niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

freeing Time members in destructor, adding copy constructor / assignment operator (#362)

Browse source 
* 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
This commit is contained in:
Karsten Knese 2017-08-24 15:21:01 -07:00 • committed by GitHub
parent 6f3020ce23
commit 8e2e64e82a
3 changed files with 37 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

7
rclcpp/include/rclcpp/time.hpp
View file

@ -38,6 +38,9 @@ public:
RCLCPP_PUBLIC RCLCPP_PUBLIC
explicit Time(uint64_t nanoseconds, rcl_time_source_type_t clock = RCL_SYSTEM_TIME); explicit Time(uint64_t nanoseconds, rcl_time_source_type_t clock = RCL_SYSTEM_TIME);
RCLCPP_PUBLIC
Time(const Time & rhs);
RCLCPP_PUBLIC RCLCPP_PUBLIC
Time(const builtin_interfaces::msg::Time & time_msg); // NOLINT Time(const builtin_interfaces::msg::Time & time_msg); // NOLINT
@ -47,6 +50,10 @@ public:
RCLCPP_PUBLIC RCLCPP_PUBLIC
operator builtin_interfaces::msg::Time() const; operator builtin_interfaces::msg::Time() const;
RCLCPP_PUBLIC
void
operator=(const Time & rhs);
RCLCPP_PUBLIC RCLCPP_PUBLIC
void void
operator=(const builtin_interfaces::msg::Time & time_msg); operator=(const builtin_interfaces::msg::Time & time_msg);

18
rclcpp/src/rclcpp/time.cpp
View file

@ -102,6 +102,13 @@ Time::Time(uint64_t nanoseconds, rcl_time_source_type_t clock)
rcl_time_.nanoseconds = nanoseconds; 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 Time::Time(const builtin_interfaces::msg::Time & time_msg) // NOLINT
: rcl_time_source_(init_time_source(RCL_SYSTEM_TIME)), : rcl_time_source_(init_time_source(RCL_SYSTEM_TIME)),
rcl_time_(init_time_point(rcl_time_source_)) rcl_time_(init_time_point(rcl_time_source_))
@ -116,6 +123,9 @@ Time::Time(const builtin_interfaces::msg::Time & time_msg) // NOLINT
Time::~Time() 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) { 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") 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; 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 void
Time::operator=(const builtin_interfaces::msg::Time & time_msg) Time::operator=(const builtin_interfaces::msg::Time & time_msg)
{ {

14
rclcpp/test/test_time.cpp
View file

@ -102,8 +102,8 @@ TEST(TestTime, operators) {
EXPECT_EQ(sub.nanoseconds(), young.nanoseconds() - old.nanoseconds()); EXPECT_EQ(sub.nanoseconds(), young.nanoseconds() - old.nanoseconds());
EXPECT_EQ(sub, young - old); EXPECT_EQ(sub, young - old);
rclcpp::Time system_time(1, 0, RCL_SYSTEM_TIME); rclcpp::Time system_time(0, 0, RCL_SYSTEM_TIME);
rclcpp::Time steady_time(2, 0, RCL_STEADY_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));
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)); 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) { TEST(TestTime, overflows) {