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Remove useless ROSRate class #2326

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merged 1 commit into from
Oct 16, 2023
Merged

Remove useless ROSRate class #2326

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10 changes: 0 additions & 10 deletions rclcpp/include/rclcpp/rate.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,16 +184,6 @@ class WallRate : public Rate
explicit WallRate(const Duration & period);
};

class ROSRate : public Rate
{
public:
RCLCPP_PUBLIC
explicit ROSRate(const double rate);

RCLCPP_PUBLIC
explicit ROSRate(const Duration & period);
};

} // namespace rclcpp

#endif // RCLCPP__RATE_HPP_
8 changes: 0 additions & 8 deletions rclcpp/src/rclcpp/rate.cpp
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Expand Up @@ -102,12 +102,4 @@ WallRate::WallRate(const Duration & period)
: Rate(period, std::make_shared<Clock>(RCL_STEADY_TIME))
{}

ROSRate::ROSRate(const double rate)
: Rate(rate, std::make_shared<Clock>(RCL_ROS_TIME))
{}

ROSRate::ROSRate(const Duration & period)
: Rate(period, std::make_shared<Clock>(RCL_ROS_TIME))
{}

} // namespace rclcpp
69 changes: 3 additions & 66 deletions rclcpp/test/rclcpp/test_rate.cpp
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Expand Up @@ -22,7 +22,7 @@
#include "../utils/rclcpp_gtest_macros.hpp"

/*
Basic tests for the Rate, WallRate and ROSRate classes.
Basic tests for the Rate and WallRate classes.
*/
TEST(TestRate, rate_basics) {
rclcpp::init(0, nullptr);
Expand Down Expand Up @@ -144,69 +144,6 @@ TEST(TestRate, wall_rate_basics) {
rclcpp::shutdown();
}

TEST(TestRate, ros_rate_basics) {
rclcpp::init(0, nullptr);

auto period = std::chrono::milliseconds(100);
auto offset = std::chrono::milliseconds(50);
auto epsilon = std::chrono::milliseconds(1);
double overrun_ratio = 1.5;

rclcpp::Clock clock(RCL_ROS_TIME);

auto start = clock.now();
rclcpp::ROSRate r(period);
EXPECT_EQ(rclcpp::Duration(period), r.period());
// suppress deprecated warnings
#if !defined(_WIN32)
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#else // !defined(_WIN32)
# pragma warning(push)
# pragma warning(disable: 4996)
#endif
ASSERT_FALSE(r.is_steady());
// suppress deprecated warnings
#if !defined(_WIN32)
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#else // !defined(_WIN32)
# pragma warning(push)
# pragma warning(disable: 4996)
#endif
ASSERT_EQ(RCL_ROS_TIME, r.get_type());
ASSERT_TRUE(r.sleep());
auto one = clock.now();
auto delta = one - start;
EXPECT_LT(rclcpp::Duration(period), delta);
EXPECT_GT(rclcpp::Duration(period * overrun_ratio), delta);

clock.sleep_for(offset);
ASSERT_TRUE(r.sleep());
auto two = clock.now();
delta = two - start;
EXPECT_LT(rclcpp::Duration(2 * period), delta + epsilon);
EXPECT_GT(rclcpp::Duration(2 * period * overrun_ratio), delta);

clock.sleep_for(offset);
auto two_offset = clock.now();
r.reset();
ASSERT_TRUE(r.sleep());
auto three = clock.now();
delta = three - two_offset;
EXPECT_LT(rclcpp::Duration(period), delta);
EXPECT_GT(rclcpp::Duration(period * overrun_ratio), delta);

clock.sleep_for(offset + period);
auto four = clock.now();
ASSERT_FALSE(r.sleep());
auto five = clock.now();
delta = five - four;
EXPECT_GT(rclcpp::Duration(epsilon), delta);

rclcpp::shutdown();
}

/*
Basic test for the deprecated GenericRate class.
*/
Expand Down Expand Up @@ -331,15 +268,15 @@ TEST(TestRate, from_double) {
EXPECT_EQ(rclcpp::Duration(std::chrono::seconds(1)), rate.period());
}
{
rclcpp::WallRate rate(2.0);
rclcpp::Rate rate(2.0);
EXPECT_EQ(rclcpp::Duration(std::chrono::milliseconds(500)), rate.period());
}
{
rclcpp::WallRate rate(0.5);
EXPECT_EQ(rclcpp::Duration(std::chrono::seconds(2)), rate.period());
}
{
rclcpp::ROSRate rate(4.0);
rclcpp::WallRate rate(4.0);
EXPECT_EQ(rclcpp::Duration(std::chrono::milliseconds(250)), rate.period());
}
}
Expand Down