Fixed code bugs

Author: pijaro

src/Ros2ForUnity/Scripts/Time/DotnetTimeSource.cs

@@ -13,8 +13,7 @@
 // limitations under the License.
 
 using System;
-using System.Threading;
-
+using System.Diagnostics;
 
 namespace ROS2
 {
@@ -35,12 +34,12 @@ public class DotnetTimeSource : ITimeSource
 
     private double stopwatchStartTimeStamp;
 
-    DotnetTimeSource()
+    public DotnetTimeSource()
     {
-        stopwatchStartTimeStamp = stopwatch.GetTimestamp();
+        stopwatchStartTimeStamp = Stopwatch.GetTimestamp();
     }
 
-    void GetTime(out int seconds, out uint nanoseconds)
+    public void GetTime(out int seconds, out uint nanoseconds)
     {
         lock(mutex) // Threading
         {

src/Ros2ForUnity/Scripts/Time/ITimeSource.cs

@@ -18,9 +18,9 @@ namespace ROS2
 /// <summary>
 /// Interace for acquiring time
 /// </summary>
-internal interface ITimeSource
+public interface ITimeSource
 {
-  void GetTime(out int seconds, out uint nanoseconds);
+  public void GetTime(out int seconds, out uint nanoseconds);
 }
 
 }  // namespace ROS2

src/Ros2ForUnity/Scripts/Time/ROS2Clock.cs

@@ -23,32 +23,40 @@ namespace ROS2
 /// </summary>
 public class ROS2Clock
 {
-    private ITimeSource timeSource;
+    private ITimeSource _timeSource;
 
     public ROS2Clock() : this(new DotnetTimeSource())
     {   // By default, use DotnetTimeSource
     }
 
     public ROS2Clock(ITimeSource ts)
     {
-        timeSource = ts;
+        _timeSource = ts;
     }
 
     public void UpdateClockMessage(ref rosgraph_msgs.msg.Clock clockMessage)
     {
-        _timeSource.GetTime(out clockMessage.Clock_.Sec, out clockMessage.Clock_.Nanosec);
+        int seconds;
+        uint nanoseconds;
+        _timeSource.GetTime(out seconds, out nanoseconds);
+        clockMessage.Clock_.Sec = seconds;
+        clockMessage.Clock_.Nanosec = nanoseconds;
     }
 
     public void UpdateROSClockTime(builtin_interfaces.msg.Time time)
     {
-        timeSource.GetTime(out time.Sec, out time.Nanosec);
+        int seconds;
+        uint nanoseconds;
+        _timeSource.GetTime(out seconds, out nanoseconds);
+        time.Sec = seconds;
+        time.Nanosec = nanoseconds;
     }
 
     public void UpdateROSTimestamp(ref ROS2.MessageWithHeader message)
     {
         int seconds;
         uint nanoseconds;
-        timeSource.GetTime(out seconds, out nanoseconds);
+        _timeSource.GetTime(out seconds, out nanoseconds);
         message.UpdateHeaderTime(seconds, nanoseconds);
     }
 }

src/Ros2ForUnity/Scripts/Time/ROS2TimeSource.cs

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-using System;
+using UnityEngine;
 
 namespace ROS2
 {
@@ -24,7 +24,7 @@ public class ROS2TimeSource : ITimeSource
 {
   private ROS2.Clock clock;
 
-  void GetTime(out int seconds, out uint nanoseconds)
+  public void GetTime(out int seconds, out uint nanoseconds)
   {
     if (!ROS2.Ros2cs.Ok())
     {

src/Ros2ForUnity/Scripts/Time/TimeUtils.cs

@@ -20,9 +20,9 @@ namespace ROS2
 /// </summary>
 internal static class TimeUtils
 {
-  void TimeFromTotalSeconds(in double seconds, out int seconds, out uint nanoseconds)
+  public static void TimeFromTotalSeconds(in double secondsIn, out int seconds, out uint nanoseconds)
   {
-    long nanosec = (long)(seconds * 1e9);
+    long nanosec = (long)(secondsIn * 1e9);
     seconds = (int)(nanosec / 1000000000);
     nanoseconds = (uint)(nanosec % 1000000000);
   }

src/Ros2ForUnity/Scripts/Time/UnityTimeSource.cs

@@ -35,7 +35,7 @@ public UnityTimeSource()
     mainThread = Thread.CurrentThread;
   }
 
-  void GetTime(out int seconds, out uint nanoseconds)
+  public void GetTime(out int seconds, out uint nanoseconds)
   {
     lastReadingSecs = mainThread.Equals(Thread.CurrentThread) ? Time.timeAsDouble : lastReadingSecs;
     TimeUtils.TimeFromTotalSeconds(lastReadingSecs, out seconds, out nanoseconds);