time_utils.hpp

// Copyright 2020 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 RMW_DDS_COMMON__TIME_UTILS_HPP_
#define RMW_DDS_COMMON__TIME_UTILS_HPP_
 
#include "rmw/types.h"
 
#include "rmw_dds_common/visibility_control.h"
 
namespace rmw_dds_common
{
 
/*
 * The DDS standard specifies the Time_t and Duration_t types with
 * "long sec" and "unsigned long nanosec", and the IDL to C++11 mapping
 * states that the C++ types for long and unsigned long are mapped
 * to int32_t and uint32_t, respectively. So, the 64-bit seconds and
 * nanoseconds values will be truncated to 32-bits when converted
 * from rmw_time_t to either a DDS Duration_t or Time_t. This function
 * limits the seconds value to the signed 32-bit maximum and attempts
 * to move the excess seconds to the nanoseconds field. If the resulting
 * nanoseconds value is too large for unsigned 32-bits it saturates
 * and issues a warning.
 *
 * \param[in] time to convert
 * \return converted time value
 */
RMW_DDS_COMMON_PUBLIC
rmw_time_t
clamp_rmw_time_to_dds_time(const rmw_time_t & time);
 
}  // namespace rmw_dds_common
 
#endif  // RMW_DDS_COMMON__TIME_UTILS_HPP_