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ROS 2 Client Library for Elixir.

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rclex src rcl_clock.c
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src/rcl_clock.c 

#include "rcl_clock.h"

#include "allocator.h"

#include "macros.h"

#include "resource_types.h"

#include "terms.h"

#include <erl_nif.h>

#include <rcl/allocator.h>

#include <rcl/time.h>

#include <rcl/types.h>



ERL_NIF_TERM nif_rcl_clock_init(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[]) {

  ignore_unused(argc);

  ignore_unused(argv);



  rcl_ret_t rc;

  rcl_clock_t clock;

  rcl_allocator_t allocator = get_nif_allocator();



  rc = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);

  if (rc != RCL_RET_OK) return enif_make_badarg(env);



  rcl_clock_t *obj  = enif_alloc_resource(rt_rcl_clock_t, sizeof(rcl_clock_t));

  *obj              = clock;

  ERL_NIF_TERM term = enif_make_resource(env, obj);

  enif_release_resource(obj);



  return term;

}



ERL_NIF_TERM nif_rcl_clock_fini(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[]) {

  if (argc != 1) return enif_make_badarg(env);



  rcl_clock_t *clock_p;

  if (!enif_get_resource(env, argv[0], rt_rcl_clock_t, (void **)&clock_p))

    return enif_make_badarg(env);



  rcl_ret_t rc;

  rc = rcl_clock_fini(clock_p);

  if (rc != RCL_RET_OK) return enif_make_badarg(env);



  return atom_ok;

}