Minor improvements for RtTiming

Signed-off-by: ARMAR-DE <>

source/RobotAPI/components/units/RobotUnit/util/RtTiming.h

@@ -24,18 +24,25 @@
 #pragma once
 
 #include <chrono>
-//#include <ArmarXCore/core/time/TimeUtil.h>
 #include "ControlThreadOutputBuffer.h"
 
 namespace armarx
 {
+    namespace rt_timing::constants
+    {
+        inline constexpr const std::int64_t seconds2MicroSeconds = 1e6;
+
+        static constexpr const std::int64_t nanoSeconds2MicroSeconds = 1000;
+    } // namespace rt_timing::constants
 
     inline IceUtil::Time
     rtNow()
     {
+        using namespace rt_timing::constants;
         struct timespec ts;
         clock_gettime(CLOCK_MONOTONIC, &ts);
-        return IceUtil::Time::microSeconds(ts.tv_sec * 1e6 + ts.tv_nsec / 1000);
+        return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
+                                           ts.tv_nsec / nanoSeconds2MicroSeconds);
     }
 } // namespace armarx
 
@@ -52,7 +59,7 @@ namespace armarx
 //! \ingroup VirtualTime
 //! Prints duration with comment in front of it if it took longer than threshold
 #define RT_TIMING_CEND_COMMENT(name, comment, thresholdMs)                                         \
-    if ((armarx::rtNow() - name).toMilliSeconds() >= thresholdMs)                                  \
+    if ((armarx::rtNow() - name).toMilliSecondsDouble() >= thresholdMs)                            \
     RT_TIMING_END_COMMENT(name, comment)
 //! \ingroup VirtualTime
 //! Prints duration if it took longer than thresholdMs