RSDK-6574: Fix use of time_point (#335)

Author: lia-viam

src/viam/sdk/common/utils.cpp

@@ -22,8 +22,6 @@
 namespace viam {
 namespace sdk {
 
-using time_point = std::chrono::time_point<long long, std::chrono::nanoseconds>;
-
 std::vector<unsigned char> string_to_bytes(const std::string& s) {
     std::vector<unsigned char> bytes(s.begin(), s.end());
     return bytes;
@@ -34,21 +32,23 @@ std::string bytes_to_string(const std::vector<unsigned char>& b) {
     return img_string;
 };
 
-time_point timestamp_to_time_pt(const google::protobuf::Timestamp& timestamp) {
-    const std::chrono::seconds seconds(timestamp.seconds());
-    const std::chrono::nanoseconds nanos(timestamp.nanos());
-    return time_point(std::chrono::duration_cast<std::chrono::system_clock::duration>(seconds) +
-                      nanos);
+time_pt timestamp_to_time_pt(const google::protobuf::Timestamp& timestamp) {
+    return time_pt{std::chrono::seconds{timestamp.seconds()} +
+                   std::chrono::nanoseconds{timestamp.nanos()}};
 }
 
-google::protobuf::Timestamp time_pt_to_timestamp(const time_point& time_pt) {
-    const std::chrono::seconds duration_s =
-        std::chrono::duration_cast<std::chrono::seconds>(time_pt.time_since_epoch());
-    const std::chrono::nanoseconds duration_ns = time_pt.time_since_epoch() - duration_s;
-    google::protobuf::Timestamp timestamp;
-    timestamp.set_seconds(duration_s.count());
-    timestamp.set_nanos(static_cast<int32_t>(duration_ns.count()));
-    return timestamp;
+google::protobuf::Timestamp time_pt_to_timestamp(time_pt tp) {
+    const std::chrono::nanoseconds since_epoch = tp.time_since_epoch();
+
+    const auto sec_floor = std::chrono::duration_cast<std::chrono::seconds>(since_epoch);
+    const std::chrono::nanoseconds nano_part = since_epoch - sec_floor;
+
+    google::protobuf::Timestamp result;
+
+    result.set_seconds(sec_floor.count());
+    result.set_nanos(static_cast<int32_t>(nano_part.count()));
+
+    return result;
 }
 
 response_metadata response_metadata::from_proto(const viam::common::v1::ResponseMetadata& proto) {
@@ -80,7 +80,7 @@ std::chrono::microseconds from_proto(const google::protobuf::Duration& proto) {
     return from_seconds + from_nanos;
 }
 
-google::protobuf::Duration to_proto(const std::chrono::microseconds& duration) {
+google::protobuf::Duration to_proto(std::chrono::microseconds duration) {
     namespace sc = std::chrono;
 
     const sc::seconds seconds = sc::duration_cast<sc::seconds>(duration);

src/viam/sdk/common/utils.hpp

@@ -18,30 +18,28 @@ const std::string kService = "service";
 const std::string kRDK = "rdk";
 const std::string kBuiltin = "builtin";
 
+using time_pt = std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds>;
+
 struct response_metadata {
-    std::chrono::time_point<long long, std::chrono::nanoseconds> captured_at;
+    time_pt captured_at;
 
     static response_metadata from_proto(const viam::common::v1::ResponseMetadata& proto);
     static viam::common::v1::ResponseMetadata to_proto(const response_metadata& metadata);
 };
 
 bool operator==(const response_metadata& lhs, const response_metadata& rhs);
 
-/// @brief convert a google::protobuf::Timestamp to
-/// std::chrono::time_point<long long, std::chrono::nanoseconds>
-std::chrono::time_point<long long, std::chrono::nanoseconds> timestamp_to_time_pt(
-    const google::protobuf::Timestamp& timestamp);
+/// @brief convert a google::protobuf::Timestamp to time_pt
+time_pt timestamp_to_time_pt(const google::protobuf::Timestamp& timestamp);
 
-/// @brief convert a std::chrono::time_point<long long, std::chrono::nanoseconds> to
-/// a google::protobuf::Timestamp.
-google::protobuf::Timestamp time_pt_to_timestamp(
-    const std::chrono::time_point<long long, std::chrono::nanoseconds>& time_pt);
+/// @brief convert a time_pt to a google::protobuf::Timestamp.
+google::protobuf::Timestamp time_pt_to_timestamp(time_pt);
 
 std::vector<unsigned char> string_to_bytes(std::string const& s);
 std::string bytes_to_string(std::vector<unsigned char> const& b);
 
 std::chrono::microseconds from_proto(const google::protobuf::Duration& proto);
-google::protobuf::Duration to_proto(const std::chrono::microseconds& duration);
+google::protobuf::Duration to_proto(std::chrono::microseconds duration);
 
 // the authority on a grpc::ClientContext is sometimes set to an invalid uri on mac, causing
 // `rust-utils` to fail to process gRPC requests. This class provides a convenience wrapper around a

src/viam/sdk/robot/client.hpp

@@ -57,9 +57,7 @@ class RobotClient {
     struct status {
         boost::optional<Name> name;
         ProtoStruct status_map;
-        // TODO: RSDK-6574: revisit time_point
-        boost::optional<std::chrono::time_point<long long, std::chrono::nanoseconds>>
-            last_reconfigured;
+        boost::optional<time_pt> last_reconfigured;
         friend bool operator==(const status& lhs, const status& rhs);
     };
 
@@ -68,8 +66,7 @@ class RobotClient {
         std::string method;
         boost::optional<std::string> session_id;
         ProtoStruct arguments;
-        // TODO: RSDK-6574: revisit time_point
-        boost::optional<std::chrono::time_point<long long, std::chrono::nanoseconds>> started;
+        boost::optional<time_pt> started;
         friend bool operator==(const operation& lhs, const operation& rhs);
     };
 

src/viam/sdk/services/motion.hpp

@@ -85,7 +85,7 @@ class Motion : public Service {
         plan_state state;
 
         /// @brief The time the executing plan transitioned to the state.
-        std::chrono::time_point<long long, std::chrono::nanoseconds> timestamp;
+        time_pt timestamp;
 
         /// @brief The reason for the state change. The error message if the plan failed, or the
         /// re-plan reason if re-planning was necessary.

src/viam/sdk/tests/mocks/camera_mocks.cpp

@@ -56,8 +56,8 @@ Camera::image_collection fake_raw_images() {
     std::chrono::seconds seconds(12345);
     std::chrono::nanoseconds nanos(0);
     collection.images = images;
-    collection.metadata.captured_at = std::chrono::time_point<long long, std::chrono::nanoseconds>(
-        std::chrono::duration_cast<std::chrono::system_clock::duration>(seconds) + nanos);
+    collection.metadata.captured_at =
+        time_pt{std::chrono::duration_cast<std::chrono::system_clock::duration>(seconds) + nanos};
     return collection;
 }
 

src/viam/sdk/tests/mocks/mock_motion.cpp

@@ -135,9 +135,8 @@ pose_in_frame fake_pose() {
 }
 
 Motion::plan_status MockMotion::fake_plan_status() {
-    return {Motion::plan_state::k_succeeded,
-            std::chrono::time_point<long long, std::chrono::nanoseconds>::max(),
-            boost::optional<std::string>("reason")};
+    return {
+        Motion::plan_state::k_succeeded, time_pt::max(), boost::optional<std::string>("reason")};
 }
 
 Motion::plan_status_with_id MockMotion::fake_plan_status_with_id() {