full timestamp representation in zenoh-flat

Author: milyin

zenoh-flat-jni/build.rs

@@ -192,6 +192,12 @@ fn main() {
         .class_object_fun(pq!(encoding_video_raw))
         .class_object_fun(pq!(encoding_video_vp8))
         .class_object_fun(pq!(encoding_video_vp9))
+        .package("time")
+        .ptr_class(pq!(ZTimestamp))
+        .class_fun(pq!(z_timestamp_ntp64))
+        .class_fun(pq!(z_timestamp_id))
+        .class_fun(pq!(z_timestamp_expand))
+        .data_class(pq!(Timestamp))
         .package("sample")
         .enum_class(pq!(SampleKind))
         .ptr_class(pq!(ZSample))

zenoh-flat-jni/generated-kotlin/io/zenoh/jni/JNINative.kt

@@ -23,6 +23,8 @@ import io.zenoh.jni.sample.Sample
 import io.zenoh.jni.sample.SampleKind
 import io.zenoh.jni.sample.ZSample
 import io.zenoh.jni.scouting.ZScout
+import io.zenoh.jni.time.Timestamp
+import io.zenoh.jni.time.ZTimestamp
 
 internal object JNINative {
     external fun encodingApplicationCbor(): Encoding
@@ -191,6 +193,9 @@ internal object JNINative {
     external fun zSamplePriority(s: Long): Int
     external fun zSampleTimestamp(s: Long): Long
     external fun zScout(whatami: Int, config: Long, callback: ZHelloCallback, onClose: Callback): Long
+    external fun zTimestampExpand(t: Long): Timestamp
+    external fun zTimestampId(t: Long): ByteArray
+    external fun zTimestampNtp64(t: Long): Long
     external fun zZbytesFromBytes(bytes: ByteArray): Long
     external fun zZbytesToBytes(z: Long): ByteArray
     external fun zZenohIdToBytes(z: Long): ByteArray

zenoh-flat-jni/generated-kotlin/io/zenoh/jni/sample/Sample.kt

@@ -6,13 +6,14 @@ import io.zenoh.jni.bytes.ZBytes
 import io.zenoh.jni.keyexpr.KeyExpr
 import io.zenoh.jni.qos.CongestionControl
 import io.zenoh.jni.qos.Priority
+import io.zenoh.jni.time.Timestamp
 
 public data class Sample(
     val keyExpr: KeyExpr,
     val payload: ZBytes,
     val encoding: Encoding,
     val kind: SampleKind,
-    val timestamp: Long?,
+    val timestamp: Timestamp?,
     val express: Boolean,
     val priority: Priority,
     val congestionControl: CongestionControl,

zenoh-flat-jni/generated-kotlin/io/zenoh/jni/sample/ZSample.kt

@@ -8,6 +8,7 @@ import io.zenoh.jni.bytes.ZZBytes
 import io.zenoh.jni.keyexpr.ZKeyExpr
 import io.zenoh.jni.qos.CongestionControl
 import io.zenoh.jni.qos.Priority
+import io.zenoh.jni.time.ZTimestamp
 
 /** Typed handle for a native Zenoh `ZSample`. */
 public class ZSample(initialPtr: Long) : AutoCloseable {
@@ -69,11 +70,11 @@ public class ZSample(initialPtr: Long) : AutoCloseable {
     }
 
     @Throws(JniBindingError::class)
-    public fun zSampleTimestamp(): Long {
+    public fun zSampleTimestamp(): ZTimestamp? {
         synchronized(this) {
             val s_ptr = this.ptr
             if (s_ptr == 0L) throw JniBindingError("Operation on a closed native handle.")
-            return JNINative.zSampleTimestamp(s_ptr)
+            return ZTimestamp(JNINative.zSampleTimestamp(s_ptr))
         }
     }
 

zenoh-flat-jni/generated-kotlin/io/zenoh/jni/time/Timestamp.kt

@@ -0,0 +1,10 @@
+// Auto-generated by JniExt — do not edit by hand.
+package io.zenoh.jni.time
+
+public data class Timestamp(
+    val ntp64: Long,
+    val id: ByteArray,
+) {
+    public companion object {
+    }
+}

zenoh-flat-jni/generated-kotlin/io/zenoh/jni/time/ZTimestamp.kt

@@ -0,0 +1,61 @@
+// Auto-generated by JniExt — do not edit by hand.
+package io.zenoh.jni.time
+
+import io.zenoh.jni.JNINative
+import io.zenoh.jni.JniBindingError
+
+/** Typed handle for a native Zenoh `ZTimestamp`. */
+public class ZTimestamp(initialPtr: Long) : AutoCloseable {
+    @Volatile internal var ptr: Long = initialPtr
+
+    public fun peek(): Long = ptr
+    public fun isClosed(): Boolean = ptr == 0L
+
+    @Synchronized
+    override fun close() {
+        val p = ptr
+        if (p != 0L) {
+            ptr = 0L
+            freePtr(p)
+        }
+    }
+
+    @Synchronized
+    public fun take(): ZTimestamp {
+        val p = ptr
+        ptr = 0L
+        return ZTimestamp(p)
+    }
+
+    @Throws(JniBindingError::class)
+    public fun zTimestampNtp64(): Long {
+        synchronized(this) {
+            val t_ptr = this.ptr
+            if (t_ptr == 0L) throw JniBindingError("Operation on a closed native handle.")
+            return JNINative.zTimestampNtp64(t_ptr)
+        }
+    }
+
+    @Throws(JniBindingError::class)
+    public fun zTimestampId(): ByteArray {
+        synchronized(this) {
+            val t_ptr = this.ptr
+            if (t_ptr == 0L) throw JniBindingError("Operation on a closed native handle.")
+            return JNINative.zTimestampId(t_ptr)
+        }
+    }
+
+    @Throws(JniBindingError::class)
+    public fun zTimestampExpand(): Timestamp {
+        synchronized(this) {
+            val t_ptr = this.ptr
+            if (t_ptr == 0L) throw JniBindingError("Operation on a closed native handle.")
+            return JNINative.zTimestampExpand(t_ptr)
+        }
+    }
+
+    public companion object {
+        @JvmStatic
+        external fun freePtr(ptr: Long)
+    }
+}

zenoh-flat/src/lib.rs

@@ -25,6 +25,7 @@ pub(crate) mod logger;
 pub(crate) mod publisher;
 pub(crate) mod query;
 pub(crate) mod sample;
+pub(crate) mod time;
 pub(crate) mod util;
 
 // reexports to make all zenoh-flat API really flat
@@ -38,6 +39,7 @@ pub use logger::*;
 pub use publisher::*;
 pub use query::*;
 pub use sample::*;
+pub use time::*;
 
 // reexports of zenoh types with Z prefix to distiguish them from zenoh-flat types
 pub type ZKeyExpr = zenoh::key_expr::KeyExpr<'static>;
@@ -53,4 +55,5 @@ pub type ZQueryable = zenoh::query::Queryable<()>;
 pub type ZQuerier = zenoh::query::Querier<'static>;
 pub type ZQuery = zenoh::query::Query;
 pub type ZSample = zenoh::sample::Sample;
-pub type ZReply = zenoh::query::Reply;
+pub type ZReply = zenoh::query::Reply;
+pub type ZTimestamp = zenoh::time::Timestamp;

zenoh-flat/src/sample/sample.rs

@@ -1,4 +1,4 @@
-use crate::{CongestionControl, Encoding, KeyExpr, Priority, SampleKind, ZBytes, ZSample};
+use crate::{CongestionControl, Encoding, KeyExpr, Priority, SampleKind, Timestamp, ZBytes, ZSample};
 use prebindgen_proc_macro::prebindgen;
 
 /// Data-class twin of [`ZSample`]. Carries every field decoded so bindings
@@ -10,7 +10,7 @@ pub struct Sample {
     pub payload: ZBytes,
     pub encoding: Encoding,
     pub kind: SampleKind,
-    pub timestamp: Option<i64>,
+    pub timestamp: Option<Timestamp>,
     pub express: bool,
     pub priority: Priority,
     pub congestion_control: CongestionControl,
@@ -26,7 +26,7 @@ impl From<&ZSample> for Sample {
             payload: ZBytes::from(s.payload().clone()),
             encoding: Encoding::from(s.encoding()),
             kind: s.kind().into(),
-            timestamp: s.timestamp().map(|t| t.get_time().as_u64() as i64),
+            timestamp: s.timestamp().map(Timestamp::from),
             express: s.express(),
             priority: s.priority().into(),
             congestion_control: s.congestion_control().into(),

zenoh-flat/src/sample/z_sample.rs

@@ -1,5 +1,5 @@
 use super::sample::Sample;
-use crate::{CongestionControl, Priority, SampleKind, ZEncoding, ZKeyExpr, ZSample, ZZBytes};
+use crate::{CongestionControl, Priority, SampleKind, ZEncoding, ZKeyExpr, ZSample, ZTimestamp, ZZBytes};
 use prebindgen_proc_macro::prebindgen;
 
 /// Key expression the sample was published on (owned handle).
@@ -26,10 +26,10 @@ pub fn z_sample_kind(s: &ZSample) -> SampleKind {
     s.kind().into()
 }
 
-/// NTP64 timestamp, or `None` when the sample carries no timestamp.
+/// Timestamp handle, or `None` when the sample carries no timestamp.
 #[prebindgen]
-pub fn z_sample_timestamp(s: &ZSample) -> Option<i64> {
-    s.timestamp().map(|t| t.get_time().as_u64() as i64)
+pub fn z_sample_timestamp(s: &ZSample) -> Option<ZTimestamp> {
+    s.timestamp().copied()
 }
 
 /// QoS express flag.

zenoh-flat/src/time/mod.rs

@@ -0,0 +1,5 @@
+pub(crate) mod timestamp;
+pub(crate) mod z_timestamp;
+
+pub use timestamp::*;
+pub use z_timestamp::*;