Merge pull request ros2#140 from ros2/move_time

move time files to rcutils

rcl/CMakeLists.txt

@@ -17,12 +17,6 @@ if(NOT WIN32)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra")
 endif()
 
-if(WIN32)
-  set(time_impl_c src/rcl/time_win32.c)
-else()
-  set(time_impl_c src/rcl/time_unix.c)
-endif()
-
 set(${PROJECT_NAME}_sources
   src/rcl/client.c
   src/rcl/common.c
@@ -36,7 +30,6 @@ set(${PROJECT_NAME}_sources
   src/rcl/service.c
   src/rcl/subscription.c
   src/rcl/time.c
-  ${time_impl_c}
   src/rcl/timer.c
   src/rcl/validate_topic_name.c
   src/rcl/wait.c

rcl/include/rcl/time.h

@@ -23,25 +23,26 @@ extern "C"
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
+#include "rcutils/time.h"
 
 /// Convenience macro to convert seconds to nanoseconds.
-#define RCL_S_TO_NS(seconds) (seconds * (1000 * 1000 * 1000))
+#define RCL_S_TO_NS RCUTILS_S_TO_NS
 /// Convenience macro to convert milliseconds to nanoseconds.
-#define RCL_MS_TO_NS(milliseconds) (milliseconds * (1000 * 1000))
+#define RCL_MS_TO_NS RCUTILS_MS_TO_NS
 /// Convenience macro to convert microseconds to nanoseconds.
-#define RCL_US_TO_NS(microseconds) (microseconds * 1000)
+#define RCL_US_TO_NS RCUTILS_US_TO_NS
 
 /// Convenience macro to convert nanoseconds to seconds.
-#define RCL_NS_TO_S(nanoseconds) (nanoseconds / (1000 * 1000 * 1000))
+#define RCL_NS_TO_S RCUTILS_NS_TO_S
 /// Convenience macro to convert nanoseconds to milliseconds.
-#define RCL_NS_TO_MS(nanoseconds) (nanoseconds / (1000 * 1000))
+#define RCL_NS_TO_MS RCUTILS_NS_TO_MS
 /// Convenience macro to convert nanoseconds to microseconds.
-#define RCL_NS_TO_US(nanoseconds) (nanoseconds / 1000)
+#define RCL_NS_TO_US RCUTILS_NS_TO_US
 
 /// A single point in time, measured in nanoseconds since the Unix epoch.
-typedef uint64_t rcl_time_point_value_t;
+typedef rcutils_time_point_value_t rcl_time_point_value_t;
 /// A duration of time, measured in nanoseconds.
-typedef int64_t rcl_duration_value_t;
+typedef rcutils_duration_value_t rcl_duration_value_t;
 
 /// Time source type, used to indicate the source of a time measurement.
 enum rcl_time_source_type_t
@@ -487,68 +488,6 @@ 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.
-/**
- * This function returns the time from a system clock.
- * The closest equivalent would be to std::chrono::system_clock::now();
- *
- * The resolution (e.g. nanoseconds vs microseconds) is not guaranteed.
- *
- * The now argument must point to an allocated rcl_system_time_point_t struct,
- * as the result is copied into this variable.
- *
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | No
- * Thread-Safe        | Yes
- * Uses Atomics       | No
- * Lock-Free          | Yes [1]
- * <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
- *
- * \todo TODO(tfoote): consider moving this to 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
- * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
- * \return `RCL_RET_ERROR` an unspecified error occur.
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t
-rcl_system_time_now(rcl_time_point_value_t * now);
-
-/// Retrieve the current time as a rcl_time_point_value_t object.
-/**
- * This function returns the time from a monotonically increasing clock.
- * The closest equivalent would be to std::chrono::steady_clock::now();
- *
- * The resolution (e.g. nanoseconds vs microseconds) is not guaranteed.
- *
- * The now argument must point to an allocated rcl_time_point_value_t object,
- * as the result is copied into this variable.
- *
- * <hr>
- * Attribute          | Adherence
- * ------------------ | -------------
- * Allocates Memory   | No
- * Thread-Safe        | Yes
- * Uses Atomics       | No
- * Lock-Free          | Yes [1]
- * <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
- *
- * \todo TODO(tfoote): consider moving this to rmw for more reuse
- *
- * \param[out] now a struct in which the current time is stored
- * \return `RCL_RET_OK` if the current time was successfully obtained, or
- * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
- * \return `RCL_RET_ERROR` an unspecified error occur.
- */
-RCL_PUBLIC
-RCL_WARN_UNUSED
-rcl_ret_t
-rcl_steady_time_now(rcl_time_point_value_t * now);
-
 #if __cplusplus
 }
 #endif

rcl/src/rcl/time.c

@@ -21,6 +21,7 @@
 #include "./stdatomic_helper.h"
 #include "rcl/allocator.h"
 #include "rcl/error_handling.h"
+#include "rcutils/time.h"
 
 // Process default ROS time sources
 static rcl_time_source_t * rcl_default_ros_time_source;
@@ -40,15 +41,15 @@ rcl_ret_t
 rcl_get_steady_time(void * data, rcl_time_point_value_t * current_time)
 {
   (void)data;  // unused
-  return rcl_steady_time_now(current_time);
+  return rcutils_steady_time_now(current_time);
 }
 
 // Implementation only
 rcl_ret_t
 rcl_get_system_time(void * data, rcl_time_point_value_t * current_time)
 {
   (void)data;  // unused
-  return rcl_system_time_now(current_time);
+  return rcutils_system_time_now(current_time);
 }
 
 // Internal method for zeroing values on init, assumes time_source is valid

rcl/src/rcl/timer.c

@@ -21,6 +21,7 @@ extern "C"
 
 #include "./common.h"
 #include "./stdatomic_helper.h"
+#include "rcutils/time.h"
 
 typedef struct rcl_timer_impl_t
 {
@@ -62,7 +63,7 @@ rcl_timer_init(
     return RCL_RET_ALREADY_INIT;
   }
   rcl_time_point_value_t now_steady;
-  rcl_ret_t now_ret = rcl_steady_time_now(&now_steady);
+  rcl_ret_t now_ret = rcutils_steady_time_now(&now_steady);
   if (now_ret != RCL_RET_OK) {
     return now_ret;  // rcl error state should already be set.
   }
@@ -105,7 +106,7 @@ rcl_timer_call(rcl_timer_t * timer)
     return RCL_RET_TIMER_CANCELED;
   }
   rcl_time_point_value_t now_steady;
-  rcl_ret_t now_ret = rcl_steady_time_now(&now_steady);
+  rcl_ret_t now_ret = rcutils_steady_time_now(&now_steady);
   if (now_ret != RCL_RET_OK) {
     return now_ret;  // rcl error state should already be set.
   }
@@ -149,7 +150,7 @@ rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_unt
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(time_until_next_call, RCL_RET_INVALID_ARGUMENT, *allocator);
   rcl_time_point_value_t now;
-  rcl_ret_t ret = rcl_steady_time_now(&now);
+  rcl_ret_t ret = rcutils_steady_time_now(&now);
   if (ret != RCL_RET_OK) {
     return ret;  // rcl error state should already be set.
   }
@@ -171,7 +172,7 @@ rcl_timer_get_time_since_last_call(
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(time_since_last_call, RCL_RET_INVALID_ARGUMENT, *allocator);
   rcl_time_point_value_t now;
-  rcl_ret_t ret = rcl_steady_time_now(&now);
+  rcl_ret_t ret = rcutils_steady_time_now(&now);
   if (ret != RCL_RET_OK) {
     return ret;  // rcl error state should already be set.
   }
@@ -255,7 +256,7 @@ rcl_timer_reset(rcl_timer_t * timer)
   RCL_CHECK_FOR_NULL_WITH_MSG(
     timer->impl, "timer is invalid", return RCL_RET_TIMER_INVALID, rcl_get_default_allocator());
   rcl_time_point_value_t now;
-  rcl_ret_t now_ret = rcl_steady_time_now(&now);
+  rcl_ret_t now_ret = rcutils_steady_time_now(&now);
   if (now_ret != RCL_RET_OK) {
     return now_ret;  // rcl error state should already be set.
   }