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 RCUTILS__TIME_H_
#define RCUTILS__TIME_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include <stdint.h>

#include "rcutils/macros.h"
#include "rcutils/types.h"
#include "rcutils/visibility_control.h"

#define RCUTILS_S_TO_NS(seconds) (seconds * (1000 * 1000 * 1000))
#define RCUTILS_MS_TO_NS(milliseconds) (milliseconds * (1000 * 1000))
#define RCUTILS_US_TO_NS(microseconds) (microseconds * 1000)

#define RCUTILS_NS_TO_S(nanoseconds) (nanoseconds / (1000 * 1000 * 1000))
#define RCUTILS_NS_TO_MS(nanoseconds) (nanoseconds / (1000 * 1000))
#define RCUTILS_NS_TO_US(nanoseconds) (nanoseconds / 1000)

typedef int64_t rcutils_time_point_value_t;
typedef int64_t rcutils_duration_value_t;

RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_ret_t
rcutils_system_time_now(rcutils_time_point_value_t * now);


RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_ret_t
rcutils_steady_time_now(rcutils_time_point_value_t * now);


RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_ret_t
rcutils_time_point_value_as_nanoseconds_string(
  const rcutils_time_point_value_t * time_point,
  char * str,
  size_t str_size);


RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_ret_t
rcutils_time_point_value_as_seconds_string(
  const rcutils_time_point_value_t * time_point,
  char * str,
  size_t str_size);

#ifdef __cplusplus
}
#endif

#endif  // RCUTILS__TIME_H_