1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163

use std::{fmt::Debug, mem::MaybeUninit, time::Duration};

use crate::{error::*, msg_types::generated_msgs::builtin_interfaces};
use r2r_rcl::*;

/// Different ROS clock types.
#[derive(Debug, Copy, Clone)]
pub enum ClockType {
    RosTime,
    SystemTime,
    SteadyTime,
}

unsafe impl Send for Clock {}

/// A ROS clock.
pub struct Clock {
    pub(crate) clock_handle: Box<rcl_clock_t>,
    clock_type: ClockType,
}

pub fn clock_type_to_rcl(ct: &ClockType) -> rcl_clock_type_t {
    match ct {
        ClockType::RosTime => rcl_clock_type_t::RCL_ROS_TIME,
        ClockType::SystemTime => rcl_clock_type_t::RCL_SYSTEM_TIME,
        ClockType::SteadyTime => rcl_clock_type_t::RCL_STEADY_TIME,
    }
}

impl Clock {
    /// Create a new clock with the specified type.
    pub fn create(ct: ClockType) -> Result<Clock> {
        let mut clock_handle = MaybeUninit::<rcl_clock_t>::uninit();

        let rcl_ct = clock_type_to_rcl(&ct);
        let ret = unsafe {
            rcl_clock_init(rcl_ct, clock_handle.as_mut_ptr(), &mut rcutils_get_default_allocator())
        };
        if ret != RCL_RET_OK as i32 {
            log::error!("could not create {:?} clock: {}", ct, ret);
            return Err(Error::from_rcl_error(ret));
        }

        let clock_handle = Box::new(unsafe { clock_handle.assume_init() });
        Ok(Clock {
            clock_handle,
            clock_type: ct,
        })
    }

    pub fn get_now(&mut self) -> Result<Duration> {
        let valid = unsafe { rcl_clock_valid(&mut *self.clock_handle) };
        if !valid {
            return Err(Error::from_rcl_error(RCL_RET_INVALID_ARGUMENT as i32));
        }
        let mut tp: rcutils_time_point_value_t = 0;
        let ret = unsafe { rcl_clock_get_now(&mut *self.clock_handle, &mut tp) };

        if ret != RCL_RET_OK as i32 {
            log::error!("could not create steady clock: {}", ret);
            return Err(Error::from_rcl_error(ret));
        }

        let dur = Duration::from_nanos(tp as u64);

        Ok(dur)
    }

    pub fn get_clock_type(&self) -> ClockType {
        self.clock_type
    }

    /// TODO: move to builtin helper methods module.
    pub fn to_builtin_time(d: &Duration) -> builtin_interfaces::msg::Time {
        let sec = d.as_secs() as i32;
        let nanosec = d.subsec_nanos();
        builtin_interfaces::msg::Time { sec, nanosec }
    }

    /// Enables alternative source of time for this clock
    ///
    /// The clock must be [`ClockType::RosTime`].
    ///
    /// Wrapper for `rcl_enable_ros_time_override`
    #[cfg(r2r__rosgraph_msgs__msg__Clock)]
    pub(crate) fn enable_ros_time_override(
        &mut self, initial_time: rcl_time_point_value_t,
    ) -> Result<()> {
        let valid = unsafe { rcl_clock_valid(&mut *self.clock_handle) };
        if !valid {
            return Err(Error::from_rcl_error(RCL_RET_INVALID_ARGUMENT as i32));
        }

        let ret = unsafe { rcl_enable_ros_time_override(&mut *self.clock_handle) };
        if ret != RCL_RET_OK as i32 {
            log::error!("could not enable ros time override: {}", ret);
            return Err(Error::from_rcl_error(ret));
        }

        self.set_ros_time_override(initial_time)?;

        Ok(())
    }

    /// Disables alternative source of time for this clock
    ///
    /// The clock must be [`ClockType::RosTime`].
    ///
    /// Wrapper for `rcl_disable_ros_time_override`
    #[cfg(r2r__rosgraph_msgs__msg__Clock)]
    pub(crate) fn disable_ros_time_override(&mut self) -> Result<()> {
        let valid = unsafe { rcl_clock_valid(&mut *self.clock_handle) };
        if !valid {
            return Err(Error::from_rcl_error(RCL_RET_INVALID_ARGUMENT as i32));
        }

        let ret = unsafe { rcl_disable_ros_time_override(&mut *self.clock_handle) };
        if ret != RCL_RET_OK as i32 {
            log::error!("could not disable ros time override: {}", ret);
            return Err(Error::from_rcl_error(ret));
        }

        Ok(())
    }

    /// Sets new time value if the clock has enabled alternative time source
    ///
    /// If the clock does not have alternative time source enabled this function will not change the time.
    ///
    /// The clock must be [`ClockType::RosTime`].
    ///
    /// Wrapper for `rcl_set_ros_time_override`
    #[cfg(r2r__rosgraph_msgs__msg__Clock)]
    pub(crate) fn set_ros_time_override(&mut self, time: rcl_time_point_value_t) -> Result<()> {
        let valid = unsafe { rcl_clock_valid(&mut *self.clock_handle) };
        if !valid {
            return Err(Error::from_rcl_error(RCL_RET_INVALID_ARGUMENT as i32));
        }

        let ret = unsafe { rcl_set_ros_time_override(&mut *self.clock_handle, time) };
        if ret != RCL_RET_OK as i32 {
            log::error!("could not set ros time override: {}", ret);
            return Err(Error::from_rcl_error(ret));
        }

        Ok(())
    }
}

impl From<builtin_interfaces::msg::Time> for rcutils_time_point_value_t {
    fn from(msg: builtin_interfaces::msg::Time) -> Self {
        (msg.sec as rcl_time_point_value_t) * 1_000_000_000
            + (msg.nanosec as rcl_time_point_value_t)
    }
}

impl Drop for Clock {
    fn drop(&mut self) {
        unsafe {
            rcl_clock_fini(&mut *self.clock_handle);
        }
    }
}