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Add toMsg method to Time class #44

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Merged
merged 1 commit into from
Sep 23, 2020
Merged

Add toMsg method to Time class #44

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8 changes: 8 additions & 0 deletions rcljava/src/main/java/org/ros2/rcljava/Time.java
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,14 @@ public Time(final long secs, final long nanos, final ClockType ct) {
this.nanoseconds = TimeUnit.SECONDS.toNanos(secs) + nanos;
}

public builtin_interfaces.msg.Time toMsg() {
long seconds = this.nanoseconds / 1000000000;
long nanos = this.nanoseconds % 1000000000;
builtin_interfaces.msg.Time msg = new builtin_interfaces.msg.Time();
msg.setSec((int)seconds);
msg.setNanosec((int)nanos);
return msg;
}

public long nanoseconds() {
return nanoseconds;
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35 changes: 35 additions & 0 deletions rcljava/src/test/java/org/ros2/rcljava/TimeTest.java
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Expand Up @@ -37,6 +37,16 @@ public final void testTimeNoArgConstructor() {
assertEquals(ClockType.SYSTEM_TIME, time.clockType());
}

@Test
public final void testTimeFromMsgConstructor() {
builtin_interfaces.msg.Time timeMsg = new builtin_interfaces.msg.Time();
timeMsg.setSec(42);
timeMsg.setNanosec(100);
Time time = new Time(timeMsg, ClockType.SYSTEM_TIME);
assertEquals(42000000100L, time.nanoseconds());
assertEquals(ClockType.SYSTEM_TIME, time.clockType());
}

@Test
public final void testTimeNanos() {
Time time = new Time(45, ClockType.SYSTEM_TIME);
Expand All @@ -60,4 +70,29 @@ public final void testTimeBadSecs() {
public final void testTimeBadNanos() {
Time time = new Time(0, -45, ClockType.SYSTEM_TIME);
}

@Test
public final void testTimeToMsg() {
{
Time time = new Time();
builtin_interfaces.msg.Time timeMsgOut = time.toMsg();
assertEquals(0, timeMsgOut.getSec());
assertEquals(0, timeMsgOut.getNanosec());
}
{
builtin_interfaces.msg.Time timeMsg = new builtin_interfaces.msg.Time();
timeMsg.setSec(42);
timeMsg.setNanosec(100);
Time time = new Time(timeMsg, ClockType.SYSTEM_TIME);
builtin_interfaces.msg.Time timeMsgOut = time.toMsg();
assertEquals(42, timeMsgOut.getSec());
assertEquals(100, timeMsgOut.getNanosec());
}
{
Time time = new Time(0, 45, ClockType.SYSTEM_TIME);
builtin_interfaces.msg.Time timeMsgOut = time.toMsg();
assertEquals(0, timeMsgOut.getSec());
assertEquals(45, timeMsgOut.getNanosec());
}
}
}