time_utils.cpp

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#include "robot_body_filter/utils/time_utils.hpp"
 
namespace robot_body_filter {
 
ros::Duration remainingTime(const ros::Time &query, const double timeout)
{
  ros::Time::waitForValid(ros::WallDuration().fromSec(timeout));
  if (!ros::Time::isValid()) {
    ROS_ERROR("ROS time is not yet initialized");
    return ros::Duration(0);
  }
 
  const auto passed = (ros::Time::now() - query).toSec();
  return ros::Duration(std::max(0.0, timeout - passed));
}
 
ros::Duration remainingTime(const ros::Time &query,
                            const ros::Duration &timeout)
{
  ros::Time::waitForValid(ros::WallDuration(timeout.sec, timeout.nsec));
  if (!ros::Time::isValid()) {
    ROS_ERROR("ROS time is not yet initialized");
    return ros::Duration(0);
  }
 
  const auto passed = ros::Time::now() - query;
  const auto remaining = timeout - passed;
  return (remaining.sec >= 0) ? remaining : ros::Duration(0);
}
 
};