From 8e2e64e82a33389bfe57ea6781f39acade7a5ff3 Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten@osrfoundation.org>
Date: Thu, 24 Aug 2017 15:21:01 -0700
Subject: [PATCH] freeing Time members in destructor, adding copy constructor /
 assignment operator (#362)

* copy constructor for fixing windows debug

* remove debug prints

* style

* correctly free resources in destructor

* correct copy and assignment operators

* explicit call to copy constructor
---
 rclcpp/include/rclcpp/time.hpp |  7 +++++++
 rclcpp/src/rclcpp/time.cpp     | 18 ++++++++++++++++++
 rclcpp/test/test_time.cpp      | 14 ++++++++++++--
 3 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/rclcpp/include/rclcpp/time.hpp b/rclcpp/include/rclcpp/time.hpp
index 7e9b99a..5941e64 100644
--- a/rclcpp/include/rclcpp/time.hpp
+++ b/rclcpp/include/rclcpp/time.hpp
@@ -38,6 +38,9 @@ public:
   RCLCPP_PUBLIC
   explicit Time(uint64_t nanoseconds, rcl_time_source_type_t clock = RCL_SYSTEM_TIME);
 
+  RCLCPP_PUBLIC
+  Time(const Time & rhs);
+
   RCLCPP_PUBLIC
   Time(const builtin_interfaces::msg::Time & time_msg);  // NOLINT
 
@@ -47,6 +50,10 @@ public:
   RCLCPP_PUBLIC
   operator builtin_interfaces::msg::Time() const;
 
+  RCLCPP_PUBLIC
+  void
+  operator=(const Time & rhs);
+
   RCLCPP_PUBLIC
   void
   operator=(const builtin_interfaces::msg::Time & time_msg);
diff --git a/rclcpp/src/rclcpp/time.cpp b/rclcpp/src/rclcpp/time.cpp
index 102052d..ad44758 100644
--- a/rclcpp/src/rclcpp/time.cpp
+++ b/rclcpp/src/rclcpp/time.cpp
@@ -102,6 +102,13 @@ Time::Time(uint64_t nanoseconds, rcl_time_source_type_t clock)
   rcl_time_.nanoseconds = nanoseconds;
 }
 
+Time::Time(const Time & rhs)
+: rcl_time_source_(init_time_source(rhs.rcl_time_source_.type)),
+  rcl_time_(init_time_point(rcl_time_source_))
+{
+  rcl_time_.nanoseconds = rhs.rcl_time_.nanoseconds;
+}
+
 Time::Time(const builtin_interfaces::msg::Time & time_msg)  // NOLINT
 : rcl_time_source_(init_time_source(RCL_SYSTEM_TIME)),
   rcl_time_(init_time_point(rcl_time_source_))
@@ -116,6 +123,9 @@ Time::Time(const builtin_interfaces::msg::Time & time_msg)  // NOLINT
 
 Time::~Time()
 {
+  if (rcl_time_source_fini(&rcl_time_source_) != RCL_RET_OK) {
+    RCUTILS_LOG_FATAL("failed to reclaim rcl_time_source_t in destructor of rclcpp::Time")
+  }
   if (rcl_time_point_fini(&rcl_time_) != RCL_RET_OK) {
     RCUTILS_LOG_FATAL("failed to reclaim rcl_time_point_t in destructor of rclcpp::Time")
   }
@@ -129,6 +139,14 @@ Time::operator builtin_interfaces::msg::Time() const
   return msg_time;
 }
 
+void
+Time::operator=(const Time & rhs)
+{
+  rcl_time_source_ = init_time_source(rhs.rcl_time_source_.type);
+  rcl_time_ = init_time_point(rcl_time_source_);
+  rcl_time_.nanoseconds = rhs.rcl_time_.nanoseconds;
+}
+
 void
 Time::operator=(const builtin_interfaces::msg::Time & time_msg)
 {
diff --git a/rclcpp/test/test_time.cpp b/rclcpp/test/test_time.cpp
index fd447ea..9f47f12 100644
--- a/rclcpp/test/test_time.cpp
+++ b/rclcpp/test/test_time.cpp
@@ -102,8 +102,8 @@ TEST(TestTime, operators) {
   EXPECT_EQ(sub.nanoseconds(), young.nanoseconds() - old.nanoseconds());
   EXPECT_EQ(sub, young - old);
 
-  rclcpp::Time system_time(1, 0, RCL_SYSTEM_TIME);
-  rclcpp::Time steady_time(2, 0, RCL_STEADY_TIME);
+  rclcpp::Time system_time(0, 0, RCL_SYSTEM_TIME);
+  rclcpp::Time steady_time(0, 0, RCL_STEADY_TIME);
 
   EXPECT_ANY_THROW((void)(system_time == steady_time));
   EXPECT_ANY_THROW((void)(system_time <= steady_time));
@@ -123,6 +123,16 @@ TEST(TestTime, operators) {
   EXPECT_ANY_THROW((void)(now > later));
   EXPECT_ANY_THROW((void)(now + later));
   EXPECT_ANY_THROW((void)(now - later));
+
+  for (auto time_source : {RCL_ROS_TIME, RCL_SYSTEM_TIME, RCL_STEADY_TIME}) {
+    rclcpp::Time time = rclcpp::Time(0, 0, time_source);
+    rclcpp::Time copy_constructor_time(time);
+    rclcpp::Time assignment_op_time = rclcpp::Time(1, 0, time_source);
+    assignment_op_time = time;
+
+    EXPECT_TRUE(time == copy_constructor_time);
+    EXPECT_TRUE(time == assignment_op_time);
+  }
 }
 
 TEST(TestTime, overflows) {