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Remove incorrect exception on sec < 0 (#527)

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* Remove incorrect exception on sec < 0
This commit is contained in:
Shane Loretz 2018-08-09 09:23:33 -07:00 • committed by GitHub
parent ea047655d8
commit 6b34bcc94c
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2 changed files with 23 additions and 3 deletions
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3
rclcpp/src/rclcpp/duration.cpp
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@ -88,9 +88,6 @@ Duration::operator=(const Duration & rhs)
Duration & Duration &
Duration::operator=(const builtin_interfaces::msg::Duration & duration_msg) Duration::operator=(const builtin_interfaces::msg::Duration & duration_msg)
{ {
if (duration_msg.sec < 0) {
throw std::runtime_error("cannot store a negative duration point in rclcpp::Duration");
}
rcl_duration_.nanoseconds = RCL_S_TO_NS(static_cast<int64_t>(duration_msg.sec)); rcl_duration_.nanoseconds = RCL_S_TO_NS(static_cast<int64_t>(duration_msg.sec));
rcl_duration_.nanoseconds += duration_msg.nanosec; rcl_duration_.nanoseconds += duration_msg.nanosec;
return *this; return *this;

23
rclcpp/test/test_duration.cpp
View file

@ -97,3 +97,26 @@ TEST(TestDuration, overflows) {
EXPECT_THROW(base_d_neg * (-4), std::overflow_error); EXPECT_THROW(base_d_neg * (-4), std::overflow_error);
EXPECT_THROW(base_d_neg * 4, std::underflow_error); EXPECT_THROW(base_d_neg * 4, std::underflow_error);
} }
TEST(TestDuration, negative_duration) {
rclcpp::Duration assignable_duration = rclcpp::Duration(0) - rclcpp::Duration(5, 0);
{
// avoid windows converting a literal number less than -INT_MAX to unsigned int C4146
int64_t expected_value = -5000;
expected_value *= 1000 * 1000;
EXPECT_EQ(expected_value, assignable_duration.nanoseconds());
}
{
builtin_interfaces::msg::Duration duration_msg;
duration_msg.sec = -4;
duration_msg.nanosec = 250000000;
assignable_duration = duration_msg;
// avoid windows converting a literal number less than -INT_MAX to unsigned int C4146
int64_t expected_value = -3750;
expected_value *= 1000 * 1000;
EXPECT_EQ(expected_value, assignable_duration.nanoseconds());
}
}