Take and return new RMW_DURATION_INFINITE correctly

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

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp

@@ -51,6 +51,10 @@ get_datawriter_qos(
   const rmw_qos_profile_t & qos_policies,
   eprosima::fastrtps::PublisherAttributes & pattr);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_time_t
+dds_duration_to_rmw(const eprosima::fastrtps::Duration_t & duration);
+
 /*
  * Converts the low-level QOS Policy; of type WriterQos or ReaderQos into rmw_qos_profile_t.
  * Since WriterQos or ReaderQos does not have information about history and depth, these values are not set
@@ -89,11 +93,8 @@ dds_qos_to_rmw_qos(
       break;
   }
 
-  qos->deadline.sec = dds_qos.m_deadline.period.seconds;
-  qos->deadline.nsec = dds_qos.m_deadline.period.nanosec;
-
-  qos->lifespan.sec = dds_qos.m_lifespan.duration.seconds;
-  qos->lifespan.nsec = dds_qos.m_lifespan.duration.nanosec;
+  qos->deadline = dds_duration_to_rmw(dds_qos.m_deadline.period);
+  qos->lifespan = dds_duration_to_rmw(dds_qos.m_lifespan.duration);
 
   switch (dds_qos.m_liveliness.kind) {
     case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
@@ -106,8 +107,7 @@ dds_qos_to_rmw_qos(
       qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
       break;
   }
-  qos->liveliness_lease_duration.sec = dds_qos.m_liveliness.lease_duration.seconds;
-  qos->liveliness_lease_duration.nsec = dds_qos.m_liveliness.lease_duration.nanosec;
+  qos->liveliness_lease_duration = dds_duration_to_rmw(dds_qos.m_liveliness.lease_duration);
 }
 
 template<typename AttributeT>

rmw_fastrtps_shared_cpp/src/qos.cpp

@@ -26,6 +26,10 @@ static
 eprosima::fastrtps::Duration_t
 rmw_time_to_fastrtps(const rmw_time_t & time)
 {
+  if (rmw_time_equal(time, RMW_DURATION_INFINITE)) {
+    return eprosima::fastrtps::rtps::c_RTPSTimeInfinite.to_duration_t();
+  }
+
   rmw_time_t clamped_time = rmw_dds_common::clamp_rmw_time_to_dds_time(time);
   return eprosima::fastrtps::Duration_t(
     static_cast<int32_t>(clamped_time.sec),
@@ -34,9 +38,19 @@ rmw_time_to_fastrtps(const rmw_time_t & time)
 
 static
 bool
-is_time_default(const rmw_time_t & time)
+is_rmw_duration_unspecified(const rmw_time_t & time)
+{
+  return rmw_time_equal(time, RMW_DURATION_UNSPECIFIED);
+}
+
+rmw_time_t
+dds_duration_to_rmw(const eprosima::fastrtps::Duration_t & duration)
 {
-  return time.sec == 0 && time.nsec == 0;
+  if (duration == eprosima::fastrtps::rtps::c_RTPSTimeInfinite) {
+    return RMW_DURATION_INFINITE;
+  }
+  rmw_time_t result = {(uint64_t)duration.seconds, (uint64_t)duration.nanosec};
+  return result;
 }
 
 template<typename DDSEntityQos>
@@ -101,11 +115,11 @@ bool fill_entity_qos_from_profile(
     history_qos.depth = static_cast<int32_t>(qos_policies.depth);
   }
 
-  if (!is_time_default(qos_policies.lifespan)) {
+  if (!is_rmw_duration_unspecified(qos_policies.lifespan)) {
     entity_qos.m_lifespan.duration = rmw_time_to_fastrtps(qos_policies.lifespan);
   }
 
-  if (!is_time_default(qos_policies.deadline)) {
+  if (!is_rmw_duration_unspecified(qos_policies.deadline)) {
     entity_qos.m_deadline.period = rmw_time_to_fastrtps(qos_policies.deadline);
   }
 
@@ -122,7 +136,7 @@ bool fill_entity_qos_from_profile(
       RMW_SET_ERROR_MSG("Unknown QoS Liveliness policy");
       return false;
   }
-  if (!is_time_default(qos_policies.liveliness_lease_duration)) {
+  if (!is_rmw_duration_unspecified(qos_policies.liveliness_lease_duration)) {
     entity_qos.m_liveliness.lease_duration =
       rmw_time_to_fastrtps(qos_policies.liveliness_lease_duration);