AIRO-1891 Time msg properties: Secs and Nsecs

com.unity.robotics.ros-tcp-connector/Runtime/Extensions/MessageExtensions.cs

@@ -119,7 +119,7 @@ public static string ToTimestampString(this TimeMsg message)
 
  public static long ToLongTime(this TimeMsg message)
  {
- return (long)message.sec << 32 | message.nanosec;
+ return (long)message.secs << 32 | message.nanosec;
  }
 
  public static DateTime ToDateTime(this TimeMsg message)

com.unity.robotics.ros-tcp-connector/Runtime/Messages/HandwrittenMessages/msg/TimeMsg.cs

@@ -12,21 +12,45 @@ public class TimeMsg : Message
  public const string k_RosMessageName = "std_msgs/Time";
  public override string RosMessageName => k_RosMessageName;
 
- public uint sec;
- public uint nanosec;
+ public uint secs;
+ public uint nsecs;
+
+ // for convenience when writing ROS2 agnostic code
+ public int sec { get => (int)secs; set => secs = (uint)value; }
+ public uint nanosec { get => nsecs; set => nsecs = value; }
 
  public TimeMsg()
  {
- this.sec = 0;
- this.nanosec = 0;
+ this.secs = 0;
+ this.nsecs = 0;
  }
 
- public TimeMsg(uint sec, uint nanosec)
+ public TimeMsg(uint secs, uint nsecs)
  {
- this.sec = sec;
- this.nanosec = nanosec;
+ this.secs = secs;
+ this.nsecs = nsecs;
+ }
+
+ public static TimeMsg Deserialize(MessageDeserializer deserializer) => new TimeMsg(deserializer);
+
+ TimeMsg(MessageDeserializer deserializer)
+ {
+ deserializer.Read(out this.secs);
+ deserializer.Read(out this.nsecs);
  }
 
+ public override void SerializeTo(MessageSerializer serializer)
+ {
+ serializer.Write(this.secs);
+ serializer.Write(this.nsecs);
+ }
+
+ public override string ToString()
+ {
+ return "Time: " +
+ "\nsecs: " + secs.ToString() +
+ "\nnsecs: " + nsecs.ToString();
+ }
 #else
  public const string k_RosMessageName = "builtin_interfaces/Time";
  public override string RosMessageName => k_RosMessageName;
@@ -38,6 +62,10 @@ public TimeMsg(uint sec, uint nanosec)
  // The nanoseconds component, valid in the range [0, 10e9).
  public uint nanosec;
 
+ // for convenience when writing ROS2 agnostic code
+ public uint secs { get => (uint)sec; set => sec = (int)value; }
+ public uint nsecs { get => nsecs; set => nsecs = value; }
+
  public TimeMsg()
  {
  this.sec = 0;
@@ -49,7 +77,6 @@ public TimeMsg(int sec, uint nanosec)
  this.sec = sec;
  this.nanosec = nanosec;
  }
-#endif
 
  public static TimeMsg Deserialize(MessageDeserializer deserializer) => new TimeMsg(deserializer);
 
@@ -71,6 +98,7 @@ public override string ToString()
  "\nsec: " + sec.ToString() +
  "\nnanosec: " + nanosec.ToString();
  }
+#endif
 
 #if UNITY_EDITOR
  [UnityEditor.InitializeOnLoadMethod]

com.unity.robotics.visualizations/Runtime/Scripts/VisualizationUtils.cs

@@ -216,8 +216,8 @@ public static void GUI(this HeaderMsg message)
  $"Header [{message.frame_id} / {message.stamp.sec}s {message.stamp.nanosec}ns]";
 #else
  string headerText = s_HeadersExpanded ?
- $"Header\n Seq: {message.seq}\n Frame_id: {message.frame_id}\n Time: {message.stamp.sec}s {message.stamp.nanosec}ns" :
- $"Header [{message.seq} / {message.frame_id} / {message.stamp.sec}s {message.stamp.nanosec}ns]";
+ $"Header\n Seq: {message.seq}\n Frame_id: {message.frame_id}\n Time: {message.stamp.secs}s {message.stamp.nsecs}ns" :
+ $"Header [{message.seq} / {message.frame_id} / {message.stamp.secs}s {message.stamp.nsecs}ns]";
 #endif
  s_HeadersExpanded = GUILayout.Toggle(s_HeadersExpanded, headerText);
  UnityEngine.GUI.color = oldColor;