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unitree_SDK/include/dds/ddsrt/time/freertos.h

@@ -0,0 +1,53 @@
+/*
+ * Copyright(c) 2006 to 2019 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 DDSRT_TIME_FREERTOS_H
+#define DDSRT_TIME_FREERTOS_H
+
+#include <assert.h>
+#include <FreeRTOS.h>
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+#define DDSRT_NSECS_PER_TICK (DDS_NSECS_IN_SEC / configTICK_RATE_HZ)
+
+inline TickType_t
+ddsrt_duration_to_ticks_ceil(
+  dds_duration_t reltime)
+{
+  TickType_t ticks = 0;
+
+  assert(portMAX_DELAY > configTICK_RATE_HZ);
+
+  if (reltime == DDS_INFINITY) {
+    ticks = portMAX_DELAY;
+  } else if (reltime > 0) {
+    dds_duration_t max_nsecs =
+      (DDS_INFINITY / DDSRT_NSECS_PER_TICK < portMAX_DELAY
+        ? DDS_INFINITY - 1 : portMAX_DELAY * DDSRT_NSECS_PER_TICK);
+
+    if (reltime > max_nsecs - (DDSRT_NSECS_PER_TICK - 1)) {
+      ticks = portMAX_DELAY;
+    } else {
+      ticks = (TickType_t)((reltime + (DDSRT_NSECS_PER_TICK - 1)) / DDSRT_NSECS_PER_TICK);
+    }
+  }
+
+  return ticks;
+}
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_TIME_FREERTOS_H */