ros::Time 源码分析

 void ros_walltime(uint32_t& sec, uint32_t& nsec)
  {
#if !defined(_WIN32)
#if HAS_CLOCK_GETTIME
    timespec start;
    clock_gettime(CLOCK_REALTIME, &start);
    if (start.tv_sec < 0 || start.tv_sec > std::numeric_limits<uint32_t>::max())
      throw std::runtime_error("Timespec is out of dual 32-bit range");
    sec  = start.tv_sec;
    nsec = start.tv_nsec;
#else
    struct timeval timeofday;
    gettimeofday(&timeofday,NULL);
    if (timeofday.tv_sec < 0 || timeofday.tv_sec > std::numeric_limits<uint32_t>::max())
      throw std::runtime_error("Timeofday is out of dual signed 32-bit range");
    sec  = timeofday.tv_sec;
    nsec = timeofday.tv_usec * 1000;
#endif
#else
    uint64_t now_s = 0;
    uint64_t now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();

    normalizeSecNSec(now_s, now_ns);

    sec = (uint32_t)now_s;
    nsec = (uint32_t)now_ns;
#endif
  }