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ROS clock storage initially set to zero (#283)

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Shane Loretz 2018-08-21 12:57:04 -07:00 • committed by GitHub
parent adc0190259
commit 3aebe9fbf9
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2 changed files with 16 additions and 0 deletions
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2
rcl/src/rcl/time.c
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@ -137,6 +137,8 @@ rcl_ros_clock_init(
rcl_init_generic_clock(clock); rcl_init_generic_clock(clock);
clock->data = allocator->allocate(sizeof(rcl_ros_clock_storage_t), allocator->state); clock->data = allocator->allocate(sizeof(rcl_ros_clock_storage_t), allocator->state);
rcl_ros_clock_storage_t * storage = (rcl_ros_clock_storage_t *)clock->data; rcl_ros_clock_storage_t * storage = (rcl_ros_clock_storage_t *)clock->data;
// 0 is a special value meaning time has not been set
atomic_init(&(storage->current_time), 0);
storage->active = false; storage->active = false;
clock->get_now = rcl_get_ros_time; clock->get_now = rcl_get_ros_time;
clock->type = RCL_ROS_TIME; clock->type = RCL_ROS_TIME;

14
rcl/test/rcl/test_time.cpp
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@ -20,6 +20,7 @@
#include <thread> #include <thread>
#include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp" #include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h" #include "rcl/error_handling.h"
#include "rcl/time.h" #include "rcl/time.h"
@ -175,6 +176,19 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_init_for_clock_a
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe(); EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
} }
TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_ros_clock_initially_zero) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t ros_clock;
ASSERT_EQ(RCL_RET_OK, rcl_ros_clock_init(&ros_clock, &allocator)) << rcl_get_error_string_safe();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
EXPECT_EQ(RCL_RET_OK, rcl_clock_fini(&ros_clock)) << rcl_get_error_string_safe();
});
ASSERT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(&ros_clock)) << rcl_get_error_string_safe();
rcl_time_point_value_t query_now = 5;
ASSERT_EQ(RCL_RET_OK, rcl_clock_get_now(&ros_clock, &query_now)) << rcl_get_error_string_safe();
EXPECT_EQ(0, query_now);
}
TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), clock_validation) { TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), clock_validation) {
ASSERT_FALSE(rcl_clock_valid(NULL)); ASSERT_FALSE(rcl_clock_valid(NULL));
rcl_clock_t uninitialized; rcl_clock_t uninitialized;