Address code difference between Humble and Rolling

- Humble doesn't have `recv_timestamp` and `send_timestamp`. Replaced them with ordinary `time_stamp`. Signed-off-by: Michael Orlov <[email protected]>
ros2 · Nov 22, 2024 · b292af5 · b292af5
1 parent 0919d48
commit b292af5
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Showing 2 changed files with 6 additions and 7 deletions.
diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -462,9 +462,9 @@ void SequentialWriter::write_messages(
   if (storage_options_.snapshot_mode) {
     // Update FileInformation about the last file in metadata in case of snapshot mode
     const auto first_msg_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
-      std::chrono::nanoseconds(messages.front()->recv_timestamp));
+      std::chrono::nanoseconds(messages.front()->time_stamp));
     const auto last_msg_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
-      std::chrono::nanoseconds(messages.back()->recv_timestamp));
+      std::chrono::nanoseconds(messages.back()->time_stamp));
     metadata_.files.back().starting_time = first_msg_timestamp;
     metadata_.files.back().duration = last_msg_timestamp - first_msg_timestamp;
     metadata_.files.back().message_count = messages.size();

diff --git a/rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp b/rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp
@@ -529,8 +529,7 @@ TEST_F(SequentialWriterTest, snapshot_writes_to_new_file_with_bag_split)
   std::vector<rosbag2_storage::SerializedBagMessageSharedPtr> messages;
   for (size_t i = 0; i < num_msgs_to_write; i++) {
     auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
-    message->recv_timestamp = first_msg_timestamp + static_cast<rcutils_time_point_value_t>(i);
-    message->send_timestamp = first_msg_timestamp + static_cast<rcutils_time_point_value_t>(i);
+    message->time_stamp = first_msg_timestamp + static_cast<rcutils_time_point_value_t>(i);
     message->topic_name = topic_name;
     message->serialized_data =
       rosbag2_storage::make_serialized_message(msg_content.c_str(), msg_content.length());
@@ -540,7 +539,7 @@ TEST_F(SequentialWriterTest, snapshot_writes_to_new_file_with_bag_split)
   // Expect a single write call when the snapshot is triggered
   EXPECT_CALL(
     *storage_, write(
-    An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
+      An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
   ).Times(1);
 
   ON_CALL(
@@ -629,7 +628,7 @@ TEST_F(SequentialWriterTest, snapshot_writes_to_new_file_with_bag_split)
   EXPECT_EQ(first_file_info.message_count, num_expected_msgs);
   EXPECT_EQ(
     std::chrono::time_point_cast<std::chrono::nanoseconds>(
-    first_file_info.starting_time).time_since_epoch().count(),
+      first_file_info.starting_time).time_since_epoch().count(),
     expected_start_time);
   EXPECT_EQ(first_file_info.duration.count(), expected_duration);
 }
@@ -644,7 +643,7 @@ TEST_F(SequentialWriterTest, snapshot_can_be_called_twice)
   // Expect to call write method twice. Once per each snapshot.
   EXPECT_CALL(
     *storage_, write(
-    An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
+      An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
   ).Times(2);
 
   ON_CALL(*storage_, get_relative_file_path).WillByDefault(