-
Notifications
You must be signed in to change notification settings - Fork 108
Expand file tree
/
Copy pathorg_ros2_rcljava_Time.cpp
More file actions
54 lines (46 loc) · 1.72 KB
/
org_ros2_rcljava_Time.cpp
File metadata and controls
54 lines (46 loc) · 1.72 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
// Copyright 2017-2018 Esteve Fernandez <[email protected]>
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <jni.h>
#include <string>
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcljava_common/exceptions.hpp"
#include "org_ros2_rcljava_Time.h"
using rcljava_common::exceptions::rcljava_throw_rclexception;
JNIEXPORT jlong JNICALL
Java_org_ros2_rcljava_Time_nativeRCLSystemTimeNow(JNIEnv * env, jclass)
{
rcutils_time_point_value_t rcutils_now = 0;
rcutils_ret_t ret = RCUTILS_RET_ERROR;
ret = rcutils_system_time_now(&rcutils_now);
if (ret != RCUTILS_RET_OK) {
std::string msg = "Could not get current time: " + std::string(rcl_get_error_string().str);
rcl_reset_error();
rcljava_throw_rclexception(env, ret, msg);
}
return rcutils_now;
}
JNIEXPORT jlong JNICALL
Java_org_ros2_rcljava_Time_nativeRCLSteadyTimeNow(JNIEnv * env, jclass)
{
rcutils_time_point_value_t rcutils_now = 0;
rcutils_ret_t ret = RCUTILS_RET_ERROR;
ret = rcutils_steady_time_now(&rcutils_now);
if (ret != RCUTILS_RET_OK) {
std::string msg = "Could not get current time: " + std::string(rcl_get_error_string().str);
rcl_reset_error();
rcljava_throw_rclexception(env, ret, msg);
}
return rcutils_now;
}