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Check for negative time in rclcpp::Time(int64_t nanoseconds, ...) constructor #2510

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merged 5 commits into from
Apr 23, 2024
Merged

Check for negative time in rclcpp::Time(int64_t nanoseconds, ...) constructor #2510

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69c3a0b
Check for negative time in nanoseconds ctor
sharminramli Apr 17, 2024
1934039
Update tests for negative check in Time ctor
sharminramli Apr 17, 2024
255f6c8
Add throw to documentation
sharminramli Apr 19, 2024
632c490
Remove tests for Time underflow
sharminramli Apr 19, 2024
d148af2
Add negative time check in operator
sharminramli Apr 19, 2024
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1 change: 1 addition & 0 deletions rclcpp/include/rclcpp/time.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ class Time
/**
* \param nanoseconds since time epoch
* \param clock_type clock type
* \throws std::runtime_error if nanoseconds are negative
*/
RCLCPP_PUBLIC
explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
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10 changes: 10 additions & 0 deletions rclcpp/src/rclcpp/time.cpp
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Expand Up @@ -60,6 +60,10 @@ Time::Time(int32_t seconds, uint32_t nanoseconds, rcl_clock_type_t clock_type)
Time::Time(int64_t nanoseconds, rcl_clock_type_t clock_type)
: rcl_time_(init_time_point(clock_type))
{
if (nanoseconds < 0) {
throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
}

rcl_time_.nanoseconds = nanoseconds;
}

Expand Down Expand Up @@ -249,6 +253,9 @@ Time::operator+=(const rclcpp::Duration & rhs)
}

rcl_time_.nanoseconds += rhs.nanoseconds();
if (rcl_time_.nanoseconds < 0) {
throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
}

return *this;
}
Expand All @@ -264,6 +271,9 @@ Time::operator-=(const rclcpp::Duration & rhs)
}

rcl_time_.nanoseconds -= rhs.nanoseconds();
if (rcl_time_.nanoseconds < 0) {
throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
}

return *this;
}
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82 changes: 6 additions & 76 deletions rclcpp/test/rclcpp/test_time.cpp
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Expand Up @@ -138,6 +138,8 @@ TEST_F(TestTime, conversions) {

EXPECT_ANY_THROW(rclcpp::Time(-1, 1));

EXPECT_ANY_THROW(rclcpp::Time(-1));

EXPECT_ANY_THROW(
{
rclcpp::Time assignment(1, 2);
Expand Down Expand Up @@ -168,48 +170,6 @@ TEST_F(TestTime, conversions) {
EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
}

{
// Can rclcpp::Time be negative or not? The following constructor works:
rclcpp::Time time(-HALF_SEC_IN_NS);
auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
EXPECT_EQ(time_msg.sec, -1);
EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);

// The opposite conversion throws...
EXPECT_ANY_THROW(
{
rclcpp::Time negative_time(time_msg);
});
}

{
// Can rclcpp::Time be negative or not? The following constructor works:
rclcpp::Time time(-ONE_SEC_IN_NS);
auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
EXPECT_EQ(time_msg.sec, -1);
EXPECT_EQ(time_msg.nanosec, 0u);

// The opposite conversion throws...
EXPECT_ANY_THROW(
{
rclcpp::Time negative_time(time_msg);
});
}

{
// Can rclcpp::Time be negative or not? The following constructor works:
rclcpp::Time time(-ONE_AND_HALF_SEC_IN_NS);
auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
EXPECT_EQ(time_msg.sec, -2);
EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);

// The opposite conversion throws...
EXPECT_ANY_THROW(
{
rclcpp::Time negative_time(time_msg);
});
}
}

TEST_F(TestTime, operators) {
Expand Down Expand Up @@ -326,31 +286,18 @@ TEST_F(TestTime, overflow_detectors) {

TEST_F(TestTime, overflows) {
rclcpp::Time max_time(std::numeric_limits<rcl_time_point_value_t>::max());
rclcpp::Time min_time(std::numeric_limits<rcl_time_point_value_t>::min());
rclcpp::Duration one(1ns);
rclcpp::Duration two(2ns);

// Cross min/max
// Cross max
EXPECT_THROW(max_time + one, std::overflow_error);
EXPECT_THROW(min_time - one, std::underflow_error);
EXPECT_THROW(max_time - min_time, std::overflow_error);
EXPECT_THROW(min_time - max_time, std::underflow_error);
EXPECT_THROW(rclcpp::Time(max_time) += one, std::overflow_error);
EXPECT_THROW(rclcpp::Time(min_time) -= one, std::underflow_error);
EXPECT_NO_THROW(max_time - max_time);
EXPECT_NO_THROW(min_time - min_time);

// Cross zero in both directions
// Cross zero
rclcpp::Time one_time(1);
EXPECT_NO_THROW(one_time - two);
EXPECT_NO_THROW(rclcpp::Time(one_time) -= two);

rclcpp::Time minus_one_time(-1);
EXPECT_NO_THROW(minus_one_time + two);
EXPECT_NO_THROW(rclcpp::Time(minus_one_time) += two);

EXPECT_NO_THROW(one_time - minus_one_time);
EXPECT_NO_THROW(minus_one_time - one_time);
EXPECT_THROW(one_time - two, std::runtime_error);
EXPECT_THROW(rclcpp::Time(one_time) -= two, std::runtime_error);

rclcpp::Time two_time(2);
EXPECT_NO_THROW(one_time - two_time);
Expand Down Expand Up @@ -432,41 +379,24 @@ TEST_F(TestTime, test_overflow_underflow_throws) {
RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Time(INT64_MAX) + rclcpp::Duration(1ns),
std::overflow_error("addition leads to int64_t overflow"));
RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Time(INT64_MIN) + rclcpp::Duration(-1ns),
std::underflow_error("addition leads to int64_t underflow"));

RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Time(INT64_MAX) - rclcpp::Duration(-1ns),
std::overflow_error("time subtraction leads to int64_t overflow"));
RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Time(INT64_MIN) - rclcpp::Duration(1ns),
std::underflow_error("time subtraction leads to int64_t underflow"));

test_time = rclcpp::Time(INT64_MAX);
RCLCPP_EXPECT_THROW_EQ(
test_time += rclcpp::Duration(1ns),
std::overflow_error("addition leads to int64_t overflow"));
test_time = rclcpp::Time(INT64_MIN);
RCLCPP_EXPECT_THROW_EQ(
test_time += rclcpp::Duration(-1ns),
std::underflow_error("addition leads to int64_t underflow"));

test_time = rclcpp::Time(INT64_MAX);
RCLCPP_EXPECT_THROW_EQ(
test_time -= rclcpp::Duration(-1ns),
std::overflow_error("time subtraction leads to int64_t overflow"));
test_time = rclcpp::Time(INT64_MIN);
RCLCPP_EXPECT_THROW_EQ(
test_time -= rclcpp::Duration(1ns),
std::underflow_error("time subtraction leads to int64_t underflow"));

RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Duration::from_nanoseconds(INT64_MAX) + rclcpp::Time(1),
std::overflow_error("addition leads to int64_t overflow"));
RCLCPP_EXPECT_THROW_EQ(
test_time = rclcpp::Duration::from_nanoseconds(INT64_MIN) + rclcpp::Time(-1),
std::underflow_error("addition leads to int64_t underflow"));
}

class TestClockSleep : public ::testing::Test
Expand Down