rclcpp::Time::max() clock type support. (ros2#2352)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Barry-Xu-2018 · Jan 12, 2024 · 0823fd3 · 0823fd3
1 parent 814170c
commit 0823fd3
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Showing 3 changed files with 24 additions and 7 deletions.
diff --git a/rclcpp/include/rclcpp/time.hpp b/rclcpp/include/rclcpp/time.hpp
@@ -189,7 +189,7 @@ class Time
    */
   RCLCPP_PUBLIC
   static Time
-  max();
+  max(rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);  // NOLINT
 
   /// Get the seconds since epoch
   /**

diff --git a/rclcpp/src/rclcpp/time.cpp b/rclcpp/src/rclcpp/time.cpp
@@ -276,9 +276,9 @@ Time::operator-=(const rclcpp::Duration & rhs)
 }
 
 Time
-Time::max()
+Time::max(rcl_clock_type_t clock_type)
 {
-  return Time(std::numeric_limits<int32_t>::max(), 999999999);
+  return Time(std::numeric_limits<int32_t>::max(), 999999999, clock_type);
 }
 
 

diff --git a/rclcpp/test/rclcpp/test_time.cpp b/rclcpp/test/rclcpp/test_time.cpp
@@ -363,10 +363,27 @@ TEST_F(TestTime, seconds) {
 }
 
 TEST_F(TestTime, test_max) {
-  const rclcpp::Time time_max = rclcpp::Time::max();
-  const rclcpp::Time max_time(std::numeric_limits<int32_t>::max(), 999999999);
-  EXPECT_DOUBLE_EQ(max_time.seconds(), time_max.seconds());
-  EXPECT_EQ(max_time.nanoseconds(), time_max.nanoseconds());
+  // Same clock types
+  for (rcl_clock_type_t type = RCL_ROS_TIME;
+    type != RCL_STEADY_TIME; type = static_cast<rcl_clock_type_t>(type + 1))
+  {
+    const rclcpp::Time time_max = rclcpp::Time::max(type);
+    const rclcpp::Time max_time(std::numeric_limits<int32_t>::max(), 999999999, type);
+    EXPECT_DOUBLE_EQ(max_time.seconds(), time_max.seconds());
+    EXPECT_EQ(max_time.nanoseconds(), time_max.nanoseconds());
+  }
+  // Different clock types
+  {
+    const rclcpp::Time time_max = rclcpp::Time::max(RCL_ROS_TIME);
+    const rclcpp::Time max_time(std::numeric_limits<int32_t>::max(), 999999999, RCL_STEADY_TIME);
+    EXPECT_ANY_THROW((void)(time_max == max_time));
+    EXPECT_ANY_THROW((void)(time_max != max_time));
+    EXPECT_ANY_THROW((void)(time_max <= max_time));
+    EXPECT_ANY_THROW((void)(time_max >= max_time));
+    EXPECT_ANY_THROW((void)(time_max < max_time));
+    EXPECT_ANY_THROW((void)(time_max > max_time));
+    EXPECT_ANY_THROW((void)(time_max - max_time));
+  }
 }
 
 TEST_F(TestTime, test_constructor_from_rcl_time_point) {