Switch to using get_system_time_in_ns() function everywhere. (#354)

That way we have just a single place where this is defined, and everywhere can be sure they are getting the correct value in nanoseconds. Signed-off-by: Chris Lalancette <[email protected]> (cherry picked from commit e7493d3) # Conflicts: # rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
ros2 · Jan 2, 2025 · 1227740 · 1227740
1 parent 65e0cab
commit 1227740
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Showing 3 changed files with 12 additions and 9 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -17,7 +17,6 @@
 #include <fastcdr/FastBuffer.h>
 
 #include <array>
-#include <chrono>
 #include <cinttypes>
 #include <limits>
 #include <memory>
@@ -413,10 +412,8 @@ rmw_ret_t ClientData::send_request(
         return;
       }
 
-      std::chrono::time_point<std::chrono::system_clock> now = std::chrono::system_clock::now();
-
       sub_data->add_new_reply(
-        std::make_unique<rmw_zenoh_cpp::ZenohReply>(reply, now.time_since_epoch().count()));
+        std::make_unique<rmw_zenoh_cpp::ZenohReply>(reply, get_system_time_in_ns()));
     },
     zenoh::closures::none,
     std::move(opts),

diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -161,10 +161,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
         return;
       }
 
-      std::chrono::nanoseconds::rep received_timestamp =
-      std::chrono::system_clock::now().time_since_epoch().count();
-
-      sub_data->add_new_query(std::make_unique<ZenohQuery>(query, received_timestamp));
+      sub_data->add_new_query(std::make_unique<ZenohQuery>(query, get_system_time_in_ns()));
     },
     zenoh::closures::none,
     std::move(qable_options),

diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -16,7 +16,6 @@
 
 #include <fastcdr/FastBuffer.h>
 
-#include <chrono>
 #include <cinttypes>
 #include <limits>
 #include <memory>
@@ -225,8 +224,13 @@ bool SubscriptionData::init()
 
         sub_data->add_new_message(
           std::make_unique<SubscriptionData::Message>(
+<<<<<<< HEAD
             sample.get_payload().as_vector(),
             std::chrono::system_clock::now().time_since_epoch().count(),
+=======
+            sample.get_payload(),
+            get_system_time_in_ns(),
+>>>>>>> e7493d3 (Switch to using get_system_time_in_ns() function everywhere. (#354))
             std::move(attachment_data)),
           std::string(sample.get_keyexpr().as_string_view()));
       },
@@ -309,8 +313,13 @@ bool SubscriptionData::init()
         AttachmentData attachment_data(attachment_value);
         sub_data->add_new_message(
           std::make_unique<SubscriptionData::Message>(
+<<<<<<< HEAD
             payload.as_vector(),
             std::chrono::system_clock::now().time_since_epoch().count(),
+=======
+            sample.get_payload(),
+            get_system_time_in_ns(),
+>>>>>>> e7493d3 (Switch to using get_system_time_in_ns() function everywhere. (#354))
             std::move(attachment_data)),
           std::string(sample.get_keyexpr().as_string_view()));
       },