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use uint64_t for timer period. #974

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use uint64_t for timer period. #974

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18 changes: 9 additions & 9 deletions rcl/include/rcl/timer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -362,7 +362,7 @@ rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, int64_t * time_sin
/**
* This function retrieves the period and copies it into the given variable.
*
* The period argument must be a pointer to an already allocated int64_t.
* The period argument must be a pointer to an already allocated uint64_t.
*
* <hr>
* Attribute | Adherence
Expand All @@ -371,18 +371,18 @@ rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, int64_t * time_sin
* Thread-Safe | Yes
* Uses Atomics | Yes
* Lock-Free | Yes [1]
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_uint_least64_t`</i>
*
* \param[in] timer the handle to the timer which is being queried
* \param[out] period the int64_t in which the period is stored
* \param[out] period the uint64_t in which the period is stored
* \return #RCL_RET_OK if the period was retrieved successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period);
rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period);

/// Exchange the period of the timer and return the previous period.
/**
Expand All @@ -391,7 +391,7 @@ rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period);
*
* Exchanging (changing) the period will not affect already waiting wait sets.
*
* The old_period argument must be a pointer to an already allocated int64_t.
* The old_period argument must be a pointer to an already allocated uint64_t.
*
* <hr>
* Attribute | Adherence
Expand All @@ -400,19 +400,19 @@ rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period);
* Thread-Safe | Yes
* Uses Atomics | Yes
* Lock-Free | Yes [1]
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_uint_least64_t`</i>
*
* \param[in] timer the handle to the timer which is being modified
* \param[out] new_period the int64_t to exchange into the timer
* \param[out] old_period the int64_t in which the previous period is stored
* \param[in] new_period the uint64_t to exchange into the timer
* \param[out] old_period the uint64_t in which the previous period is stored
* \return #RCL_RET_OK if the period was retrieved successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_ERROR an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t * old_period);
rcl_timer_exchange_period(const rcl_timer_t * timer, uint64_t new_period, uint64_t * old_period);

/// Return the current timer callback.
/**
Expand Down
4 changes: 2 additions & 2 deletions rcl/src/rcl/timer.c
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Expand Up @@ -343,7 +343,7 @@ rcl_timer_get_time_since_last_call(
}

rcl_ret_t
rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period)
rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period)
{
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(period, RCL_RET_INVALID_ARGUMENT);
Expand All @@ -352,7 +352,7 @@ rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period)
}

rcl_ret_t
rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t * old_period)
rcl_timer_exchange_period(const rcl_timer_t * timer, uint64_t new_period, uint64_t * old_period)
{
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCL_RET_INVALID_ARGUMENT);

Expand Down
8 changes: 4 additions & 4 deletions rcl/test/rcl/test_timer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -789,7 +789,7 @@ TEST_F(TestPreInitTimer, test_timer_clock) {
TEST_F(TestPreInitTimer, test_timer_call) {
int64_t next_call_start = 0;
int64_t next_call_end = 0;
int64_t old_period = 0;
uint64_t old_period = 0;
times_called = 0;

EXPECT_EQ(RCL_RET_OK, rcl_timer_get_time_until_next_call(&timer, &next_call_start));
Expand All @@ -804,7 +804,7 @@ TEST_F(TestPreInitTimer, test_timer_call) {

next_call_start = next_call_end;
ASSERT_EQ(RCL_RET_OK, rcl_timer_exchange_period(&timer, 0, &old_period));
EXPECT_EQ(RCL_S_TO_NS(1), old_period);
EXPECT_EQ((uint64_t)RCL_S_TO_NS(1), old_period);
ASSERT_EQ(RCL_RET_OK, rcl_timer_call(&timer)) << rcl_get_error_string().str;
EXPECT_EQ(times_called, 4);
EXPECT_EQ(RCL_RET_OK, rcl_timer_get_time_until_next_call(&timer, &next_call_end));
Expand Down Expand Up @@ -884,9 +884,9 @@ TEST_F(TestPreInitTimer, test_invalid_init_fini) {
}

TEST_F(TestPreInitTimer, test_timer_get_period) {
int64_t period = 0;
uint64_t period = 0;
ASSERT_EQ(RCL_RET_OK, rcl_timer_get_period(&timer, &period));
EXPECT_EQ(RCL_S_TO_NS(1), period);
EXPECT_EQ((uint64_t)RCL_S_TO_NS(1), period);

EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_timer_get_period(nullptr, &period));
rcl_reset_error();
Expand Down
4 changes: 2 additions & 2 deletions rcl_action/src/rcl_action/action_server.c
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Expand Up @@ -453,8 +453,8 @@ _recalculate_expire_timer(
return ret;
}
// Make timer fire when next goal expires
int64_t old_period;
ret = rcl_timer_exchange_period(expire_timer, minimum_period, &old_period);
uint64_t old_period;
ret = rcl_timer_exchange_period(expire_timer, (uint64_t)minimum_period, &old_period);
if (RCL_RET_OK != ret) {
return ret;
}
Expand Down