.. _program_listing_file_include_rcl_time.h:

Program Listing for File time.h
===============================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rcl_time.h>` (``include/rcl/time.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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 RCL__TIME_H_
   #define RCL__TIME_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include "rcl/allocator.h"
   #include "rcl/macros.h"
   #include "rcl/types.h"
   #include "rcl/visibility_control.h"
   #include "rcutils/time.h"
   
   #define RCL_S_TO_NS RCUTILS_S_TO_NS
   #define RCL_MS_TO_NS RCUTILS_MS_TO_NS
   #define RCL_US_TO_NS RCUTILS_US_TO_NS
   
   #define RCL_NS_TO_S RCUTILS_NS_TO_S
   #define RCL_NS_TO_MS RCUTILS_NS_TO_MS
   #define RCL_NS_TO_US RCUTILS_NS_TO_US
   
   typedef rcutils_time_point_value_t rcl_time_point_value_t;
   typedef rcutils_duration_value_t rcl_duration_value_t;
   
   
   typedef enum rcl_clock_type_e
   {
     RCL_CLOCK_UNINITIALIZED = 0,
     RCL_ROS_TIME,
     RCL_SYSTEM_TIME,
     RCL_STEADY_TIME
   } rcl_clock_type_t;
   
   typedef struct rcl_duration_s
   {
     rcl_duration_value_t nanoseconds;
   } rcl_duration_t;
   
   typedef enum rcl_clock_change_e
   {
     RCL_ROS_TIME_NO_CHANGE = 1,
     RCL_ROS_TIME_ACTIVATED = 2,
     RCL_ROS_TIME_DEACTIVATED = 3,
     RCL_SYSTEM_TIME_NO_CHANGE = 4
   } rcl_clock_change_t;
   
   typedef struct rcl_time_jump_s
   {
     rcl_clock_change_t clock_change;
     rcl_duration_t delta;
   } rcl_time_jump_t;
   
   typedef void (* rcl_jump_callback_t)(
     const rcl_time_jump_t * time_jump,
     bool before_jump,
     void * user_data);
   
   typedef struct rcl_jump_threshold_s
   {
     bool on_clock_change;
     rcl_duration_t min_forward;
     rcl_duration_t min_backward;
   } rcl_jump_threshold_t;
   
   typedef struct rcl_jump_callback_info_s
   {
     rcl_jump_callback_t callback;
     rcl_jump_threshold_t threshold;
     void * user_data;
   } rcl_jump_callback_info_t;
   
   typedef struct rcl_clock_s
   {
     rcl_clock_type_t type;
     rcl_jump_callback_info_t * jump_callbacks;
     size_t num_jump_callbacks;
     rcl_ret_t (* get_now)(void * data, rcl_time_point_value_t * now);
     // void (*set_now) (rcl_time_point_value_t);
     void * data;
     rcl_allocator_t allocator;
   } rcl_clock_t;
   
   typedef struct rcl_time_point_s
   {
     rcl_time_point_value_t nanoseconds;
     rcl_clock_type_t clock_type;
   } rcl_time_point_t;
   
   // typedef struct rcl_rate_t
   // {
   //   rcl_time_point_value_t trigger_time;
   //   int64_t period;
   //   rcl_clock_type_t clock;;
   // } rcl_rate_t;
   // TODO(tfoote) integrate rate and timer implementations
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   bool
   rcl_clock_time_started(rcl_clock_t * clock);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   bool
   rcl_clock_valid(rcl_clock_t * clock);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_clock_init(
     rcl_clock_type_t clock_type, rcl_clock_t * clock,
     rcl_allocator_t * allocator);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_clock_fini(
     rcl_clock_t * clock);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_ros_clock_init(
     rcl_clock_t * clock,
     rcl_allocator_t * allocator);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_ros_clock_fini(
     rcl_clock_t * clock);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_steady_clock_init(
     rcl_clock_t * clock,
     rcl_allocator_t * allocator);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_steady_clock_fini(
     rcl_clock_t * clock);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_system_clock_init(
     rcl_clock_t * clock,
     rcl_allocator_t * allocator);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_system_clock_fini(
     rcl_clock_t * clock);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_difference_times(
     const rcl_time_point_t * start, const rcl_time_point_t * finish, rcl_duration_t * delta);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_value_t * time_point_value);
   
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_enable_ros_time_override(rcl_clock_t * clock);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_disable_ros_time_override(rcl_clock_t * clock);
   
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_is_enabled_ros_time_override(
     rcl_clock_t * clock, bool * is_enabled);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_set_ros_time_override(
     rcl_clock_t * clock, rcl_time_point_value_t time_value);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_clock_add_jump_callback(
     rcl_clock_t * clock, rcl_jump_threshold_t threshold, rcl_jump_callback_t callback,
     void * user_data);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_clock_remove_jump_callback(
     rcl_clock_t * clock, rcl_jump_callback_t callback, void * user_data);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__TIME_H_