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Deprecate math::clock alias #600

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merged 3 commits into from
Jul 2, 2024
Merged

Deprecate math::clock alias #600

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be4b1ab
Deprecate math::clock alias
scpeters Jul 1, 2024
75ca40f
try using [[deprecated]]
scpeters Jul 1, 2024
9d757ac
Merge branch 'main' into scpeters/deprecate_math_clock_alias
scpeters Jul 2, 2024
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14 changes: 14 additions & 0 deletions Migration.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,20 @@ Deprecated code produces compile-time warnings. These warning serve as
notification to users that their code should be upgraded. The next major
release will remove the deprecated code.

## Gazebo Math 7.X to 8.X

### Breaking Changes

1. All references to `ignition` have been removed. This includes the `ignition/`
header files, the `ignition::` namespaces, and `IGN_*` and `IGNITION_*`
macros.

### Deprecations

1. **Stopwatch.hh**
+ The `math::clock` type alias is deprecated. Please use the underlying type
(`std::chrono::steady_clock`) directly.

## Gazebo Math 6.X to 7.X

### Breaking Changes
Expand Down
14 changes: 9 additions & 5 deletions include/gz/math/Stopwatch.hh
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Expand Up @@ -28,7 +28,11 @@ namespace gz
namespace math
{
// Use a steady clock
using clock = std::chrono::steady_clock;
// This alias is now deprecated; please use std::chrono::steady_clock
// directly instead.
using clock
[[deprecated("As of 8.0, use std::chrono::steady_clock directly.")]]
= std::chrono::steady_clock;

// Inline bracket to help doxygen filtering.
inline namespace GZ_MATH_VERSION_NAMESPACE {
Expand Down Expand Up @@ -68,7 +72,7 @@ namespace gz
/// \return The time when stopwatch was started, or
/// std::chrono::steady_clock::time_point::min() if the stopwatch
/// has not been started.
public: clock::time_point StartTime() const;
public: std::chrono::steady_clock::time_point StartTime() const;

/// \brief Stop the stopwatch
/// \return True if the stopwatch was stopped. This will return false
Expand All @@ -79,7 +83,7 @@ namespace gz
/// \return The time when stopwatch was last stopped, or
/// std::chrono::steady_clock::time_point::min() if the stopwatch
/// has never been stopped.
public: clock::time_point StopTime() const;
public: std::chrono::steady_clock::time_point StopTime() const;

/// \brief Get whether the stopwatch is running.
/// \return True if the stopwatch is running.
Expand All @@ -94,14 +98,14 @@ namespace gz
/// and stop calls. The Reset function or passing true to the Start
/// function will reset this value.
/// \return Total amount of elapsed run time.
public: clock::duration ElapsedRunTime() const;
public: std::chrono::steady_clock::duration ElapsedRunTime() const;

/// \brief Get the amount of time that the stop watch has been
/// stopped. This is the total amount of stop time, spannning all start
/// and stop calls. The Reset function or passing true to the Start
/// function will reset this value.
/// \return Total amount of elapsed stop time.
public: clock::duration ElapsedStopTime() const;
public: std::chrono::steady_clock::duration ElapsedStopTime() const;

/// \brief Equality operator.
/// \param[in] _watch The watch to compare.
Expand Down
40 changes: 21 additions & 19 deletions src/Stopwatch.cc
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Expand Up @@ -18,6 +18,7 @@
#include "gz/math/Stopwatch.hh"

using namespace gz::math;
using steady_clock = std::chrono::steady_clock;

// Private data class
class gz::math::Stopwatch::Implementation
Expand All @@ -26,16 +27,16 @@ class gz::math::Stopwatch::Implementation
public: bool running = false;

/// \brief Time point that marks the start of the real-time clock.
public: clock::time_point startTime = clock::time_point::min();
public: steady_clock::time_point startTime = steady_clock::time_point::min();

/// \brief Time point that marks the stop of the real-time clock.
public: clock::time_point stopTime = clock::time_point::min();
public: steady_clock::time_point stopTime = steady_clock::time_point::min();

/// \brief Amount of stop time.
public: clock::duration stopDuration = clock::duration::zero();
public: steady_clock::duration stopDuration = steady_clock::duration::zero();

/// \brief Amount of run time.
public: clock::duration runDuration = clock::duration::zero();
public: steady_clock::duration runDuration = steady_clock::duration::zero();
};

//////////////////////////////////////////////////
Expand All @@ -55,19 +56,19 @@ bool Stopwatch::Start(const bool _reset)
if (this->dataPtr->startTime != this->dataPtr->stopTime)
{
this->dataPtr->stopDuration +=
clock::now() - this->dataPtr->stopTime;
steady_clock::now() - this->dataPtr->stopTime;
}

this->dataPtr->running = true;
this->dataPtr->startTime = clock::now();
this->dataPtr->startTime = steady_clock::now();
return true;
}

return false;
}

//////////////////////////////////////////////////
clock::time_point Stopwatch::StartTime() const
steady_clock::time_point Stopwatch::StartTime() const
{
return this->dataPtr->startTime;
}
Expand All @@ -78,7 +79,7 @@ bool Stopwatch::Stop()
if (this->dataPtr->running)
{
this->dataPtr->running = false;
this->dataPtr->stopTime = clock::now();
this->dataPtr->stopTime = steady_clock::now();
this->dataPtr->runDuration +=
this->dataPtr->stopTime - this->dataPtr->startTime;
return true;
Expand All @@ -88,7 +89,7 @@ bool Stopwatch::Stop()
}

//////////////////////////////////////////////////
clock::time_point Stopwatch::StopTime() const
steady_clock::time_point Stopwatch::StopTime() const
{
return this->dataPtr->stopTime;
}
Expand All @@ -103,18 +104,19 @@ bool Stopwatch::Running() const
void Stopwatch::Reset()
{
this->dataPtr->running = false;
this->dataPtr->startTime = clock::time_point::min();
this->dataPtr->stopTime = clock::time_point::min();
this->dataPtr->stopDuration = clock::duration::zero();
this->dataPtr->runDuration = clock::duration::zero();
this->dataPtr->startTime = steady_clock::time_point::min();
this->dataPtr->stopTime = steady_clock::time_point::min();
this->dataPtr->stopDuration = steady_clock::duration::zero();
this->dataPtr->runDuration = steady_clock::duration::zero();
}

//////////////////////////////////////////////////
clock::duration Stopwatch::ElapsedRunTime() const
steady_clock::duration Stopwatch::ElapsedRunTime() const
{
if (this->dataPtr->running)
{
return clock::now() - this->dataPtr->startTime + this->dataPtr->runDuration;
return steady_clock::now() - this->dataPtr->startTime
+ this->dataPtr->runDuration;
}
else
{
Expand All @@ -123,22 +125,22 @@ clock::duration Stopwatch::ElapsedRunTime() const
}

//////////////////////////////////////////////////
clock::duration Stopwatch::ElapsedStopTime() const
steady_clock::duration Stopwatch::ElapsedStopTime() const
{
// If running, then return the stopDuration.
if (this->dataPtr->running)
{
return this->dataPtr->stopDuration;
}
// The clock is not running, and Stop() has been called.
else if (this->dataPtr->stopTime > clock::time_point::min())
else if (this->dataPtr->stopTime > steady_clock::time_point::min())
{
return this->dataPtr->stopDuration +
(clock::now() - this->dataPtr->stopTime);
(steady_clock::now() - this->dataPtr->stopTime);
}

// Otherwise, the stopwatch has been reset or never started.
return clock::duration::zero();
return steady_clock::duration::zero();
}

//////////////////////////////////////////////////
Expand Down
15 changes: 8 additions & 7 deletions src/Stopwatch_TEST.cc
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Expand Up @@ -21,6 +21,7 @@
#include "gz/math/Stopwatch.hh"

using namespace gz;
using steady_clock = std::chrono::steady_clock;

/////////////////////////////////////////////////
// Helper function that runs a few tests
Expand All @@ -42,7 +43,7 @@ void runTimer(math::Stopwatch &_time)
// The start time should be greater than the stop time.
EXPECT_GT(_time.StartTime(), _time.StopTime());
// The elapsed stop time should still be zero.
EXPECT_EQ(math::clock::duration::zero(),
EXPECT_EQ(steady_clock::duration::zero(),
_time.ElapsedStopTime());

// Wait for some time...
Expand Down Expand Up @@ -98,8 +99,8 @@ TEST(Stopwatch, Constructor)

EXPECT_FALSE(watch.Running());
EXPECT_EQ(watch.StopTime(), watch.StartTime());
EXPECT_EQ(math::clock::duration::zero(), watch.ElapsedRunTime());
EXPECT_EQ(math::clock::duration::zero(), watch.ElapsedStopTime());
EXPECT_EQ(steady_clock::duration::zero(), watch.ElapsedRunTime());
EXPECT_EQ(steady_clock::duration::zero(), watch.ElapsedStopTime());

runTimer(watch);

Expand Down Expand Up @@ -144,8 +145,8 @@ TEST(Stopwatch, StartStopReset)

EXPECT_FALSE(watch.Running());
EXPECT_EQ(watch.StopTime(), watch.StartTime());
EXPECT_EQ(math::clock::duration::zero(), watch.ElapsedRunTime());
EXPECT_EQ(math::clock::duration::zero(), watch.ElapsedStopTime());
EXPECT_EQ(steady_clock::duration::zero(), watch.ElapsedRunTime());
EXPECT_EQ(steady_clock::duration::zero(), watch.ElapsedStopTime());

runTimer(watch);

Expand All @@ -154,8 +155,8 @@ TEST(Stopwatch, StartStopReset)
watch.Start(true);
EXPECT_TRUE(watch.Running());
EXPECT_LT(watch.StopTime(), watch.StartTime());
EXPECT_NE(math::clock::duration::zero(), watch.ElapsedRunTime());
EXPECT_EQ(math::clock::duration::zero(), watch.ElapsedStopTime());
EXPECT_NE(steady_clock::duration::zero(), watch.ElapsedRunTime());
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windows failed on this line; I think it's flaky

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retrying:

EXPECT_EQ(steady_clock::duration::zero(), watch.ElapsedStopTime());
}

/////////////////////////////////////////////////
Expand Down