From 22b53b991da097558f42ee1bcbdc119a1a8f0ddd Mon Sep 17 00:00:00 2001
From: William Woodall <wjwwood@gmail.com>
Date: Fri, 13 Mar 2015 20:41:10 -0700
Subject: [PATCH] [windows] workaround for compiler error in Windows

See: https://connect.microsoft.com/VisualStudio/feedback/details/1179590
---
 rclcpp/include/rclcpp/rclcpp.hpp    | 10 ++++++----
 rclcpp/include/rclcpp/utilities.hpp |  5 ++---
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp
index d4004fd..848308d 100644
--- a/rclcpp/include/rclcpp/rclcpp.hpp
+++ b/rclcpp/include/rclcpp/rclcpp.hpp
@@ -31,9 +31,10 @@ const std::chrono::seconds operator "" _s(unsigned long long s)
 {
     return std::chrono::seconds(s);
 }
-const std::chrono::duration<long double> operator "" _s(long double s)
+const std::chrono::nanoseconds operator "" _s(long double s)
 {
-    return std::chrono::duration<long double>(s);
+    return std::chrono::duration_cast<std::chrono::nanoseconds>(
+    	std::chrono::duration<long double>(s));
 }
 
 const std::chrono::nanoseconds
@@ -41,10 +42,11 @@ operator "" _ns(unsigned long long ns)
 {
     return std::chrono::nanoseconds(ns);
 }
-const std::chrono::duration<long double, std::nano>
+const std::chrono::nanoseconds
 operator "" _ns(long double ns)
 {
-    return std::chrono::duration<long double, std::nano>(ns);
+    return std::chrono::duration_cast<std::chrono::nanoseconds>(
+    	std::chrono::duration<long double, std::nano>(ns));
 }
 
 using rclcpp::node::Node;
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
index 1e03b19..b2afd8c 100644
--- a/rclcpp/include/rclcpp/utilities.hpp
+++ b/rclcpp/include/rclcpp/utilities.hpp
@@ -133,13 +133,12 @@ get_global_sigint_guard_condition()
   return ::g_sigint_guard_cond_handle;
 }
 
-template<class Rep, class Period>
 bool
-sleep_for(const std::chrono::duration<Rep, Period>& sleep_duration)
+sleep_for(const std::chrono::nanoseconds& nanoseconds)
 {
   // TODO: determine if posix's nanosleep(2) is more efficient here
   std::unique_lock<std::mutex> lock(::g_interrupt_mutex);
-  auto cvs = ::g_interrupt_condition_variable.wait_for(lock, sleep_duration);
+  auto cvs = ::g_interrupt_condition_variable.wait_for(lock, nanoseconds);
   return cvs == std::cv_status::no_timeout;
 }