Support waiting on condition variable until a specific time point

include/zenoh-pico/system/platform-common.h

@@ -120,6 +120,7 @@ int8_t _z_condvar_drop(_z_condvar_t *cv);
 int8_t _z_condvar_signal(_z_condvar_t *cv);
 int8_t _z_condvar_signal_all(_z_condvar_t *cv);
 int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m);
+int8_t _z_condvar_timedwait(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime);
 
 _Z_OWNED_TYPE_VALUE(_z_condvar_t, condvar)
 _Z_OWNED_FUNCTIONS_SYSTEM_DEF(condvar)
@@ -129,6 +130,7 @@ int8_t z_condvar_drop(z_moved_condvar_t *cv);
 
 int8_t z_condvar_signal(z_loaned_condvar_t *cv);
 int8_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m);
+int8_t z_condvar_timedwait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime);
 
 /*------------------ Sleep ------------------*/
 int z_sleep_us(size_t time);
@@ -140,6 +142,9 @@ z_clock_t z_clock_now(void);
 unsigned long z_clock_elapsed_us(z_clock_t *time);
 unsigned long z_clock_elapsed_ms(z_clock_t *time);
 unsigned long z_clock_elapsed_s(z_clock_t *time);
+void z_clock_advance_us(z_clock_t *clock, unsigned long duration);
+void z_clock_advance_ms(z_clock_t *clock, unsigned long duration);
+void z_clock_advance_s(z_clock_t *clock, unsigned long duration);
 
 /*------------------ Time ------------------*/
 z_time_t z_time_now(void);

src/system/platform-common.c

@@ -52,5 +52,8 @@ int8_t z_condvar_drop(z_moved_condvar_t *cv) { return _z_condvar_drop(&cv->_this
 
 int8_t z_condvar_signal(z_loaned_condvar_t *cv) { return _z_condvar_signal(cv); }
 int8_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m) { return _z_condvar_wait(cv, m); }
+int8_t z_condvar_timedwait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime) {
+    return _z_condvar_timedwait(cv, m, abstime);
+}
 
 #endif  // Z_FEATURE_MULTI_THREAD == 1

src/system/unix/system.c

@@ -127,7 +127,12 @@ int8_t _z_mutex_try_lock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_trylock
 int8_t _z_mutex_unlock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_unlock(m)); }
 
 /*------------------ Condvar ------------------*/
-int8_t _z_condvar_init(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_init(cv, 0)); }
+int8_t _z_condvar_init(_z_condvar_t *cv) {
+    pthread_condattr_t attr;
+    pthread_condattr_init(&attr);
+    pthread_condattr_setclock(&attr, CLOCK_MONOTONIC);
+    _Z_CHECK_SYS_ERR(pthread_cond_init(cv, &attr));
+}
 
 int8_t _z_condvar_drop(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_destroy(cv)); }
 
@@ -136,6 +141,10 @@ int8_t _z_condvar_signal(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_signa
 int8_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_broadcast(cv)); }
 
 int8_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
+
+int8_t _z_condvar_timedwait(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
+    _Z_CHECK_SYS_ERR(pthread_cond_timedwait(cv, m, abstime));
+}
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
@@ -189,6 +198,28 @@ unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     return elapsed;
 }
 
+void z_clock_advance_us(z_clock_t *clock, unsigned long duration) {
+    clock->tv_sec += duration / 1000000;
+    clock->tv_nsec += (duration % 1000000) * 1000;
+
+    if (clock->tv_nsec >= 1000000000) {
+        clock->tv_sec += 1;
+        clock->tv_nsec -= 1000000000;
+    }
+}
+
+void z_clock_advance_ms(z_clock_t *clock, unsigned long duration) {
+    clock->tv_sec += duration / 1000;
+    clock->tv_nsec += (duration % 1000) * 1000000;
+
+    if (clock->tv_nsec >= 1000000000) {
+        clock->tv_sec += 1;
+        clock->tv_nsec -= 1000000000;
+    }
+}
+
+void z_clock_advance_s(z_clock_t *clock, unsigned long duration) { clock->tv_sec += duration; }
+
 /*------------------ Time ------------------*/
 z_time_t z_time_now(void) {
     z_time_t now;