Add timestamps to rmw-internal structures.

rmw/include/rmw/types.h

@@ -170,47 +170,59 @@ typedef struct RMW_PUBLIC_TYPE rmw_subscription_allocation_t
 
 /// Array of subscriber handles.
 /**
- * An array of void * pointers representing type-erased middleware-specific subscriptions.
+ * An array of void * pointers representing type-erased middleware-specific subscriptions,
+ * and arrival timestamp information for the entries (in the same order).
  * The number of non-null entries may be smaller than the allocated size of the array.
  * The number of subscriptions represented may be smaller than the allocated size of the array.
- * The creator of this struct is responsible for allocating and deallocating the array.
+ * The creator of this struct is responsible for allocating and deallocating the array,
+ * including the timestamp array.
  */
 typedef struct RMW_PUBLIC_TYPE rmw_subscriptions_t
 {
   /// The number of subscribers represented by the array.
   size_t subscriber_count;
   /// Pointer to an array of void * pointers of subscriptions.
   void ** subscribers;
+  /// Pointer to an array of rcutils timestamps, to be filled in same order as the above.
+  rcutils_time_point_value_t * timestamps;
 } rmw_subscriptions_t;
 
 /// Array of service handles.
 /**
- * An array of void * pointers representing type-erased middleware-specific services.
+ * An array of void * pointers representing type-erased middleware-specific services,
+ * and arrival timestamp information for the entries (in the same order).
  * The number of non-null entries may be smaller than the allocated size of the array.
  * The number of services represented may be smaller than the allocated size of the array.
- * The creator of this struct is responsible for allocating and deallocating the array.
+ * The creator of this struct is responsible for allocating and deallocating the array,
+ * including the timestamp array.
  */
 typedef struct RMW_PUBLIC_TYPE rmw_services_t
 {
   /// The number of services represented by the array.
   size_t service_count;
   /// Pointer to an array of void * pointers of services.
   void ** services;
+  /// Pointer to an array of rcutils timestamps, to be filled in same order as the above.
+  rcutils_time_point_value_t * timestamps;
 } rmw_services_t;
 
 /// Array of client handles.
 /**
- * An array of void * pointers representing type-erased middleware-specific clients.
+ * An array of void * pointers representing type-erased middleware-specific clients,
+ * and arrival timestamp information for the entries (in the same order).
  * The number of non-null entries may be smaller than the allocated size of the array.
  * The number of clients represented may be smaller than the allocated size of the array.
- * The creator of this struct is responsible for allocating and deallocating the array.
+ * The creator of this struct is responsible for allocating and deallocating the array,
+ * including the timestamp array.
  */
 typedef struct RMW_PUBLIC_TYPE rmw_clients_t
 {
   /// The number of clients represented by the array.
   size_t client_count;
   /// Pointer to an array of void * pointers of clients.
   void ** clients;
+  /// Pointer to an array of rcutils timestamps, to be filled in same order as the above.
+  rcutils_time_point_value_t * timestamps;
 } rmw_clients_t;
 
 typedef struct RMW_PUBLIC_TYPE rmw_events_t
@@ -332,7 +344,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_gid_t
 
 typedef struct RMW_PUBLIC_TYPE rmw_message_info_t
 {
-  // const rmw_time_t received_timestamp;
+  rmw_time_t received_timestamp;
   rmw_gid_t publisher_gid;
   bool from_intra_process;
 } rmw_message_info_t;