move synchronized state to new api (#121)

remove synchronized check from rmw_uros_epoch

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

Author: amfern

rmw_microxrcedds_c/include/rmw_uros/options.h

@@ -58,19 +58,23 @@ typedef struct rmw_uxrce_transport_params_t
 } rmw_uxrce_transport_params_t;
 
 
+/**
+ * \brief Returns the time synchronization state of the epoch time.
+ * \return true if last time synchronization succeded and false otherwise
+ */
+bool rmw_uros_epoch_synchronized();
+
 /**
  * \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();
 

rmw_microxrcedds_c/src/rmw_uros_options.c

@@ -28,24 +28,32 @@
 #include <uxr/client/util/ping.h>
 #include <uxr/client/util/time.h>
 
-int64_t rmw_uros_epoch_millis()
+bool rmw_uros_epoch_synchronized()
 {
     // Check session is initialized
     if (NULL == session_memory.allocateditems)
     {
         RMW_SET_ERROR_MSG("Uninitialized session.");
-        return 0;
+        return false;
     }
-
     rmw_uxrce_mempool_item_t* item = session_memory.allocateditems;
     rmw_context_impl_t* context = (rmw_context_impl_t*)item->data;
 
-    if (!context->session.synchronized)
+    return context->session.synchronized;
+}
+
+int64_t rmw_uros_epoch_millis()
+{
+    // Check session is initialized
+    if (NULL == session_memory.allocateditems)
     {
-        RMW_SET_ERROR_MSG("Session time not synchronized");
-        return -1;
+        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;
+
     return uxr_epoch_millis(&context->session);
 }
 
@@ -61,12 +69,6 @@ int64_t rmw_uros_epoch_nanos()
     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);
 }
 
@@ -84,7 +86,6 @@ 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))
     {