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Cleanup time_unix.c #389

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Oct 1, 2022
Merged

Cleanup time_unix.c #389

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53 changes: 24 additions & 29 deletions src/time_unix.c
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Original file line number Diff line number Diff line change
Expand Up @@ -16,11 +16,6 @@
# error time_unix.c is not intended to be used with win32 based systems
#endif // defined(_WIN32)

#ifdef __cplusplus
extern "C"
{
#endif

#include "rcutils/time.h"

#if defined(__MACH__) && defined(__APPLE__)
Expand All @@ -40,36 +35,38 @@ extern "C"
#include <time.h>
#endif // defined(__ZEPHYR__)

#include <errno.h>
#include <unistd.h>
#include "./common.h"

#include "rcutils/allocator.h"
#include "rcutils/error_handling.h"

#if !defined(__MACH__) && !defined(__APPLE__) // Assume clock_get_time is available on OS X.
// This id an appropriate check for clock_gettime() according to:
// This is an appropriate check for clock_gettime() according to:
// http://man7.org/linux/man-pages/man2/clock_gettime.2.html
# if !defined(_POSIX_TIMERS) || !_POSIX_TIMERS
# error no monotonic clock function available
# endif // !defined(_POSIX_TIMERS) || !_POSIX_TIMERS
#endif // !defined(__MACH__) && !defined(__APPLE__)

#define __WOULD_BE_NEGATIVE(seconds, subseconds) (seconds < 0 || (subseconds < 0 && seconds == 0))
static inline bool would_be_negative(const struct timespec * const now)
{
return now->tv_sec < 0 || (now->tv_nsec < 0 && now->tv_sec == 0);
}

rcutils_ret_t
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__) && defined(__APPLE__)
// On macOS, use clock_gettime(CLOCK_REALTIME), which matches
// the clang implementation
// Using clock_gettime(CLOCK_REALTIME) matches what both Linux and macOS use.
// For macOS, see the clang implementation at
// (https://github.com/llvm/llvm-project/blob/baebe12ad0d6f514cd33e418d6504075d3e79c0a/libcxx/src/chrono.cpp)
clock_gettime(CLOCK_REALTIME, &timespec_now);
#else // defined(__MACH__) && defined(__APPLE__)
// Otherwise use clock_gettime.
clock_gettime(CLOCK_REALTIME, &timespec_now);
#endif // defined(__MACH__) && defined(__APPLE__)
if (__WOULD_BE_NEGATIVE(timespec_now.tv_sec, timespec_now.tv_nsec)) {
if (clock_gettime(CLOCK_REALTIME, &timespec_now) < 0) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING("Failed to get system time: %d", errno);
return RCUTILS_RET_ERROR;
}
if (would_be_negative(&timespec_now)) {
RCUTILS_SET_ERROR_MSG("unexpected negative time");
return RCUTILS_RET_ERROR;
}
Expand All @@ -81,25 +78,23 @@ rcutils_ret_t
rcutils_steady_time_now(rcutils_time_point_value_t * now)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(now, RCUTILS_RET_INVALID_ARGUMENT);
// If clock_gettime is available or on OS X, use a timespec.
struct timespec timespec_now;
clockid_t monotonic_clock = CLOCK_MONOTONIC;

#if defined(__MACH__) && defined(__APPLE__)
// On macOS, use clock_gettime(CLOCK_MONOTONIC_RAW), which matches
// the clang implementation
// On macOS, use 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__) && defined(__APPLE__)
// Otherwise use clock_gettime.
clock_gettime(CLOCK_MONOTONIC, &timespec_now);
monotonic_clock = CLOCK_MONOTONIC_RAW;
#endif // defined(__MACH__) && defined(__APPLE__)
if (__WOULD_BE_NEGATIVE(timespec_now.tv_sec, timespec_now.tv_nsec)) {

if (clock_gettime(monotonic_clock, &timespec_now) < 0) {
RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING("Failed to get steady time: %d", errno);
return RCUTILS_RET_ERROR;
}
if (would_be_negative(&timespec_now)) {
RCUTILS_SET_ERROR_MSG("unexpected negative time");
return RCUTILS_RET_ERROR;
}
*now = RCUTILS_S_TO_NS((int64_t)timespec_now.tv_sec) + timespec_now.tv_nsec;
return RCUTILS_RET_OK;
}

#ifdef __cplusplus
}
#endif