Define a rmw_time_t to rclcpp::Duration func

This commit introduces a utility header that defines a conversion
function from `rmw_time_t` to `rclcpp::Duration`.

This conversion function is necessary because `rmw_time_t` holds time
values (both sec/nsec) as `uint64_t` fields, but `rclcpp::Duration`
has a constructor that accepts sec as a `int32_t` value, raising the
concern of a narrowing conversion.

Similar in spirit to a function with a similar signature introduced in
ros2/rclcpp#1467.

Signed-off-by: Abrar Rahman Protyasha <[email protected]>

Author: aprotyas

src/domain_bridge/domain_bridge.cpp

@@ -45,6 +45,7 @@
 #include "generic_publisher.hpp"
 #include "generic_subscription.hpp"
 #include "wait_for_graph_events.hpp"
+#include "utils.hpp"
 
 namespace domain_bridge
 {
@@ -349,7 +350,9 @@ class DomainBridgeImpl
             qos.deadline(rclcpp::Duration(deadline_ns));
           }
         } else {
-          qos.deadline(qos_match.qos.deadline());
+          rmw_time_t rmw_deadline{qos_match.qos.get_rmw_qos_profile().deadline};
+          rclcpp::Duration deadline{utils::from_rmw_time(rmw_deadline)};
+          qos.deadline(deadline);
         }
         if (qos_options.lifespan()) {
           const auto lifespan_ns = qos_options.lifespan().value();
@@ -360,7 +363,9 @@ class DomainBridgeImpl
             qos.lifespan(rclcpp::Duration(lifespan_ns));
           }
         } else {
-          qos.lifespan(qos_match.qos.lifespan());
+          rmw_time_t rmw_lifespan{qos_match.qos.get_rmw_qos_profile().lifespan};
+          rclcpp::Duration lifespan{utils::from_rmw_time(rmw_lifespan)};
+          qos.lifespan(lifespan);
         }
 
         qos.liveliness(qos_match.qos.get_rmw_qos_profile().liveliness);

src/domain_bridge/utils.hpp

@@ -0,0 +1,42 @@
+// Copyright 2021, 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 DOMAIN_BRIDGE__UTILS_HPP_
+#define DOMAIN_BRIDGE__UTILS_HPP_
+
+#include "rcl/time.h"
+#include "rclcpp/duration.hpp"
+#include "rmw/types.h"
+
+namespace domain_bridge
+{
+  namespace utils
+    {
+      rclcpp::Duration from_rmw_time(rmw_time_t duration)
+      {
+        constexpr rcl_duration_value_t limit_ns = std::numeric_limits<rcl_duration_value_t>::max();
+        constexpr rcl_duration_value_t limit_sec = RCL_NS_TO_S(limit_ns);
+        if (duration.sec > limit_sec || duration.nsec > limit_ns) {
+          return rclcpp::Duration{limit_ns};
+        }
+        uint64_t total_ns = RCL_S_TO_NS(duration.sec) + duration.nsec;
+        if (total_ns > limit_ns) {
+          return rclcpp::Duration{limit_ns};
+        }
+        return rclcpp::Duration{static_cast<rcl_duration_value_t>(total_ns)};
+      }
+    }  // namespace utils
+}  // namespace domain_bridge
+
+#endif  // DOMAIN_BRIDGE__UTILS_HPP_

src/domain_bridge/wait_for_graph_events.hpp

@@ -30,11 +30,14 @@
 
 #include "rcl/node_options.h"
 #include "rclcpp/client.hpp"
+#include "rclcpp/duration.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/qos.hpp"
 #include "rmw/qos_profiles.h"
 #include "rmw/types.h"
 
+#include "utils.hpp"
+
 namespace domain_bridge
 {
 
@@ -231,11 +234,13 @@ class WaitForGraphEvents
       if (profile.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) {
         transient_local_count++;
       }
-      if (profile.deadline() > max_deadline) {
-        max_deadline = profile.deadline();
+      rclcpp::Duration deadline{utils::from_rmw_time(profile.deadline)};
+      if (deadline > max_deadline) {
+        max_deadline = deadline;
       }
-      if (profile.lifespan() > max_lifespan) {
-        max_lifespan = profile.lifespan();
+      rclcpp::Duration lifespan{utils::from_rmw_time(profile.lifespan)};
+      if (lifespan > max_lifespan) {
+        max_lifespan = lifespan;
       }
     }