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add rcl_init_time_source (#113)

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* add rcl_init_time_source / rcl_fini_time_source

* docs
This commit is contained in:
Dirk Thomas 2017-04-03 12:57:00 -07:00 • committed by GitHub
parent 41c2595b8b
commit 93ad1ae4fd
3 changed files with 112 additions and 0 deletions
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35
rcl/include/rcl/time.h
View file

@ -102,6 +102,41 @@ RCL_WARN_UNUSED
bool
rcl_time_source_valid(rcl_time_source_t * time_source);
/// Initialize a time_source based on the passed type.
/**
* This will allocate all necessary internal structures, and initialize variables.
*
* \param[in] time_source_type the type identifying the time source to provide
* \param[in] time_source the handle to the time_source which is being initialized
* \return `RCL_RET_OK` if the time source was successfully initialized, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ERROR` an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init_time_source(
enum rcl_time_source_type_t time_source_type, rcl_time_source_t * time_source
);
/// Finalize a time_source.
/**
* This will deallocate all necessary internal structures, and clean up any variables.
* It can be combined with any of the init functions.
*
* Passing a time_source with type RCL_TIME_SOURCE_UNINITIALIZED will result in
* RCL_RET_INVALID_ARGUMENT being returned.
*
* \param[in] time_source the handle to the time_source which is being finalized
* \return `RCL_RET_OK` if the time source was successfully finalized, or
* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return `RCL_RET_ERROR` an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_fini_time_source(rcl_time_source_t * time_source);
/// Initialize a time_source as a RCL_ROS_TIME time source.
/**
* This will allocate all necessary internal structures, and initialize variables.

39
rcl/src/rcl/time.c
View file

@ -88,6 +88,45 @@ rcl_time_source_valid(rcl_time_source_t * time_source)
return true;
}
rcl_ret_t
rcl_init_time_source(
enum rcl_time_source_type_t time_source_type, rcl_time_source_t * time_source
)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
switch (time_source_type) {
case RCL_TIME_SOURCE_UNINITIALIZED:
rcl_init_generic_time_source(time_source);
return RCL_RET_OK;
case RCL_ROS_TIME:
return rcl_init_ros_time_source(time_source);
case RCL_SYSTEM_TIME:
return rcl_init_system_time_source(time_source);
case RCL_STEADY_TIME:
return rcl_init_steady_time_source(time_source);
default:
return RCL_RET_INVALID_ARGUMENT;
}
}
rcl_ret_t
rcl_fini_time_source(rcl_time_source_t * time_source)
{
RCL_CHECK_ARGUMENT_FOR_NULL(time_source, RCL_RET_INVALID_ARGUMENT);
switch (time_source->type) {
case RCL_ROS_TIME:
return rcl_fini_ros_time_source(time_source);
case RCL_SYSTEM_TIME:
return rcl_fini_system_time_source(time_source);
case RCL_STEADY_TIME:
return rcl_fini_steady_time_source(time_source);
case RCL_TIME_SOURCE_UNINITIALIZED:
// fall through
default:
return RCL_RET_INVALID_ARGUMENT;
}
}
rcl_ret_t
rcl_init_ros_time_source(rcl_time_source_t * time_source)
{

38
rcl/test/rcl/test_time.cpp
View file

@ -291,6 +291,44 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), default_time_source_instanciation)
ASSERT_TRUE(rcl_time_source_valid(system_time_source));
}
TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), specific_time_source_instantiation) {
{
rcl_time_source_t uninitialized_time_source;
rcl_ret_t ret = rcl_init_time_source(
RCL_TIME_SOURCE_UNINITIALIZED, &uninitialized_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(uninitialized_time_source.type, RCL_TIME_SOURCE_UNINITIALIZED) <<
"Expected time source of type RCL_TIME_SOURCE_UNINITIALIZED";
}
{
rcl_time_source_t ros_time_source;
rcl_ret_t ret = rcl_init_time_source(RCL_ROS_TIME, &ros_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(ros_time_source.type, RCL_ROS_TIME) <<
"Expected time source of type RCL_ROS_TIME";
ret = rcl_fini_time_source(&ros_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
}
{
rcl_time_source_t system_time_source;
rcl_ret_t ret = rcl_init_time_source(RCL_SYSTEM_TIME, &system_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(system_time_source.type, RCL_SYSTEM_TIME) <<
"Expected time source of type RCL_SYSTEM_TIME";
ret = rcl_fini_time_source(&system_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
}
{
rcl_time_source_t steady_time_source;
rcl_ret_t ret = rcl_init_time_source(RCL_STEADY_TIME, &steady_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(steady_time_source.type, RCL_STEADY_TIME) <<
"Expected time source of type RCL_STEADY_TIME";
ret = rcl_fini_time_source(&steady_time_source);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
}
}
TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
rcl_ret_t ret;
rcl_time_point_t a, b;