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Emerson Knapp
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Address review feedback:
* Add new time.h/c * Update documentation to distinguish between unspecified/infinite * Add overflow/bounds checking for time utils Signed-off-by: Emerson Knapp <[email protected]>
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8 files changed

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‎rmw/CMakeLists.txt‎

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@@ -36,6 +36,7 @@ set(rmw_sources
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"src/sanity_checks.c"
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"src/security_options.c"
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"src/subscription_options.c"
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"src/time.c"
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"src/topic_endpoint_info_array.c"
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"src/topic_endpoint_info.c"
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"src/types.c"

‎rmw/include/rmw/time.h‎

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// Copyright 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RMW__TIME_H_
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#define RMW__TIME_H_
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#ifdef __cplusplus
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extern "C"
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{
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#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"
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#include "rmw/visibility_control.h"
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/// A struct representing a duration in RMW.
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typedef struct RMW_PUBLIC_TYPE rmw_time_t
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{
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/// Seconds since the epoch
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uint64_t sec;
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/// Nanoseconds component of this time point
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uint64_t nsec;
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} rmw_time_t;
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typedef rcutils_time_point_value_t rmw_time_point_value_t;
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typedef rcutils_duration_value_t rmw_duration_t;
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/// Constant representing an infinite duration. Use rmw_time_equal for comparisons.
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/**
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* Different RMW implementations have different representations for infinite durations.
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* This value is reported for QoS policy durations that are left unspecified.
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* Do not directly compare `sec == sec && nsec == nsec`, because we don't want to be sensitive
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* to non-normalized values (nsec > 1 second) - use rmw_time_equal instead.
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* This value is INT64_MAX nanoseconds = 0x7FFF FFFF FFFF FFFF = d 9 223 372 036 854 775 807
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*/
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static const struct rmw_time_t RMW_DURATION_INFINITE = {9223372036LL, 854775807LL};
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static const struct rmw_time_t RMW_DURATION_UNSPECIFIED = {0LL, 0LL};
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/// Check whether two rmw_time_t represent the same time.
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RMW_PUBLIC
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RMW_WARN_UNUSED
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bool
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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.
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/**
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* \return INT64_MAX if input is too large to store in 64 bits
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*/
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RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_duration_t
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rmw_time_total_nsec(const rmw_time_t time);
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/// Construct rmw_time_t from a total nanoseconds representation.
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/**
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* rmw_time_t only specifies relative time, so the origin is not relevant for this calculation.
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* \return RMW_DURATION_INFINITE if input is negative, which is not representable in rmw_time_t
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*/
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RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_time_t
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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.
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RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_time_t
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rmw_time_normalize(const rmw_time_t time);
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#ifdef __cplusplus
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}
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#endif // __cplusplus
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#endif // RMW__TIME_H_

‎rmw/include/rmw/types.h‎

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@@ -33,6 +33,7 @@ extern "C"
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#include "rmw/ret_types.h"
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#include "rmw/security_options.h"
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#include "rmw/serialized_message.h"
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#include "rmw/time.h"
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#include "rmw/visibility_control.h"
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// 24 bytes is the most memory needed to represent the GID by any current
@@ -318,53 +319,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_request_id_t
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int64_t sequence_number;
319320
} rmw_request_id_t;
320321

321-
/// Struct representing a time point for rmw
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typedef struct RMW_PUBLIC_TYPE rmw_time_t
323-
{
324-
/// Seconds since the epoch
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uint64_t sec;
326-
327-
/// Nanoseconds component of this time point
328-
uint64_t nsec;
329-
} rmw_time_t;
330-
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typedef rcutils_time_point_value_t rmw_time_point_value_t;
332-
typedef rcutils_duration_value_t rmw_duration_t;
333-
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/// Constant representing an infinite duration. Use rmw_time_equal for comparisons.
335-
/**
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* Different RMW implementations have different representations for infinite durations.
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* This value is reported for QoS policy durations that are left unspecified.
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* Do not directly comparee `sec == sec && nsec == nsec`, because we don't want to be sensitive
339-
* to non-normalized values (nsec > 1 second) - use rmw_time_equal instead.
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* This value is INT64_MAX nanoseconds = 0x7FFF FFFF FFFF FFFF = d 9 223 372 036 854 775 807
341-
*/
342-
#define RMW_DURATION_INFINITE {9223372036LL, 854775807LL}
343-
344-
/// Check whether two rmw_time_t represent the same time.
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RMW_PUBLIC
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RMW_WARN_UNUSED
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bool
348-
rmw_time_equal(const rmw_time_t left, const rmw_time_t right);
349-
350-
/// Return the total nanosecond representation of a time.
351-
RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_duration_t
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rmw_time_total_nsec(const rmw_time_t time);
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356-
/// Construct rmw_time_t from a total nanoseconds representation.
357-
RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_time_t
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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.
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RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_time_t
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rmw_time_normalize(const rmw_time_t time);
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/// Meta-data for a service-related take.
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typedef struct RMW_PUBLIC_TYPE rmw_service_info_t
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{
@@ -459,16 +413,17 @@ enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t
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RMW_QOS_POLICY_LIVELINESS_UNKNOWN = 4
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};
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462-
#define RMW_QOS_DURATION_UNSPECIFIED {0, 0}
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/// QoS Deadline default, 0s indicates deadline policies are not tracked or enforced
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#define RMW_QOS_DEADLINE_DEFAULT RMW_QOS_DURATION_UNSPECIFIED
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/// QoS Deadline default - when unspecified the RMW implementation default is used
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/// In most implementations, this is "infinity" meaning that the deadline is not enforced
418+
#define RMW_QOS_DEADLINE_DEFAULT RMW_DURATION_UNSPECIFIED
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467-
/// QoS Lifespan default, 0s indicate lifespan policies are not tracked or enforced
468-
#define RMW_QOS_LIFESPAN_DEFAULT RMW_QOS_DURATION_UNSPECIFIED
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/// QoS Lifespan default - when unspecified the RMW implementation default is used
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/// In most implementations, this is "infinity" meaning that the deadline is not enforced
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#define RMW_QOS_LIFESPAN_DEFAULT RMW_DURATION_UNSPECIFIED
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470-
/// QoS Liveliness lease duration default, 0s indicate lease durations are not tracked or enforced
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#define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT RMW_QOS_DURATION_UNSPECIFIED
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/// QoS liveliness lease duration default - when unspecified the RMW implementation default is used
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/// In most implementations, this is "infinity" meaning that the deadline is not enforced
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#define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT RMW_DURATION_UNSPECIFIED
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/// ROS MiddleWare quality of service profile.
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typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
@@ -481,12 +436,27 @@ typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
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/// Durability QoS policy setting
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enum rmw_qos_durability_policy_t durability;
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/// The period at which messages are expected to be sent/received
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/**
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* RMW_DURATION_UNSPEFICIED will use the RMW implementation's default value,
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* which may or may not be infinite.
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* RMW_DURATION_INFINITE explicitly states that messages never miss a deadline expectation.
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*/
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struct rmw_time_t deadline;
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/// The age at which messages are considered expired and no longer valid
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/**
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* RMW_DURATION_UNSPEFICIED will use the RMW implementation's default value,
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* which may or may not be infinite.
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* RMW_DURATION_INFINITE explicitly states that messages do not expire.
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*/
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struct rmw_time_t lifespan;
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/// Liveliness QoS policy setting
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enum rmw_qos_liveliness_policy_t liveliness;
489454
/// The time within which the RMW node or publisher must show that it is alive
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/**
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* RMW_DURATION_UNSPEFICIED will use the RMW implementation's default value,
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* which may or may not be infinite.
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* RMW_DURATION_INFINITE explicitly states that liveliness is not enforced.
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*/
490460
struct rmw_time_t liveliness_lease_duration;
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/// If true, any ROS specific namespacing conventions will be circumvented.

‎rmw/src/time.c‎

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// Copyright 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "rmw/time.h"
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#include "rcutils/time.h"
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RMW_PUBLIC
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RMW_WARN_UNUSED
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bool
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rmw_time_equal(const rmw_time_t left, const rmw_time_t right)
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{
24+
return rmw_time_total_nsec(left) == rmw_time_total_nsec(right);
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}
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RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_duration_t
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rmw_time_total_nsec(const rmw_time_t time)
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{
32+
static const int64_t max_sec = INT64_MAX / RCUTILS_S_TO_NS(1);
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if ((int64_t)time.sec > max_sec) {
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// Seconds not representable in nanoseconds
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return INT64_MAX;
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}
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const int64_t sec_as_nsec = RCUTILS_S_TO_NS(time.sec);
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if ((int64_t)time.nsec > (INT64_MAX - sec_as_nsec)) {
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// overflow
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return INT64_MAX;
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}
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return sec_as_nsec + time.nsec;
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}
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RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_time_t
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rmw_time_from_nsec(const rmw_duration_t nanoseconds)
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{
51+
if (nanoseconds < 0) {
52+
return RMW_DURATION_INFINITE;
53+
}
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55+
// Avoid typing the 1 billion constant
56+
rmw_time_t time;
57+
time.sec = RCUTILS_NS_TO_S(nanoseconds);
58+
time.nsec = nanoseconds % RCUTILS_S_TO_NS(1);
59+
return time;
60+
}
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62+
RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_time_t
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rmw_time_normalize(const rmw_time_t time)
66+
{
67+
return rmw_time_from_nsec(rmw_time_total_nsec(time));
68+
}

‎rmw/src/types.c‎

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#include "rmw/types.h"
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17-
#include "rcutils/time.h"
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RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_message_info_t
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rmw_message_info_t zero_initialized_message_info = {0, 0, {NULL, {0}}, false};
2523
return zero_initialized_message_info;
2624
}
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RMW_PUBLIC
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RMW_WARN_UNUSED
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bool
31-
rmw_time_equal(const rmw_time_t left, const rmw_time_t right)
32-
{
33-
return rmw_time_total_nsec(left) == rmw_time_total_nsec(right);
34-
}
35-
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RMW_PUBLIC
37-
RMW_WARN_UNUSED
38-
rmw_duration_t
39-
rmw_time_total_nsec(const rmw_time_t time)
40-
{
41-
return RCUTILS_S_TO_NS(time.sec) + time.nsec;
42-
}
43-
44-
RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_time_t
47-
rmw_time_from_nsec(const rmw_duration_t nanoseconds)
48-
{
49-
// Avoid typing the 1 billion constant
50-
rmw_time_t time;
51-
time.sec = RCUTILS_NS_TO_S(nanoseconds);
52-
time.nsec = nanoseconds % RCUTILS_S_TO_NS(1);
53-
return time;
54-
}
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56-
RMW_PUBLIC
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RMW_WARN_UNUSED
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rmw_time_t
59-
rmw_time_normalize(const rmw_time_t time)
60-
{
61-
return rmw_time_from_nsec(rmw_time_total_nsec(time));
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}

‎rmw/test/CMakeLists.txt‎

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@@ -121,6 +121,15 @@ if(TARGET test_subscription_options)
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target_link_libraries(test_subscription_options ${PROJECT_NAME})
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endif()
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124+
ament_add_gmock(test_time
125+
test_time.cpp
126+
# Append the directory of librmw so it is found at test time.
127+
APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:${PROJECT_NAME}>"
128+
)
129+
if(TARGET test_time)
130+
target_link_libraries(test_time ${PROJECT_NAME})
131+
endif()
132+
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ament_add_gmock(test_types
125134
test_types.cpp
126135
# Append the directory of librmw so it is found at test time.

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