From 21c43cbaa87f64e91008bae32e4d864fcf173431 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Thu, 13 Jul 2023 09:42:00 +0200
Subject: [PATCH] Use std::chrono::nanoseconds in RosClock

---
 .../include/BipedalLocomotion/System/RosClock.h           | 6 +++---
 src/System/RosImplementation/src/RosClock.cpp             | 8 ++++----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/System/RosImplementation/include/BipedalLocomotion/System/RosClock.h b/src/System/RosImplementation/include/BipedalLocomotion/System/RosClock.h
index 99fd18d3ac..4b782cda45 100644
--- a/src/System/RosImplementation/include/BipedalLocomotion/System/RosClock.h
+++ b/src/System/RosImplementation/include/BipedalLocomotion/System/RosClock.h
@@ -58,19 +58,19 @@ class RosClock final : public IClock
      * @note `BipedalLocomotion::clock().now().count()` returns a double containing the seconds
      * since epoch.
      */
-    std::chrono::duration<double> now() final;
+    std::chrono::nanoseconds now() final;
 
     /**
      * Blocks the execution of the current thread for at least the specified sleepDuration.
      * @param time duration to sleep
      */
-    void sleepFor(const std::chrono::duration<double>& sleepDuration) final;
+    void sleepFor(const std::chrono::nanoseconds& sleepDuration) final;
 
     /**
      * Blocks the execution of the current thread until specified sleepTime has been reached.
      * @param time to block until
      */
-    void sleepUntil(const std::chrono::duration<double>& sleepTime) final;
+    void sleepUntil(const std::chrono::nanoseconds& sleepTime) final;
 
     /**
      * Provides a hint to the implementation to reschedule the execution of threads, allowing other
diff --git a/src/System/RosImplementation/src/RosClock.cpp b/src/System/RosImplementation/src/RosClock.cpp
index bd9550d9bb..04080ca998 100644
--- a/src/System/RosImplementation/src/RosClock.cpp
+++ b/src/System/RosImplementation/src/RosClock.cpp
@@ -14,18 +14,18 @@
 
 using namespace BipedalLocomotion::System;
 
-std::chrono::duration<double> RosClock::now()
+std::chrono::nanoseconds RosClock::now()
 {
-    return std::chrono::duration<double>(m_clock.now().seconds());
+    return std::chrono::nanoseconds(m_clock.now().nanoseconds());
 }
 
-void RosClock::sleepFor(const std::chrono::duration<double>& sleepDuration)
+void RosClock::sleepFor(const std::chrono::nanoseconds& sleepDuration)
 {
     // std::chrono::duration store the time in second
     m_clock.sleep_for(sleepDuration);
 }
 
-void RosClock::sleepUntil(const std::chrono::duration<double>& sleepTime)
+void RosClock::sleepUntil(const std::chrono::nanoseconds& sleepTime)
 {
     m_clock.sleep_for(sleepTime - this->now());
 }