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Adding a factory method to create a Duration from seconds #567

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Jun 28, 2019
Merged

Adding a factory method to create a Duration from seconds #567

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022df55
Adding a factory method to create a Duration from seconds
Oct 10, 2018
918b9e0
Adding some comments to clarify which constructors get matched.
Oct 23, 2018
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6 changes: 6 additions & 0 deletions rclcpp/include/rclcpp/duration.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,10 +28,12 @@ class RCLCPP_PUBLIC Duration
public:
Duration(int32_t seconds, uint32_t nanoseconds);

// This constructor matches any numeric value - ints or floats
explicit Duration(rcl_duration_value_t nanoseconds);

explicit Duration(std::chrono::nanoseconds nanoseconds);

// This constructor matches any std::chrono value other than nanoseconds
// intentionally not using explicit to create a conversion constructor
template<class Rep, class Period>
// cppcheck-suppress noExplicitConstructor
Expand Down Expand Up @@ -94,6 +96,10 @@ class RCLCPP_PUBLIC Duration
double
seconds() const;

// Create a duration object from a floating point number representing seconds
static Duration
from_seconds(double seconds);

template<class DurationT>
DurationT
to_chrono() const
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6 changes: 6 additions & 0 deletions rclcpp/src/rclcpp/duration.cpp
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Expand Up @@ -233,4 +233,10 @@ Duration::to_rmw_time() const
return result;
}

Duration
Duration::from_seconds(double seconds)
{
return Duration(static_cast<int64_t>(RCL_S_TO_NS(seconds)));
}

} // namespace rclcpp
17 changes: 17 additions & 0 deletions rclcpp/test/test_duration.cpp
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Expand Up @@ -136,3 +136,20 @@ TEST(TestDuration, maximum_duration) {

EXPECT_EQ(max_duration, max);
}

static const int64_t HALF_SEC_IN_NS = 500 * 1000 * 1000;
static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;

TEST(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(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));
}

TEST(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(1, HALF_SEC_IN_NS), rclcpp::Duration(1.5s));
EXPECT_EQ(rclcpp::Duration(-1, 0), rclcpp::Duration(-1s));
}