[style] clean up of recent changes to time.h/c
This commit is contained in:
William Woodall
parent
135836e1de
commit
b2acdd126d
2 changed files with 298 additions and 255 deletions
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@ -24,15 +24,14 @@ extern "C"
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#include "rcl/types.h"
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#include "rcl/visibility_control.h"
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#define RCL_S_TO_NS(seconds) (seconds * 1000 * 1000 * 1000)
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#define RCL_MS_TO_NS(milliseconds) (milliseconds * 1000 * 1000)
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#define RCL_S_TO_NS(seconds) (seconds * (1000 * 1000 * 1000))
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#define RCL_MS_TO_NS(milliseconds) (milliseconds * (1000 * 1000))
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#define RCL_US_TO_NS(microseconds) (microseconds * 1000)
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#define RCL_NS_TO_S(nanoseconds) (nanoseconds / (1000 * 1000 * 1000))
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#define RCL_NS_TO_MS(nanoseconds) (nanoseconds / (1000 * 1000))
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#define RCL_NS_TO_US(nanoseconds) (nanoseconds / 1000)
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enum rcl_time_source_type_t
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{
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RCL_TIME_SOURCE_UNINITIALIZED = 0,
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@ -78,15 +77,16 @@ typedef struct rcl_duration_t
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/// Check if the time_source has valid values.
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/* This function returns true if the time source appears to be valid.
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* It will check that the type is not uninitialized, and that pointers
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* are not invalid. Note that if data is uninitialized it may give a
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* false positive.
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* are not invalid.
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* Note that if data is uninitialized it may give a false positive.
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*
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* \param[in] time_source the handle to the time_source which is being queried
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* \return true if the source is believed to be valid, otherwise return false.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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bool rcl_time_source_valid(rcl_time_source_t * time_source);
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bool
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rcl_time_source_valid(rcl_time_source_t * time_source);
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/// Initialize a timesource as a RCL_ROS_TIME time source.
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/* This will allocate all necessary internal structures, and initialize variables.
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@ -99,7 +99,8 @@ bool rcl_time_source_valid(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_init_ros_time_source(rcl_time_source_t * time_source);
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/// Finalize a timesource as a RCL_ROS_TIME time source.
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/* This will deallocate all necessary internal structures, and clean up any variables.
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@ -113,7 +114,8 @@ rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_fini_ros_time_source(rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_fini_ros_time_source(rcl_time_source_t * time_source);
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/// Initialize a timesource as a RCL_STEADY_TIME time source.
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/* This will allocate all necessary internal structures, and initialize variables.
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@ -126,7 +128,8 @@ rcl_ret_t rcl_fini_ros_time_source(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_init_steady_time_source(rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_init_steady_time_source(rcl_time_source_t * time_source);
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/// Finalize a timesource as a RCL_STEADY_TIME time source.
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/* Finalize the timesource as a RCL_STEADY_TIME time source.
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@ -142,7 +145,8 @@ rcl_ret_t rcl_init_steady_time_source(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_fini_steady_time_source(rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_fini_steady_time_source(rcl_time_source_t * time_source);
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/// Initialize a timesource as a RCL_SYSTEM_TIME time source.
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/* Initialize the timesource as a RCL_SYSTEM_TIME time source.
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@ -157,7 +161,8 @@ rcl_ret_t rcl_fini_steady_time_source(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_init_system_time_source(rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_init_system_time_source(rcl_time_source_t * time_source);
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/// Finalize a timesource as a RCL_SYSTEM_TIME time source.
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/* Finalize the timesource as a RCL_SYSTEM_TIME time source.
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@ -173,7 +178,8 @@ rcl_ret_t rcl_init_system_time_source(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_fini_system_time_source(rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_fini_system_time_source(rcl_time_source_t * time_source);
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/// Initialize a time point using the time_source.
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/* This function will initialize the time_point using the time_source
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@ -191,13 +197,14 @@ rcl_ret_t rcl_fini_system_time_source(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source);
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/// Finalize a time_point
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/* Finalize the time_point such that it is ready for deallocation.
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*
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* This will deallocate all necessary internal structures, and clean up any variables.
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* *
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*
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* \param[in] time_point the handle to the time_source which is being finalized.
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* \return RCL_RET_OK if the last call time was retrieved successfully, or
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* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
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@ -205,11 +212,11 @@ rcl_ret_t rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t *
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_fini_time_point(rcl_time_point_t * time_point);
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rcl_ret_t
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rcl_fini_time_point(rcl_time_point_t * time_point);
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/// Initialize a duration using the time_source.
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/* This function will initialize the duration using the time_source
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* as a reference.
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/* This function will initialize the duration using the time_source as a reference.
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* If the time_source is null it will use the system default time_source.
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*
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* This will allocate all necessary internal structures, and initialize variables.
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@ -223,13 +230,14 @@ rcl_ret_t rcl_fini_time_point(rcl_time_point_t * time_point);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source);
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/// Finalize a duration
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/* Finalize the duration such that it is ready for deallocation.
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*
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* This will deallocate all necessary internal structures, and clean up any variables.
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* *
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*
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* \param[in] duration the handle to the duration which is being finalized.
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* \return RCL_RET_OK if the last call time was retrieved successfully, or
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* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
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@ -237,7 +245,8 @@ rcl_ret_t rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_fini_duration(rcl_duration_t * duration);
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rcl_ret_t
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rcl_fini_duration(rcl_duration_t * duration);
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/// Get the default RCL_ROS_TIME time source
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/* This function will get the process default time source.
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@ -248,11 +257,12 @@ rcl_ret_t rcl_fini_duration(rcl_duration_t * duration);
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* and initialize the time source.
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*
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* \return rcl_time_source_t if it successfully found or allocated a
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time source. If an error occurred it will return NULL.
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* time source. If an error occurred it will return NULL.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_time_source_t * rcl_get_default_ros_time_source(void);
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rcl_time_source_t *
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rcl_get_default_ros_time_source(void);
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/// Get the default RCL_STEADY_TIME time source
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/* This function will get the process default time source.
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@ -263,11 +273,12 @@ rcl_time_source_t * rcl_get_default_ros_time_source(void);
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* and initialize the time source.
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*
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* \return rcl_time_source_t if it successfully found or allocated a
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time source. If an error occurred it will return NULL.
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* time source. If an error occurred it will return NULL.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_time_source_t * rcl_get_default_steady_time_source(void);
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rcl_time_source_t *
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rcl_get_default_steady_time_source(void);
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/// Get the default RCL_SYSTEM_TIME time source
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/* This function will get the process default time source.
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@ -278,11 +289,12 @@ rcl_time_source_t * rcl_get_default_steady_time_source(void);
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* and initialize the time source.
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*
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* \return rcl_time_source_t if it successfully found or allocated a
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time source. If an error occurred it will return NULL.
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* time source. If an error occurred it will return NULL.
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_time_source_t * rcl_get_default_system_time_source(void);
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rcl_time_source_t *
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rcl_get_default_system_time_source(void);
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/// Set the current time on the RCL_ROS_TIME time source
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/* This function is used to set the time on a ros time source.
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@ -300,12 +312,13 @@ rcl_time_source_t * rcl_get_default_system_time_source(void);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
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rcl_ret_t
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rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);
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/// Compute the difference between two time points
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/* This function takes two time points and computes the duration between them.
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* The two time points must be using the same time abstraction..
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* And the resultant duration will also be of the same abstraction.
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* The two time points must be using the same time abstraction, and the
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* resultant duration will also be of the same abstraction.
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*
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* The value will be computed as duration = finish - start. If start is after
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* finish the duration will be negative.
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@ -319,7 +332,8 @@ rcl_ret_t rcl_set_default_ros_time_source(rcl_time_source_t * process_time_sourc
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
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rcl_ret_t
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rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
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rcl_duration_t * delta);
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/// Fill the time point with the current value of the associated clock.
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@ -333,7 +347,8 @@ rcl_ret_t rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * fini
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_get_time_point_now(rcl_time_point_t * time_point);
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rcl_ret_t
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rcl_get_time_point_now(rcl_time_point_t * time_point);
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/// Enable the ros time abstraction override.
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@ -348,7 +363,8 @@ rcl_ret_t rcl_get_time_point_now(rcl_time_point_t * time_point);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_enable_ros_time_override(rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_enable_ros_time_override(rcl_time_source_t * time_source);
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/// Disable the ros time abstraction override.
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/* This method will disable the RCL_ROS_TIME time abstraction override values,
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@ -362,7 +378,8 @@ rcl_ret_t rcl_enable_ros_time_override(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_disable_ros_time_override(rcl_time_source_t * time_source);
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rcl_ret_t
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rcl_disable_ros_time_override(rcl_time_source_t * time_source);
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/// Check if the RCL_ROS_TIME time source has the override enabled.
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@ -378,7 +395,8 @@ rcl_ret_t rcl_disable_ros_time_override(rcl_time_source_t * time_source);
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
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rcl_ret_t
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rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
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bool * is_enabled);
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/// Set the current time for this RCL_ROS_TIME time source.
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@ -394,7 +412,8 @@ rcl_ret_t rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
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*/
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RCL_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t rcl_set_ros_time_override(rcl_time_source_t * time_source,
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rcl_ret_t
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rcl_set_ros_time_override(rcl_time_source_t * time_source,
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rcl_time_point_value_t time_value);
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/// Retrieve the current time as a rcl_time_point_value_t (an alias for unint64_t).
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@ -412,7 +431,7 @@ rcl_ret_t rcl_set_ros_time_override(rcl_time_source_t * time_source,
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* On Windows this is lock-free if the C11's stdatomic.h function
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* atomic_is_lock_free() returns true for atomic_int_least64_t.
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*
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* TODO(tfoote) I talked with @wjwwood about possibly promoting this
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* TODO(tfoote): I talked with @wjwwood about possibly promoting this
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* method into rmw for more reuse.
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*
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* \param[out] now a datafield in which the current time is stored
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@ -12,6 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdbool.h>
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#include <stdlib.h>
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#if defined(WIN32)
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@ -27,9 +28,8 @@ static rcl_time_source_t * rcl_default_ros_time_source;
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static rcl_time_source_t * rcl_default_steady_time_source;
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static rcl_time_source_t * rcl_default_system_time_source;
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// Internal storage for RCL_ROS_TIME implementation
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typedef struct
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typedef struct rcl_ros_time_source_storage_t
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{
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atomic_uint_least64_t current_time;
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bool active;
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@ -37,21 +37,24 @@ typedef struct
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} rcl_ros_time_source_storage_t;
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// Implementation only
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rcl_ret_t rcl_get_steady_time(void * data, rcl_time_point_value_t * current_time)
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rcl_ret_t
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rcl_get_steady_time(void * data, rcl_time_point_value_t * current_time)
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{
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(void)data; // unused
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return rcl_steady_time_now(current_time);
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}
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// Implementation only
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rcl_ret_t rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)
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rcl_ret_t
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rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)
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{
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(void)data; // unused
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return rcl_system_time_now(current_time);
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}
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// Internal method for zeroing values on init, assumes time_source is valid
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void rcl_init_generic_time_source(rcl_time_source_t * time_source)
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void
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rcl_init_generic_time_source(rcl_time_source_t * time_source)
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{
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time_source->type = RCL_TIME_SOURCE_UNINITIALIZED;
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time_source->pre_update = NULL;
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@ -62,7 +65,8 @@ void rcl_init_generic_time_source(rcl_time_source_t * time_source)
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// The function used to get the current ros time.
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// This is in the implementation only
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rcl_ret_t rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
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rcl_ret_t
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rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
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{
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rcl_ros_time_source_storage_t * t = (rcl_ros_time_source_storage_t *)data;
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if (!t->active) {
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@ -72,7 +76,8 @@ rcl_ret_t rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
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return RCL_RET_OK;
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}
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bool rcl_time_source_valid(rcl_time_source_t * time_source)
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bool
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rcl_time_source_valid(rcl_time_source_t * time_source)
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{
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if (time_source == NULL ||
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time_source->type == RCL_TIME_SOURCE_UNINITIALIZED ||
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@ -83,7 +88,8 @@ bool rcl_time_source_valid(rcl_time_source_t * time_source)
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return true;
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}
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rcl_ret_t rcl_init_ros_time_source(rcl_time_source_t * time_source)
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rcl_ret_t
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rcl_init_ros_time_source(rcl_time_source_t * time_source)
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{
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RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
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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;
|
||||
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;
|
||||
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);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue