time.h

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// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef RCL__TIME_H_
#define RCL__TIME_H_

#if __cplusplus
extern "C"
{
#endif

#include "rcl/macros.h"
#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_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)

typedef uint64_t rcl_time_point_value_t;
typedef int64_t rcl_duration_value_t;

enum rcl_time_source_type_t
{
  RCL_TIME_SOURCE_UNINITIALIZED = 0,
  RCL_ROS_TIME,
  RCL_SYSTEM_TIME,
  RCL_STEADY_TIME
};

typedef struct rcl_time_source_t
{
  enum rcl_time_source_type_t type;
  void (* pre_update)(void);
  void (* post_update)(void);
  rcl_ret_t (* get_now)(void * data, rcl_time_point_value_t * now);
  // void (*set_now) (rcl_time_point_value_t);
  void * data;
} rcl_time_source_t;

struct rcl_ros_time_source_storage_t;

typedef struct rcl_time_point_t
{
  rcl_time_point_value_t nanoseconds;
  rcl_time_source_t * time_source;
} rcl_time_point_t;

typedef struct rcl_duration_t
{
  rcl_duration_value_t nanoseconds;
  rcl_time_source_t * time_source;
} rcl_duration_t;

// typedef struct rcl_rate_t
// {
//   rcl_time_point_value_t trigger_time;
//   int64_t period;
//   rcl_time_source_t * time_source;
// } rcl_rate_t;
// TODO(tfoote) integrate rate and timer implementations


RCL_PUBLIC
RCL_WARN_UNUSED
bool
rcl_time_source_valid(rcl_time_source_t * time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_ros_time_source(rcl_time_source_t * time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_fini_ros_time_source(rcl_time_source_t * time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_steady_time_source(rcl_time_source_t * time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_fini_steady_time_source(rcl_time_source_t * time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_system_time_source(rcl_time_source_t * time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_fini_system_time_source(rcl_time_source_t * time_source);


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_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_fini_time_point(rcl_time_point_t * time_point);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_fini_duration(rcl_duration_t * duration);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_time_source_t *
rcl_get_default_ros_time_source(void);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_time_source_t *
rcl_get_default_steady_time_source(void);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_time_source_t *
rcl_get_default_system_time_source(void);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_set_default_ros_time_source(rcl_time_source_t * process_time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
  rcl_duration_t * delta);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_get_time_point_now(rcl_time_point_t * time_point);



RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_enable_ros_time_override(rcl_time_source_t * time_source);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_disable_ros_time_override(rcl_time_source_t * time_source);



RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_is_enabled_ros_time_override(rcl_time_source_t * time_source,
  bool * is_enabled);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_set_ros_time_override(rcl_time_source_t * time_source,
  rcl_time_point_value_t time_value);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_system_time_now(rcl_time_point_value_t * now);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_steady_time_now(rcl_time_point_value_t * now);

#if __cplusplus
}
#endif

#endif  // RCL__TIME_H_