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[backport foxy] Add QoS decoding translation for infinite durations t…
…o RMW_DURATION_INFINITE (backport #684) (#1088) * Add QoS decoding translation for infinite durations to RMW_DURATION_INFINITE (#684) * Add QoS decoding translation for infinite durations to RMW_DURATION_INFINITE Signed-off-by: Emerson Knapp <eknapp@amazon.com> (cherry picked from commit de70a81) Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Backport rmw time utilities into private space in rosbag2_transport library Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> * Change bag name for tests Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> --------- Signed-off-by: Emerson Knapp <eknapp@amazon.com> Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com> Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com> Co-authored-by: Emerson Knapp <emerson.b.knapp@gmail.com> Co-authored-by: Michael Orlov <michael.orlov@apex.ai>
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| // NOTE: This file is copied from Rolling rmw, as part of backporting bugfix #684 to Foxy | ||
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| #include "rmw_time.h" // NOLINT | ||
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| #include "rcutils/time.h" | ||
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| bool | ||
| rmw_time_equal(const rmw_time_t left, const rmw_time_t right) | ||
| { | ||
| return rmw_time_total_nsec(left) == rmw_time_total_nsec(right); | ||
| } | ||
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| rmw_duration_t | ||
| rmw_time_total_nsec(const rmw_time_t time) | ||
| { | ||
| static const uint64_t max_sec = INT64_MAX / RCUTILS_S_TO_NS(1); | ||
| if (time.sec > max_sec) { | ||
| // Seconds not representable in nanoseconds | ||
| return INT64_MAX; | ||
| } | ||
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| const int64_t sec_as_nsec = RCUTILS_S_TO_NS(time.sec); | ||
| if (time.nsec > (uint64_t)(INT64_MAX - sec_as_nsec)) { | ||
| // overflow | ||
| return INT64_MAX; | ||
| } | ||
| return sec_as_nsec + time.nsec; | ||
| } | ||
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| rmw_time_t | ||
| rmw_time_from_nsec(const rmw_duration_t nanoseconds) | ||
| { | ||
| if (nanoseconds < 0) { | ||
| return (rmw_time_t)RMW_DURATION_INFINITE; | ||
| } | ||
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| // Avoid typing the 1 billion constant | ||
| rmw_time_t time; | ||
| time.sec = RCUTILS_NS_TO_S(nanoseconds); | ||
| time.nsec = nanoseconds % RCUTILS_S_TO_NS(1); | ||
| return time; | ||
| } | ||
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| rmw_time_t | ||
| rmw_time_normalize(const rmw_time_t time) | ||
| { | ||
| return rmw_time_from_nsec(rmw_time_total_nsec(time)); | ||
| } |
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| // Copyright 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| // NOTE: This file is copied from Rolling rmw, as part of backporting bugfix #684 to Foxy | ||
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| #ifndef ROSBAG2_TRANSPORT__RMW_TIME_H_ | ||
| #define ROSBAG2_TRANSPORT__RMW_TIME_H_ | ||
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| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif // __cplusplus | ||
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| #include <stdint.h> | ||
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| #include "rcutils/time.h" | ||
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| #include "rmw/macros.h" | ||
| #include "rmw/visibility_control.h" | ||
| #include "rmw/types.h" | ||
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| typedef rcutils_time_point_value_t rmw_time_point_value_t; | ||
| typedef rcutils_duration_value_t rmw_duration_t; | ||
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| /// Constant representing an infinite duration. Use rmw_time_equal for comparisons. | ||
| /** | ||
| * Different RMW implementations have different representations for infinite durations. | ||
| * This value is reported for QoS policy durations that are left unspecified. | ||
| * Do not directly compare `sec == sec && nsec == nsec`, because we don't want to be sensitive | ||
| * to non-normalized values (nsec > 1 second) - use rmw_time_equal instead. | ||
| * This value is INT64_MAX nanoseconds = 0x7FFF FFFF FFFF FFFF = d 9 223 372 036 854 775 807 | ||
| * | ||
| * Note: these constants cannot be `static const rmw_time_t` because in C that can't be used | ||
| * as a compile-time initializer | ||
| */ | ||
| #define RMW_DURATION_INFINITE {9223372036LL, 854775807LL} | ||
| #define RMW_DURATION_UNSPECIFIED {0LL, 0LL} | ||
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| /// Check whether two rmw_time_t represent the same time. | ||
| bool | ||
| rmw_time_equal(const rmw_time_t left, const rmw_time_t right); | ||
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| /// Return the total nanosecond representation of a time. | ||
| /** | ||
| * \return INT64_MAX if input is too large to store in 64 bits | ||
| */ | ||
| rmw_duration_t | ||
| rmw_time_total_nsec(const rmw_time_t time); | ||
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| /// Construct rmw_time_t from a total nanoseconds representation. | ||
| /** | ||
| * rmw_time_t only specifies relative time, so the origin is not relevant for this calculation. | ||
| * \return RMW_DURATION_INFINITE if input is negative, which is not representable in rmw_time_t | ||
| */ | ||
| rmw_time_t | ||
| rmw_time_from_nsec(const rmw_duration_t nanoseconds); | ||
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| /// Ensure that an rmw_time_t does not have nanoseconds > 1 second. | ||
| rmw_time_t | ||
| rmw_time_normalize(const rmw_time_t time); | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif // __cplusplus | ||
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| #endif // ROSBAG2_TRANSPORT__RMW_TIME_H_ |
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