Creates Enum wrapper for ClockType and ClockChange (#1235)

* Testing out Enum wrapper for ClockType

* convert to rcl_clock_type_t

* Update create_time_point

Signed-off-by: Michael Carlstrom <[email protected]>

rclpy/rclpy/clock.py

@@ -12,19 +12,24 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from enum import IntEnum
 from typing import Optional
 
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 
+from .clock_type import ClockType
 from .context import Context
 from .duration import Duration
 from .exceptions import NotInitializedException
 from .time import Time
 from .utilities import get_default_context
 
 
-ClockType = _rclpy.ClockType
-ClockChange = _rclpy.ClockChange
+class ClockChange(IntEnum):
+    ROS_TIME_NO_CHANGE = _rclpy.ClockChange.ROS_TIME_NO_CHANGE
+    ROS_TIME_ACTIVATED = _rclpy.ClockChange.ROS_TIME_ACTIVATED
+    ROS_TIME_DEACTIVATED = _rclpy.ClockChange.ROS_TIME_DEACTIVATED
+    SYSTEM_TIME_NO_CHANGE = _rclpy.ClockChange.SYSTEM_TIME_NO_CHANGE
 
 
 class JumpThreshold:
@@ -59,8 +64,8 @@ def __init__(self, *, min_forward: Duration, min_backward: Duration, on_clock_ch
 
 class TimeJump:
 
-    def __init__(self, clock_change, delta):
-        if not isinstance(clock_change, ClockChange):
+    def __init__(self, clock_change: ClockChange, delta):
+        if not isinstance(clock_change, (ClockChange, _rclpy.ClockChange)):
             raise TypeError('clock_change must be an instance of rclpy.clock.ClockChange')
         self._clock_change = clock_change
         self._delta = delta
@@ -124,8 +129,8 @@ def __exit__(self, t, v, tb):
 
 class Clock:
 
-    def __new__(cls, *, clock_type=ClockType.SYSTEM_TIME):
-        if not isinstance(clock_type, ClockType):
+    def __new__(cls, *, clock_type: ClockType = ClockType.SYSTEM_TIME):
+        if not isinstance(clock_type, (ClockType, _rclpy.ClockType)):
             raise TypeError('Clock type must be a ClockType enum')
         if clock_type is ClockType.ROS_TIME:
             self = super().__new__(ROSClock)

rclpy/rclpy/clock_type.py

@@ -0,0 +1,30 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from enum import IntEnum
+
+from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+
+
+class ClockType(IntEnum):
+    """
+    Enum for clock type.
+
+    This enum must match the one defined in rclpy/_rclpy_pybind11.cpp.
+    """
+
+    UNINITIALIZED = _rclpy.ClockType.UNINITIALIZED
+    ROS_TIME = _rclpy.ClockType.ROS_TIME
+    SYSTEM_TIME = _rclpy.ClockType.SYSTEM_TIME
+    STEADY_TIME = _rclpy.ClockType.STEADY_TIME

rclpy/rclpy/executors.py

@@ -39,7 +39,7 @@
 
 from rclpy.client import Client
 from rclpy.clock import Clock
-from rclpy.clock import ClockType
+from rclpy.clock_type import ClockType
 from rclpy.context import Context
 from rclpy.exceptions import InvalidHandle
 from rclpy.guard_condition import GuardCondition

rclpy/rclpy/time.py

@@ -18,6 +18,7 @@
 from rclpy.duration import Duration
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 
+from .clock_type import ClockType
 
 CONVERSION_CONSTANT = 10 ** 9
 
@@ -35,8 +36,8 @@ class Time:
     def __init__(
             self, *,
             seconds=0, nanoseconds=0,
-            clock_type: _rclpy.ClockType = _rclpy.ClockType.SYSTEM_TIME):
-        if not isinstance(clock_type, _rclpy.ClockType):
+            clock_type: ClockType = ClockType.SYSTEM_TIME):
+        if not isinstance(clock_type, (ClockType, _rclpy.ClockType)):
             raise TypeError('Clock type must be a ClockType enum')
         if seconds < 0:
             raise ValueError('Seconds value must not be negative')
@@ -65,7 +66,7 @@ def seconds_nanoseconds(self) -> Tuple[int, int]:
         return (nanoseconds // CONVERSION_CONSTANT, nanoseconds % CONVERSION_CONSTANT)
 
     @property
-    def clock_type(self) -> _rclpy.ClockType:
+    def clock_type(self) -> ClockType:
         """:return: the type of clock that produced this instance."""
         return self._time_handle.clock_type
 
@@ -157,7 +158,7 @@ def to_msg(self) -> builtin_interfaces.msg.Time:
     @classmethod
     def from_msg(
         cls, msg: builtin_interfaces.msg.Time,
-        clock_type: _rclpy.ClockType = _rclpy.ClockType.ROS_TIME
+        clock_type: ClockType = ClockType.ROS_TIME
     ) -> 'Time':
         """
         Create a ``Time`` instance from a ROS message.

rclpy/rclpy/time_source.py

@@ -15,8 +15,8 @@
 import weakref
 
 from rcl_interfaces.msg import SetParametersResult
-from rclpy.clock import ClockType
 from rclpy.clock import ROSClock
+from rclpy.clock_type import ClockType
 from rclpy.parameter import Parameter
 from rclpy.qos import QoSProfile
 from rclpy.qos import ReliabilityPolicy

rclpy/src/rclpy/clock.cpp

@@ -27,7 +27,7 @@ using pybind11::literals::operator""_a;
 
 namespace rclpy
 {
-Clock::Clock(rcl_clock_type_t clock_type)
+Clock::Clock(int clock_type)
 {
   // Create a client
   rcl_clock_ = std::shared_ptr<rcl_clock_t>(
@@ -46,8 +46,9 @@ Clock::Clock(rcl_clock_type_t clock_type)
       delete clock;
     });
 
+  rcl_clock_type_t rcl_clock_type = rcl_clock_type_t(clock_type);
   rcl_allocator_t allocator = rcl_get_default_allocator();
-  rcl_ret_t ret = rcl_clock_init(clock_type, rcl_clock_.get(), &allocator);
+  rcl_ret_t ret = rcl_clock_init(rcl_clock_type, rcl_clock_.get(), &allocator);
   if (ret != RCL_RET_OK) {
     throw RCLError("failed to initialize clock");
   }
@@ -175,7 +176,7 @@ void Clock::remove_clock_callback(py::object pyjump_handle)
 void define_clock(py::object module)
 {
   py::class_<Clock, Destroyable, std::shared_ptr<Clock>>(module, "Clock")
-  .def(py::init<rcl_clock_type_t>())
+  .def(py::init<int>())
   .def_property_readonly(
     "pointer", [](const Clock & clock) {
       return reinterpret_cast<size_t>(clock.rcl_ptr());

rclpy/src/rclpy/clock.hpp

@@ -39,7 +39,7 @@ class Clock : public Destroyable, public std::enable_shared_from_this<Clock>
    * \param[in] clock_type enum of type ClockType
    * This constructor creates a Clock object
    */
-  explicit Clock(rcl_clock_type_t clock_type);
+  explicit Clock(int clock_type);
 
   /// Returns the current value of the clock
   /**

rclpy/src/rclpy/time_point.cpp

@@ -22,11 +22,11 @@ namespace rclpy
 {
 /// Create a time point
 rcl_time_point_t
-create_time_point(int64_t nanoseconds, rcl_clock_type_t clock_type)
+create_time_point(int64_t nanoseconds, int clock_type)
 {
   rcl_time_point_t time_point;
   time_point.nanoseconds = nanoseconds;
-  time_point.clock_type = clock_type;
+  time_point.clock_type = rcl_clock_type_t(clock_type);
   return time_point;
 }
 

rclpy/test/test_clock.py

@@ -20,10 +20,10 @@
 import pytest
 import rclpy
 from rclpy.clock import Clock
-from rclpy.clock import ClockType
 from rclpy.clock import JumpHandle
 from rclpy.clock import JumpThreshold
 from rclpy.clock import ROSClock
+from rclpy.clock_type import ClockType
 from rclpy.context import Context
 from rclpy.duration import Duration
 from rclpy.exceptions import NotInitializedException

rclpy/test/test_node.py

@@ -31,7 +31,7 @@
 from rcl_interfaces.msg import SetParametersResult
 from rcl_interfaces.srv import GetParameters
 import rclpy
-from rclpy.clock import ClockType
+from rclpy.clock_type import ClockType
 from rclpy.duration import Duration
 from rclpy.exceptions import InvalidParameterException
 from rclpy.exceptions import InvalidParameterTypeException

rclpy/test/test_time.py

@@ -14,7 +14,7 @@
 
 import unittest
 
-from rclpy.clock import ClockType
+from rclpy.clock_type import ClockType
 from rclpy.duration import Duration
 from rclpy.duration import Infinite
 from rclpy.time import Time

rclpy/test/test_time_source.py

@@ -19,9 +19,9 @@
 import rclpy
 from rclpy.clock import Clock
 from rclpy.clock import ClockChange
-from rclpy.clock import ClockType
 from rclpy.clock import JumpThreshold
 from rclpy.clock import ROSClock
+from rclpy.clock_type import ClockType
 from rclpy.duration import Duration
 from rclpy.parameter import Parameter
 from rclpy.time import Time

rclpy/test/test_waitable.py

@@ -19,7 +19,7 @@
 import rclpy
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup, ReentrantCallbackGroup
 from rclpy.clock import Clock
-from rclpy.clock import ClockType
+from rclpy.clock_type import ClockType
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile