Enforce non-null now_fn in TimeControllerClock

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
ros2 · Apr 12, 2021 · 75ebee6 · 75ebee6
1 parent 14afcf6
commit 75ebee6
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Showing 2 changed files with 11 additions and 0 deletions.
diff --git a/rosbag2_cpp/src/rosbag2_cpp/clocks/time_controller_clock.cpp b/rosbag2_cpp/src/rosbag2_cpp/clocks/time_controller_clock.cpp
@@ -122,6 +122,9 @@ TimeControllerClock::TimeControllerClock(
   std::chrono::milliseconds sleep_time_while_paused)
 : impl_(std::make_unique<TimeControllerClockImpl>(now_fn, sleep_time_while_paused))
 {
+  if (now_fn == nullptr) {
+    throw std::invalid_argument("TimeControllerClock now_fn must be non-empty.");
+  }
   std::lock_guard<std::mutex> lock(impl_->state_mutex);
   impl_->reference.ros = starting_time;
   impl_->reference.steady = impl_->now_fn();

diff --git a/rosbag2_cpp/test/rosbag2_cpp/test_time_controller_clock.cpp b/rosbag2_cpp/test/rosbag2_cpp/test_time_controller_clock.cpp
@@ -43,6 +43,14 @@ class TimeControllerClockTest : public Test
   rcutils_time_point_value_t ros_start_time = 0;
 };
 
+TEST_F(TimeControllerClockTest, must_provide_now_fn)
+{
+  NowFunction empty_now;
+  EXPECT_THROW(
+    rosbag2_cpp::TimeControllerClock(ros_start_time, 1.0, empty_now),
+    std::invalid_argument);
+}
+
 TEST_F(TimeControllerClockTest, steadytime_precision)
 {
   const double playback_rate = 1.0;