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Update rcutils_steady_time_now to return the same data as std::chrono #357

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merged 2 commits into from
Apr 27, 2022
Merged

Update rcutils_steady_time_now to return the same data as std::chrono #357

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5153da2
Update rcutils_steady_time_now to return the same data as std::chrono
clalancette Apr 22, 2022
aaa21db
More fixes for macOS.
clalancette Apr 26, 2022
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28 changes: 8 additions & 20 deletions src/time_unix.c
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Original file line number Diff line number Diff line change
Expand Up @@ -51,14 +51,10 @@ rcutils_system_time_now(rcutils_time_point_value_t * now)
RCUTILS_CHECK_ARGUMENT_FOR_NULL(now, RCUTILS_RET_INVALID_ARGUMENT);
struct timespec timespec_now;
#if defined(__MACH__)
// On OS X use clock_get_time.
clock_serv_t cclock;
mach_timespec_t mts;
host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock);
clock_get_time(cclock, &mts);
mach_port_deallocate(mach_task_self(), cclock);
timespec_now.tv_sec = mts.tv_sec;
timespec_now.tv_nsec = mts.tv_nsec;
// On macOS, use clock_gettime(CLOCK_REALTIME), which matches
// the clang implementation
// (https://github.com/llvm/llvm-project/blob/baebe12ad0d6f514cd33e418d6504075d3e79c0a/libcxx/src/chrono.cpp)
clock_gettime(CLOCK_REALTIME, &timespec_now);
#else // defined(__MACH__)
// Otherwise use clock_gettime.
clock_gettime(CLOCK_REALTIME, &timespec_now);
Expand All @@ -78,21 +74,13 @@ rcutils_steady_time_now(rcutils_time_point_value_t * now)
// If clock_gettime is available or on OS X, use a timespec.
struct timespec timespec_now;
#if defined(__MACH__)
// On OS X use clock_get_time.
clock_serv_t cclock;
mach_timespec_t mts;
host_get_clock_service(mach_host_self(), SYSTEM_CLOCK, &cclock);
clock_get_time(cclock, &mts);
mach_port_deallocate(mach_task_self(), cclock);
timespec_now.tv_sec = mts.tv_sec;
timespec_now.tv_nsec = mts.tv_nsec;
// On macOS, use clock_gettime(CLOCK_MONOTONIC_RAW), which matches
// the clang implementation
// (https://github.com/llvm/llvm-project/blob/baebe12ad0d6f514cd33e418d6504075d3e79c0a/libcxx/src/chrono.cpp)
clock_gettime(CLOCK_MONOTONIC_RAW, &timespec_now);
#else // defined(__MACH__)
// Otherwise use clock_gettime.
#if defined(CLOCK_MONOTONIC_RAW)
clock_gettime(CLOCK_MONOTONIC_RAW, &timespec_now);
#else // defined(CLOCK_MONOTONIC_RAW)
clock_gettime(CLOCK_MONOTONIC, &timespec_now);
#endif // defined(CLOCK_MONOTONIC_RAW)
#endif // defined(__MACH__)
if (__WOULD_BE_NEGATIVE(timespec_now.tv_sec, timespec_now.tv_nsec)) {
RCUTILS_SET_ERROR_MSG("unexpected negative time");
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14 changes: 0 additions & 14 deletions test/test_time.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -193,17 +193,7 @@ TEST_F(TestTimeFixture, test_rcutils_steady_time_now) {

#if !defined(_WIN32)

// For mocking purposes
#if defined(__MACH__)
#include <mach/clock.h>
#include <mach/mach.h>
#define clock_gettime clock_get_time
#endif

// Tests rcutils_system_time_now() and rcutils_steady_time_now() functions
// when system clocks misbehave.
TEST_F(TestTimeFixture, test_rcutils_with_bad_system_clocks) {
#if !defined (__MACH__) // as tv_sec is an unsigned integer there
{
auto mock = mocking_utils::patch(
"lib:rcutils", clock_gettime,
Expand All @@ -222,7 +212,6 @@ TEST_F(TestTimeFixture, test_rcutils_with_bad_system_clocks) {
EXPECT_EQ(RCUTILS_RET_ERROR, ret);
rcutils_reset_error();
}
#endif
{
auto mock = mocking_utils::patch(
"lib:rcutils", clock_gettime,
Expand All @@ -243,9 +232,6 @@ TEST_F(TestTimeFixture, test_rcutils_with_bad_system_clocks) {
}
}

#if defined(__MACH__)
#undef clock_gettime
#endif
#endif // !defined(_WIN32)

// Tests the rcutils_time_point_value_as_nanoseconds_string() function.
Expand Down