/usr/share/roslisp/src/time.lisp is in roslisp 1.9.21-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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;;
;; Copyright (c) 2008, Willow Garage, Inc.
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(in-package :roslisp)
(defun ros-time ()
"If *use-sim-time* is true (which is set upon node startup by looking up the ROS
/use_sim_time parameter), return the last received time on the /time or /clock topics,
or 0.0 if no time message received yet.
Otherwise, return the unix time (seconds since epoch with microsecond precision)."
#+sbcl
(if *use-sim-time*
(if *last-clock*
(rosgraph_msgs-msg:clock *last-clock*)
(progn
(unless (mutex-owner *debug-stream-lock*)
(ros-debug (roslisp time) "Returning time of 0.0 as use_sim_time was true and no clock messages received"))
0.0))
(multiple-value-bind (secs usecs) (sb-ext:get-time-of-day)
(declare (type unsigned-byte secs) (type (unsigned-byte 31) usecs))
(float (+ secs (/ usecs 1d6)))))
#-sbcl (error "Only supported in SBCL."))
(defun spin-until-ros-time-valid ()
(spin-until (> (ros-time) 0.0) 0.05
(every-nth-time 100
(ros-warn (roslisp time) "Waiting for valid ros-time before proceeding"))))
(defun wait-duration (d)
"Wait until time T+D, where T is the current ros-time."
(spin-until-ros-time-valid)
(let ((until (+ (ros-time) d)))
(spin-until (>= (ros-time) until) .01
(every-nth-time 100
(ros-debug (roslisp time) "In wait-duration spin loop; waiting until ~a" until)))))
;;; Deprecated special variables
(defvar *%time-base* (unix-time)
"This variable is deprecated as of roslisp 1.9.18.
Holds unix time (rounded to the nearest second) when roslisp was started")
(define-symbol-macro *time-base*
(progn (warn "roslisp:*time-base* is deprecated as of roslisp 1.9.18.")
*%time-base*))
(defvar *%internal-time-base* (get-internal-real-time)
"This variable is deprecated as of roslisp 1.9.18.
Holds CL's internal time when roslisp was started")
(define-symbol-macro *internal-time-base*
(progn (warn "roslisp:*internal-time-base* is deprecated as of roslisp 1.9.18.")
*%internal-time-base))
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