From 18ad26e6543bc1467fec6d053ed4e2b7ca90627c Mon Sep 17 00:00:00 2001
From: Sagnik Basu <basusagnik1995@gmail.com>
Date: Tue, 28 Aug 2018 00:14:25 +0530
Subject: [PATCH] Add TIME_MAX and DURATION_MAX functions (#538)

* Add TIME_MAX and DURATION_MAX functions

* Fix Linting Errors

* change funtion name as per coding style

* change function name as per coding style

* Update duration.cpp

* Update time.cpp

* Update test_duration.cpp

* Update time.hpp

* remove extra empty line
---
 rclcpp/include/rclcpp/duration.hpp | 4 ++++
 rclcpp/include/rclcpp/time.hpp     | 4 ++++
 rclcpp/src/rclcpp/duration.cpp     | 6 ++++++
 rclcpp/src/rclcpp/time.cpp         | 6 ++++++
 rclcpp/test/test_duration.cpp      | 7 +++++++
 5 files changed, 27 insertions(+)

diff --git a/rclcpp/include/rclcpp/duration.hpp b/rclcpp/include/rclcpp/duration.hpp
index 11fc2e2..b92ea42 100644
--- a/rclcpp/include/rclcpp/duration.hpp
+++ b/rclcpp/include/rclcpp/duration.hpp
@@ -89,6 +89,10 @@ public:
   Duration
   operator-(const rclcpp::Duration & rhs) const;
 
+  RCLCPP_PUBLIC
+  static Duration
+  max();
+
   RCLCPP_PUBLIC
   Duration
   operator*(double scale) const;
diff --git a/rclcpp/include/rclcpp/time.hpp b/rclcpp/include/rclcpp/time.hpp
index e93cb64..c10b6ce 100644
--- a/rclcpp/include/rclcpp/time.hpp
+++ b/rclcpp/include/rclcpp/time.hpp
@@ -102,6 +102,10 @@ public:
   rcl_time_point_value_t
   nanoseconds() const;
 
+  RCLCPP_PUBLIC
+  static Time
+  max();
+
   /// \return the seconds since epoch as a floating point number.
   /// \warning Depending on sizeof(double) there could be significant precision loss.
   /// When an exact time is required use nanoseconds() instead.
diff --git a/rclcpp/src/rclcpp/duration.cpp b/rclcpp/src/rclcpp/duration.cpp
index 0455abe..cb84e05 100644
--- a/rclcpp/src/rclcpp/duration.cpp
+++ b/rclcpp/src/rclcpp/duration.cpp
@@ -214,6 +214,12 @@ Duration::nanoseconds() const
   return rcl_duration_.nanoseconds;
 }
 
+Duration
+Duration::max()
+{
+  return Duration(std::numeric_limits<int32_t>::max(), 999999999);
+}
+
 double
 Duration::seconds() const
 {
diff --git a/rclcpp/src/rclcpp/time.cpp b/rclcpp/src/rclcpp/time.cpp
index 9ab924a..980b6a5 100644
--- a/rclcpp/src/rclcpp/time.cpp
+++ b/rclcpp/src/rclcpp/time.cpp
@@ -251,5 +251,11 @@ operator+(const rclcpp::Duration & lhs, const rclcpp::Time & rhs)
   return Time(lhs.nanoseconds() + rhs.nanoseconds(), rhs.get_clock_type());
 }
 
+Time
+Time::max()
+{
+  return Time(std::numeric_limits<int32_t>::max(), 999999999);
+}
+
 
 }  // namespace rclcpp
diff --git a/rclcpp/test/test_duration.cpp b/rclcpp/test/test_duration.cpp
index a6d099f..7d61c68 100644
--- a/rclcpp/test/test_duration.cpp
+++ b/rclcpp/test/test_duration.cpp
@@ -120,3 +120,10 @@ TEST(TestDuration, negative_duration) {
     EXPECT_EQ(expected_value, assignable_duration.nanoseconds());
   }
 }
+
+TEST(TestDuration, maximum_duration) {
+  rclcpp::Duration max_duration = rclcpp::Duration::max();
+  rclcpp::Duration max(std::numeric_limits<int32_t>::max(), 999999999);
+
+  EXPECT_EQ(max_duration, max);
+}