modify rcl_clock_get_now to take a rcl_time_point_value_t

rcl/include/rcl/time.h

@@ -272,20 +272,20 @@ rcl_ret_t
 rcl_difference_times(
   rcl_time_point_t * start, rcl_time_point_t * finish, rcl_duration_t * delta);
 
-/// Fill the time point with the current value of the associated clock.
+/// Fill the time point value with the current value of the associated clock.
 /**
- * This function will populate the data of the time_point object with the
+ * This function will populate the data of the time_point_value object with the
  * current value from it's associated time abstraction.
  * \param[in] clock The time source from which to set the value.
- * \param[out] time_point The time_point to populate.
+ * \param[out] time_point_value The time_point value to populate.
  * \return `RCL_RET_OK` if the last call time was retrieved successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ERROR` an unspecified error occur.
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_t * time_point);
+rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_value_t * time_point_value);
 
 
 /// Enable the ROS time abstraction override.

rcl/src/rcl/time.c

@@ -226,12 +226,12 @@ rcl_difference_times(
 }
 
 rcl_ret_t
-rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_t * time_point)
+rcl_clock_get_now(rcl_clock_t * clock, rcl_time_point_value_t * time_point_value)
 {
-  RCL_CHECK_ARGUMENT_FOR_NULL(time_point, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
+  RCL_CHECK_ARGUMENT_FOR_NULL(clock, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
+  RCL_CHECK_ARGUMENT_FOR_NULL(time_point_value, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
   if (clock->type && clock->get_now) {
-    return clock->get_now(clock->data,
-             &(time_point->nanoseconds));
+    return clock->get_now(clock->data, time_point_value);
   }
   RCL_SET_ERROR_MSG(
     "clock is not initialized or does not have get_now registered.",

rcl/test/rcl/test_time.cpp

@@ -76,7 +76,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
   ret = rcl_is_enabled_ros_time_override(nullptr, nullptr);
   EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string_safe();
   rcl_reset_error();
-  rcl_time_point_t query_now;
+  rcl_time_point_value_t query_now;
   bool is_enabled;
   ret = rcl_is_enabled_ros_time_override(&ros_clock, &is_enabled);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
@@ -86,15 +86,15 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
     ret = rcl_clock_get_now(&ros_clock, &query_now);
   });
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
-  EXPECT_NE(query_now.nanoseconds, 0u);
+  EXPECT_NE(query_now, 0u);
   // Compare to std::chrono::system_clock time (within a second).
   ret = rcl_clock_get_now(&ros_clock, &query_now);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
   {
     std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
     auto now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now_sc.time_since_epoch());
     int64_t now_ns_int = now_ns.count();
-    int64_t now_diff = query_now.nanoseconds - now_ns_int;
+    int64_t now_diff = query_now - now_ns_int;
     const int k_tolerance_ms = 1000;
     EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "ros_clock differs";
   }
@@ -118,7 +118,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
     std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
     auto now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now_sc.time_since_epoch());
     int64_t now_ns_int = now_ns.count();
-    int64_t now_diff = query_now.nanoseconds - now_ns_int;
+    int64_t now_diff = query_now - now_ns_int;
     const int k_tolerance_ms = 1000;
     EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "ros_clock differs";
   }
@@ -132,7 +132,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
   // get sim
   ret = rcl_clock_get_now(&ros_clock, &query_now);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
-  EXPECT_EQ(query_now.nanoseconds, set_point);
+  EXPECT_EQ(query_now, set_point);
   // disable
   ret = rcl_disable_ros_time_override(&ros_clock);
   EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
@@ -147,7 +147,7 @@ TEST_F(CLASSNAME(TestTimeFixture, RMW_IMPLEMENTATION), test_rcl_ros_time_set_ove
     std::chrono::system_clock::time_point now_sc = std::chrono::system_clock::now();
     auto now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now_sc.time_since_epoch());
     int64_t now_ns_int = now_ns.count();
-    int64_t now_diff = query_now.nanoseconds - now_ns_int;
+    int64_t now_diff = query_now - now_ns_int;
     const int k_tolerance_ms = 1000;
     EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "ros_clock differs";
   }
@@ -352,7 +352,7 @@ TEST(CLASSNAME(rcl_time, RMW_IMPLEMENTATION), rcl_time_update_callbacks) {
     reinterpret_cast<rcl_clock_t *>(allocator.allocate(sizeof(rcl_clock_t), allocator.state));
   rcl_ret_t retval = rcl_ros_clock_init(ros_clock, &allocator);
   EXPECT_EQ(retval, RCL_RET_OK) << rcl_get_error_string_safe();
-  rcl_time_point_t query_now;
+  rcl_time_point_value_t query_now;
   rcl_ret_t ret;
   rcl_time_point_value_t set_point = 1000000000ull;