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Add addition/subtraction assignment operators to Time (#748)

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Signed-off-by: Scott K Logan <logans@cottsay.net>
This commit is contained in:
Scott K Logan 2019-11-21 15:50:14 -08:00 • committed by GitHub
parent 2014385671
commit 3e08d9e43f
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3 changed files with 46 additions and 0 deletions
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8
rclcpp/include/rclcpp/time.hpp
View file

@ -98,6 +98,14 @@ public:
Time
operator-(const rclcpp::Duration & rhs) const;
RCLCPP_PUBLIC
Time &
operator+=(const rclcpp::Duration & rhs);
RCLCPP_PUBLIC
Time &
operator-=(const rclcpp::Duration & rhs);
RCLCPP_PUBLIC
rcl_time_point_value_t
nanoseconds() const;

30
rclcpp/src/rclcpp/time.cpp
View file

@ -255,6 +255,36 @@ operator+(const rclcpp::Duration & lhs, const rclcpp::Time & rhs)
return Time(lhs.nanoseconds() + rhs.nanoseconds(), rhs.get_clock_type());
}
Time &
Time::operator+=(const rclcpp::Duration & rhs)
{
if (rclcpp::add_will_overflow(rhs.nanoseconds(), this->nanoseconds())) {
throw std::overflow_error("addition leads to int64_t overflow");
}
if (rclcpp::add_will_underflow(rhs.nanoseconds(), this->nanoseconds())) {
throw std::underflow_error("addition leads to int64_t underflow");
}
rcl_time_.nanoseconds += rhs.nanoseconds();
return *this;
}
Time &
Time::operator-=(const rclcpp::Duration & rhs)
{
if (rclcpp::sub_will_overflow(rcl_time_.nanoseconds, rhs.nanoseconds())) {
throw std::overflow_error("time subtraction leads to int64_t overflow");
}
if (rclcpp::sub_will_underflow(rcl_time_.nanoseconds, rhs.nanoseconds())) {
throw std::underflow_error("time subtraction leads to int64_t underflow");
}
rcl_time_.nanoseconds -= rhs.nanoseconds();
return *this;
}
Time
Time::max()
{

8
rclcpp/test/test_time.cpp
View file

@ -126,6 +126,10 @@ TEST(TestTime, operators) {
EXPECT_EQ(sub.nanoseconds(), (rcl_duration_value_t)(young.nanoseconds() - old.nanoseconds()));
EXPECT_EQ(sub, young - old);
rclcpp::Time young_changed(young);
young_changed -= rclcpp::Duration(old.nanoseconds());
EXPECT_EQ(sub.nanoseconds(), young_changed.nanoseconds());
rclcpp::Time system_time(0, 0, RCL_SYSTEM_TIME);
rclcpp::Time steady_time(0, 0, RCL_STEADY_TIME);
@ -230,15 +234,19 @@ TEST(TestTime, overflows) {
EXPECT_THROW(min_time - one, std::underflow_error);
EXPECT_THROW(max_time - min_time, std::overflow_error);
EXPECT_THROW(min_time - max_time, std::underflow_error);
EXPECT_THROW(rclcpp::Time(max_time) += one, std::overflow_error);
EXPECT_THROW(rclcpp::Time(min_time) -= one, std::underflow_error);
EXPECT_NO_THROW(max_time - max_time);
EXPECT_NO_THROW(min_time - min_time);
// Cross zero in both directions
rclcpp::Time one_time(1);
EXPECT_NO_THROW(one_time - two);
EXPECT_NO_THROW(rclcpp::Time(one_time) -= two);
rclcpp::Time minus_one_time(-1);
EXPECT_NO_THROW(minus_one_time + two);
EXPECT_NO_THROW(rclcpp::Time(minus_one_time) += two);
EXPECT_NO_THROW(one_time - minus_one_time);
EXPECT_NO_THROW(minus_one_time - one_time);