From 5b9b415724588edfe954342feaf31a25ca6d0ecc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 16 Sep 2024 01:51:06 +0200
Subject: [PATCH 01/18] Add z_clock_advance functions

---
 include/zenoh-pico/system/platform-common.h |  3 +++
 src/system/unix/system.c                    | 22 +++++++++++++++++++++
 2 files changed, 25 insertions(+)

diff --git a/include/zenoh-pico/system/platform-common.h b/include/zenoh-pico/system/platform-common.h
index 15f2440aa..68793efc3 100644
--- a/include/zenoh-pico/system/platform-common.h
+++ b/include/zenoh-pico/system/platform-common.h
@@ -140,6 +140,9 @@ 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);
diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index e38233daa..661ae3cdc 100644
--- a/src/system/unix/system.c
+++ b/src/system/unix/system.c
@@ -189,6 +189,28 @@ 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;

From 7049dcc4d29c3b00dce75d6347c58c28a07a7009 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 16 Sep 2024 01:56:15 +0200
Subject: [PATCH 02/18] Add z_condvar_timedwait function

---
 include/zenoh-pico/system/platform-common.h | 2 ++
 src/system/platform-common.c                | 3 +++
 src/system/unix/system.c                    | 4 ++++
 3 files changed, 9 insertions(+)

diff --git a/include/zenoh-pico/system/platform-common.h b/include/zenoh-pico/system/platform-common.h
index 68793efc3..780a08308 100644
--- a/include/zenoh-pico/system/platform-common.h
+++ b/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);
diff --git a/src/system/platform-common.c b/src/system/platform-common.c
index ab1a9d2e4..fc2060b98 100644
--- a/src/system/platform-common.c
+++ b/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
diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index 661ae3cdc..4d273aed7 100644
--- a/src/system/unix/system.c
+++ b/src/system/unix/system.c
@@ -136,6 +136,10 @@ 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 ------------------*/

From 72d794f86e5e966c16678108824a65c162061488 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 16 Sep 2024 01:56:58 +0200
Subject: [PATCH 03/18] Use monotonic clock in unix port of condvar

---
 src/system/unix/system.c | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index 4d273aed7..78caf0883 100644
--- a/src/system/unix/system.c
+++ b/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)); }
 

From c86205fa0d78b9c806a2ec8459c55ff05ad3d1f0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 18 Nov 2024 00:57:19 +0100
Subject: [PATCH 04/18] Add timeout argument

---
 include/zenoh-pico/system/platform_common.h |  4 ++--
 src/system/platform_common.c                |  4 ++--
 src/system/unix/system.c                    | 17 +++++++++++++++--
 3 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/include/zenoh-pico/system/platform_common.h b/include/zenoh-pico/system/platform_common.h
index cad62639a..81b2975fe 100644
--- a/include/zenoh-pico/system/platform_common.h
+++ b/include/zenoh-pico/system/platform_common.h
@@ -272,7 +272,7 @@ z_result_t _z_condvar_drop(_z_condvar_t *cv);
 z_result_t _z_condvar_signal(_z_condvar_t *cv);
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv);
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m);
-z_result_t _z_condvar_timedwait(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime);
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout);
 
 /**
  * Initializes a condition variable.
@@ -322,7 +322,7 @@ z_result_t z_condvar_signal(z_loaned_condvar_t *cv);
  */
 z_result_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m);
 
-z_result_t z_condvar_timedwait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime);
+z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime, bool *timeout);
 
 /*------------------ Sleep ------------------*/
 /**
diff --git a/src/system/platform_common.c b/src/system/platform_common.c
index 9452d0a90..f6dc0bb6f 100644
--- a/src/system/platform_common.c
+++ b/src/system/platform_common.c
@@ -61,8 +61,8 @@ z_result_t z_condvar_drop(z_moved_condvar_t *cv) { return _z_condvar_drop(&cv->_
 
 z_result_t z_condvar_signal(z_loaned_condvar_t *cv) { return _z_condvar_signal(cv); }
 z_result_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m) { return _z_condvar_wait(cv, m); }
-z_result_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);
+z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    return _z_condvar_wait_until(cv, m, abstime, timeout);
 }
 
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index 5ef1185c5..36a8112cf 100644
--- a/src/system/unix/system.c
+++ b/src/system/unix/system.c
@@ -12,6 +12,7 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+#include <errno.h>
 #include <stddef.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -143,8 +144,20 @@ z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_co
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
 
-z_result_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));
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    int error = pthread_cond_timedwait(cv, m, abstime);
+
+    if (error == ETIMEDOUT) {
+        if (timeout != NULL) {
+            *timeout = true;
+        }
+        return 0;
+    }
+
+    if (timeout != NULL) {
+        *timeout = false;
+    }
+    _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 

From 8104433da4f11aeb560100857b996d36f1440aa9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 18 Nov 2024 01:24:51 +0100
Subject: [PATCH 05/18] Fix build on macos

---
 src/system/unix/system.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index 36a8112cf..90912513e 100644
--- a/src/system/unix/system.c
+++ b/src/system/unix/system.c
@@ -132,7 +132,9 @@ z_result_t _z_mutex_unlock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_unloc
 z_result_t _z_condvar_init(_z_condvar_t *cv) {
     pthread_condattr_t attr;
     pthread_condattr_init(&attr);
+#ifndef ZENOH_MACOS
     pthread_condattr_setclock(&attr, CLOCK_MONOTONIC);
+#endif
     _Z_CHECK_SYS_ERR(pthread_cond_init(cv, &attr));
 }
 

From 566f7a3e686fc26f14015643f681b3190bfcb942 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 18 Nov 2024 12:33:32 +0100
Subject: [PATCH 06/18] Add missing docstrings

---
 include/zenoh-pico/system/platform_common.h | 40 +++++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/include/zenoh-pico/system/platform_common.h b/include/zenoh-pico/system/platform_common.h
index 81b2975fe..a0faff4a6 100644
--- a/include/zenoh-pico/system/platform_common.h
+++ b/include/zenoh-pico/system/platform_common.h
@@ -322,6 +322,23 @@ z_result_t z_condvar_signal(z_loaned_condvar_t *cv);
  */
 z_result_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m);
 
+/**
+ * Waits for a signal on the condition variable while holding a mutex until a specified time.
+ *
+ * The calling thread is blocked until the condition variable is signaled or the timeout occurs.
+ * The associated mutex must be locked by the calling thread, and it will be automatically unlocked while waiting.
+ * The `timeout` bool pointer should either be NULL or point to a valid memory, in which case the function will store a
+ * value indicating whether a timeout occurred. If NULL is passed in for `timeout`, it will not be set.
+ *
+ * Parameters:
+ *   cv: Pointer to a :c:type:`z_loaned_condvar_t` on which to wait.
+ *   m: Pointer to a :c:type:`z_loaned_mutex_t` that will be unlocked during the wait.
+ *   abstime: Absolute end time.
+ *   timeout: Whether a timeout occurred.
+ *
+ * Returns:
+ *   ``0`` if the wait is successful, a negative value otherwise.
+ */
 z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime, bool *timeout);
 
 /*------------------ Sleep ------------------*/
@@ -397,8 +414,31 @@ unsigned long z_clock_elapsed_ms(z_clock_t *time);
  */
 unsigned long z_clock_elapsed_s(z_clock_t *time);
 
+/**
+ * Offsets the clock by a specified duration in microseconds.
+ *
+ * Parameters:
+ *   clock: Pointer to a `z_clock_t` to offset.
+ *   duration: The duration in microseconds.
+ */
 void z_clock_advance_us(z_clock_t *clock, unsigned long duration);
+
+/**
+ * Offsets the clock by a specified duration in milliseconds.
+ *
+ * Parameters:
+ *   clock: Pointer to a `z_clock_t` to offset.
+ *   duration: The duration in milliseconds.
+ */
 void z_clock_advance_ms(z_clock_t *clock, unsigned long duration);
+
+/**
+ * Offsets the clock by a specified duration in seconds.
+ *
+ * Parameters:
+ *   clock: Pointer to a `z_clock_t` to offset.
+ *   duration: The duration in seconds.
+ */
 void z_clock_advance_s(z_clock_t *clock, unsigned long duration);
 
 /*------------------ Time ------------------*/

From 341d1f04d1955b2007cb37cb39eb842af30ed4ad Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 18 Nov 2024 13:47:29 +0100
Subject: [PATCH 07/18] Use POSIX implementation in arduino, espidf and zephyr
 ports

---
 src/system/arduino/esp32/system.c | 45 +++++++++++++++++++++++++++++--
 src/system/espidf/system.c        | 45 ++++++++++++++++++++++++++++++-
 src/system/zephyr/system.c        | 45 ++++++++++++++++++++++++++++++-
 3 files changed, 131 insertions(+), 4 deletions(-)

diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
index 2a6a257e6..d0c1c42d3 100644
--- a/src/system/arduino/esp32/system.c
+++ b/src/system/arduino/esp32/system.c
@@ -115,7 +115,12 @@ z_result_t _z_mutex_try_lock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_try
 z_result_t _z_mutex_unlock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_unlock(m)); }
 
 /*------------------ Condvar ------------------*/
-z_result_t _z_condvar_init(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_init(cv, NULL)); }
+z_result_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));
+}
 
 z_result_t _z_condvar_drop(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_destroy(cv)); }
 
@@ -123,7 +128,21 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_s
 
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_broadcast(cv)); }
 
-z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    int error = pthread_cond_timedwait(cv, m, abstime);
+
+    if (error == ETIMEDOUT) {
+        if (timeout != NULL) {
+            *timeout = true;
+        }
+        return 0;
+    }
+
+    if (timeout != NULL) {
+        *timeout = false;
+    }
+    _Z_CHECK_SYS_ERR(error);
+}
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
@@ -178,6 +197,28 @@ 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;
diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
index b66bb94c2..5acc72ff1 100644
--- a/src/system/espidf/system.c
+++ b/src/system/espidf/system.c
@@ -142,7 +142,12 @@ z_result_t _z_mutex_try_lock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_try
 z_result_t _z_mutex_unlock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_unlock(m)); }
 
 /*------------------ Condvar ------------------*/
-z_result_t _z_condvar_init(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_init(cv, NULL)); }
+z_result_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));
+}
 
 z_result_t _z_condvar_drop(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_destroy(cv)); }
 
@@ -151,6 +156,22 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_s
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_broadcast(cv)); }
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
+
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    int error = pthread_cond_timedwait(cv, m, abstime);
+
+    if (error == ETIMEDOUT) {
+        if (timeout != NULL) {
+            *timeout = true;
+        }
+        return 0;
+    }
+
+    if (timeout != NULL) {
+        *timeout = false;
+    }
+    _Z_CHECK_SYS_ERR(error);
+}
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
@@ -202,6 +223,28 @@ 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;
diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
index 7818c9993..6b36e01f3 100644
--- a/src/system/zephyr/system.c
+++ b/src/system/zephyr/system.c
@@ -108,7 +108,12 @@ z_result_t _z_mutex_try_lock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_try
 z_result_t _z_mutex_unlock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_unlock(m)); }
 
 /*------------------ Condvar ------------------*/
-z_result_t _z_condvar_init(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_init(cv, 0)); }
+z_result_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));
+}
 
 z_result_t _z_condvar_drop(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_destroy(cv)); }
 
@@ -117,6 +122,22 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_s
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_broadcast(cv)); }
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
+
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    int error = pthread_cond_timedwait(cv, m, abstime);
+
+    if (error == ETIMEDOUT) {
+        if (timeout != NULL) {
+            *timeout = true;
+        }
+        return 0;
+    }
+
+    if (timeout != NULL) {
+        *timeout = false;
+    }
+    _Z_CHECK_SYS_ERR(error);
+}
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
@@ -183,6 +204,28 @@ 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;

From e768f9d89578197a541cfbb27f1c82f9cbb334ea Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 18 Nov 2024 13:51:33 +0100
Subject: [PATCH 08/18] Add missing errno includes

---
 src/system/arduino/esp32/system.c | 1 +
 src/system/espidf/system.c        | 1 +
 src/system/zephyr/system.c        | 1 +
 3 files changed, 3 insertions(+)

diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
index d0c1c42d3..5d1736626 100644
--- a/src/system/arduino/esp32/system.c
+++ b/src/system/arduino/esp32/system.c
@@ -15,6 +15,7 @@
 #include <Arduino.h>
 #include <esp_heap_caps.h>
 #include <esp_random.h>
+#include <errno.h>
 #include <stddef.h>
 #include <sys/time.h>
 
diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
index 5acc72ff1..b6703178e 100644
--- a/src/system/espidf/system.c
+++ b/src/system/espidf/system.c
@@ -14,6 +14,7 @@
 
 #include <esp_heap_caps.h>
 #include <esp_random.h>
+#include <errno.h>
 #include <stddef.h>
 #include <sys/time.h>
 
diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
index 6b36e01f3..f808d908a 100644
--- a/src/system/zephyr/system.c
+++ b/src/system/zephyr/system.c
@@ -20,6 +20,7 @@
 #include <zephyr/random/random.h>
 #endif
 
+#include <errno.h>
 #include <stddef.h>
 #include <sys/time.h>
 #include <unistd.h>

From 600f3fe96ed73c1dd354002ffa97848b3e09a876 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 18 Nov 2024 13:54:00 +0100
Subject: [PATCH 09/18] Fix formatting

---
 src/system/arduino/esp32/system.c | 2 +-
 src/system/espidf/system.c        | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
index 5d1736626..e14f189fe 100644
--- a/src/system/arduino/esp32/system.c
+++ b/src/system/arduino/esp32/system.c
@@ -13,9 +13,9 @@
 //
 
 #include <Arduino.h>
+#include <errno.h>
 #include <esp_heap_caps.h>
 #include <esp_random.h>
-#include <errno.h>
 #include <stddef.h>
 #include <sys/time.h>
 
diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
index b6703178e..2c95afd63 100644
--- a/src/system/espidf/system.c
+++ b/src/system/espidf/system.c
@@ -12,9 +12,9 @@
 //   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
 //
 
+#include <errno.h>
 #include <esp_heap_caps.h>
 #include <esp_random.h>
-#include <errno.h>
 #include <stddef.h>
 #include <sys/time.h>
 

From 8ae9f4389f44e22b9507d1aba224dae54111e458 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Sun, 8 Dec 2024 00:05:42 +0100
Subject: [PATCH 10/18] Implement z_clock_advance for mbed port

---
 src/system/mbed/system.cpp | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/src/system/mbed/system.cpp b/src/system/mbed/system.cpp
index 9b8378ea0..872e4721d 100644
--- a/src/system/mbed/system.cpp
+++ b/src/system/mbed/system.cpp
@@ -167,6 +167,28 @@ 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;

From 76582485de650c1c0315bcef43459b8799fd69ba Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Sun, 8 Dec 2024 00:06:14 +0100
Subject: [PATCH 11/18] Implement z_clock_advance for freertos_plus_tcp port

---
 src/system/freertos_plus_tcp/system.c | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index 0876240fe..81452c3d1 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -190,6 +190,15 @@ unsigned long z_clock_elapsed_ms(z_clock_t *instant) { return z_time_elapsed_ms(
 
 unsigned long z_clock_elapsed_s(z_clock_t *instant) { return z_clock_elapsed_ms(instant) / 1000; }
 
+void z_clock_advance_us(z_clock_t *clock, unsigned long duration) { z_clock_advance_ms(clock, duration / 1000); }
+
+void z_clock_advance_ms(z_clock_t *clock, unsigned long duration) {
+    unsigned long ticks = pdMS_TO_TICKS(duration);
+    *clock += ticks;
+}
+
+void z_clock_advance_s(z_clock_t *clock, unsigned long duration) { z_clock_advance_ms(clock, duration * 1000); }
+
 /*------------------ Time ------------------*/
 z_time_t z_time_now(void) { return xTaskGetTickCount(); }
 

From 7c29df8ff230f4b48692a73f605cf8d7fd21b037 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Sun, 8 Dec 2024 00:06:49 +0100
Subject: [PATCH 12/18] Implement z_clock_advance for windows port

---
 src/system/windows/system.c | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/src/system/windows/system.c b/src/system/windows/system.c
index 51acd4146..acd83835b 100644
--- a/src/system/windows/system.c
+++ b/src/system/windows/system.c
@@ -237,6 +237,42 @@ unsigned long z_clock_elapsed_s(z_clock_t *instant) {
     return (unsigned long)elapsed;
 }
 
+void z_clock_advance_us(z_clock_t *clock, unsigned long duration) {
+    LARGE_INTEGER frequency;
+    QueryPerformanceFrequency(&frequency);  // ticks per second
+
+    // Hardware not supporting QueryPerformanceFrequency
+    if (frequency.QuadPart == 0) {
+        return;
+    }
+    double ticks = (double)duration * frequency.QuadPart / 1000000.0;
+    clock->QuadPart += (LONGLONG)ticks;
+}
+
+void z_clock_advance_ms(z_clock_t *clock, unsigned long duration) {
+    LARGE_INTEGER frequency;
+    QueryPerformanceFrequency(&frequency);  // ticks per second
+
+    // Hardware not supporting QueryPerformanceFrequency
+    if (frequency.QuadPart == 0) {
+        return;
+    }
+    double ticks = (double)duration * frequency.QuadPart / 1000.0;
+    clock->QuadPart += (LONGLONG)ticks;
+}
+
+void z_clock_advance_s(z_clock_t *clock, unsigned long duration) {
+    LARGE_INTEGER frequency;
+    QueryPerformanceFrequency(&frequency);  // ticks per second
+
+    // Hardware not supporting QueryPerformanceFrequency
+    if (frequency.QuadPart == 0) {
+        return;
+    }
+    double ticks = (double)duration * frequency.QuadPart;
+    clock->QuadPart += (LONGLONG)ticks;
+}
+
 /*------------------ Time ------------------*/
 z_time_t z_time_now(void) {
     z_time_t now;

From 08448a181ed8349a3adf9fb9659ef4834e54093e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Sun, 8 Dec 2024 00:21:45 +0100
Subject: [PATCH 13/18] Implement z_condvar_wait_until in windows port

---
 src/system/windows/system.c | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/src/system/windows/system.c b/src/system/windows/system.c
index acd83835b..f7a2b8761 100644
--- a/src/system/windows/system.c
+++ b/src/system/windows/system.c
@@ -158,6 +158,37 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     SleepConditionVariableSRW(cv, m, INFINITE, 0);
     return ret;
 }
+
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    z_clock_t now = z_clock_now();
+    LARGE_INTEGER frequency;
+    QueryPerformanceFrequency(&frequency);  // ticks per second
+
+    // Hardware not supporting QueryPerformanceFrequency
+    if (frequency.QuadPart == 0) {
+        return _Z_ERR_GENERIC;
+    }
+
+    double remaining = (double)(abstime->QuadPart - now.QuadPart) / frequency.QuadPart * 1000.0;
+    DWORD block_duration = remaining > 0.0 ? (DWORD)remaining : 0;
+
+    z_result_t ret = _Z_RES_OK;
+    if (SleepConditionVariableSRW(cv, m, block_duration, 0) == 0) {
+        if (GetLastError() == ERROR_TIMEOUT) {
+            if (timeout != NULL) {
+                *timeout = true;
+            }
+            return _Z_RES_OK;
+        } else {
+            ret = _Z_ERR_GENERIC;
+        }
+    }
+
+    if (timeout != NULL) {
+        *timeout = false;
+    }
+    return ret;
+}
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/

From 6925cd559c784ecb335c7fb08f43903b4b4ff97e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Tue, 10 Dec 2024 05:20:40 +0100
Subject: [PATCH 14/18] Implement z_condvar_wait_until for freertos_plus_tcp
 and mbed ports

---
 src/system/freertos_plus_tcp/system.c | 32 ++++++++++++++++++++++++++
 src/system/mbed/system.cpp            | 33 +++++++++++++++++++++++++++
 2 files changed, 65 insertions(+)

diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index 726f9236c..f4f1606b2 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -233,6 +233,38 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
 
     return _Z_RES_OK;
 }
+
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    if (!cv || !m) {
+        return _Z_ERR_GENERIC;
+    }
+
+    TickType_t now = xTaskGetTickCount();
+    TickType_t target_time = *abstime;
+    TickType_t block_duration = (target_time > now) ? (target_time - now) : 0;
+
+    xSemaphoreTake(cv->mutex, portMAX_DELAY);
+    cv->waiters++;
+    xSemaphoreGive(cv->mutex);
+
+    _z_mutex_unlock(m);
+
+    bool timed_out = xSemaphoreTake(cv->sem, block_duration) == pdFALSE;
+
+    _z_mutex_lock(m);
+
+    if (timed_out) {
+        xSemaphoreTake(cv->mutex, portMAX_DELAY);
+        cv->waiters--;
+        xSemaphoreGive(cv->mutex);
+    }
+
+    if (timeout != NULL) {
+        *timeout = timed_out;
+    }
+
+    return _Z_RES_OK;
+}
 #endif  // Z_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
diff --git a/src/system/mbed/system.cpp b/src/system/mbed/system.cpp
index 627293ce0..425fb1e4d 100644
--- a/src/system/mbed/system.cpp
+++ b/src/system/mbed/system.cpp
@@ -171,6 +171,39 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
 
     return _Z_RES_OK;
 }
+
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    if (!cv || !m) {
+        return _Z_ERR_GENERIC;
+    }
+
+    auto &cond_var = *(condvar *)*cv;
+
+    auto target_time =
+        Kernel::Clock::time_point(Kernel::Clock::duration(abstime->tv_sec * 1000LL + abstime->tv_nsec / 1000000));
+
+    cond_var.mutex.lock();
+    cond_var.waiters++;
+    cond_var.mutex.unlock();
+
+    _z_mutex_unlock(m);
+
+    bool timed_out = cond_var.sem.try_acquire_until(target_time) == false;
+
+    _z_mutex_lock(m);
+
+    if (timed_out) {
+        cond_var.mutex.lock();
+        cond_var.waiters--;
+        cond_var.mutex.unlock();
+    }
+
+    if (timeout != NULL) {
+        *timeout = timed_out;
+    }
+
+    return _Z_RES_OK;
+}
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/

From 4890d429e051516e380069286d94012f39812911 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Tue, 10 Dec 2024 05:32:35 +0100
Subject: [PATCH 15/18] Implement z_condvar_wait_until for rpi_pico port

---
 src/system/rpi_pico/system.c | 54 ++++++++++++++++++++++++++++++++++++
 1 file changed, 54 insertions(+)

diff --git a/src/system/rpi_pico/system.c b/src/system/rpi_pico/system.c
index eb7f6c4cc..3f825fefe 100644
--- a/src/system/rpi_pico/system.c
+++ b/src/system/rpi_pico/system.c
@@ -206,6 +206,38 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
 
     return _z_mutex_lock(m);
 }
+
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    if (!cv || !m) {
+        return _Z_ERR_GENERIC;
+    }
+
+    TickType_t now = xTaskGetTickCount();
+    TickType_t target_time = pdMS_TO_TICKS(abstime->tv_sec * 1000 + abstime->tv_nsec / 1000000);
+    TickType_t block_duration = (target_time > now) ? (target_time - now) : 0;
+
+    xSemaphoreTake(cv->mutex, portMAX_DELAY);
+    cv->waiters++;
+    xSemaphoreGive(cv->mutex);
+
+    _z_mutex_unlock(m);
+
+    bool timed_out = xSemaphoreTake(cv->sem, block_duration) == pdFALSE;
+
+    _z_mutex_lock(m);
+
+    if (timed_out) {
+        xSemaphoreTake(cv->mutex, portMAX_DELAY);
+        cv->waiters--;
+        xSemaphoreGive(cv->mutex);
+    }
+
+    if (timeout != NULL) {
+        *timeout = timed_out;
+    }
+
+    return _Z_RES_OK;
+}
 #endif  // Z_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
@@ -263,6 +295,28 @@ 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;

From 59f88aad5f70e1c7274a4dcae0107bbd6efe3cd1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 16 Dec 2024 00:06:36 +0100
Subject: [PATCH 16/18] Add opencv and flipper clock advance implementations

---
 src/system/arduino/opencr/system.c | 25 +++++++++++++++++++++++++
 src/system/flipper/system.c        | 26 ++++++++++++++++++++++++++
 2 files changed, 51 insertions(+)

diff --git a/src/system/arduino/opencr/system.c b/src/system/arduino/opencr/system.c
index e6ea10fce..759a9e7ae 100644
--- a/src/system/arduino/opencr/system.c
+++ b/src/system/arduino/opencr/system.c
@@ -97,6 +97,9 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { return -1; }
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { return -1; }
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return -1; }
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    return -1;
+}
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
@@ -160,6 +163,28 @@ 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;
diff --git a/src/system/flipper/system.c b/src/system/flipper/system.c
index 3d27aaeb1..0498c334f 100644
--- a/src/system/flipper/system.c
+++ b/src/system/flipper/system.c
@@ -153,6 +153,10 @@ z_result_t _z_condvar_signal_all(_z_condvar_t* cv) { return -1; }
 
 z_result_t _z_condvar_wait(_z_condvar_t* cv, _z_mutex_t* m) { return -1; }
 
+z_result_t _z_condvar_wait_until(_z_condvar_t* cv, _z_mutex_t* m, const z_clock_t* abstime, bool* timeout) {
+    return -1;
+}
+
 /*------------------ Sleep ------------------*/
 z_result_t z_sleep_us(size_t time) {
     furi_delay_us(time);
@@ -214,6 +218,28 @@ 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;

From ff7dc08741a95bb62ca6e8631d0eb0506ae33e55 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 16 Dec 2024 00:46:56 +0100
Subject: [PATCH 17/18] Add emscripten implementation

---
 src/system/emscripten/system.c | 36 ++++++++++++++++++++++++++++++++--
 1 file changed, 34 insertions(+), 2 deletions(-)

diff --git a/src/system/emscripten/system.c b/src/system/emscripten/system.c
index 52065d2db..aa1399f82 100644
--- a/src/system/emscripten/system.c
+++ b/src/system/emscripten/system.c
@@ -13,6 +13,7 @@
 //
 
 #include <emscripten/html5.h>
+#include <errno.h>
 #include <pthread.h>
 #include <stddef.h>
 #include <stdio.h>
@@ -69,7 +70,12 @@ z_result_t _z_mutex_try_lock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_try
 z_result_t _z_mutex_unlock(_z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_mutex_unlock(m)); }
 
 /*------------------ Condvar ------------------*/
-z_result_t _z_condvar_init(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_init(cv, 0)); }
+z_result_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));
+}
 
 z_result_t _z_condvar_drop(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_destroy(cv)); }
 
@@ -78,6 +84,26 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_s
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_broadcast(cv)); }
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
+
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+    struct timespec ts;
+    ts.tv_sec = (time_t)(*abstime / 1000);
+    ts.tv_nsec = (long)((*abstime - (ts.tv_sec * 1000)) * 1000000);
+
+    int error = pthread_cond_timedwait(cv, m, &ts);
+
+    if (error == ETIMEDOUT) {
+        if (timeout != NULL) {
+            *timeout = true;
+        }
+        return 0;
+    }
+
+    if (timeout != NULL) {
+        *timeout = false;
+    }
+    _Z_CHECK_SYS_ERR(error);
+}
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
@@ -111,7 +137,13 @@ unsigned long z_clock_elapsed_us(z_clock_t *instant) { return z_clock_elapsed_ms
 
 unsigned long z_clock_elapsed_ms(z_clock_t *instant) { return z_time_elapsed_ms(instant); }
 
-unsigned long z_clock_elapsed_s(z_clock_t *instant) { return z_time_elapsed_ms(instant) * 1000; }
+unsigned long z_clock_elapsed_s(z_clock_t *instant) { return z_time_elapsed_ms(instant) / 1000; }
+
+void z_clock_advance_us(z_clock_t *clock, unsigned long duration) { *clock += (double)(duration / 1000); }
+
+void z_clock_advance_ms(z_clock_t *clock, unsigned long duration) { *clock += (double)duration; }
+
+void z_clock_advance_s(z_clock_t *clock, unsigned long duration) { *clock += (double)(duration * 1000); }
 
 /*------------------ Time ------------------*/
 z_time_t z_time_now(void) { return emscripten_get_now(); }

From 284e3baef4b03b4a4479b16c530fc7d0057a18d7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 16 Dec 2024 22:48:43 +0000
Subject: [PATCH 18/18] Return a timeout result code instead of setting timeout
 variable

---
 include/zenoh-pico/system/common/platform.h |  9 +++------
 include/zenoh-pico/utils/result.h           |  1 +
 src/system/arduino/esp32/system.c           | 10 ++--------
 src/system/arduino/opencr/system.c          |  4 +---
 src/system/common/platform.c                |  4 ++--
 src/system/emscripten/system.c              | 10 ++--------
 src/system/espidf/system.c                  | 10 ++--------
 src/system/flipper/system.c                 |  4 +---
 src/system/freertos_plus_tcp/system.c       |  7 ++-----
 src/system/mbed/system.cpp                  |  7 ++-----
 src/system/rpi_pico/system.c                |  7 ++-----
 src/system/unix/system.c                    | 10 ++--------
 src/system/windows/system.c                 | 15 ++++-----------
 src/system/zephyr/system.c                  | 10 ++--------
 14 files changed, 28 insertions(+), 80 deletions(-)

diff --git a/include/zenoh-pico/system/common/platform.h b/include/zenoh-pico/system/common/platform.h
index 9a8fa6e7f..4b3937abd 100644
--- a/include/zenoh-pico/system/common/platform.h
+++ b/include/zenoh-pico/system/common/platform.h
@@ -274,7 +274,7 @@ z_result_t _z_condvar_drop(_z_condvar_t *cv);
 z_result_t _z_condvar_signal(_z_condvar_t *cv);
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv);
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m);
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout);
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime);
 
 /**
  * Initializes a condition variable.
@@ -329,19 +329,16 @@ z_result_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m);
  *
  * The calling thread is blocked until the condition variable is signaled or the timeout occurs.
  * The associated mutex must be locked by the calling thread, and it will be automatically unlocked while waiting.
- * The `timeout` bool pointer should either be NULL or point to a valid memory, in which case the function will store a
- * value indicating whether a timeout occurred. If NULL is passed in for `timeout`, it will not be set.
  *
  * Parameters:
  *   cv: Pointer to a :c:type:`z_loaned_condvar_t` on which to wait.
  *   m: Pointer to a :c:type:`z_loaned_mutex_t` that will be unlocked during the wait.
  *   abstime: Absolute end time.
- *   timeout: Whether a timeout occurred.
  *
  * Returns:
- *   ``0`` if the wait is successful, a negative value otherwise.
+ *   ``0`` if the wait is successful, ``Z_ETIMEDOUT`` if a timeout occurred, other negative value otherwise.
  */
-z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime, bool *timeout);
+z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime);
 
 /*------------------ Sleep ------------------*/
 /**
diff --git a/include/zenoh-pico/utils/result.h b/include/zenoh-pico/utils/result.h
index 6b1061d21..7ac80ee1f 100644
--- a/include/zenoh-pico/utils/result.h
+++ b/include/zenoh-pico/utils/result.h
@@ -86,6 +86,7 @@ typedef enum {
     _Z_ERR_OVERFLOW = -74,
     _Z_ERR_SESSION_CLOSED = -73,
     Z_EDESERIALIZE = -72,
+    Z_ETIMEDOUT = -71,
 
     _Z_ERR_GENERIC = -128
 } _z_res_t;
diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
index af58f3383..e0d4a630d 100644
--- a/src/system/arduino/esp32/system.c
+++ b/src/system/arduino/esp32/system.c
@@ -128,19 +128,13 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_s
 
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_broadcast(cv)); }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     int error = pthread_cond_timedwait(cv, m, abstime);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/arduino/opencr/system.c b/src/system/arduino/opencr/system.c
index 759a9e7ae..ab49a1e5c 100644
--- a/src/system/arduino/opencr/system.c
+++ b/src/system/arduino/opencr/system.c
@@ -97,9 +97,7 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { return -1; }
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { return -1; }
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return -1; }
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
-    return -1;
-}
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) { return -1; }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
diff --git a/src/system/common/platform.c b/src/system/common/platform.c
index f4b2ad9e0..9d042a4f9 100644
--- a/src/system/common/platform.c
+++ b/src/system/common/platform.c
@@ -61,8 +61,8 @@ z_result_t z_condvar_drop(z_moved_condvar_t *cv) { return _z_condvar_drop(&cv->_
 
 z_result_t z_condvar_signal(z_loaned_condvar_t *cv) { return _z_condvar_signal(cv); }
 z_result_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m) { return _z_condvar_wait(cv, m); }
-z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
-    return _z_condvar_wait_until(cv, m, abstime, timeout);
+z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime) {
+    return _z_condvar_wait_until(cv, m, abstime);
 }
 
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/emscripten/system.c b/src/system/emscripten/system.c
index aa1399f82..b224c0f6b 100644
--- a/src/system/emscripten/system.c
+++ b/src/system/emscripten/system.c
@@ -85,7 +85,7 @@ z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_co
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     struct timespec ts;
     ts.tv_sec = (time_t)(*abstime / 1000);
     ts.tv_nsec = (long)((*abstime - (ts.tv_sec * 1000)) * 1000000);
@@ -93,15 +93,9 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
     int error = pthread_cond_timedwait(cv, m, &ts);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
index 2c95afd63..648679a59 100644
--- a/src/system/espidf/system.c
+++ b/src/system/espidf/system.c
@@ -158,19 +158,13 @@ z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_co
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     int error = pthread_cond_timedwait(cv, m, abstime);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/flipper/system.c b/src/system/flipper/system.c
index 0498c334f..92c1091ca 100644
--- a/src/system/flipper/system.c
+++ b/src/system/flipper/system.c
@@ -153,9 +153,7 @@ z_result_t _z_condvar_signal_all(_z_condvar_t* cv) { return -1; }
 
 z_result_t _z_condvar_wait(_z_condvar_t* cv, _z_mutex_t* m) { return -1; }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t* cv, _z_mutex_t* m, const z_clock_t* abstime, bool* timeout) {
-    return -1;
-}
+z_result_t _z_condvar_wait_until(_z_condvar_t* cv, _z_mutex_t* m, const z_clock_t* abstime) { return -1; }
 
 /*------------------ Sleep ------------------*/
 z_result_t z_sleep_us(size_t time) {
diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index e57873378..c1740843d 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -265,7 +265,7 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     return _Z_RES_OK;
 }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     if (!cv || !m) {
         return _Z_ERR_GENERIC;
     }
@@ -288,10 +288,7 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
         xSemaphoreTake(cv->mutex, portMAX_DELAY);
         cv->waiters--;
         xSemaphoreGive(cv->mutex);
-    }
-
-    if (timeout != NULL) {
-        *timeout = timed_out;
+        return Z_ETIMEDOUT;
     }
 
     return _Z_RES_OK;
diff --git a/src/system/mbed/system.cpp b/src/system/mbed/system.cpp
index 425fb1e4d..5ab66242c 100644
--- a/src/system/mbed/system.cpp
+++ b/src/system/mbed/system.cpp
@@ -172,7 +172,7 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     return _Z_RES_OK;
 }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     if (!cv || !m) {
         return _Z_ERR_GENERIC;
     }
@@ -196,10 +196,7 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
         cond_var.mutex.lock();
         cond_var.waiters--;
         cond_var.mutex.unlock();
-    }
-
-    if (timeout != NULL) {
-        *timeout = timed_out;
+        return Z_ETIMEDOUT;
     }
 
     return _Z_RES_OK;
diff --git a/src/system/rpi_pico/system.c b/src/system/rpi_pico/system.c
index 3f825fefe..26f3b011a 100644
--- a/src/system/rpi_pico/system.c
+++ b/src/system/rpi_pico/system.c
@@ -207,7 +207,7 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     return _z_mutex_lock(m);
 }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     if (!cv || !m) {
         return _Z_ERR_GENERIC;
     }
@@ -230,10 +230,7 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
         xSemaphoreTake(cv->mutex, portMAX_DELAY);
         cv->waiters--;
         xSemaphoreGive(cv->mutex);
-    }
-
-    if (timeout != NULL) {
-        *timeout = timed_out;
+        return Z_ETIMEDOUT;
     }
 
     return _Z_RES_OK;
diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index e8ebe6526..2fcf2b3c8 100644
--- a/src/system/unix/system.c
+++ b/src/system/unix/system.c
@@ -145,19 +145,13 @@ z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_co
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     int error = pthread_cond_timedwait(cv, m, abstime);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/windows/system.c b/src/system/windows/system.c
index f7a2b8761..78086a6c0 100644
--- a/src/system/windows/system.c
+++ b/src/system/windows/system.c
@@ -159,7 +159,7 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     return ret;
 }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     z_clock_t now = z_clock_now();
     LARGE_INTEGER frequency;
     QueryPerformanceFrequency(&frequency);  // ticks per second
@@ -172,22 +172,15 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
     double remaining = (double)(abstime->QuadPart - now.QuadPart) / frequency.QuadPart * 1000.0;
     DWORD block_duration = remaining > 0.0 ? (DWORD)remaining : 0;
 
-    z_result_t ret = _Z_RES_OK;
     if (SleepConditionVariableSRW(cv, m, block_duration, 0) == 0) {
         if (GetLastError() == ERROR_TIMEOUT) {
-            if (timeout != NULL) {
-                *timeout = true;
-            }
-            return _Z_RES_OK;
+            return Z_ETIMEDOUT;
         } else {
-            ret = _Z_ERR_GENERIC;
+            return _Z_ERR_GENERIC;
         }
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
-    return ret;
+    return _Z_RES_OK;
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
index f808d908a..3cd8ee634 100644
--- a/src/system/zephyr/system.c
+++ b/src/system/zephyr/system.c
@@ -124,19 +124,13 @@ z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_co
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     int error = pthread_cond_timedwait(cv, m, abstime);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1