Deprecates update(float, float) methods and provides update(std::chrono::duration, std::chrono::duration) replacements. (#1533)

Signed-off-by: Mark Johnson <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Author: riv-mjohnson

rviz_common/include/rviz_common/display.hpp

@@ -151,11 +151,21 @@ class RVIZ_COMMON_PUBLIC Display : public rviz_common::properties::BoolProperty
 
   /// Called periodically by the visualization manager.
   /**
-   * \param wall_dt Wall-clock time, in seconds, since the last time the update list was run through.
-   * \param ros_dt ROS time, in seconds, since the last time the update list was run through.
+   * \param wall_dt Wall-clock time since the last time the update list was run through.
+   * \param ros_dt ROS time since the last time the update list was run through.
    */
   virtual
   void
+  update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt);
+
+  /// Called periodically by the visualization manager.
+  /**
+   * \param wall_dt Wall-clock time, in nanoseconds, since the last time the update list was run through.
+   * \param ros_dt ROS time, in nanoseconds, since the last time the update list was run through.
+   */
+  [[deprecated("Use update(std::chrono::nanoseconds, std::chrono::nanoseconds)")]]
+  virtual
+  void
   update(float wall_dt, float ros_dt);
 
   /// Called to tell the display to clear its state.

rviz_common/include/rviz_common/display_group.hpp

@@ -146,6 +146,10 @@ class RVIZ_COMMON_PUBLIC DisplayGroup : public Display
   virtual DisplayGroup * getGroupAt(int index) const;
 
   /// Call update() on all child Displays.
+  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
+
+  /// Call update() on all child Displays.
+  [[deprecated("Use update(std::chrono::nanoseconds, std::chrono::nanoseconds)")]]
   void update(float wall_dt, float ros_dt) override;
 
   /// Reset this and all child Displays.

rviz_common/include/rviz_common/tool.hpp

@@ -102,6 +102,18 @@ class RVIZ_COMMON_PUBLIC Tool : public QObject
   virtual void deactivate() = 0;
 
   /// Called periodically, typically at 30Hz.
+  /**
+   * \param wall_dt Wall-clock time since the last time the update list was run through.
+   * \param ros_dt ROS time since the last time the update list was run through.
+   */
+  virtual void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt);
+
+  /// Called periodically, typically at 30Hz.
+  /**
+   * \param wall_dt Wall-clock time, in nanoseconds, since the last time the update list was run through.
+   * \param ros_dt ROS time, in nanoseconds, since the last time the update list was run through.
+   */
+  [[deprecated("Use update(std::chrono::nanoseconds, std::chrono::nanoseconds)")]]
   virtual void update(float wall_dt, float ros_dt);
 
   enum

rviz_common/include/rviz_common/view_controller.hpp

@@ -127,6 +127,13 @@ class RVIZ_COMMON_PUBLIC ViewController : public properties::Property
   /**
    * Override with code that needs to run repeatedly.
    */
+  virtual void update(std::chrono::nanoseconds dt, std::chrono::nanoseconds ros_dt);
+
+  /// Called at 30Hz by ViewManager::update() while this view is active.
+  /**
+   * Override with code that needs to run repeatedly.
+   */
+  [[deprecated("Use update(std::chrono::nanoseconds, std::chrono::nanoseconds)")]]
   virtual void update(float dt, float ros_dt);
 
   /// Called when mouse events are fired.

rviz_common/include/rviz_common/view_manager.hpp

@@ -71,6 +71,9 @@ class RVIZ_COMMON_PUBLIC ViewManager : public QObject
 
   void initialize();
 
+  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt);
+
+  [[deprecated("Use update(std::chrono::nanoseconds, std::chrono::nanoseconds)")]]
   void update(float wall_dt, float ros_dt);
 
   /// Return the current ViewController in use for the main RenderWindow.

rviz_common/include/rviz_common/visualization_manager.hpp

@@ -32,7 +32,6 @@
 #ifndef RVIZ_COMMON__VISUALIZATION_MANAGER_HPP_
 #define RVIZ_COMMON__VISUALIZATION_MANAGER_HPP_
 
-#include <chrono>
 #include <deque>
 #include <memory>
 
@@ -372,8 +371,8 @@ protected Q_SLOTS:
 
   rviz_common::properties::ColorProperty * background_color_property_;
 
-  float time_update_timer_;
-  float frame_update_timer_;
+  std::chrono::nanoseconds time_update_timer_;
+  std::chrono::nanoseconds frame_update_timer_;
 
   std::shared_ptr<rviz_common::interaction::HandlerManagerIface> handler_manager_;
   std::shared_ptr<rviz_common::interaction::SelectionManagerIface> selection_manager_;

rviz_common/src/rviz_common/display.cpp

@@ -183,6 +183,11 @@ void Display::setTopic(const QString & topic, const QString & datatype)
   (void) datatype;
 }
 
+void Display::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
+{
+  update(wall_dt.count(), ros_dt.count());
+}
+
 void Display::update(float wall_dt, float ros_dt)
 {
   (void) wall_dt;

rviz_common/src/rviz_common/display_group.cpp

@@ -224,7 +224,7 @@ void DisplayGroup::fixedFrameChanged()
   }
 }
 
-void DisplayGroup::update(float wall_dt, float ros_dt)
+void DisplayGroup::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
 {
   int num_children = displays_.size();
   for (int i = 0; i < num_children; i++) {
@@ -235,6 +235,12 @@ void DisplayGroup::update(float wall_dt, float ros_dt)
   }
 }
 
+void DisplayGroup::update(float wall_dt, float ros_dt)
+{
+  this->update(std::chrono::nanoseconds(std::lround(wall_dt)),
+               std::chrono::nanoseconds(std::lround(ros_dt)));
+}
+
 void DisplayGroup::reset()
 {
   Display::reset();

rviz_common/src/rviz_common/tool.cpp

@@ -79,6 +79,11 @@ bool Tool::accessAllKeys() const
   return access_all_keys_;
 }
 
+void Tool::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
+{
+  update(wall_dt.count(), ros_dt.count());
+}
+
 void Tool::update(float wall_dt, float ros_dt)
 {
   (void) wall_dt;

rviz_common/src/rviz_common/view_controller.cpp

@@ -192,6 +192,11 @@ void ViewController::activate()
   onActivate();
 }
 
+void ViewController::update(std::chrono::nanoseconds dt, std::chrono::nanoseconds ros_dt)
+{
+  update(dt.count(), ros_dt.count());
+}
+
 void ViewController::update(float dt, float ros_dt)
 {
   (void) dt;