[iron] Bugfix for wrong timestamps in ros2 bag info (backport #1745) (#…

…1753) * Bugfix for wrong timestamps in ros2 bag info (#1745) * Bugfix for wrong timestamps in ros2 bag info - Correctly calculate fractional part for seconds by subtracting `nanoseconds_from_seconds` from `nanoseconds`. Signed-off-by: Michael Orlov <[email protected]> * Adjust expectations in the "ros2 bag info" integration tests Signed-off-by: Michael Orlov <[email protected]> * Add leading zeros to the fractional seconds in the format_duration(..) Signed-off-by: Michael Orlov <[email protected]> * Adjust expectations in info end-to-end tests by adding leading zero The real file duration is: 70633730 nanoseconds. i.e., regex mask shall be "0\\.0706.*s" to match 070633730 nanoseconds. Signed-off-by: Michael Orlov <[email protected]> --------- Signed-off-by: Michael Orlov <[email protected]> (cherry picked from commit da28c9d) # Conflicts: # rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp * Address merge conflicts Signed-off-by: Michael Orlov <[email protected]> --------- Signed-off-by: Michael Orlov <[email protected]> Co-authored-by: Michael Orlov <[email protected]>
ros2 · Jul 19, 2024 · adffc7e · adffc7e
1 parent 2dbad1d
commit adffc7e
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Showing 2 changed files with 12 additions and 9 deletions.
diff --git a/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp b/rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp
@@ -40,24 +40,27 @@ std::unordered_map<std::string, std::string> format_duration(
   std::chrono::high_resolution_clock::duration duration)
 {
   std::unordered_map<std::string, std::string> formatted_duration;
-  auto m_seconds = std::chrono::duration_cast<std::chrono::milliseconds>(duration);
-  auto seconds = std::chrono::duration_cast<std::chrono::seconds>(m_seconds);
-  std::string fractional_seconds = std::to_string(m_seconds.count() % 1000);
+  auto seconds = std::chrono::duration_cast<std::chrono::seconds>(duration);
+  auto nanoseconds = std::chrono::duration_cast<std::chrono::nanoseconds>(duration);
+  auto nanoseconds_from_seconds = std::chrono::duration_cast<std::chrono::nanoseconds>(seconds);
+  std::stringstream fractional_seconds_ss;
+  fractional_seconds_ss << std::setw(9) << std::setfill('0') <<
+    (nanoseconds - nanoseconds_from_seconds).count();
   std::time_t std_time_point = seconds.count();
   tm time;
 #ifdef _WIN32
   localtime_s(&time, &std_time_point);
 #else
   localtime_r(&std_time_point, &time);
 #endif
-
   std::stringstream formatted_date;
   std::stringstream formatted_time;
   formatted_date << std::put_time(&time, "%b %e %Y");
-  formatted_time << std::put_time(&time, "%H:%M:%S") << "." << fractional_seconds;
+  formatted_time << std::put_time(&time, "%H:%M:%S") << "." << fractional_seconds_ss.str();
   formatted_duration["date"] = formatted_date.str();
   formatted_duration["time"] = formatted_time.str();
-  formatted_duration["time_in_sec"] = std::to_string(seconds.count()) + "." + fractional_seconds;
+  formatted_duration["time_in_sec"] = std::to_string(seconds.count()) + "." +
+    fractional_seconds_ss.str();
 
   return formatted_duration;
 }

diff --git a/rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp b/rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp
@@ -51,9 +51,9 @@ TEST_P(InfoEndToEndTestFixture, info_end_to_end_test) {
       "\nFiles:             " + expected_file +
       "\nBag size:          .*B"
       "\nStorage id:        " + expected_storage +
-      "\nDuration:          0\\.151s"
-      "\nStart:             Apr  .+ 2020 .*:.*:36.763 \\(1586406456\\.763\\)"
-      "\nEnd:               Apr  .+ 2020 .*:.*:36.914 \\(1586406456\\.914\\)"
+      "\nDuration:          0.151137181s"
+      "\nStart:             Apr  .+ 2020 .*:.*:36.763032325 \\(1586406456.763032325\\)"
+      "\nEnd:               Apr  .+ 2020 .*:.*:36.914169506 \\(1586406456.914169506\\)"
       "\nMessages:          7"
       "\nTopic information: "));
   EXPECT_THAT(