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Remove duration clock type and duration init and fini as they're now just a struct with a single element.

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Fix missed time_source -> clock rename

Resolve const violation warning.
This commit is contained in:
Tully Foote 2017-11-07 16:36:02 -08:00
parent 9f3bdbf99e
commit c4bc5aceb9
3 changed files with 10 additions and 70 deletions
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48
rcl/include/rcl/time.h
View file

@ -77,7 +77,6 @@ typedef struct rcl_time_point_t
typedef struct rcl_duration_t
{
rcl_duration_value_t nanoseconds;
rcl_clock_type_t clock_type;
} rcl_duration_t;
// typedef struct rcl_rate_t
@ -119,7 +118,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_clock_init(
enum rcl_clock_type_t clock_type, rcl_clock_t * clock,
const rcl_allocator_t * allocator);
rcl_allocator_t * allocator);
/// Finalize a clock.
/**
@ -156,7 +155,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_ros_clock_init(
rcl_clock_t * clock,
const rcl_allocator_t * allocator);
rcl_allocator_t * allocator);
/// Finalize a clock as a `RCL_ROS_TIME` time source.
/**
@ -191,7 +190,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_steady_clock_init(
rcl_clock_t * clock,
const rcl_allocator_t * allocator);
rcl_allocator_t * allocator);
/// Finalize a clock as a `RCL_STEADY_TIME` time source.
/**
@ -230,7 +229,7 @@ RCL_WARN_UNUSED
rcl_ret_t
rcl_system_clock_init(
rcl_clock_t * clock,
const rcl_allocator_t * allocator);
rcl_allocator_t * allocator);
/// Finalize a clock as a `RCL_SYSTEM_TIME` time source.
/**
@ -251,41 +250,6 @@ rcl_ret_t
rcl_system_clock_fini(
rcl_clock_t * clock);
/// Initialize a duration using the clock.
/**
* This function will initialize the duration using the clock as a reference.
* If the clock is null it will use the system default clock.
*
* This will allocate all necessary internal structures, and initialize variables.
* The clock may be of types ros, steady, or system.
*
* \param[in] duration the handle to the duration which is being initialized.
* \param[in] clock_type The type of the clock will be used for reference.
* \return `RCL_RET_OK` if the last call time was retrieved successfully, 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_duration_init(rcl_duration_t * duration, rcl_clock_type_t * clock_type);
/// Finalize a duration
/**
* Finalize the duration such that it is ready for deallocation.
*
* This will deallocate all necessary internal structures, and clean up any variables.
*
* \param[in] duration the handle to the duration which is being finalized.
* \return `RCL_RET_OK` if the last call time was retrieved successfully, 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_duration_fini(rcl_duration_t * duration);
/// Compute the difference between two time points
/**
* This function takes two time points and computes the duration between them.
@ -373,7 +337,7 @@ RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_is_enabled_ros_time_override(
rcl_clock_t * time_source, bool * is_enabled);
rcl_clock_t * clock, bool * is_enabled);
/// Set the current time for this `RCL_ROS_TIME` time source.
/**
@ -392,7 +356,7 @@ RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_set_ros_time_override(
rcl_clock_t * time_source, rcl_time_point_value_t time_value);
rcl_clock_t * clock, rcl_time_point_value_t time_value);
#if __cplusplus
}

27
rcl/src/rcl/time.c
View file

@ -86,7 +86,7 @@ rcl_clock_valid(rcl_clock_t * clock)
rcl_ret_t
rcl_clock_init(
enum rcl_clock_type_t clock_type, rcl_clock_t * clock,
const rcl_allocator_t * allocator)
rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
switch (clock_type) {
@ -127,7 +127,7 @@ rcl_clock_fini(
rcl_ret_t
rcl_ros_clock_init(
rcl_clock_t * clock,
const rcl_allocator_t * allocator)
rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@ -157,7 +157,7 @@ rcl_ros_clock_fini(
rcl_ret_t
rcl_steady_clock_init(
rcl_clock_t * clock,
const rcl_allocator_t * allocator)
rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@ -183,7 +183,7 @@ rcl_steady_clock_fini(
rcl_ret_t
rcl_system_clock_init(
rcl_clock_t * clock,
const rcl_allocator_t * allocator)
rcl_allocator_t * allocator)
{
RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
@ -206,25 +206,6 @@ rcl_system_clock_fini(
return RCL_RET_OK;
}
rcl_ret_t
rcl_duration_init(rcl_duration_t * duration, rcl_clock_type_t * clock_type)
{
RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
RCL_CHECK_ARGUMENT_FOR_NULL(clock_type, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
duration->clock_type = *clock_type;
return RCL_RET_OK;
}
rcl_ret_t
rcl_duration_fini(rcl_duration_t * duration)
{
RCL_CHECK_ARGUMENT_FOR_NULL(duration, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
(void)duration;
return RCL_RET_OK;
}
rcl_ret_t
rcl_difference_times(
rcl_time_point_t * start, rcl_time_point_t * finish, rcl_duration_t * delta)

5
rcl/test/rcl/test_time.cpp
View file

@ -269,19 +269,14 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
b.clock_type = RCL_ROS_TIME;
rcl_duration_t d;
ret = rcl_duration_init(&d, &(ros_clock->type));
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
ret = rcl_difference_times(&a, &b, &d);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(d.nanoseconds, 1000);
EXPECT_EQ(d.clock_type, RCL_ROS_TIME);
ret = rcl_difference_times(&b, &a, &d);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(d.nanoseconds, -1000);
EXPECT_EQ(d.clock_type, RCL_ROS_TIME);
}
static bool pre_callback_called = false;