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Document clock types #578

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merged 3 commits into from
Mar 2, 2020
Merged

Document clock types #578

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4de1742
Document clock types
jacobperron Feb 20, 2020
c20cafe
Add link to design doc
jacobperron Feb 24, 2020
97382ba
Fix spelling
jacobperron Mar 2, 2020
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10 changes: 10 additions & 0 deletions rcl/include/rcl/time.h
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Expand Up @@ -46,6 +46,16 @@ typedef rcutils_time_point_value_t rcl_time_point_value_t;
typedef rcutils_duration_value_t rcl_duration_value_t;

/// Time source type, used to indicate the source of a time measurement.
/**
* RCL_ROS_TIME will report the latest value reported by a ROS time source, or
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I'm not sure if this is the appropriate place, but should we describe what a "ROS time source" is? I'm not sure everyone will be familiar with it.

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Maybe just link to the design document.

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I've added a link to the design doc: c20cafe

* if a ROS time source is not active it reports the same as RCL_SYSTEM_TIME.
* For more information about ROS time sources, refer to the design document:
* http://design.ros2.org/articles/clock_and_time.html
*
* RCL_SYSTEM_TIME reports the same value as the system clock.
*
* RCL_STEADY_TIME reports a value from a monotonically increasing clock.
*/
typedef enum rcl_clock_type_t
{
RCL_CLOCK_UNINITIALIZED = 0,
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