From c4bc5aceb9e9122cdfc166fe7abf2b76a543c623 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Tue, 7 Nov 2017 16:36:02 -0800 Subject: [PATCH] Remove duration clock type and duration init and fini as they're now just a struct with a single element. Fix missed time_source -> clock rename Resolve const violation warning. --- rcl/include/rcl/time.h | 48 +++++--------------------------------- rcl/src/rcl/time.c | 27 ++++----------------- rcl/test/rcl/test_time.cpp | 5 ---- 3 files changed, 10 insertions(+), 70 deletions(-) diff --git a/rcl/include/rcl/time.h b/rcl/include/rcl/time.h index 6c45485..e78f4a1 100644 --- a/rcl/include/rcl/time.h +++ b/rcl/include/rcl/time.h @@ -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 } diff --git a/rcl/src/rcl/time.c b/rcl/src/rcl/time.c index 81f6417..2132b9b 100644 --- a/rcl/src/rcl/time.c +++ b/rcl/src/rcl/time.c @@ -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) diff --git a/rcl/test/rcl/test_time.cpp b/rcl/test/rcl/test_time.cpp index d3faad2..f13283c 100644 --- a/rcl/test/rcl/test_time.cpp +++ b/rcl/test/rcl/test_time.cpp @@ -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;