diff --git a/rcl/include/rcl/time.h b/rcl/include/rcl/time.h
index 0f6220d..edf990e 100644
--- a/rcl/include/rcl/time.h
+++ b/rcl/include/rcl/time.h
@@ -24,15 +24,14 @@ extern "C"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
-#define RCL_S_TO_NS(seconds) (seconds * 1000 * 1000 * 1000)
-#define RCL_MS_TO_NS(milliseconds) (milliseconds * 1000 * 1000)
+#define RCL_S_TO_NS(seconds) (seconds * (1000 * 1000 * 1000))
+#define RCL_MS_TO_NS(milliseconds) (milliseconds * (1000 * 1000))
 #define RCL_US_TO_NS(microseconds) (microseconds * 1000)
 
 #define RCL_NS_TO_S(nanoseconds) (nanoseconds / (1000 * 1000 * 1000))
 #define RCL_NS_TO_MS(nanoseconds) (nanoseconds / (1000 * 1000))
 #define RCL_NS_TO_US(nanoseconds) (nanoseconds / 1000)
 
-
 enum rcl_time_source_type_t
 {
   RCL_TIME_SOURCE_UNINITIALIZED = 0,
@@ -77,324 +76,344 @@ typedef struct rcl_duration_t
 
 /// Check if the time_source has valid values.
 /* This function returns true if the time source appears to be valid.
-* It will check that the type is not uninitialized, and that pointers
-* are not invalid. Note that if data is uninitialized it may give a
-* false positive.
-*
-* \param[in] time_source the handle to the time_source which is being queried
-* \return true if the source is believed to be valid, otherwise return false.
-*/
+ * It will check that the type is not uninitialized, and that pointers
+ * are not invalid.
+ * Note that if data is uninitialized it may give a false positive.
+ *
+ * \param[in] time_source the handle to the time_source which is being queried
+ * \return true if the source is believed to be valid, otherwise return false.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-bool rcl_time_source_valid(rcl_time_source_t * time_source);
+bool
+rcl_time_source_valid(rcl_time_source_t * time_source);
 
 /// Initialize a timesource as a RCL_ROS_TIME time source.
 /* This will allocate all necessary internal structures, and initialize variables.
-* It is specifically setting up a RCL_ROS_TIME time source.
-*
-* \param[in] time_source the handle to the time_source which is being initialized
-* \return RCL_RET_OK if the time source was successfully initialized, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * It is specifically setting up a RCL_ROS_TIME time source.
+ *
+ * \param[in] time_source the handle to the time_source which is being initialized
+ * \return RCL_RET_OK if the time source was successfully initialized, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_init_ros_time_source(rcl_time_source_t * time_source);
 
 /// Finalize a timesource as a RCL_ROS_TIME time source.
 /* This will deallocate all necessary internal structures, and clean up any variables.
-* It is specifically setting up a RCL_ROS_TIME time source. It is expected to be paired with
-* the init fuction.
-*
-* \param[in] time_source the handle to the time_source which is being initialized
-* \return RCL_RET_OK if the time source was successfully finalized, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * It is specifically setting up a RCL_ROS_TIME time source. It is expected to be paired with
+ * the init fuction.
+ *
+ * \param[in] time_source the handle to the time_source which is being initialized
+ * \return RCL_RET_OK if the time source was successfully finalized, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_fini_ros_time_source(rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_fini_ros_time_source(rcl_time_source_t * time_source);
 
 /// Initialize a timesource as a RCL_STEADY_TIME time source.
 /* This will allocate all necessary internal structures, and initialize variables.
-* It is specifically setting up a RCL_STEADY_TIME time source.
-*
-* \param[in] time_source the handle to the time_source which is being initialized
-* \return RCL_RET_OK if the time source was successfully initialized, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * It is specifically setting up a RCL_STEADY_TIME time source.
+ *
+ * \param[in] time_source the handle to the time_source which is being initialized
+ * \return RCL_RET_OK if the time source was successfully initialized, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_init_steady_time_source(rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_init_steady_time_source(rcl_time_source_t * time_source);
 
 /// Finalize a timesource as a RCL_STEADY_TIME time source.
 /* Finalize the timesource as a RCL_STEADY_TIME time source.
-*
-* This will deallocate all necessary internal structures, and clean up any variables.
-* It is specifically setting up a steady time source. It is expected to be paired with
-* the init fuction.
-*
-* \param[in] time_source the handle to the time_source which is being initialized
-* \return RCL_RET_OK if the time source was successfully finalized, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ *
+ * This will deallocate all necessary internal structures, and clean up any variables.
+ * It is specifically setting up a steady time source. It is expected to be paired with
+ * the init fuction.
+ *
+ * \param[in] time_source the handle to the time_source which is being initialized
+ * \return RCL_RET_OK if the time source was successfully finalized, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_fini_steady_time_source(rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_fini_steady_time_source(rcl_time_source_t * time_source);
 
 /// Initialize a timesource as a RCL_SYSTEM_TIME time source.
 /* Initialize the timesource as a RCL_SYSTEM_TIME time source.
-*
-* This will allocate all necessary internal structures, and initialize variables.
-* It is specifically setting up a system time source.
-*
-* \param[in] time_source the handle to the time_source which is being initialized
-* \return RCL_RET_OK if the time source was successfully initialized, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ *
+ * This will allocate all necessary internal structures, and initialize variables.
+ * It is specifically setting up a system time source.
+ *
+ * \param[in] time_source the handle to the time_source which is being initialized
+ * \return RCL_RET_OK if the time source was successfully initialized, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_init_system_time_source(rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_init_system_time_source(rcl_time_source_t * time_source);
 
 /// Finalize a timesource as a RCL_SYSTEM_TIME time source.
 /* Finalize the timesource as a RCL_SYSTEM_TIME time source.
-*
-* This will deallocate all necessary internal structures, and clean up any variables.
-* It is specifically setting up a system time source. It is expected to be paired with
-* the init fuction.
-*
-* \param[in] time_source the handle to the time_source which is being initialized.
-* \return RCL_RET_OK if the time source was successfully finalized, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ *
+ * This will deallocate all necessary internal structures, and clean up any variables.
+ * It is specifically setting up a system time source. It is expected to be paired with
+ * the init fuction.
+ *
+ * \param[in] time_source the handle to the time_source which is being initialized.
+ * \return RCL_RET_OK if the time source was successfully finalized, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_fini_system_time_source(rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_fini_system_time_source(rcl_time_source_t * time_source);
 
 /// Initialize a time point using the time_source.
 /* This function will initialize the time_point using the time_source
-* as a reference.
-* If the time_source is null it will use the system default time_source.
-*
-* This will allocate all necessary internal structures, and initialize variables.
-* The time_source may be of types RCL_ROS_TIME, RCL_STEADY_TIME, or RCL_SYSTEM_TIME.
-*
-* \param[in] time_point the handle to the time_source which is being initialized.
-* \param[in] time_source the handle to the time_source will be used for reference.
-* \return RCL_RET_OK if the last call time was retrieved successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * as a reference.
+ * If the time_source is null it will use the system default time_source.
+ *
+ * This will allocate all necessary internal structures, and initialize variables.
+ * The time_source may be of types RCL_ROS_TIME, RCL_STEADY_TIME, or RCL_SYSTEM_TIME.
+ *
+ * \param[in] time_point the handle to the time_source which is being initialized.
+ * \param[in] time_source the handle to the time_source will be used for reference.
+ * \return RCL_RET_OK if the last call time was retrieved successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source);
 
 /// Finalize a time_point
 /* Finalize the time_point such that it is ready for deallocation.
-*
-* This will deallocate all necessary internal structures, and clean up any variables.
-* *
-* \param[in] time_point the handle to the time_source which is being finalized.
-* \return RCL_RET_OK if the last call time was retrieved successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ *
+ * This will deallocate all necessary internal structures, and clean up any variables.
+ *
+ * \param[in] time_point the handle to the time_source which is being finalized.
+ * \return RCL_RET_OK if the last call time was retrieved successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_fini_time_point(rcl_time_point_t * time_point);
+rcl_ret_t
+rcl_fini_time_point(rcl_time_point_t * time_point);
 
 /// Initialize a duration using the time_source.
-/* This function will initialize the duration using the time_source
-* as a reference.
-* If the time_source is null it will use the system default time_source.
-*
-* This will allocate all necessary internal structures, and initialize variables.
-* The time_source may be of types ros, steady, or system.
-*
-* \param[in] duration the handle to the duration which is being initialized.
-* \param[in] time_source the handle to the time_source will be used for reference.
-* \return RCL_RET_OK if the last call time was retrieved successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+/* This function will initialize the duration using the time_source as a reference.
+ * If the time_source is null it will use the system default time_source.
+ *
+ * This will allocate all necessary internal structures, and initialize variables.
+ * The time_source may be of types ros, steady, or system.
+ *
+ * \param[in] duration the handle to the duration which is being initialized.
+ * \param[in] time_source the handle to the time_source will be used for reference.
+ * \return RCL_RET_OK if the last call time was retrieved successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source);
 
 /// Finalize a duration
 /* Finalize the duration such that it is ready for deallocation.
-*
-* This will deallocate all necessary internal structures, and clean up any variables.
-* *
-* \param[in] duration the handle to the duration which is being finalized.
-* \return RCL_RET_OK if the last call time was retrieved successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ *
+ * This will deallocate all necessary internal structures, and clean up any variables.
+ *
+ * \param[in] duration the handle to the duration which is being finalized.
+ * \return RCL_RET_OK if the last call time was retrieved successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_fini_duration(rcl_duration_t * duration);
+rcl_ret_t
+rcl_fini_duration(rcl_duration_t * duration);
 
 /// Get the default RCL_ROS_TIME time source
 /* This function will get the process default time source.
-* This time source is specifically of the ROS time abstraction,
-* and may be overridden by updates.
-*
-* If the default has not yet been used it will allocate
-* and initialize the time source.
-*
-* \return rcl_time_source_t if it successfully found or allocated a
-          time source. If an error occurred it will return NULL.
-*/
+ * This time source is specifically of the ROS time abstraction,
+ * and may be overridden by updates.
+ *
+ * If the default has not yet been used it will allocate
+ * and initialize the time source.
+ *
+ * \return rcl_time_source_t if it successfully found or allocated a
+ *         time source. If an error occurred it will return NULL.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_time_source_t * rcl_get_default_ros_time_source(void);
+rcl_time_source_t *
+rcl_get_default_ros_time_source(void);
 
 /// Get the default RCL_STEADY_TIME time source
 /* This function will get the process default time source.
-* This time source is specifically of the steady time abstraction,
-* it should not be able to be overridden..
-*
-* If the default has not yet been used it will allocate
-* and initialize the time source.
-*
-* \return rcl_time_source_t if it successfully found or allocated a
-          time source. If an error occurred it will return NULL.
-*/
+ * This time source is specifically of the steady time abstraction,
+ * it should not be able to be overridden..
+ *
+ * If the default has not yet been used it will allocate
+ * and initialize the time source.
+ *
+ * \return rcl_time_source_t if it successfully found or allocated a
+ *         time source. If an error occurred it will return NULL.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_time_source_t * rcl_get_default_steady_time_source(void);
+rcl_time_source_t *
+rcl_get_default_steady_time_source(void);
 
 /// Get the default RCL_SYSTEM_TIME time source
 /* This function will get the process default time source.
-* This time source is specifically of the system time abstraction,
-* and may be overridden by updates to the system clock.
-*
-* If the default has not yet been used it will allocate
-* and initialize the time source.
-*
-* \return rcl_time_source_t if it successfully found or allocated a
-          time source. If an error occurred it will return NULL.
-*/
+ * This time source is specifically of the system time abstraction,
+ * and may be overridden by updates to the system clock.
+ *
+ * If the default has not yet been used it will allocate
+ * and initialize the time source.
+ *
+ * \return rcl_time_source_t if it successfully found or allocated a
+ *         time source. If an error occurred it will return NULL.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_time_source_t * rcl_get_default_system_time_source(void);
+rcl_time_source_t *
+rcl_get_default_system_time_source(void);
 
 /// Set the current time on the RCL_ROS_TIME time source
 /* This function is used to set the time on a ros time source.
-* It will error if passed a differnt time source.
-*
-* This should not block, except on Windows. One caveat is that
-* if the ros time abstraction is active, it will invoke the user
-* defined callbacks, for pre and post update notifications. The
-* calbacks are supposed to be short running and non-blocking.
-*
-* \param[in] process_time_source The time source on which to set the value.
-* \return RCL_RET_OK if the value was set successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * It will error if passed a differnt time source.
+ *
+ * This should not block, except on Windows. One caveat is that
+ * if the ros time abstraction is active, it will invoke the user
+ * defined callbacks, for pre and post update notifications. The
+ * calbacks are supposed to be short running and non-blocking.
+ *
+ * \param[in] process_time_source The time source on which to set the value.
+ * \return RCL_RET_OK if the value was set successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
+rcl_ret_t
+rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
 
 /// Compute the difference between two time points
 /* This function takes two time points and computes the duration between them.
-* The two time points must be using the same time abstraction..
-*  And the resultant duration will also be of the same abstraction.
-*
-* The value will be computed as duration = finish - start. If start is after
-* finish the duration will be negative.
-*
-* \param[in] start The time point for the start of the duration.
-* \param[in] finish The time point for the end of the duration.
-* \param[out] delta The duration between the start and finish.
-* \return RCL_RET_OK if the difference was computed successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * The two time points must be using the same time abstraction, and the
+ * resultant duration will also be of the same abstraction.
+ *
+ * The value will be computed as duration = finish - start. If start is after
+ * finish the duration will be negative.
+ *
+ * \param[in] start The time point for the start of the duration.
+ * \param[in] finish The time point for the end of the duration.
+ * \param[out] delta The duration between the start and finish.
+ * \return RCL_RET_OK if the difference was computed successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
+rcl_ret_t
+rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
   rcl_duration_t * delta);
 
 /// Fill the time point with the current value of the associated clock.
 /* This function will populate the data of the time_point object with the
-* current value from it's associated time abstraction.
-*
-* \param[out] time_point The time_point to populate.
-* \return RCL_RET_OK if the last call time was retrieved successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * current value from it's associated time abstraction.
+ *
+ * \param[out] time_point The time_point to populate.
+ * \return RCL_RET_OK if the last call time was retrieved successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_get_time_point_now(rcl_time_point_t * time_point);
+rcl_ret_t
+rcl_get_time_point_now(rcl_time_point_t * time_point);
 
 
 /// Enable the ros time abstraction override.
 /* This method will enable the ros time abstraction override values,
-* such that the time source will report the set value instead of falling
-* back to system time.
-*
-* \param[in] time_source The time_source to enable.
-* \return RCL_RET_OK if the time source was enabled successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * such that the time source will report the set value instead of falling
+ * back to system time.
+ *
+ * \param[in] time_source The time_source to enable.
+ * \return RCL_RET_OK if the time source was enabled successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_enable_ros_time_override(rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_enable_ros_time_override(rcl_time_source_t * time_source);
 
 /// Disable the ros time abstraction override.
 /* This method will disable the RCL_ROS_TIME time abstraction override values,
-* such that the time source will report the system time even if a custom
-* value has been set.
-*
-* \param[in] time_source The time_source to disable.
-* \return RCL_RET_OK if the time source was disabled successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * such that the time source will report the system time even if a custom
+ * value has been set.
+ *
+ * \param[in] time_source The time_source to disable.
+ * \return RCL_RET_OK if the time source was disabled successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_disable_ros_time_override(rcl_time_source_t * time_source);
+rcl_ret_t
+rcl_disable_ros_time_override(rcl_time_source_t * time_source);
 
 
 /// Check if the RCL_ROS_TIME time source has the override enabled.
 /* This will populate the is_enabled object to indicate if the
-* time overide is enabled. If it is enabled, the set value will be returned.
-* Otherwise this time source will return the equivalent to system time abstraction.
-*
-* \param[in] time_source The time_source to query.
-* \param[out] is_enabled Whether the override is enabled..
-* \return RCL_RET_OK if the time source was queried successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * time overide is enabled. If it is enabled, the set value will be returned.
+ * Otherwise this time source will return the equivalent to system time abstraction.
+ *
+ * \param[in] time_source The time_source to query.
+ * \param[out] is_enabled Whether the override is enabled..
+ * \return RCL_RET_OK if the time source was queried successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
+rcl_ret_t
+rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
   bool * is_enabled);
 
 /// Set the current time for this RCL_ROS_TIME time source.
 /* This function will update the internal storage for the RCL_ROS_TIME time source.
-* If queried and override enabled the time source will return this value,
-* otherwise it will return the system time.
-*
-* \param[in] time_source The time_source to update.
-* \param[in] time_value The new current time.
-* \return RCL_RET_OK if the time source was set successfully, or
-*         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
-*         RCL_RET_ERROR an unspecified error occur.
-*/
+ * If queried and override enabled the time source will return this value,
+ * otherwise it will return the system time.
+ *
+ * \param[in] time_source The time_source to update.
+ * \param[in] time_value The new current time.
+ * \return RCL_RET_OK if the time source was set successfully, or
+ *         RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ *         RCL_RET_ERROR an unspecified error occur.
+ */
 RCL_PUBLIC
 RCL_WARN_UNUSED
-rcl_ret_t rcl_set_ros_time_override(rcl_time_source_t * time_source,
+rcl_ret_t
+rcl_set_ros_time_override(rcl_time_source_t * time_source,
   rcl_time_point_value_t time_value);
 
 /// Retrieve the current time as a rcl_time_point_value_t (an alias for unint64_t).
@@ -412,8 +431,8 @@ rcl_ret_t rcl_set_ros_time_override(rcl_time_source_t * time_source,
  * On Windows this is lock-free if the C11's stdatomic.h function
  * atomic_is_lock_free() returns true for atomic_int_least64_t.
  *
- * TODO(tfoote) I talked with @wjwwood about possibly promoting this
- *  method into rmw for more reuse.
+ * TODO(tfoote): I talked with @wjwwood about possibly promoting this
+ * method into rmw for more reuse.
  *
  * \param[out] now a datafield in which the current time is stored
  * \return RCL_RET_OK if the current time was successfully obtained, or
diff --git a/rcl/src/rcl/time.c b/rcl/src/rcl/time.c
index e233562..90b5dd1 100644
--- a/rcl/src/rcl/time.c
+++ b/rcl/src/rcl/time.c
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <stdbool.h>
 #include <stdlib.h>
 
 #if defined(WIN32)
@@ -27,9 +28,8 @@ static rcl_time_source_t * rcl_default_ros_time_source;
 static rcl_time_source_t * rcl_default_steady_time_source;
 static rcl_time_source_t * rcl_default_system_time_source;
 
-
 // Internal storage for RCL_ROS_TIME implementation
-typedef struct
+typedef struct rcl_ros_time_source_storage_t
 {
   atomic_uint_least64_t current_time;
   bool active;
@@ -37,21 +37,24 @@ typedef struct
 } rcl_ros_time_source_storage_t;
 
 // Implementation only
-rcl_ret_t rcl_get_steady_time(void * data, rcl_time_point_value_t * current_time)
+rcl_ret_t
+rcl_get_steady_time(void * data, rcl_time_point_value_t * current_time)
 {
-  (void) data;  // unused
+  (void)data;  // unused
   return rcl_steady_time_now(current_time);
 }
 
 // Implementation only
-rcl_ret_t rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)
+rcl_ret_t
+rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)
 {
-  (void) data;  // unused
+  (void)data;  // unused
   return rcl_system_time_now(current_time);
 }
 
 // Internal method for zeroing values on init, assumes time_source is valid
-void rcl_init_generic_time_source(rcl_time_source_t * time_source)
+void
+rcl_init_generic_time_source(rcl_time_source_t * time_source)
 {
   time_source->type = RCL_TIME_SOURCE_UNINITIALIZED;
   time_source->pre_update = NULL;
@@ -62,7 +65,8 @@ void rcl_init_generic_time_source(rcl_time_source_t * time_source)
 
 // The function used to get the current ros time.
 // This is in the implementation only
-rcl_ret_t rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
+rcl_ret_t
+rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
 {
   rcl_ros_time_source_storage_t * t = (rcl_ros_time_source_storage_t *)data;
   if (!t->active) {
@@ -72,7 +76,8 @@ rcl_ret_t rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
   return RCL_RET_OK;
 }
 
-bool rcl_time_source_valid(rcl_time_source_t * time_source)
+bool
+rcl_time_source_valid(rcl_time_source_t * time_source)
 {
   if (time_source == NULL ||
     time_source->type == RCL_TIME_SOURCE_UNINITIALIZED ||
@@ -83,7 +88,8 @@ bool rcl_time_source_valid(rcl_time_source_t * time_source)
   return true;
 }
 
-rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_init_ros_time_source(rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
   rcl_init_generic_time_source(time_source);
@@ -93,7 +99,8 @@ rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source)
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_fini_ros_time_source(rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_fini_ros_time_source(rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
   if (time_source->type != RCL_ROS_TIME) {
@@ -104,7 +111,8 @@ rcl_ret_t rcl_fini_ros_time_source(rcl_time_source_t * time_source)
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_init_steady_time_source(rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_init_steady_time_source(rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
   rcl_init_generic_time_source(time_source);
@@ -113,7 +121,8 @@ rcl_ret_t rcl_init_steady_time_source(rcl_time_source_t * time_source)
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_fini_steady_time_source(rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_fini_steady_time_source(rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
   if (time_source->type != RCL_STEADY_TIME) {
@@ -123,19 +132,18 @@ rcl_ret_t rcl_fini_steady_time_source(rcl_time_source_t * time_source)
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_init_system_time_source(rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_init_system_time_source(rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
   rcl_init_generic_time_source(time_source);
   time_source->get_now = rcl_get_system_time;
   time_source->type = RCL_SYSTEM_TIME;
-  if (!time_source) {
-    return RCL_RET_ERROR;
-  }
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_fini_system_time_source(rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_fini_system_time_source(rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
   if (time_source->type != RCL_SYSTEM_TIME) {
@@ -145,7 +153,8 @@ rcl_ret_t rcl_fini_system_time_source(rcl_time_source_t * time_source)
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT);
   if (!time_source) {
@@ -157,14 +166,16 @@ rcl_ret_t rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t *
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_fini_time_point(rcl_time_point_t * time_point)
+rcl_ret_t
+rcl_fini_time_point(rcl_time_point_t * time_point)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT);
-  (void) time_point;
+  (void)time_point;
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT);
   if (!time_source) {
@@ -176,17 +187,19 @@ rcl_ret_t rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_fini_duration(rcl_duration_t * duration)
+rcl_ret_t
+rcl_fini_duration(rcl_duration_t * duration)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT);
-  (void) duration;
+  (void)duration;
   return RCL_RET_OK;
 }
 
-rcl_time_source_t * rcl_get_default_ros_time_source(void)
+rcl_time_source_t *
+rcl_get_default_ros_time_source(void)
 {
   if (!rcl_default_ros_time_source) {
-    rcl_default_ros_time_source = calloc(1, sizeof(rcl_time_source_t));
+    rcl_default_ros_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
     rcl_ret_t retval = rcl_init_ros_time_source(rcl_default_ros_time_source);
     if (retval != RCL_RET_OK) {
       return NULL;
@@ -195,10 +208,11 @@ rcl_time_source_t * rcl_get_default_ros_time_source(void)
   return rcl_default_ros_time_source;
 }
 
-rcl_time_source_t * rcl_get_default_steady_time_source(void)
+rcl_time_source_t *
+rcl_get_default_steady_time_source(void)
 {
   if (!rcl_default_steady_time_source) {
-    rcl_default_steady_time_source = calloc(1, sizeof(rcl_time_source_t));
+    rcl_default_steady_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
     rcl_ret_t retval = rcl_init_steady_time_source(rcl_default_steady_time_source);
     if (retval != RCL_RET_OK) {
       return NULL;
@@ -207,10 +221,11 @@ rcl_time_source_t * rcl_get_default_steady_time_source(void)
   return rcl_default_steady_time_source;
 }
 
-rcl_time_source_t * rcl_get_default_system_time_source(void)
+rcl_time_source_t *
+rcl_get_default_system_time_source(void)
 {
   if (!rcl_default_system_time_source) {
-    rcl_default_system_time_source = calloc(1, sizeof(rcl_time_source_t));
+    rcl_default_system_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
     rcl_ret_t retval = rcl_init_system_time_source(rcl_default_system_time_source);
     if (retval != RCL_RET_OK) {
       return NULL;
@@ -219,7 +234,8 @@ rcl_time_source_t * rcl_get_default_system_time_source(void)
   return rcl_default_system_time_source;
 }
 
-rcl_ret_t rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source)
+rcl_ret_t
+rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(process_time_source, RCL_RET_INVALID_ARGUMENT);
   if (rcl_default_ros_time_source) {
@@ -229,7 +245,8 @@ rcl_ret_t rcl_set_default_ros_time_source(rcl_time_source_t * process_time_sourc
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
+rcl_ret_t
+rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
   rcl_duration_t * delta)
 {
   if (start->time_source->type != finish->time_source->type) {
@@ -244,7 +261,8 @@ rcl_ret_t rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * fini
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_get_time_point_now(rcl_time_point_t * time_point)
+rcl_ret_t
+rcl_get_time_point_now(rcl_time_point_t * time_point)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT);
   if (time_point->time_source && time_point->time_source->get_now) {
@@ -255,7 +273,8 @@ rcl_ret_t rcl_get_time_point_now(rcl_time_point_t * time_point)
   return RCL_RET_ERROR;
 }
 
-rcl_ret_t rcl_enable_ros_time_override(rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_enable_ros_time_override(rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
   if (time_source->type != RCL_ROS_TIME) {
@@ -272,7 +291,8 @@ rcl_ret_t rcl_enable_ros_time_override(rcl_time_source_t * time_source)
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_disable_ros_time_override(rcl_time_source_t * time_source)
+rcl_ret_t
+rcl_disable_ros_time_override(rcl_time_source_t * time_source)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
   if (time_source->type != RCL_ROS_TIME) {
@@ -288,7 +308,9 @@ rcl_ret_t rcl_disable_ros_time_override(rcl_time_source_t * time_source)
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
+rcl_ret_t
+rcl_is_enabled_ros_time_override(
+  rcl_time_source_t * time_source,
   bool * is_enabled)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
@@ -306,7 +328,9 @@ rcl_ret_t rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
   return RCL_RET_OK;
 }
 
-rcl_ret_t rcl_set_ros_time_override(rcl_time_source_t * time_source,
+rcl_ret_t
+rcl_set_ros_time_override(
+  rcl_time_source_t * time_source,
   rcl_time_point_value_t time_value)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);