Initial commit

srcs/RobotNet10/Commons/RobotNet10.Realtime/RealtimeClock.cs

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+using System;
+using System.Runtime.InteropServices;
+
+namespace RobotNet10.Realtime;
+
+/// <summary>
+/// Provides high-resolution clock access for real-time applications.
+/// </summary>
+public class RealtimeClock
+{
+    private readonly RealtimeClockType _clockType;
+
+    /// <summary>
+    /// Initializes a new instance of RealtimeClock.
+    /// </summary>
+    /// <param name="clockType">Type of clock to use</param>
+    public RealtimeClock(RealtimeClockType clockType)
+    {
+        _clockType = clockType;
+    }
+
+    /// <summary>
+    /// Gets the current time from the clock.
+    /// </summary>
+    /// <returns>Current time</returns>
+    public DateTime GetTime()
+    {
+        var tp = new LinuxNative.timespec();
+        int result = LinuxNative.clock_gettime((int)_clockType, ref tp);
+        if (result != 0)
+        {
+            LinuxNative.ThrowLastError("clock_gettime");
+        }
+
+        if (_clockType == RealtimeClockType.Realtime)
+        {
+            return DateTimeOffset.FromUnixTimeSeconds(tp.tv_sec)
+                .AddTicks(tp.tv_nsec / 100)
+                .DateTime;
+        }
+        else
+        {
+            // For monotonic clocks, return time since boot
+            return DateTime.UtcNow; // Note: This is approximate for monotonic clocks
+        }
+    }
+
+    /// <summary>
+    /// Gets the time as a TimeSpan (for monotonic clocks, represents time since boot).
+    /// </summary>
+    /// <returns>TimeSpan representing the clock time</returns>
+    public TimeSpan GetTimeSpan()
+    {
+        var tp = new LinuxNative.timespec();
+        int result = LinuxNative.clock_gettime((int)_clockType, ref tp);
+        if (result != 0)
+        {
+            LinuxNative.ThrowLastError("clock_gettime");
+        }
+
+        return TimeSpan.FromSeconds(tp.tv_sec) + TimeSpan.FromTicks(tp.tv_nsec / 100);
+    }
+
+    /// <summary>
+    /// Gets the resolution of the clock.
+    /// </summary>
+    /// <returns>Clock resolution</returns>
+    public TimeSpan GetResolution()
+    {
+        var res = new LinuxNative.timespec();
+        int result = LinuxNative.clock_getres((int)_clockType, ref res);
+        if (result != 0)
+        {
+            LinuxNative.ThrowLastError("clock_getres");
+        }
+
+        return TimeSpan.FromSeconds(res.tv_sec) + TimeSpan.FromTicks(res.tv_nsec / 100);
+    }
+
+    /// <summary>
+    /// Sets the clock time (only for CLOCK_REALTIME).
+    /// </summary>
+    /// <param name="time">Time to set</param>
+    public void SetTime(DateTime time)
+    {
+        if (_clockType != RealtimeClockType.Realtime)
+        {
+            throw new InvalidOperationException("Only CLOCK_REALTIME can be set");
+        }
+
+        var tp = new LinuxNative.timespec
+        {
+            tv_sec = ((DateTimeOffset)time.ToUniversalTime()).ToUnixTimeSeconds(),
+            tv_nsec = (time.Millisecond % 1000) * 1000000
+        };
+
+        int result = LinuxNative.clock_settime((int)_clockType, ref tp);
+        if (result != 0)
+        {
+            LinuxNative.ThrowLastError("clock_settime");
+        }
+    }
+}
+
+/// <summary>
+/// Linux clock types.
+/// </summary>
+public enum RealtimeClockType
+{
+    /// <summary>
+    /// System-wide real-time clock (wall clock time).
+    /// Can be set by root.
+    /// </summary>
+    Realtime = LinuxNative.CLOCK_REALTIME,
+
+    /// <summary>
+    /// Monotonic clock that cannot be set and represents monotonic time since some unspecified starting point.
+    /// Best for measuring elapsed time.
+    /// </summary>
+    Monotonic = LinuxNative.CLOCK_MONOTONIC,
+
+    /// <summary>
+    /// Monotonic raw clock (not subject to NTP adjustments).
+    /// </summary>
+    MonotonicRaw = LinuxNative.CLOCK_MONOTONIC_RAW,
+
+    /// <summary>
+    /// Clock that measures CPU time consumed by the calling process.
+    /// </summary>
+    ProcessCpuTime = LinuxNative.CLOCK_PROCESS_CPUTIME_ID,
+
+    /// <summary>
+    /// Clock that measures CPU time consumed by the calling thread.
+    /// </summary>
+    ThreadCpuTime = LinuxNative.CLOCK_THREAD_CPUTIME_ID,
+
+    /// <summary>
+    /// Boot time clock (monotonic clock that includes time spent in suspend).
+    /// </summary>
+    BootTime = LinuxNative.CLOCK_BOOTTIME,
+}
+