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[style] clean up of recent changes to time.h/c

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This commit is contained in:
William Woodall 2016-02-12 00:42:20 -08:00
parent 135836e1de
commit b2acdd126d
2 changed files with 298 additions and 255 deletions
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455
rcl/include/rcl/time.h
View file

@ -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

98
rcl/src/rcl/time.c
View file

@ -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);