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Convert functions between duration and ignition::time #85

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Sep 14, 2020
Merged

Convert functions between duration and ignition::time #85

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7eaed99
Convert functions between duration and ignition::time
ahcorde Sep 14, 2020
85d4c26
style
ahcorde Sep 14, 2020
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12 changes: 6 additions & 6 deletions include/ignition/msgs/Utility.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -147,11 +147,11 @@ namespace ignition
IGNITION_MSGS_VISIBLE
float Convert(const msgs::Float &_m);

/// \brief Convert a msgs::Time to a std::chrono::steady_clock::time_point
/// \brief Convert a msgs::Time to a std::chrono::steady_clock::duration
/// \param[in] _time The message to convert
/// \return A std::chrono::steady_clock::time_point object
/// \return A std::chrono::steady_clock::duration object
IGNITION_MSGS_VISIBLE
std::chrono::steady_clock::time_point Convert(const msgs::Time &_time);
std::chrono::steady_clock::duration Convert(const msgs::Time &_time);

/// \brief Convert a ignition::math::Vector3d to a msgs::Vector3d
/// \param[in] _v The vector to convert
Expand Down Expand Up @@ -249,13 +249,13 @@ namespace ignition
IGNITION_MSGS_VISIBLE
msgs::Float Convert(const float &_f);

/// \brief Convert a std::chrono::steady_clock::time_point to a msgs::Time
/// \param[in] _time_point The std::chrono::system_clock::time_poin to
/// \brief Convert a std::chrono::steady_clock::duration to a msgs::Time
/// \param[in] _time_point The std::chrono::system_clock::duration to
/// convert
/// \return A msgs::Time object
IGNITION_MSGS_VISIBLE
msgs::Time Convert(
const std::chrono::steady_clock::time_point &_time_point);
const std::chrono::steady_clock::duration &_time_point);

/// \brief Convert a string to a msgs::Joint::Type enum.
/// \param[in] _str Joint type string.
Expand Down
9 changes: 5 additions & 4 deletions src/Utility.cc
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Expand Up @@ -206,9 +206,10 @@ namespace ignition
}

/////////////////////////////////////////////////
std::chrono::steady_clock::time_point Convert(const msgs::Time &_time)
std::chrono::steady_clock::duration Convert(const msgs::Time &_time)
{
return math::secNsecToTimePoint(_time.sec(), _time.nsec());;
return std::chrono::seconds(_time.sec()) +
std::chrono::nanoseconds(_time.nsec());
}

/////////////////////////////////////////////////
Expand Down Expand Up @@ -346,10 +347,10 @@ namespace ignition
}

/////////////////////////////////////////////////
msgs::Time Convert(const std::chrono::steady_clock::time_point &_timePoint)
msgs::Time Convert(const std::chrono::steady_clock::duration &_time_point)
{
std::pair<uint64_t, uint64_t> timeSecAndNsecs =
ignition::math::timePointToSecNsec(_timePoint);
ignition::math::durationToSecNsec(_time_point);
msgs::Time msg;
msg.set_sec(timeSecAndNsecs.first);
msg.set_nsec(timeSecAndNsecs.second);
Expand Down
10 changes: 5 additions & 5 deletions src/Utility_TEST.cc
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Expand Up @@ -319,16 +319,16 @@ TEST(UtilityTest, ConvertFloat)
/////////////////////////////////////////////////
TEST(UtilityTest, ConvertTimePoint)
{
std::chrono::steady_clock::time_point timePoint =
math::secNsecToTimePoint(0, 0);
std::chrono::steady_clock::duration timePoint =
std::chrono::steady_clock::duration::zero();
msgs::Time msg = msgs::Convert(timePoint);
EXPECT_EQ(0, msg.sec());
EXPECT_EQ(0, msg.nsec());

std::chrono::steady_clock::time_point s = msgs::Convert(msg);
EXPECT_EQ(s, math::secNsecToTimePoint(0, 0));
std::chrono::steady_clock::duration s = msgs::Convert(msg);
EXPECT_EQ(s, std::chrono::steady_clock::duration::zero());

timePoint = math::secNsecToTimePoint(200, 999);
timePoint = std::chrono::seconds(200) + std::chrono::nanoseconds(999);
msg = msgs::Convert(timePoint);
EXPECT_EQ(200, msg.sec());
EXPECT_EQ(999, msg.nsec());
Expand Down