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Fix bad rmw_time_t to nanoseconds conversion. #555

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merged 4 commits into from
May 7, 2020
Merged

Fix bad rmw_time_t to nanoseconds conversion. #555

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e539ef5
Fix bad rmw_time_t to nanoseconds conversion.
hidmic May 5, 2020
0ef805b
Raise on failed rmw_time_t to nanoseconds conversion.
hidmic May 5, 2020
d947d01
Please uncrustify.
hidmic May 6, 2020
0981f08
Build rclpy.Duration using seconds & nanoseconds.
hidmic May 6, 2020
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23 changes: 21 additions & 2 deletions rclpy/src/rclpy_common/src/common.c
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Original file line number Diff line number Diff line change
Expand Up @@ -140,11 +140,29 @@ rclpy_convert_to_py_names_and_types(rcl_names_and_types_t * names_and_types)
return pynames_and_types;
}

// TODO(hidmic): revisit after discussions in
// https://github.com/ros2/rmw/issues/210 and
// https://github.com/ros2/rmw/issues/215 have
// settled.
static
int64_t
_convert_rmw_time_to_ns(const rmw_time_t * duration)
{
int64_t partial = RCUTILS_S_TO_NS(duration->sec);
if (partial < 0LL || (uint64_t)partial < duration->sec) {
return INT64_MAX;
}
int64_t total = partial + duration->nsec;
if (total < 0LL || total < partial || (uint64_t)total < duration->nsec) {
return INT64_MAX;
}
return total;
}

static
PyObject *
_convert_rmw_time_to_py_duration(const rmw_time_t * duration)
{
uint64_t total_nanoseconds = RCUTILS_S_TO_NS(duration->sec) + duration->nsec;
PyObject * pyduration_module = NULL;
PyObject * pyduration_class = NULL;
PyObject * args = NULL;
Expand All @@ -163,7 +181,8 @@ _convert_rmw_time_to_py_duration(const rmw_time_t * duration)
if (!args) {
goto cleanup;
}
kwargs = Py_BuildValue("{sK}", "nanoseconds", total_nanoseconds);
int64_t total_nanoseconds = _convert_rmw_time_to_ns(duration);
kwargs = Py_BuildValue("{sL}", "nanoseconds", total_nanoseconds);
if (!kwargs) {
goto cleanup;
}
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