fix: use CLOCK_MONOTONIC for time measurements

eclipse-zenoh · Oct 26, 2023 · 8c6b9bb · 8c6b9bb
1 parent 1c26410
commit 8c6b9bb
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Showing 4 changed files with 16 additions and 16 deletions.
diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
@@ -135,29 +135,29 @@ int z_sleep_s(size_t time) { return sleep(time); }
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
     return now;
 }
 
 unsigned long z_clock_elapsed_us(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = now.tv_sec - instant->tv_sec;
     return elapsed;

diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
@@ -136,29 +136,29 @@ int z_sleep_s(size_t time) { return sleep(time); }
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
     return now;
 }
 
 unsigned long z_clock_elapsed_us(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = now.tv_sec - instant->tv_sec;
     return elapsed;

diff --git a/src/system/unix/system.c b/src/system/unix/system.c
@@ -156,29 +156,29 @@ int z_sleep_s(size_t time) { return sleep(time); }
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
     return now;
 }
 
 unsigned long z_clock_elapsed_us(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = now.tv_sec - instant->tv_sec;
     return elapsed;

diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
@@ -150,29 +150,29 @@ int z_sleep_s(size_t time) {
 /*------------------ Instant ------------------*/
 z_clock_t z_clock_now(void) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
     return now;
 }
 
 unsigned long z_clock_elapsed_us(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = (1000 * (now.tv_sec - instant->tv_sec) + (now.tv_nsec - instant->tv_nsec) / 1000000);
     return elapsed;
 }
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     z_clock_t now;
-    clock_gettime(CLOCK_REALTIME, &now);
+    clock_gettime(CLOCK_MONOTONIC, &now);
 
     unsigned long elapsed = now.tv_sec - instant->tv_sec;
     return elapsed;