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rclcpp::Time::max() clock type support. (backport #2352) #2355

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rclcpp::Time::max() clock type support. (backport #2352) #2355

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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/time.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@ class Time
*/
RCLCPP_PUBLIC
static Time
max();
max(rcl_clock_type_t clock_type = RCL_SYSTEM_TIME); // NOLINT
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I don't know the answer to this, so this is just a question: does adding a default parameter to a method change the ABI? I would guess it does, but I'm not 100% sure about it.

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ah, i think we are introducing default argument here, that means changing default argument to the method, that is not guaranteed as ABI compatible change. (off topic, It would be nice if we have API/ABI checker with github workflow to add the lable on each PR for future enhancement.)

thanks for reminding me of that. i will go ahead to close this, and #2354


/// Get the seconds since epoch
/**
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4 changes: 2 additions & 2 deletions rclcpp/src/rclcpp/time.cpp
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Expand Up @@ -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);
}


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25 changes: 21 additions & 4 deletions rclcpp/test/rclcpp/test_time.cpp
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Expand Up @@ -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) {
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