rcutils  master
C API providing common utilities and data structures.
time.h
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1 // Copyright 2015 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCUTILS__TIME_H_
16 #define RCUTILS__TIME_H_
17 
18 #ifdef __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include <stdint.h>
24 
25 #include "rcutils/macros.h"
26 #include "rcutils/types.h"
28 
30 #define RCUTILS_S_TO_NS(seconds) (seconds * (1000LL * 1000LL * 1000LL))
31 #define RCUTILS_MS_TO_NS(milliseconds) (milliseconds * (1000LL * 1000LL))
33 #define RCUTILS_US_TO_NS(microseconds) (microseconds * 1000LL)
35 
37 #define RCUTILS_NS_TO_S(nanoseconds) (nanoseconds / (1000LL * 1000LL * 1000LL))
38 #define RCUTILS_NS_TO_MS(nanoseconds) (nanoseconds / (1000LL * 1000LL))
40 #define RCUTILS_NS_TO_US(nanoseconds) (nanoseconds / 1000LL)
42 #define RCUTILS_STEADY_TIME rcutils_steady_time_now
44 
48 typedef int64_t rcutils_duration_value_t;
49 
75 rcutils_system_time_now(rcutils_time_point_value_t * now);
76 
78 
103 rcutils_steady_time_now(rcutils_time_point_value_t * now);
104 
106 
140  const rcutils_time_point_value_t * time_point,
141  char * str,
142  size_t str_size);
143 
145 
179  const rcutils_time_point_value_t * time_point,
180  char * str,
181  size_t str_size);
182 
183 #ifdef __cplusplus
184 }
185 #endif
186 
187 #endif // RCUTILS__TIME_H_
rcutils_ret_t rcutils_system_time_now(rcutils_time_point_value_t *now)
rcutils_ret_t rcutils_time_point_value_as_seconds_string(const rcutils_time_point_value_t *time_point, char *str, size_t str_size)
Return a time point as floating point seconds in a string.
int rcutils_ret_t
Definition: rcutils_ret.h:23
int64_t rcutils_time_point_value_t
A single point in time, measured in nanoseconds since the Unix epoch.
Definition: time.h:46
int64_t rcutils_duration_value_t
A duration of time, measured in nanoseconds.
Definition: time.h:48
rcutils_ret_t rcutils_steady_time_now(rcutils_time_point_value_t *now)
Retrieve the current time as a rcutils_time_point_value_t object.
rcutils_ret_t rcutils_time_point_value_as_nanoseconds_string(const rcutils_time_point_value_t *time_point, char *str, size_t str_size)
Return a time point as nanoseconds in a string.
#define RCUTILS_WARN_UNUSED
Definition: macros.h:24
#define RCUTILS_PUBLIC
Definition: visibility_control.h:48