Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

rclcpp::Duration constructors might be confusing to users migrating from ROS 1 #1432

Merged
merged 6 commits into from
Nov 2, 2020
Merged

rclcpp::Duration constructors might be confusing to users migrating from ROS 1 #1432

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
64f1a3e
Deprecate Duration(rcl_duration_value_t) in favor of static Duration:…
ivanpauno Oct 30, 2020
31db232
uncrustify
ivanpauno Oct 30, 2020
d3bf0af
More instructive deprecation message
ivanpauno Nov 2, 2020
fa216a6
std::chrono literals -> std::chrono_literals
ivanpauno Nov 2, 2020
505c516
fix argument name
ivanpauno Nov 2, 2020
6829a4f
fix naming
ivanpauno Nov 2, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 9 additions & 2 deletions rclcpp/include/rclcpp/duration.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,10 +38,11 @@ class RCLCPP_PUBLIC Duration
*/
Duration(int32_t seconds, uint32_t nanoseconds);

// This constructor matches any numeric value - ints or floats.
/// Construct duration from the specified nanoseconds.
[[deprecated("Use Duration::from_nanoseconds instead")]]
explicit Duration(rcl_duration_value_t nanoseconds);

// This constructor matches std::chrono::nanoseconds.
/// Construct duration from the specified std::chrono::nanoseconds.
explicit Duration(std::chrono::nanoseconds nanoseconds);

// This constructor matches any std::chrono value other than nanoseconds
Expand Down Expand Up @@ -129,6 +130,10 @@ class RCLCPP_PUBLIC Duration
static Duration
from_seconds(double seconds);

/// Create a duration object from an integer number representing nanoseconds
static Duration
from_nanoseconds(rcl_duration_value_t nanoseconds);

/// Convert Duration into a std::chrono::Duration.
template<class DurationT>
DurationT
Expand All @@ -143,6 +148,8 @@ class RCLCPP_PUBLIC Duration

private:
rcl_duration_t rcl_duration_;

Duration() = default;
wjwwood marked this conversation as resolved.
Show resolved Hide resolved
};

} // namespace rclcpp
Expand Down
20 changes: 15 additions & 5 deletions rclcpp/src/rclcpp/duration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ Duration::Duration(int32_t seconds, uint32_t nanoseconds)
rcl_duration_.nanoseconds += nanoseconds;
}

Duration::Duration(int64_t nanoseconds)
Duration::Duration(rcl_duration_value_t nanoseconds)
{
rcl_duration_.nanoseconds = nanoseconds;
}
Expand Down Expand Up @@ -148,7 +148,7 @@ Duration::operator+(const rclcpp::Duration & rhs) const
this->rcl_duration_.nanoseconds,
rhs.rcl_duration_.nanoseconds,
std::numeric_limits<rcl_duration_value_t>::max());
return Duration(
return Duration::from_nanoseconds(
rcl_duration_.nanoseconds + rhs.rcl_duration_.nanoseconds);
}

Expand Down Expand Up @@ -177,7 +177,7 @@ Duration::operator-(const rclcpp::Duration & rhs) const
rhs.rcl_duration_.nanoseconds,
std::numeric_limits<rcl_duration_value_t>::max());

return Duration(
return Duration::from_nanoseconds(
rcl_duration_.nanoseconds - rhs.rcl_duration_.nanoseconds);
}

Expand Down Expand Up @@ -208,7 +208,7 @@ Duration::operator*(double scale) const
scale,
std::numeric_limits<rcl_duration_value_t>::max());
long double scale_ld = static_cast<long double>(scale);
return Duration(
return Duration::from_nanoseconds(
static_cast<rcl_duration_value_t>(
static_cast<long double>(rcl_duration_.nanoseconds) * scale_ld));
}
Expand Down Expand Up @@ -249,7 +249,17 @@ Duration::to_rmw_time() const
Duration
Duration::from_seconds(double seconds)
{
return Duration(static_cast<int64_t>(RCL_S_TO_NS(seconds)));
Duration ret;
ret.rcl_duration_.nanoseconds = static_cast<int64_t>(RCL_S_TO_NS(seconds));
return ret;
}

Duration
Duration::from_nanoseconds(rcl_duration_value_t seconds)
ivanpauno marked this conversation as resolved.
Show resolved Hide resolved
{
Duration ret;
ret.rcl_duration_.nanoseconds = seconds;
return ret;
}

} // namespace rclcpp
2 changes: 1 addition & 1 deletion rclcpp/src/rclcpp/time.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -199,7 +199,7 @@ Time::operator-(const rclcpp::Time & rhs) const
throw std::underflow_error("time subtraction leads to int64_t underflow");
}

return Duration(rcl_time_.nanoseconds - rhs.rcl_time_.nanoseconds);
return Duration::from_nanoseconds(rcl_time_.nanoseconds - rhs.rcl_time_.nanoseconds);
}

Time
Expand Down
41 changes: 22 additions & 19 deletions rclcpp/test/rclcpp/test_duration.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ TEST_F(TestDuration, operators) {
TEST_F(TestDuration, chrono_overloads) {
int64_t ns = 123456789l;
auto chrono_ns = std::chrono::nanoseconds(ns);
auto d1 = rclcpp::Duration(ns);
auto d1 = rclcpp::Duration::from_nanoseconds(ns);
auto d2 = rclcpp::Duration(chrono_ns);
auto d3 = rclcpp::Duration(123456789ns);
EXPECT_EQ(d1, d2);
Expand All @@ -85,11 +85,11 @@ TEST_F(TestDuration, chrono_overloads) {
}

TEST_F(TestDuration, overflows) {
rclcpp::Duration max(std::numeric_limits<rcl_duration_value_t>::max());
rclcpp::Duration min(std::numeric_limits<rcl_duration_value_t>::min());
auto max = rclcpp::Duration::from_nanoseconds(std::numeric_limits<rcl_duration_value_t>::max());
auto min = rclcpp::Duration::from_nanoseconds(std::numeric_limits<rcl_duration_value_t>::min());

rclcpp::Duration one(1);
rclcpp::Duration negative_one(-1);
rclcpp::Duration one(1ns);
rclcpp::Duration negative_one(-1ns);

EXPECT_THROW(max + one, std::overflow_error);
EXPECT_THROW(min - one, std::underflow_error);
Expand All @@ -106,7 +106,7 @@ TEST_F(TestDuration, overflows) {
}

TEST_F(TestDuration, negative_duration) {
rclcpp::Duration assignable_duration = rclcpp::Duration(0) - rclcpp::Duration(5, 0);
rclcpp::Duration assignable_duration = rclcpp::Duration(0ns) - rclcpp::Duration(5, 0);

{
// avoid windows converting a literal number less than -INT_MAX to unsigned int C4146
Expand Down Expand Up @@ -140,22 +140,24 @@ static const int64_t ONE_SEC_IN_NS = 1000 * 1000 * 1000;
static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;

TEST_F(TestDuration, from_seconds) {
EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0.0));
EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration::from_seconds(0));
EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration::from_seconds(0.0));
EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration::from_seconds(0));
EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(1.5));
EXPECT_EQ(rclcpp::Duration(-ONE_AND_HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(-1.5));
EXPECT_EQ(
rclcpp::Duration::from_nanoseconds(-ONE_AND_HALF_SEC_IN_NS),
rclcpp::Duration::from_seconds(-1.5));
}

TEST_F(TestDuration, std_chrono_constructors) {
EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0.0s));
EXPECT_EQ(rclcpp::Duration(0), rclcpp::Duration(0s));
EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration(0.0s));
EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration(0s));
EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration(1.5s));
EXPECT_EQ(rclcpp::Duration(-1, 0), rclcpp::Duration(-1s));
}

TEST_F(TestDuration, conversions) {
{
const rclcpp::Duration duration(HALF_SEC_IN_NS);
auto duration = rclcpp::Duration::from_nanoseconds(HALF_SEC_IN_NS);
const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, 0);
EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
Expand All @@ -170,7 +172,7 @@ TEST_F(TestDuration, conversions) {
}

{
const rclcpp::Duration duration(ONE_SEC_IN_NS);
auto duration = rclcpp::Duration::from_nanoseconds(ONE_SEC_IN_NS);
const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, 1);
EXPECT_EQ(duration_msg.nanosec, 0u);
Expand All @@ -185,7 +187,7 @@ TEST_F(TestDuration, conversions) {
}

{
const rclcpp::Duration duration(ONE_AND_HALF_SEC_IN_NS);
auto duration = rclcpp::Duration::from_nanoseconds(ONE_AND_HALF_SEC_IN_NS);
auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, 1);
EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
Expand All @@ -200,7 +202,7 @@ TEST_F(TestDuration, conversions) {
}

{
rclcpp::Duration duration(-HALF_SEC_IN_NS);
auto duration = rclcpp::Duration::from_nanoseconds(-HALF_SEC_IN_NS);
auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, -1);
EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
Expand All @@ -213,7 +215,7 @@ TEST_F(TestDuration, conversions) {
}

{
rclcpp::Duration duration(-ONE_SEC_IN_NS);
auto duration = rclcpp::Duration::from_nanoseconds(-ONE_SEC_IN_NS);
auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, -1);
EXPECT_EQ(duration_msg.nanosec, 0u);
Expand All @@ -226,7 +228,7 @@ TEST_F(TestDuration, conversions) {
}

{
rclcpp::Duration duration(-ONE_AND_HALF_SEC_IN_NS);
auto duration = rclcpp::Duration::from_nanoseconds(-ONE_AND_HALF_SEC_IN_NS);
auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, -2);
EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
Expand All @@ -253,9 +255,10 @@ TEST_F(TestDuration, test_some_constructors) {
}

TEST_F(TestDuration, test_some_exceptions) {
rclcpp::Duration test_duration(0u);
rclcpp::Duration test_duration(0ns);
RCLCPP_EXPECT_THROW_EQ(
test_duration = rclcpp::Duration(INT64_MAX) - rclcpp::Duration(-1),
test_duration =
rclcpp::Duration::from_nanoseconds(INT64_MAX) - rclcpp::Duration(-1ns),
std::overflow_error("duration subtraction leads to int64_t overflow"));
RCLCPP_EXPECT_THROW_EQ(
test_duration = test_duration * (std::numeric_limits<double>::infinity()),
Expand Down
31 changes: 17 additions & 14 deletions rclcpp/test/rclcpp/test_time.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <gtest/gtest.h>

#include <algorithm>
#include <chrono>
#include <limits>
#include <string>

Expand All @@ -30,6 +31,8 @@
namespace
{

using namespace std::chrono_literals;

bool logical_eq(const bool a, const bool b)
{
return (a && b) || ((!a) && !(b));
Expand Down Expand Up @@ -221,7 +224,7 @@ TEST_F(TestTime, operators) {
EXPECT_EQ(sub, young - old);

rclcpp::Time young_changed(young);
young_changed -= rclcpp::Duration(old.nanoseconds());
young_changed -= rclcpp::Duration::from_nanoseconds(old.nanoseconds());
EXPECT_EQ(sub.nanoseconds(), young_changed.nanoseconds());

rclcpp::Time system_time(0, 0, RCL_SYSTEM_TIME);
Expand Down Expand Up @@ -320,8 +323,8 @@ TEST_F(TestTime, overflow_detectors) {
TEST_F(TestTime, overflows) {
rclcpp::Time max_time(std::numeric_limits<rcl_time_point_value_t>::max());
rclcpp::Time min_time(std::numeric_limits<rcl_time_point_value_t>::min());
rclcpp::Duration one(1);
rclcpp::Duration two(2);
rclcpp::Duration one(1ns);
rclcpp::Duration two(2ns);

// Cross min/max
EXPECT_THROW(max_time + one, std::overflow_error);
Expand Down Expand Up @@ -394,7 +397,7 @@ TEST_F(TestTime, test_assignment_operator_from_builtin_msg_time) {
}

TEST_F(TestTime, test_sum_operator) {
const rclcpp::Duration one(1);
const rclcpp::Duration one(1ns);
const rclcpp::Time test_time(0u);
EXPECT_EQ(0u, test_time.nanoseconds());

Expand All @@ -406,41 +409,41 @@ TEST_F(TestTime, test_overflow_underflow_throws) {
rclcpp::Time test_time(0u);

RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Time(INT64_MAX) + rclcpp::Duration(1),
test_time = rclcpp::Time(INT64_MAX) + rclcpp::Duration(1ns),
std::overflow_error("addition leads to int64_t overflow"));
RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Time(INT64_MIN) + rclcpp::Duration(-1),
test_time = rclcpp::Time(INT64_MIN) + rclcpp::Duration(-1ns),
std::underflow_error("addition leads to int64_t underflow"));

RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Time(INT64_MAX) - rclcpp::Duration(-1),
test_time = rclcpp::Time(INT64_MAX) - rclcpp::Duration(-1ns),
std::overflow_error("time subtraction leads to int64_t overflow"));
RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Time(INT64_MIN) - rclcpp::Duration(1),
test_time = rclcpp::Time(INT64_MIN) - rclcpp::Duration(1ns),
std::underflow_error("time subtraction leads to int64_t underflow"));

test_time = rclcpp::Time(INT64_MAX);
RCLCPP_EXPECT_THROW_EQ(
test_time += rclcpp::Duration(1),
test_time += rclcpp::Duration(1ns),
std::overflow_error("addition leads to int64_t overflow"));
test_time = rclcpp::Time(INT64_MIN);
RCLCPP_EXPECT_THROW_EQ(
test_time += rclcpp::Duration(-1),
test_time += rclcpp::Duration(-1ns),
std::underflow_error("addition leads to int64_t underflow"));

test_time = rclcpp::Time(INT64_MAX);
RCLCPP_EXPECT_THROW_EQ(
test_time -= rclcpp::Duration(-1),
test_time -= rclcpp::Duration(-1ns),
std::overflow_error("time subtraction leads to int64_t overflow"));
test_time = rclcpp::Time(INT64_MIN);
RCLCPP_EXPECT_THROW_EQ(
test_time -= rclcpp::Duration(1),
test_time -= rclcpp::Duration(1ns),
std::underflow_error("time subtraction leads to int64_t underflow"));

RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Duration(INT64_MAX) + rclcpp::Time(1),
test_time = rclcpp::Duration::from_nanoseconds(INT64_MAX) + rclcpp::Time(1),
std::overflow_error("addition leads to int64_t overflow"));
RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Duration(INT64_MIN) + rclcpp::Time(-1),
test_time = rclcpp::Duration::from_nanoseconds(INT64_MIN) + rclcpp::Time(-1),
std::underflow_error("addition leads to int64_t underflow"));
}