Merge pull request #256 from DenisBiryukov91/feature/platform-primiti…

…ves-sleep-clock

Add support for sleep and time primitives (similar to zenoh-pico)

Cargo.toml

@@ -41,9 +41,11 @@ maintenance = { status = "actively-developed" }
 [dependencies]
 async-std = "=1.12.0"
 async-trait = "0.1.66"
+chrono = "0.4.34"
 env_logger = "0.10.0"
 futures = "0.3.26"
 json5 = "0.4.1"
+lazy_static = "1.4.0"
 libc = "0.2.139"
 log = "0.4.17"
 rand = "0.8.5"

Cargo.toml.in

@@ -41,9 +41,11 @@ maintenance = { status = "actively-developed" }
 [dependencies]
 async-std = "=1.12.0"
 async-trait = "0.1.66"
+chrono = "0.4.34"
 env_logger = "0.10.0"
 futures = "0.3.26"
 json5 = "0.4.1"
+lazy_static = "1.4.0"
 libc = "0.2.139"
 log = "0.4.17"
 rand = "0.8.5"

examples/z_liveliness.c

@@ -13,12 +13,6 @@
 
 #include <stdio.h>
 #include <string.h>
-#if defined(WIN32) || defined(_WIN32) || defined(__WIN32) && !defined(__CYGWIN__)
-#include <windows.h>
-#define sleep(x) Sleep(x * 1000)
-#else
-#include <unistd.h>
-#endif
 #include "zenoh.h"
 
 int main(int argc, char **argv) {
@@ -63,7 +57,7 @@ int main(int argc, char **argv) {
     while (c != 'q') {
         c = getchar();
         if (c == -1) {
-            sleep(1);
+            z_sleep_s(1);
         } else if (c == 'd') {
             printf("Undeclaring liveliness token...\n");
             z_drop(z_move(token));

examples/z_ping.c

@@ -2,7 +2,6 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <string.h>
-#include <time.h>
 
 #include "zenoh.h"
 
@@ -58,35 +57,27 @@ int main(int argc, char** argv) {
     z_mutex_lock(&mutex);
     if (args.warmup_ms) {
         printf("Warming up for %dms...\n", args.warmup_ms);
-        struct timespec wmup_start, wmup_stop, wmup_timeout;
-        clock_gettime(CLOCK_MONOTONIC, &wmup_start);
+        z_clock_t warmup_start = z_clock_now();
+
         unsigned long elapsed_us = 0;
         while (elapsed_us < args.warmup_ms * 1000) {
-            clock_gettime(CLOCK_REALTIME, &wmup_timeout);
-            wmup_timeout.tv_sec += PING_TIMEOUT_SEC;
             z_publisher_put(z_loan(pub), data, args.size, NULL);
             int s = z_condvar_wait(&cond, &mutex);
             if (s != 0) {
                 handle_error_en(s, "z_condvar_wait");
             }
-            clock_gettime(CLOCK_MONOTONIC, &wmup_stop);
-            elapsed_us =
-                (1000000 * (wmup_stop.tv_sec - wmup_start.tv_sec) + (wmup_stop.tv_nsec - wmup_start.tv_nsec) / 1000);
+            elapsed_us = z_clock_elapsed_us(&warmup_start);
         }
     }
-    struct timespec t_start, t_stop, t_timeout;
     unsigned long* results = z_malloc(sizeof(unsigned long) * args.number_of_pings);
     for (int i = 0; i < args.number_of_pings; i++) {
-        clock_gettime(CLOCK_REALTIME, &t_timeout);
-        t_timeout.tv_sec += PING_TIMEOUT_SEC;
-        clock_gettime(CLOCK_MONOTONIC, &t_start);
+        z_clock_t measure_start = z_clock_now();
         z_publisher_put(z_loan(pub), data, args.size, NULL);
         int s = z_condvar_wait(&cond, &mutex);
         if (s != 0) {
             handle_error_en(s, "z_condvar_wait");
         }
-        clock_gettime(CLOCK_MONOTONIC, &t_stop);
-        results[i] = (1000000 * (t_stop.tv_sec - t_start.tv_sec) + (t_stop.tv_nsec - t_start.tv_nsec) / 1000);
+        results[i] = z_clock_elapsed_us(&measure_start);
     }
     for (int i = 0; i < args.number_of_pings; i++) {
         printf("%d bytes: seq=%d rtt=%luµs, lat=%luµs\n", args.size, i, results[i], results[i] / 2);

examples/z_pub.c

@@ -15,12 +15,6 @@
 #include <string.h>
 
 #include "zenoh.h"
-#if defined(WIN32) || defined(_WIN32) || defined(__WIN32) && !defined(__CYGWIN__)
-#include <windows.h>
-#define sleep(x) Sleep(x * 1000)
-#else
-#include <unistd.h>
-#endif
 
 void matching_status_handler(const zcu_matching_status_t *matching_status, void *arg) {
     if (matching_status->matching) {
@@ -72,7 +66,7 @@ int main(int argc, char **argv) {
 
     char buf[256];
     for (int idx = 0; 1; ++idx) {
-        sleep(1);
+        z_sleep_s(1);
         sprintf(buf, "[%4d] %s", idx, value);
         printf("Putting Data ('%s': '%s')...\n", keyexpr, buf);
         z_publisher_put_options_t options = z_publisher_put_options_default();

examples/z_pub_attachment.c

@@ -15,12 +15,6 @@
 #include <string.h>
 
 #include "zenoh.h"
-#if defined(WIN32) || defined(_WIN32) || defined(__WIN32) && !defined(__CYGWIN__)
-#include <windows.h>
-#define sleep(x) Sleep(x * 1000)
-#else
-#include <unistd.h>
-#endif
 
 int main(int argc, char **argv) {
     char *keyexpr = "demo/example/zenoh-c-pub";
@@ -69,7 +63,7 @@ int main(int argc, char **argv) {
     char buf[256];
     char buf_ind[16];
     for (int idx = 0; 1; ++idx) {
-        sleep(1);
+        z_sleep_s(1);
 
         // add some other attachment value
         sprintf(buf_ind, "%d", idx);

examples/z_pub_cache.c

@@ -15,12 +15,6 @@
 #include <string.h>
 
 #include "zenoh.h"
-#if defined(WIN32) || defined(_WIN32) || defined(__WIN32) && !defined(__CYGWIN__)
-#include <windows.h>
-#define sleep(x) Sleep(x * 1000)
-#else
-#include <unistd.h>
-#endif
 
 int main(int argc, char **argv) {
     char *keyexpr = "demo/example/zenoh-c-pub";
@@ -66,7 +60,7 @@ int main(int argc, char **argv) {
 
     char buf[256];
     for (int idx = 0; 1; ++idx) {
-        sleep(1);
+        z_sleep_s(1);
         sprintf(buf, "[%4d] %s", idx, value);
         printf("Putting Data ('%s': '%s')...\n", keyexpr, buf);
         z_put(z_loan(s), z_keyexpr(keyexpr), (const uint8_t *)buf, strlen(buf), NULL);