_get_allocator(timer); const rcl_allocator_t * allocator = rcl_timer_get_allocator(timer);