Create a utility function to limit rmw_time_t to 32-bit values (#37)

* Create a utility function to limit rmw_time_t to 32-bit values

The RMW layer maintains the rmw_time_t's seconds and nanoseconds
values as 64-bit unsigned integers. However, the DDS standard
specifies the Time_t and Duration_t types with "long sec" and
"unsigned long nanosec", and the IDL to C++11 mapping states that
the C++ types for long and unsigned long are mapped to int32_t and
uint32_t, respectively. This difference can result in the seconds
(and/or nanoseconds) value being truncated and incorrect, causing
other downstream failures. This function can be used in different
RMW adaptation layers that interface to the DDS providers when
converting from rmw_time_to to the DDS Duration_t (or Time_t),
such as rmw_time_to_fast_rtps.

Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>

* Change name of function based on code review feedback

Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>

* One more name change for the function

Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>

* Fix uncrustify issues

Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>

rmw_dds_common/CMakeLists.txt

@@ -32,7 +32,9 @@ rosidl_generate_interfaces(
 
 add_library(${PROJECT_NAME}_library SHARED
   src/gid_utils.cpp
-  src/graph_cache.cpp)
+  src/graph_cache.cpp
+  src/time_utils.cpp)
+
 set_target_properties(${PROJECT_NAME}_library
   PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
 ament_target_dependencies(${PROJECT_NAME}_library
@@ -90,6 +92,11 @@ if(BUILD_TESTING)
     target_link_libraries(test_gid_utils ${PROJECT_NAME}_library)
   endif()
 
+  ament_add_gmock(test_time_utils test/test_time_utils.cpp)
+  if(TARGET test_time_utils)
+    target_link_libraries(test_time_utils ${PROJECT_NAME}_library)
+  endif()
+
   add_performance_test(benchmark_graph_cache test/benchmark/benchmark_graph_cache.cpp)
   if(TARGET benchmark_graph_cache)
     target_link_libraries(benchmark_graph_cache ${PROJECT_NAME}_library)

rmw_dds_common/include/rmw_dds_common/time_utils.hpp

@@ -0,0 +1,48 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef RMW_DDS_COMMON__TIME_UTILS_HPP_
+#define RMW_DDS_COMMON__TIME_UTILS_HPP_
+
+#include "rmw/types.h"
+
+#include "rmw_dds_common/visibility_control.h"
+
+namespace rmw_dds_common
+{
+
+/// Check if an rmw_time_t's 64-bit seconds/nanoseconds values exceed
+/// 32-bit limits and adjust accordingly
+/*
+ * The DDS standard specifies the Time_t and Duration_t types with
+ * "long sec" and "unsigned long nanosec", and the IDL to C++11 mapping
+ * states that the C++ types for long and unsigned long are mapped
+ * to int32_t and uint32_t, respectively. So, the 64-bit seconds and
+ * nanoseconds values will be truncated to 32-bits when converted
+ * from rmw_time_t to either a DDS Duration_t or Time_t. This function
+ * limits the seconds value to the signed 32-bit maximum and attempts
+ * to move the excess seconds to the nanoseconds field. If the resulting
+ * nanoseconds value is too large for unsigned 32-bits it saturates
+ * and issues a warning.
+ *
+ * \param[in] time to convert
+ * \return converted time value
+ */
+RMW_DDS_COMMON_PUBLIC
+rmw_time_t
+clamp_rmw_time_to_dds_time(const rmw_time_t & time);
+
+}  // namespace rmw_dds_common
+
+#endif  // RMW_DDS_COMMON__TIME_UTILS_HPP_

rmw_dds_common/src/time_utils.cpp

@@ -0,0 +1,45 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <climits>
+
+#include "rmw/types.h"
+#include "rcutils/logging_macros.h"
+
+#include "rmw_dds_common/time_utils.hpp"
+
+rmw_time_t
+rmw_dds_common::clamp_rmw_time_to_dds_time(const rmw_time_t & time)
+{
+  rmw_time_t t = time;
+
+  // Let's try to keep the seconds value representable with 32-bits
+  // by moving the excess seconds over to the nanoseconds field.
+  if (t.sec > INT_MAX) {
+    uint64_t diff = t.sec - INT_MAX;
+    t.sec -= diff;
+    t.nsec += diff * (1000LL * 1000LL * 1000LL);
+  }
+
+  // In case the nanoseconds value is too large for a 32-bit unsigned,
+  // we can at least saturate and emit a warning
+  if (t.nsec > UINT_MAX) {
+    RCUTILS_LOG_WARN_NAMED(
+      "rmw_dds_common",
+      "nanoseconds value too large for 32-bits, saturated at UINT_MAX");
+    t.nsec = UINT_MAX;
+  }
+
+  return t;
+}

rmw_dds_common/test/test_time_utils.cpp

@@ -0,0 +1,54 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include <gtest/gtest.h>
+#include <climits>
+
+#include "rmw_dds_common/time_utils.hpp"
+
+static bool
+operator==(rmw_time_t t1, rmw_time_t t2)
+{
+  return t1.sec == t2.sec && t1.nsec == t2.nsec;
+}
+
+TEST(test_time_utils, test_unmodified_zeros)
+{
+  const rmw_time_t zeros {0, 0};
+  auto t1 = rmw_dds_common::clamp_rmw_time_to_dds_time(zeros);
+  EXPECT_TRUE(t1 == zeros);
+}
+
+TEST(test_time_utils, test_unmodified_max)
+{
+  const rmw_time_t max_dds_time {0x7FFFFFFF, 0xFFFFFFFF};
+  auto t2 = rmw_dds_common::clamp_rmw_time_to_dds_time(max_dds_time);
+  EXPECT_TRUE(t2 == max_dds_time);
+}
+
+TEST(test_time_utils, test_seconds_overflow)
+{
+  const rmw_time_t slightly_too_large {2147483651, 0};
+  auto t3 = rmw_dds_common::clamp_rmw_time_to_dds_time(slightly_too_large);
+  const rmw_time_t result3 {0x7FFFFFFF, 4000000000};
+  EXPECT_TRUE(t3 == result3);
+}
+
+TEST(test_time_utils, test_saturation)
+{
+  const rmw_time_t max_64 {LLONG_MAX, ULLONG_MAX};
+  const rmw_time_t max_dds_time {0x7FFFFFFF, 0xFFFFFFFF};
+  auto t4 = rmw_dds_common::clamp_rmw_time_to_dds_time(max_64);
+  EXPECT_TRUE(t4 == max_dds_time);
+}