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rclcpp::Time::max() clock type support. #2352

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merged 2 commits into from
Nov 4, 2023
Merged

rclcpp::Time::max() clock type support. #2352

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756272d
rclcpp::Time::max() clock type support.
fujitatomoya Nov 3, 2023
66bd213
add space before NOLINT statement.
fujitatomoya Nov 3, 2023
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/time.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@ class Time
*/
RCLCPP_PUBLIC
static Time
max();
max(rcl_clock_type_t clock_type = RCL_SYSTEM_TIME); // NOLINT

/// Get the seconds since epoch
/**
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4 changes: 2 additions & 2 deletions rclcpp/src/rclcpp/time.cpp
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Expand Up @@ -276,9 +276,9 @@ Time::operator-=(const rclcpp::Duration & rhs)
}

Time
Time::max()
Time::max(rcl_clock_type_t clock_type)
{
return Time(std::numeric_limits<int32_t>::max(), 999999999);
return Time(std::numeric_limits<int32_t>::max(), 999999999, clock_type);
}


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25 changes: 21 additions & 4 deletions rclcpp/test/rclcpp/test_time.cpp
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Expand Up @@ -363,10 +363,27 @@ TEST_F(TestTime, seconds) {
}

TEST_F(TestTime, test_max) {
const rclcpp::Time time_max = rclcpp::Time::max();
const rclcpp::Time max_time(std::numeric_limits<int32_t>::max(), 999999999);
EXPECT_DOUBLE_EQ(max_time.seconds(), time_max.seconds());
EXPECT_EQ(max_time.nanoseconds(), time_max.nanoseconds());
// Same clock types
for (rcl_clock_type_t type = RCL_ROS_TIME;
type != RCL_STEADY_TIME; type = static_cast<rcl_clock_type_t>(type + 1))
{
const rclcpp::Time time_max = rclcpp::Time::max(type);
const rclcpp::Time max_time(std::numeric_limits<int32_t>::max(), 999999999, type);
EXPECT_DOUBLE_EQ(max_time.seconds(), time_max.seconds());
EXPECT_EQ(max_time.nanoseconds(), time_max.nanoseconds());
}
// Different clock types
{
const rclcpp::Time time_max = rclcpp::Time::max(RCL_ROS_TIME);
const rclcpp::Time max_time(std::numeric_limits<int32_t>::max(), 999999999, RCL_STEADY_TIME);
EXPECT_ANY_THROW((void)(time_max == max_time));
EXPECT_ANY_THROW((void)(time_max != max_time));
EXPECT_ANY_THROW((void)(time_max <= max_time));
EXPECT_ANY_THROW((void)(time_max >= max_time));
EXPECT_ANY_THROW((void)(time_max < max_time));
EXPECT_ANY_THROW((void)(time_max > max_time));
EXPECT_ANY_THROW((void)(time_max - max_time));
}
}

TEST_F(TestTime, test_constructor_from_rcl_time_point) {
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