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Fix an issue with signed time difference. (#224)

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* Fix an issue with signed time difference.
This commit is contained in:
Michael Carroll 2018-03-26 12:10:37 -07:00 • committed by GitHub
parent bad0f55416
commit f2591483e5
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2 changed files with 54 additions and 2 deletions
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4
rcl/src/rcl/time.c
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@ -218,9 +218,9 @@ rcl_difference_times(
}
if (finish->nanoseconds < start->nanoseconds) {
rcl_time_point_value_t intermediate = start->nanoseconds - finish->nanoseconds;
delta->nanoseconds = -1 * (int) intermediate;
delta->nanoseconds = -1 * (int64_t) intermediate;
} else {
delta->nanoseconds = (int)(finish->nanoseconds - start->nanoseconds);
delta->nanoseconds = (int64_t)(finish->nanoseconds - start->nanoseconds);
}
return RCL_RET_OK;
}

52
rcl/test/rcl/test_time.cpp
View file

@ -279,6 +279,58 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference) {
EXPECT_EQ(d.nanoseconds, -1000);
}
TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_difference_signed) {
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_clock_t * ros_clock =
reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
rcl_time_point_t a, b;
a.nanoseconds = RCL_S_TO_NS(0LL) + 0LL;
b.nanoseconds = RCL_S_TO_NS(10LL) + 0LL;
a.clock_type = RCL_ROS_TIME;
b.clock_type = RCL_ROS_TIME;
{
rcl_duration_t d;
rcl_ret_t ret;
ret = rcl_difference_times(&a, &b, &d);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(d.nanoseconds, RCL_S_TO_NS(10LL));
}
{
rcl_duration_t d;
rcl_ret_t ret;
ret = rcl_difference_times(&b, &a, &d);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(d.nanoseconds, RCL_S_TO_NS(-10LL));
}
// Construct example from issue.
a.nanoseconds = RCL_S_TO_NS(1514423496LL) + 0LL;
b.nanoseconds = RCL_S_TO_NS(1514423498LL) + 147483647LL;
{
rcl_duration_t d;
rcl_ret_t ret;
ret = rcl_difference_times(&a, &b, &d);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
EXPECT_EQ(d.nanoseconds, 2147483647LL);
}
{
rcl_duration_t d;
rcl_ret_t ret;
ret = rcl_difference_times(&b, &a, &d);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
// The erroneous value was -2147483648 (https://github.com/ros2/rcl/issues/204)
EXPECT_EQ(d.nanoseconds, -2147483647LL);
}
}
static bool pre_callback_called = false;
static bool post_callback_called = false;