align z_timestamp_new with zenoh-rust (#537)

* align z_timestamp_new with zenoh-rust; fix npt->ntp typo

* unused variable fix

* fix warning, extra checks for zephyr and espidf

* fix

* added platform dependent functions for getting utc time

* format

* typo fixes

* fmt

* added missing new lines at the end of file

examples/unix/c11/z_pub_attachment.c

@@ -147,8 +147,7 @@ int main(int argc, char **argv) {
 
     // Create timestamp
     z_timestamp_t ts;
-    time_t now = time(NULL);
-    z_timestamp_new(&ts, z_loan(s), (uint64_t)now);
+    z_timestamp_new(&ts, z_loan(s));
 
     // Publish data
     printf("Press CTRL-C to quit...\n");

examples/unix/c11/z_sub_attachment.c

@@ -84,7 +84,7 @@ void data_handler(const z_loaned_sample_t *sample, void *ctx) {
     // Check timestamp
     const z_timestamp_t *ts = z_sample_timestamp(sample);
     if (ts != NULL) {
-        printf("    with timestamp: %" PRIu64 "\n", z_timestamp_npt64_time(ts));
+        printf("    with timestamp: %" PRIu64 "\n", z_timestamp_ntp64_time(ts));
     }
     // Check attachment
     kv_pairs_t kvp = {.current_idx = 0, .len = KVP_LEN, .data = (kv_pair_t *)malloc(KVP_LEN * sizeof(kv_pair_t))};

include/zenoh-pico/api/primitives.h

@@ -949,17 +949,16 @@ int8_t z_bytes_writer_write(z_loaned_bytes_writer_t *writer, const uint8_t *src,
  * Parameters:
  *   ts: An uninitialized :c:type:`z_timestamp_t`.
  *   zs: Pointer to a :c:type:`z_loaned_session_t` to get the id from.
- *   npt64_time: NPT64 time.
  *
  * Return:
- *   ``0`` if encode successful, ``negative value`` otherwise.
+ *   ``0`` if encode successful, ``negative value`` otherwise (for example if RTC is not available on the system).
  */
-int8_t z_timestamp_new(z_timestamp_t *ts, const z_loaned_session_t *zs, uint64_t npt64_time);
+int8_t z_timestamp_new(z_timestamp_t *ts, const z_loaned_session_t *zs);
 
 /**
- * Returns NPT64 time associated with this timestamp.
+ * Returns NTP64 time associated with this timestamp.
  */
-uint64_t z_timestamp_npt64_time(const z_timestamp_t *ts);
+uint64_t z_timestamp_ntp64_time(const z_timestamp_t *ts);
 
 /**
  * Returns id associated with this timestamp.

include/zenoh-pico/protocol/core.h

@@ -70,6 +70,7 @@ _z_timestamp_t _z_timestamp_duplicate(const _z_timestamp_t *tstamp);
 _z_timestamp_t _z_timestamp_null(void);
 void _z_timestamp_clear(_z_timestamp_t *tstamp);
 _Bool _z_timestamp_check(const _z_timestamp_t *stamp);
+uint64_t _z_timestamp_ntp64_from_time(uint32_t seconds, uint32_t nanos);
 
 /**
  * The product of:

include/zenoh-pico/system/platform-common.h

@@ -137,6 +137,12 @@ unsigned long z_time_elapsed_us(z_time_t *time);
 unsigned long z_time_elapsed_ms(z_time_t *time);
 unsigned long z_time_elapsed_s(z_time_t *time);
 
+typedef struct {
+    uint32_t secs;
+    uint32_t nanos;
+} zp_time_since_epoch;
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t);
 #ifdef __cplusplus
 }
 #endif

src/api/api.c

@@ -36,6 +36,7 @@
 #include "zenoh-pico/session/resource.h"
 #include "zenoh-pico/session/subscription.h"
 #include "zenoh-pico/session/utils.h"
+#include "zenoh-pico/system/platform-common.h"
 #include "zenoh-pico/system/platform.h"
 #include "zenoh-pico/transport/multicast.h"
 #include "zenoh-pico/transport/unicast.h"
@@ -617,13 +618,16 @@ int8_t z_bytes_writer_write(z_loaned_bytes_writer_t *writer, const uint8_t *src,
     return _z_bytes_writer_write(writer, src, len);
 }
 
-int8_t z_timestamp_new(z_timestamp_t *ts, const z_loaned_session_t *zs, uint64_t npt64_time) {
+int8_t z_timestamp_new(z_timestamp_t *ts, const z_loaned_session_t *zs) {
+    *ts = _z_timestamp_null();
+    zp_time_since_epoch t;
+    _Z_RETURN_IF_ERR(zp_get_time_since_epoch(&t));
+    ts->time = _z_timestamp_ntp64_from_time(t.secs, t.nanos);
     ts->id = zs->in->val._local_zid;
-    ts->time = npt64_time;
     return _Z_RES_OK;
 }
 
-uint64_t z_timestamp_npt64_time(const z_timestamp_t *ts) { return ts->time; }
+uint64_t z_timestamp_ntp64_time(const z_timestamp_t *ts) { return ts->time; }
 
 z_id_t z_timestamp_id(const z_timestamp_t *ts) { return ts->id; }
 

src/protocol/core.c

@@ -22,6 +22,7 @@
 #include "zenoh-pico/collections/slice.h"
 #include "zenoh-pico/protocol/codec/core.h"
 #include "zenoh-pico/protocol/iobuf.h"
+#include "zenoh-pico/utils/endianness.h"
 #include "zenoh-pico/utils/logging.h"
 
 #define _Z_ID_LEN (16)
@@ -69,6 +70,15 @@ _z_source_info_t _z_source_info_null(void) {
     return (_z_source_info_t){._source_sn = 0, ._entity_id = 0, ._id = _z_id_empty()};
 }
 _z_timestamp_t _z_timestamp_null(void) { return (_z_timestamp_t){.id = _z_id_empty(), .time = 0}; }
+
+uint64_t _z_timestamp_ntp64_from_time(uint32_t seconds, uint32_t nanos) {
+    const uint64_t FRAC_PER_SEC = (uint64_t)1 << 32;
+    const uint64_t NANOS_PER_SEC = 1000000000;
+
+    uint32_t fractions = (uint32_t)((uint64_t)nanos * FRAC_PER_SEC / NANOS_PER_SEC + 1);
+    return ((uint64_t)seconds << 32) | fractions;
+}
+
 _z_value_t _z_value_null(void) { return (_z_value_t){.payload = _z_bytes_null(), .encoding = _z_encoding_null()}; }
 _z_value_t _z_value_steal(_z_value_t *value) {
     _z_value_t ret = *value;

src/system/arduino/esp32/system.c

@@ -203,3 +203,11 @@ unsigned long z_time_elapsed_s(z_time_t *time) {
     unsigned long elapsed = now.tv_sec - time->tv_sec;
     return elapsed;
 }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) {
+    z_time_t now;
+    gettimeofday(&now, NULL);
+    t->secs = now.tv_sec;
+    t->nanos = now.tv_usec * 1000;
+    return 0;
+}

src/system/arduino/opencr/system.c

@@ -196,3 +196,11 @@ unsigned long z_time_elapsed_s(z_time_t *time) {
     unsigned long elapsed = now.tv_sec - time->tv_sec;
     return elapsed;
 }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) {
+    z_time_t now;
+    gettimeofday(&now, NULL);
+    t->secs = now.tv_sec;
+    t->nanos = now.tv_usec * 1000;
+    return 0;
+}

src/system/emscripten/system.c

@@ -12,7 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 
-#include <emscripten/emscripten.h>
+#include <emscripten/html5.h>
 #include <stddef.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -132,3 +132,10 @@ unsigned long z_time_elapsed_ms(z_time_t *time) {
 }
 
 unsigned long z_time_elapsed_s(z_time_t *time) { return z_time_elapsed_ms(time) * 1000; }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) {
+    double date = emscripten_date_now();
+    t->secs = (uint32_t)(date / 1000);
+    t->nanos = (uint32_t)((date - t->secs * 1000) * 1000000);
+    return 0;
+}

src/system/espidf/system.c

@@ -235,3 +235,11 @@ unsigned long z_time_elapsed_s(z_time_t *time) {
     unsigned long elapsed = now.tv_sec - time->tv_sec;
     return elapsed;
 }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) {
+    z_time_t now;
+    gettimeofday(&now, NULL);
+    t->secs = now.tv_sec;
+    t->nanos = now.tv_usec * 1000;
+    return 0;
+}

src/system/flipper/system.c

@@ -295,3 +295,5 @@ struct tm* localtime(const time_t* timep) {
     static struct tm t;
     return &t;
 }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch* t) { return -1; }

src/system/freertos_plus_tcp/system.c

@@ -203,3 +203,5 @@ unsigned long z_time_elapsed_ms(z_time_t *time) {
 }
 
 unsigned long z_time_elapsed_s(z_time_t *time) { return z_time_elapsed_ms(time) / 1000; }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) { return -1; }

src/system/mbed/system.cpp

@@ -189,4 +189,12 @@ unsigned long z_time_elapsed_s(z_time_t *time) {
     return elapsed;
 }
 
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) {
+    z_time_t now;
+    gettimeofday(&now, NULL);
+    t->secs = now.tv_sec;
+    t->nanos = now.tv_usec * 1000;
+    return 0;
+}
+
 }  // extern "C"

src/system/unix/system.c

@@ -227,3 +227,11 @@ unsigned long z_time_elapsed_s(z_time_t *time) {
     unsigned long elapsed = (unsigned long)(now.tv_sec - time->tv_sec);
     return elapsed;
 }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) {
+    z_time_t now;
+    gettimeofday(&now, NULL);
+    t->secs = now.tv_sec;
+    t->nanos = now.tv_usec * 1000;
+    return 0;
+}

src/system/windows/system.c

@@ -263,3 +263,11 @@ unsigned long z_time_elapsed_s(z_time_t *time) {
     unsigned long elapsed = (unsigned long)(now.time - time->time);
     return elapsed;
 }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) {
+    z_time_t now;
+    ftime(&now);
+    t->secs = (uint32_t)now.time;
+    t->nanos = (uint32_t)(now.millitm * 1000000);
+    return 0;
+}

src/system/zephyr/system.c

@@ -218,3 +218,11 @@ unsigned long z_time_elapsed_s(z_time_t *time) {
     unsigned long elapsed = now.tv_sec - time->tv_sec;
     return elapsed;
 }
+
+int8_t zp_get_time_since_epoch(zp_time_since_epoch *t) {
+    z_time_t now;
+    gettimeofday(&now, NULL);
+    t->secs = now.tv_sec;
+    t->nanos = now.tv_usec * 1000;
+    return 0;
+}