init

unitree_SDK/include/dds/ddsi/ddsi_time.h

@@ -0,0 +1,44 @@
+/*
+ * Copyright(c) 2006 to 2020 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#ifndef DDSI_TIME_H
+#define DDSI_TIME_H
+
+#include <stdint.h>
+
+#include "dds/export.h"
+#include "dds/ddsrt/time.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+typedef struct {
+  int32_t seconds;
+  uint32_t fraction;
+} ddsi_time_t;
+#define DDSI_TIME_INFINITE ((ddsi_time_t) { INT32_MAX, UINT32_MAX })
+#define DDSI_TIME_INVALID ((ddsi_time_t) { -1, UINT32_MAX })
+
+typedef ddsi_time_t ddsi_duration_t;
+
+bool ddsi_is_valid_timestamp (ddsi_time_t t);
+
+DDS_EXPORT ddsi_time_t ddsi_wctime_to_ddsi_time (ddsrt_wctime_t t);
+DDS_EXPORT ddsrt_wctime_t ddsi_wctime_from_ddsi_time (ddsi_time_t x);
+DDS_EXPORT ddsi_duration_t ddsi_to_ddsi_duration (dds_duration_t t);
+DDS_EXPORT dds_duration_t ddsi_from_ddsi_duration (ddsi_duration_t x);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSI_TIME_H */