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use int64_t for period. #1010

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merged 2 commits into from
Oct 4, 2022
Merged

use int64_t for period. #1010

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065976b
use int64_t for period.
fujitatomoya Sep 30, 2022
c295170
add comment that period is meant to be int64_t.
fujitatomoya Oct 3, 2022
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15 changes: 8 additions & 7 deletions rcl/src/rcl/timer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,9 @@ struct rcl_timer_impl_s
rcl_guard_condition_t guard_condition;
// The user supplied callback.
atomic_uintptr_t callback;
// This is a duration in nanoseconds.
atomic_uint_least64_t period;
// This is a duration in nanoseconds, which is initialized as int64_t
// to be used for internal time calculation.
atomic_int_least64_t period;
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// This is a time in nanoseconds since an unspecified time.
atomic_int_least64_t last_call_time;
// This is a time in nanoseconds since an unspecified time.
Expand Down Expand Up @@ -92,7 +93,7 @@ void _rcl_timer_time_jump(
}
const int64_t last_call_time = rcutils_atomic_load_int64_t(&timer->impl->last_call_time);
const int64_t next_call_time = rcutils_atomic_load_int64_t(&timer->impl->next_call_time);
const int64_t period = rcutils_atomic_load_uint64_t(&timer->impl->period);
const int64_t period = rcutils_atomic_load_int64_t(&timer->impl->period);
if (RCL_ROS_TIME_ACTIVATED == time_jump->clock_change ||
RCL_ROS_TIME_DEACTIVATED == time_jump->clock_change)
{
Expand Down Expand Up @@ -264,7 +265,7 @@ rcl_timer_call(rcl_timer_t * timer)
(rcl_timer_callback_t)rcutils_atomic_load_uintptr_t(&timer->impl->callback);

int64_t next_call_time = rcutils_atomic_load_int64_t(&timer->impl->next_call_time);
int64_t period = rcutils_atomic_load_uint64_t(&timer->impl->period);
int64_t period = rcutils_atomic_load_int64_t(&timer->impl->period);
// always move the next call time by exactly period forward
// don't use now as the base to avoid extending each cycle by the time
// between the timer being ready and the callback being triggered
Expand Down Expand Up @@ -352,7 +353,7 @@ rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period)
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
RCL_CHECK_ARGUMENT_FOR_NULL(period, RCL_RET_INVALID_ARGUMENT);
*period = rcutils_atomic_load_uint64_t(&timer->impl->period);
*period = rcutils_atomic_load_int64_t(&timer->impl->period);
return RCL_RET_OK;
}

Expand All @@ -364,7 +365,7 @@ rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
RCL_CHECK_ARGUMENT_FOR_NULL(old_period, RCL_RET_INVALID_ARGUMENT);
*old_period = rcutils_atomic_exchange_uint64_t(&timer->impl->period, new_period);
*old_period = rcutils_atomic_exchange_int64_t(&timer->impl->period, new_period);
RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Updated timer period from '%" PRIu64 "ns' to '%" PRIu64 "ns'",
*old_period, new_period);
Expand Down Expand Up @@ -424,7 +425,7 @@ rcl_timer_reset(rcl_timer_t * timer)
if (now_ret != RCL_RET_OK) {
return now_ret; // rcl error state should already be set.
}
int64_t period = rcutils_atomic_load_uint64_t(&timer->impl->period);
int64_t period = rcutils_atomic_load_int64_t(&timer->impl->period);
rcutils_atomic_store(&timer->impl->next_call_time, now + period);
rcutils_atomic_store(&timer->impl->canceled, false);
rcl_ret_t ret = rcl_trigger_guard_condition(&timer->impl->guard_condition);
Expand Down