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clean up time_unix.c

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This commit is contained in:
William Woodall 2015-12-10 18:21:19 -08:00
parent 902172d4c9
commit 9c0208e4d5
1 changed files with 17 additions and 32 deletions
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49
rcl/src/rcl/time_unix.c
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@ -40,28 +40,6 @@ extern "C"
#error no monotonic clock function available
#endif
static void
__timespec_get_now_steady(struct timespec * timespec_now)
{
#if defined(__MACH__)
// On OS X use clock_get_time.
clock_serv_t cclock;
mach_timespec_t mts;
host_get_clock_service(mach_host_self(), SYSTEM_CLOCK, &cclock);
clock_get_time(cclock, &mts);
mach_port_deallocate(mach_task_self(), cclock);
timespec_now->tv_sec = mts.tv_sec;
timespec_now->tv_nsec = mts.tv_nsec;
#else // if defined(__MACH__)
// Otherwise use clock_gettime.
#ifdef CLOCK_MONOTONIC_RAW
clock_gettime(CLOCK_MONOTONIC_RAW, timespec_now);
#else
clock_gettime(CLOCK_MONOTONIC, timespec_now);
#endif // CLOCK_MONOTONIC_RAW
#endif // if defined(__MACH__)
}
#define __WOULD_BE_NEGATIVE(seconds, subseconds) (seconds < 0 || (subseconds < 0 && seconds == 0))
rcl_ret_t
@ -94,23 +72,30 @@ rcl_ret_t
rcl_steady_time_point_now(rcl_steady_time_point_t * now)
{
RCL_CHECK_ARGUMENT_FOR_NULL(now, RCL_RET_INVALID_ARGUMENT);
#ifndef WIN32
// Unix implementations
#if HAS_CLOCK_GETTIME || defined(__MACH__)
// If clock_gettime is available or on OS X, use a timespec.
struct timespec timespec_now;
__timespec_get_now_steady(&timespec_now);
#if defined(__MACH__)
// On OS X use clock_get_time.
clock_serv_t cclock;
mach_timespec_t mts;
host_get_clock_service(mach_host_self(), SYSTEM_CLOCK, &cclock);
clock_get_time(cclock, &mts);
mach_port_deallocate(mach_task_self(), cclock);
timespec_now.tv_sec = mts.tv_sec;
timespec_now.tv_nsec = mts.tv_nsec;
#else
// Otherwise use clock_gettime.
#ifdef CLOCK_MONOTONIC_RAW
clock_gettime(CLOCK_MONOTONIC_RAW, &timespec_now);
#else
clock_gettime(CLOCK_MONOTONIC, &timespec_now);
#endif // CLOCK_MONOTONIC_RAW
#endif // if defined(__MACH__)
if (__WOULD_BE_NEGATIVE(timespec_now.tv_sec, timespec_now.tv_nsec)) {
RCL_SET_ERROR_MSG("unexpected negative time");
return RCL_RET_ERROR;
}
now->nanoseconds = RCL_S_TO_NS(timespec_now.tv_sec) + timespec_now.tv_nsec;
#else // if HAS_CLOCK_GETTIME || defined(__MACH__)
// Cannot fallback to gettimeofday because it is not monotonic.
#error No monotonic clock detected.
#endif // if HAS_CLOCK_GETTIME || defined(__MACH__)
#else
#endif
return RCL_RET_OK;
}