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Rename some functions to match the style in rcl (#131)

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Signed-off-by: David Wang <david.wang@arm.com>
This commit is contained in:
David Wang 2017-04-28 15:33:47 +08:00 • committed by William Woodall
parent bed40d3d40
commit 309fa5cf0f
3 changed files with 63 additions and 63 deletions
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26
rcl/include/rcl/time.h
View file

@ -115,7 +115,7 @@ rcl_time_source_valid(rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_init_time_source( rcl_time_source_init(
enum rcl_time_source_type_t time_source_type, rcl_time_source_t * time_source enum rcl_time_source_type_t time_source_type, rcl_time_source_t * time_source
); );
@ -135,7 +135,7 @@ rcl_init_time_source(
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_fini_time_source(rcl_time_source_t * time_source); rcl_time_source_fini(rcl_time_source_t * time_source);
/// Initialize a time_source as a RCL_ROS_TIME time source. /// Initialize a time_source as a RCL_ROS_TIME time source.
/** /**
@ -150,7 +150,7 @@ rcl_fini_time_source(rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_init_ros_time_source(rcl_time_source_t * time_source); rcl_ros_time_source_init(rcl_time_source_t * time_source);
/// Finalize a time_source as a `RCL_ROS_TIME` time source. /// Finalize a time_source as a `RCL_ROS_TIME` time source.
/** /**
@ -166,7 +166,7 @@ rcl_init_ros_time_source(rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_fini_ros_time_source(rcl_time_source_t * time_source); rcl_ros_time_source_fini(rcl_time_source_t * time_source);
/// Initialize a time_source as a `RCL_STEADY_TIME` time source. /// Initialize a time_source as a `RCL_STEADY_TIME` time source.
/** /**
@ -181,7 +181,7 @@ rcl_fini_ros_time_source(rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_init_steady_time_source(rcl_time_source_t * time_source); rcl_steady_time_source_init(rcl_time_source_t * time_source);
/// Finalize a time_source as a `RCL_STEADY_TIME` time source. /// Finalize a time_source as a `RCL_STEADY_TIME` time source.
/** /**
@ -199,7 +199,7 @@ rcl_init_steady_time_source(rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_fini_steady_time_source(rcl_time_source_t * time_source); rcl_steady_time_source_fini(rcl_time_source_t * time_source);
/// Initialize a time_source as a `RCL_SYSTEM_TIME` time source. /// Initialize a time_source as a `RCL_SYSTEM_TIME` time source.
/** /**
@ -216,7 +216,7 @@ rcl_fini_steady_time_source(rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_init_system_time_source(rcl_time_source_t * time_source); rcl_system_time_source_init(rcl_time_source_t * time_source);
/// Finalize a time_source as a `RCL_SYSTEM_TIME` time source. /// Finalize a time_source as a `RCL_SYSTEM_TIME` time source.
/** /**
@ -234,7 +234,7 @@ rcl_init_system_time_source(rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_fini_system_time_source(rcl_time_source_t * time_source); rcl_system_time_source_fini(rcl_time_source_t * time_source);
/// Initialize a time point using the time_source. /// Initialize a time point using the time_source.
/** /**
@ -255,7 +255,7 @@ rcl_fini_system_time_source(rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source); rcl_time_point_init(rcl_time_point_t * time_point, rcl_time_source_t * time_source);
/// Finalize a time_point /// Finalize a time_point
/** /**
@ -271,7 +271,7 @@ rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_sour
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_fini_time_point(rcl_time_point_t * time_point); rcl_time_point_fini(rcl_time_point_t * time_point);
/// Initialize a duration using the time_source. /// Initialize a duration using the time_source.
/** /**
@ -290,7 +290,7 @@ rcl_fini_time_point(rcl_time_point_t * time_point);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source); rcl_duration_init(rcl_duration_t * duration, rcl_time_source_t * time_source);
/// Finalize a duration /// Finalize a duration
/** /**
@ -306,7 +306,7 @@ rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source);
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_fini_duration(rcl_duration_t * duration); rcl_duration_fini(rcl_duration_t * duration);
/// Get the default `RCL_ROS_TIME` time source /// Get the default `RCL_ROS_TIME` time source
/** /**
@ -414,7 +414,7 @@ rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
RCL_PUBLIC RCL_PUBLIC
RCL_WARN_UNUSED RCL_WARN_UNUSED
rcl_ret_t rcl_ret_t
rcl_get_time_point_now(rcl_time_point_t * time_point); rcl_time_point_get_now(rcl_time_point_t * time_point);
/// Enable the ROS time abstraction override. /// Enable the ROS time abstraction override.

44
rcl/src/rcl/time.c
View file

@ -88,7 +88,7 @@ rcl_time_source_valid(rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_init_time_source( rcl_time_source_init(
enum rcl_time_source_type_t time_source_type, rcl_time_source_t * time_source enum rcl_time_source_type_t time_source_type, rcl_time_source_t * time_source
) )
{ {
@ -99,26 +99,26 @@ rcl_init_time_source(
rcl_init_generic_time_source(time_source); rcl_init_generic_time_source(time_source);
return RCL_RET_OK; return RCL_RET_OK;
case RCL_ROS_TIME: case RCL_ROS_TIME:
return rcl_init_ros_time_source(time_source); return rcl_ros_time_source_init(time_source);
case RCL_SYSTEM_TIME: case RCL_SYSTEM_TIME:
return rcl_init_system_time_source(time_source); return rcl_system_time_source_init(time_source);
case RCL_STEADY_TIME: case RCL_STEADY_TIME:
return rcl_init_steady_time_source(time_source); return rcl_steady_time_source_init(time_source);
default: default:
return RCL_RET_INVALID_ARGUMENT; return RCL_RET_INVALID_ARGUMENT;
} }
} }
rcl_ret_t rcl_ret_t
rcl_fini_time_source(rcl_time_source_t * time_source) rcl_time_source_fini(rcl_time_source_t * time_source)
{ {
switch (time_source->type) { switch (time_source->type) {
case RCL_ROS_TIME: case RCL_ROS_TIME:
return rcl_fini_ros_time_source(time_source); return rcl_ros_time_source_fini(time_source);
case RCL_SYSTEM_TIME: case RCL_SYSTEM_TIME:
return rcl_fini_system_time_source(time_source); return rcl_system_time_source_fini(time_source);
case RCL_STEADY_TIME: case RCL_STEADY_TIME:
return rcl_fini_steady_time_source(time_source); return rcl_steady_time_source_fini(time_source);
case RCL_TIME_SOURCE_UNINITIALIZED: case RCL_TIME_SOURCE_UNINITIALIZED:
// fall through // fall through
default: default:
@ -127,7 +127,7 @@ rcl_fini_time_source(rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_init_ros_time_source(rcl_time_source_t * time_source) rcl_ros_time_source_init(rcl_time_source_t * time_source)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
rcl_init_generic_time_source(time_source); rcl_init_generic_time_source(time_source);
@ -138,7 +138,7 @@ rcl_init_ros_time_source(rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_fini_ros_time_source(rcl_time_source_t * time_source) rcl_ros_time_source_fini(rcl_time_source_t * time_source)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (time_source->type != RCL_ROS_TIME) { if (time_source->type != RCL_ROS_TIME) {
@ -150,7 +150,7 @@ rcl_fini_ros_time_source(rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_init_steady_time_source(rcl_time_source_t * time_source) rcl_steady_time_source_init(rcl_time_source_t * time_source)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
rcl_init_generic_time_source(time_source); rcl_init_generic_time_source(time_source);
@ -160,7 +160,7 @@ rcl_init_steady_time_source(rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_fini_steady_time_source(rcl_time_source_t * time_source) rcl_steady_time_source_fini(rcl_time_source_t * time_source)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (time_source->type != RCL_STEADY_TIME) { if (time_source->type != RCL_STEADY_TIME) {
@ -171,7 +171,7 @@ rcl_fini_steady_time_source(rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_init_system_time_source(rcl_time_source_t * time_source) rcl_system_time_source_init(rcl_time_source_t * time_source)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
rcl_init_generic_time_source(time_source); rcl_init_generic_time_source(time_source);
@ -181,7 +181,7 @@ rcl_init_system_time_source(rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_fini_system_time_source(rcl_time_source_t * time_source) rcl_system_time_source_fini(rcl_time_source_t * time_source)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (time_source->type != RCL_SYSTEM_TIME) { if (time_source->type != RCL_SYSTEM_TIME) {
@ -192,7 +192,7 @@ rcl_fini_system_time_source(rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_source) rcl_time_point_init(rcl_time_point_t * time_point, rcl_time_source_t * time_source)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!time_source) { if (!time_source) {
@ -205,7 +205,7 @@ rcl_init_time_point(rcl_time_point_t * time_point, rcl_time_source_t * time_sour
} }
rcl_ret_t rcl_ret_t
rcl_fini_time_point(rcl_time_point_t * time_point) rcl_time_point_fini(rcl_time_point_t * time_point)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
(void)time_point; (void)time_point;
@ -213,7 +213,7 @@ rcl_fini_time_point(rcl_time_point_t * time_point)
} }
rcl_ret_t rcl_ret_t
rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source) rcl_duration_init(rcl_duration_t * duration, rcl_time_source_t * time_source)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (!time_source) { if (!time_source) {
@ -226,7 +226,7 @@ rcl_init_duration(rcl_duration_t * duration, rcl_time_source_t * time_source)
} }
rcl_ret_t rcl_ret_t
rcl_fini_duration(rcl_duration_t * duration) rcl_duration_fini(rcl_duration_t * duration)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
(void)duration; (void)duration;
@ -238,7 +238,7 @@ rcl_get_default_ros_time_source(void)
{ {
if (!rcl_default_ros_time_source) { if (!rcl_default_ros_time_source) {
rcl_default_ros_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t)); rcl_default_ros_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
rcl_ret_t retval = rcl_init_ros_time_source(rcl_default_ros_time_source); rcl_ret_t retval = rcl_ros_time_source_init(rcl_default_ros_time_source);
if (retval != RCL_RET_OK) { if (retval != RCL_RET_OK) {
return NULL; return NULL;
} }
@ -251,7 +251,7 @@ rcl_get_default_steady_time_source(void)
{ {
if (!rcl_default_steady_time_source) { if (!rcl_default_steady_time_source) {
rcl_default_steady_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t)); rcl_default_steady_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
rcl_ret_t retval = rcl_init_steady_time_source(rcl_default_steady_time_source); rcl_ret_t retval = rcl_steady_time_source_init(rcl_default_steady_time_source);
if (retval != RCL_RET_OK) { if (retval != RCL_RET_OK) {
return NULL; return NULL;
} }
@ -264,7 +264,7 @@ rcl_get_default_system_time_source(void)
{ {
if (!rcl_default_system_time_source) { if (!rcl_default_system_time_source) {
rcl_default_system_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t)); rcl_default_system_time_source = (rcl_time_source_t *)calloc(1, sizeof(rcl_time_source_t));
rcl_ret_t retval = rcl_init_system_time_source(rcl_default_system_time_source); rcl_ret_t retval = rcl_system_time_source_init(rcl_default_system_time_source);
if (retval != RCL_RET_OK) { if (retval != RCL_RET_OK) {
return NULL; return NULL;
} }
@ -303,7 +303,7 @@ rcl_difference_times(rcl_time_point_t * start, rcl_time_point_t * finish,
} }
rcl_ret_t rcl_ret_t
rcl_get_time_point_now(rcl_time_point_t * time_point) rcl_time_point_get_now(rcl_time_point_t * time_point)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator()); RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
if (time_point->time_source && time_point->time_source->get_now) { if (time_point->time_source && time_point->time_source->get_now) {

56
rcl/test/rcl/test_time.cpp
View file

@ -125,7 +125,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_steady_time_now)
} }
// Tests the rcl_set_ros_time_override() function. // Tests the rcl_set_ros_time_override() function.
TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_set_ros_time_override) { TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_override) {
rcl_time_source_t * ros_time_source = rcl_get_default_ros_time_source(); rcl_time_source_t * ros_time_source = rcl_get_default_ros_time_source();
assert_no_realloc_begin(); assert_no_realloc_begin();
rcl_ret_t ret; rcl_ret_t ret;
@ -148,12 +148,12 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_set_ros_time_ove
ret = rcl_is_enabled_ros_time_override(ros_time_source, &is_enabled); ret = rcl_is_enabled_ros_time_override(ros_time_source, &is_enabled);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(is_enabled, false); EXPECT_EQ(is_enabled, false);
ret = rcl_init_time_point(&query_now, ros_time_source); ret = rcl_time_point_init(&query_now, ros_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
assert_no_malloc_begin(); assert_no_malloc_begin();
assert_no_free_begin(); assert_no_free_begin();
// Check for normal operation (not allowed to alloc). // Check for normal operation (not allowed to alloc).
ret = rcl_get_time_point_now(&query_now); ret = rcl_time_point_get_now(&query_now);
assert_no_malloc_end(); assert_no_malloc_end();
assert_no_realloc_end(); assert_no_realloc_end();
assert_no_free_end(); assert_no_free_end();
@ -161,7 +161,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_set_ros_time_ove
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_NE(query_now.nanoseconds, 0u); EXPECT_NE(query_now.nanoseconds, 0u);
// Compare to std::chrono::system_clock time (within a second). // Compare to std::chrono::system_clock time (within a second).
ret = rcl_get_time_point_now(&query_now); ret = rcl_time_point_get_now(&query_now);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
{ {
std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now(); std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
@ -185,7 +185,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_set_ros_time_ove
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(is_enabled, false); EXPECT_EQ(is_enabled, false);
// get real // get real
ret = rcl_get_time_point_now(&query_now); ret = rcl_time_point_get_now(&query_now);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
{ {
std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now(); std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
@ -203,7 +203,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_set_ros_time_ove
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(is_enabled, true); EXPECT_EQ(is_enabled, true);
// get sim // get sim
ret = rcl_get_time_point_now(&query_now); ret = rcl_time_point_get_now(&query_now);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(query_now.nanoseconds, set_point); EXPECT_EQ(query_now.nanoseconds, set_point);
// disable // disable
@ -214,7 +214,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_set_ros_time_ove
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(is_enabled, false); EXPECT_EQ(is_enabled, false);
// get real // get real
ret = rcl_get_time_point_now(&query_now); ret = rcl_time_point_get_now(&query_now);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
{ {
std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now(); std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
@ -226,24 +226,24 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_set_ros_time_ove
} }
} }
TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_time_source_and_point) { TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_for_time_source_and_point) {
assert_no_realloc_begin(); assert_no_realloc_begin();
rcl_ret_t ret; rcl_ret_t ret;
// Check for invalid argument error condition (allowed to alloc). // Check for invalid argument error condition (allowed to alloc).
ret = rcl_init_ros_time_source(nullptr); ret = rcl_ros_time_source_init(nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string_safe();
rcl_reset_error(); rcl_reset_error();
// Check for normal operation (not allowed to alloc). // Check for normal operation (not allowed to alloc).
rcl_time_source_t source; rcl_time_source_t source;
ret = rcl_init_ros_time_source(&source); ret = rcl_ros_time_source_init(&source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
rcl_time_point_t a_time; rcl_time_point_t a_time;
ret = rcl_init_time_point(&a_time, &source); ret = rcl_time_point_init(&a_time, &source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
rcl_time_point_t default_time; rcl_time_point_t default_time;
ret = rcl_init_time_point(&default_time, nullptr); ret = rcl_time_point_init(&default_time, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
// assert_no_malloc_begin(); // assert_no_malloc_begin();
@ -266,9 +266,9 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_time_source
// const int k_tolerance_ms = 1000; // const int k_tolerance_ms = 1000;
// EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "system_clock differs"; // EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "system_clock differs";
// } // }
ret = rcl_fini_time_point(&a_time); ret = rcl_time_point_fini(&a_time);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
ret = rcl_fini_ros_time_source(&source); ret = rcl_ros_time_source_fini(&source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
} }
@ -278,7 +278,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), time_source_validation) {
// Not reliably detectable due to random values. // Not reliably detectable due to random values.
// ASSERT_FALSE(rcl_time_source_valid(&uninitialized)); // ASSERT_FALSE(rcl_time_source_valid(&uninitialized));
rcl_ret_t ret; rcl_ret_t ret;
ret = rcl_init_ros_time_source(&uninitialized); ret = rcl_ros_time_source_init(&uninitialized);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
} }
@ -294,7 +294,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), default_time_source_instanciation)
TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_time_source_instantiation) { TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_time_source_instantiation) {
{ {
rcl_time_source_t uninitialized_time_source; rcl_time_source_t uninitialized_time_source;
rcl_ret_t ret = rcl_init_time_source( rcl_ret_t ret = rcl_time_source_init(
RCL_TIME_SOURCE_UNINITIALIZED, &uninitialized_time_source); RCL_TIME_SOURCE_UNINITIALIZED, &uninitialized_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(uninitialized_time_source.type, RCL_TIME_SOURCE_UNINITIALIZED) << EXPECT_EQ(uninitialized_time_source.type, RCL_TIME_SOURCE_UNINITIALIZED) <<
@ -302,29 +302,29 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_time_source_instantiation
} }
{ {
rcl_time_source_t ros_time_source; rcl_time_source_t ros_time_source;
rcl_ret_t ret = rcl_init_time_source(RCL_ROS_TIME, &ros_time_source); rcl_ret_t ret = rcl_time_source_init(RCL_ROS_TIME, &ros_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(ros_time_source.type, RCL_ROS_TIME) << EXPECT_EQ(ros_time_source.type, RCL_ROS_TIME) <<
"Expected time source of type RCL_ROS_TIME"; "Expected time source of type RCL_ROS_TIME";
ret = rcl_fini_time_source(&ros_time_source); ret = rcl_time_source_fini(&ros_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
} }
{ {
rcl_time_source_t system_time_source; rcl_time_source_t system_time_source;
rcl_ret_t ret = rcl_init_time_source(RCL_SYSTEM_TIME, &system_time_source); rcl_ret_t ret = rcl_time_source_init(RCL_SYSTEM_TIME, &system_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(system_time_source.type, RCL_SYSTEM_TIME) << EXPECT_EQ(system_time_source.type, RCL_SYSTEM_TIME) <<
"Expected time source of type RCL_SYSTEM_TIME"; "Expected time source of type RCL_SYSTEM_TIME";
ret = rcl_fini_time_source(&system_time_source); ret = rcl_time_source_fini(&system_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
} }
{ {
rcl_time_source_t steady_time_source; rcl_time_source_t steady_time_source;
rcl_ret_t ret = rcl_init_time_source(RCL_STEADY_TIME, &steady_time_source); rcl_ret_t ret = rcl_time_source_init(RCL_STEADY_TIME, &steady_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(steady_time_source.type, RCL_STEADY_TIME) << EXPECT_EQ(steady_time_source.type, RCL_STEADY_TIME) <<
"Expected time source of type RCL_STEADY_TIME"; "Expected time source of type RCL_STEADY_TIME";
ret = rcl_fini_time_source(&steady_time_source); ret = rcl_time_source_fini(&steady_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
} }
} }
@ -332,16 +332,16 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_time_source_instantiation
TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) { TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_time_point_t a, b; rcl_time_point_t a, b;
ret = rcl_init_time_point(&a, nullptr); ret = rcl_time_point_init(&a, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
ret = rcl_init_time_point(&b, nullptr); ret = rcl_time_point_init(&b, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
a.nanoseconds = 1000; a.nanoseconds = 1000;
b.nanoseconds = 2000; b.nanoseconds = 2000;
rcl_duration_t d; rcl_duration_t d;
ret = rcl_init_duration(&d, nullptr); ret = rcl_duration_init(&d, nullptr);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
ret = rcl_difference_times(&a, &b, &d); ret = rcl_difference_times(&a, &b, &d);
@ -359,7 +359,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
EXPECT_TRUE(system_time_source != nullptr); EXPECT_TRUE(system_time_source != nullptr);
rcl_time_point_t e; rcl_time_point_t e;
ret = rcl_init_time_point(&e, system_time_source); ret = rcl_time_point_init(&e, system_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
} }
@ -384,7 +384,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_update_callbacks) {
rcl_ret_t ret; rcl_ret_t ret;
rcl_time_point_value_t set_point = 1000000000ull; rcl_time_point_value_t set_point = 1000000000ull;
ret = rcl_init_time_point(&query_now, ros_time_source); ret = rcl_time_point_init(&query_now, ros_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
// set callbacks // set callbacks
@ -396,7 +396,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_update_callbacks) {
EXPECT_FALSE(post_callback_called); EXPECT_FALSE(post_callback_called);
// Query it to do something different. no changes expected // Query it to do something different. no changes expected
ret = rcl_get_time_point_now(&query_now); ret = rcl_time_point_get_now(&query_now);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_FALSE(pre_callback_called); EXPECT_FALSE(pre_callback_called);