Print 'Infinite' for infinite durations in topic endpoint info (#722)

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

rclpy/rclpy/duration.py

@@ -34,6 +34,11 @@ def nanoseconds(self):
  def __repr__(self):
  return 'Duration(nanoseconds={0})'.format(self.nanoseconds)
 
+ def __str__(self):
+ if self == Infinite:
+ return 'Infinite'
+ return f'{self.nanoseconds} nanoseconds'
+
  def __eq__(self, other):
  if isinstance(other, Duration):
  return self.nanoseconds == other.nanoseconds
@@ -79,3 +84,7 @@ def from_msg(cls, msg):
 
  def get_c_duration(self):
  return self._duration_handle
+
+
+# Constant representing an infinite amount of time.
+Infinite = Duration(nanoseconds=_rclpy.RMW_DURATION_INFINITE)

rclpy/rclpy/topic_endpoint_info.py

@@ -158,17 +158,18 @@ def __eq__(self, other):
  for slot in self.__slots__)
 
  def __str__(self):
- result = 'Node name: %s\n' % self.node_name
- result += 'Node namespace: %s\n' % self.node_namespace
- result += 'Topic type: %s\n' % self.topic_type
- result += 'Endpoint type: %s\n' % self.endpoint_type.name
- result += 'GID: %s\n' % '.'.join(format(x, '02x') for x in self.endpoint_gid)
- result += 'QoS profile:\n'
- result += ' Reliability: %s\n' % self.qos_profile.reliability.name
- result += ' Durability: %s\n' % self.qos_profile.durability.name
- result += ' Lifespan: %d nanoseconds\n' % self.qos_profile.lifespan.nanoseconds
- result += ' Deadline: %d nanoseconds\n' % self.qos_profile.deadline.nanoseconds
- result += ' Liveliness: %s\n' % self.qos_profile.liveliness.name
- result += ' Liveliness lease duration: %d nanoseconds' % \
- self.qos_profile.liveliness_lease_duration.nanoseconds
- return result
+ gid = '.'.join(format(x, '02x') for x in self.endpoint_gid)
+ return '\n'.join([
+ f'Node name: {self.node_name}',
+ f'Node namespace: {self.node_namespace}',
+ f'Topic type: {self.topic_type}',
+ f'Endpoint type: {self.endpoint_type.name}',
+ f'GID: {gid}',
+ 'QoS profile:',
+ f' Reliability: {self.qos_profile.reliability.name}',
+ f' Durability: {self.qos_profile.durability.name}',
+ f' Lifespan: {self.qos_profile.lifespan}',
+ f' Deadline: {self.qos_profile.deadline}',
+ f' Liveliness: {self.qos_profile.liveliness.name}',
+ f' Liveliness lease duration: {self.qos_profile.liveliness_lease_duration}',
+ ])

rclpy/src/rclpy/_rclpy_pybind11.cpp

@@ -67,6 +67,7 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
  .value("CANCELED", GOAL_EVENT_CANCELED);
 
  m.attr("RCL_DEFAULT_DOMAIN_ID") = py::int_(RCL_DEFAULT_DOMAIN_ID);
+ m.attr("RMW_DURATION_INFINITE") = py::int_(rmw_time_total_nsec(RMW_DURATION_INFINITE));
 
  py::enum_<rcl_clock_change_t>(m, "ClockChange")
  .value(

rclpy/test/test_time.py

@@ -16,6 +16,7 @@
 
 from rclpy.clock import ClockType
 from rclpy.duration import Duration
+from rclpy.duration import Infinite
 from rclpy.time import Time
 
 from test_msgs.msg import Builtins
@@ -228,3 +229,7 @@ def test_seconds_nanoseconds(self):
  assert (1, int(5e8)) == Time(seconds=1, nanoseconds=5e8).seconds_nanoseconds()
  assert (1, int(5e8)) == Time(seconds=0, nanoseconds=15e8).seconds_nanoseconds()
  assert (0, 0) == Time().seconds_nanoseconds()
+
+ def test_infinite_duration(self):
+ duration = Infinite
+ assert str(duration) == 'Infinite'