timesync epoch helpers (#119)

* timesync epoch helpers

Signed-off-by: Ilya Guterman <amfernusus@gmail.com>

* Update test_rmw.cpp

Fix millis to seconds conversion

* Allow failure on non critital CI sections

* Update rmw_uros_options.c

Add session sync check on rmw_uros_epoch

* Update rmw_uros_options.c

Fix session variable typo

* Update rmw_uros_options.c

Fix uncrustify

* Update options.h

Update .h with return info

Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Author: 3 people

.github/workflows/ci.yml

@@ -56,6 +56,7 @@ jobs:
             find src test include \( -name "*.cpp" -o -name "*.c" -o -name "*.h" -o -name "*.hpp" \) -exec uncrustify -c uncrustify.cfg --check {} +
         
         - name: Static memory
+          continue-on-error: true
           if: github.event_name == 'pull_request' 
           uses: machine-learning-apps/pr-comment@master
           env:

rmw_microxrcedds_c/include/rmw_uros/options.h

@@ -57,15 +57,30 @@ typedef struct rmw_uxrce_transport_params_t
     uint32_t client_key;
 } rmw_uxrce_transport_params_t;
 
+
+/**
+ * \brief Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization.
+ * \return epoch time in milliseconds.
+ * \return 0 if session is not initialized.
+ * \return -1 if session time is not synchronized.
+ */
+int64_t rmw_uros_epoch_millis();
+
+/**
+ * \brief Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization.
+ * \return epoch time in nanoseconds.
+ * \return 0 if session is not initialized.
+ * \return -1 if session time is not synchronized.
+ */
+int64_t rmw_uros_epoch_nanos();
+
 /**
  * \brief Synchronizes the session time using the NTP protocol.
- * \param[in, out] result Variable to update with micro-ROS Agent POSIX timestamp in nanoseconds.
  * \param[in] timeout_ms The waiting time in milliseconds.
  * \return RMW_RET_OK when success.
- * \return RMW_RET_INVALID_ARGUMENT If no session is running or the synchronization fails.
+ * \return RMW_RET_ERROR If no session is running or the synchronization fails.
  */
 rmw_ret_t rmw_uros_sync_session(
-        int64_t* result,
         const int timeout_ms);
 
 /**

rmw_microxrcedds_c/src/rmw_uros_options.c

@@ -28,8 +28,49 @@
 #include <uxr/client/util/ping.h>
 #include <uxr/client/util/time.h>
 
+int64_t rmw_uros_epoch_millis()
+{
+    // Check session is initialized
+    if (NULL == session_memory.allocateditems)
+    {
+        RMW_SET_ERROR_MSG("Uninitialized session.");
+        return 0;
+    }
+
+    rmw_uxrce_mempool_item_t* item = session_memory.allocateditems;
+    rmw_context_impl_t* context = (rmw_context_impl_t*)item->data;
+
+    if (!context->session.synchronized)
+    {
+        RMW_SET_ERROR_MSG("Session time not synchronized");
+        return -1;
+    }
+
+    return uxr_epoch_millis(&context->session);
+}
+
+int64_t rmw_uros_epoch_nanos()
+{
+    // Check session is initialized
+    if (NULL == session_memory.allocateditems)
+    {
+        RMW_SET_ERROR_MSG("Uninitialized session.");
+        return 0;
+    }
+
+    rmw_uxrce_mempool_item_t* item = session_memory.allocateditems;
+    rmw_context_impl_t* context = (rmw_context_impl_t*)item->data;
+
+    if (!context->session.synchronized)
+    {
+        RMW_SET_ERROR_MSG("Session time not synchronized");
+        return -1;
+    }
+
+    return uxr_epoch_nanos(&context->session);
+}
+
 rmw_ret_t rmw_uros_sync_session(
-        int64_t* result,
         const int timeout_ms)
 {
     rmw_ret_t ret = RMW_RET_OK;
@@ -43,12 +84,9 @@ rmw_ret_t rmw_uros_sync_session(
 
     rmw_uxrce_mempool_item_t* item = session_memory.allocateditems;
     rmw_context_impl_t* context = (rmw_context_impl_t*)item->data;
+    context->session.synchronized = false;
 
-    if (uxr_sync_session(&context->session, timeout_ms))
-    {
-        *result = uxr_nanos() - context->session.time_offset;
-    }
-    else
+    if (!uxr_sync_session(&context->session, timeout_ms))
     {
         RMW_SET_ERROR_MSG("Time synchronization failed.");
         return RMW_RET_ERROR;

rmw_microxrcedds_c/test/test_rmw.cpp

@@ -73,16 +73,18 @@ TEST(rmw_microxrcedds, sync_session)
 {
     rmw_context_t test_context = rmw_get_zero_initialized_context();
     rmw_init_options_t test_options = rmw_get_zero_initialized_init_options();
-    int64_t result_ns = 0;
 
     ASSERT_EQ(rmw_init_options_init(&test_options, rcutils_get_default_allocator()), RMW_RET_OK);
     ASSERT_EQ(rmw_init(&test_options, &test_context), RMW_RET_OK);
 
     std::time_t timestamp_seconds = std::time(nullptr);
-    ASSERT_EQ(rmw_uros_sync_session(&result_ns, 500), RMW_RET_OK);
+    ASSERT_EQ(rmw_uros_sync_session(500), RMW_RET_OK);
 
-    int64_t time_diff = abs(result_ns / 1000000000 - timestamp_seconds);
-    ASSERT_LE(time_diff, 5);
+    int64_t time_diff_ns = abs(rmw_uros_epoch_nanos() / 1000000000 - timestamp_seconds);
+    ASSERT_LE(time_diff_ns, 5);
+
+    int64_t time_diff_ms = abs(rmw_uros_epoch_millis() / 1000 - timestamp_seconds);
+    ASSERT_LE(time_diff_ms, 5);
 
     ASSERT_EQ(rmw_shutdown(&test_context), RMW_RET_OK);
-}
+}