Struct Time 

pub struct Time {
    pub sec: i32,
    pub nanosec: u32,
}

ROS Time representation

Matches builtin_interfaces/msg/Time:

• sec: Seconds since epoch (signed for pre-epoch times)
• nanosec: Nanoseconds within the second (0-999999999)

Fields

sec: i32

Seconds component

nanosec: u32

Nanoseconds component (0-999999999)

Implementations

impl Time

pub const fn new(sec: i32, nanosec: u32) -> Time

Create a new Time

pub const fn zero() -> Time

Create a Time representing zero

pub const fn is_zero(&self) -> bool

Check if this time is zero

pub const fn from_nanos(nanos: i64) -> Time

Create a Time from nanoseconds since epoch

pub const fn to_nanos(&self) -> i64

Convert to total nanoseconds since epoch

pub const fn from_duration(d: Duration) -> Time

Create a Time from a Duration (treating duration as time since epoch)

pub const fn as_duration(&self) -> Duration

Convert to Duration (treating time as duration since epoch)

pub fn from_secs_f64(secs: f64) -> Time

Create a Time from seconds (float)

pub fn to_secs_f64(&self) -> f64

Convert to seconds (float)

pub fn to_ros_msg<M>(&self) -> M

where M: SecNanosecMsg,

Stamp a generated builtin_interfaces/msg/Time — the single most common thing a publisher does.

msg.header.stamp = node.now().to_ros_msg();

The return type is inferred from the call site; any generated message with the { sec, nanosec } field set satisfies SecNanosecMsg, which is the same binding set the C++ Time::to_msg template has.

INFALLIBLE, deliberately. rclrs::Time::to_ros_msg returns Result<builtin_interfaces::msg::Time, TryFromIntError> because its Time holds i64 nanoseconds and narrowing to sec: i32 can overflow. Ours ALREADY IS { sec: i32, nanosec: u32 }, so this is two field copies and cannot fail. Wrapping it in a Result so a ported t.to_ros_msg()? keeps compiling would hide a difference instead of making the compiler point at it — the inverse of RFC-0089’s rule. A ported ? fails to compile, locally, with one character to fix.

Trait Implementations

impl Add<Duration> for Time

type Output = Time

The resulting type after applying the + operator.

fn add(self, rhs: Duration) -> <Time as Add<Duration>>::Output

Performs the + operation.

impl Clone for Time

fn clone(&self) -> Time

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Time

impl Debug for Time

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Default for Time

fn default() -> Time

Returns the “default value” for a type.

impl Deserialize for Time

fn deserialize(reader: &mut CdrReader<'_>) -> Result<Time, DeserError>

Deserialize a value from the CDR reader

impl Eq for Time

impl Ord for Time

fn cmp(&self, other: &Time) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

where Self: Sized,

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

where Self: Sized,

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

where Self: Sized,

Restrict a value to a certain interval.

impl PartialEq for Time

fn eq(&self, other: &Time) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl PartialOrd for Time

fn partial_cmp(&self, other: &Time) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &Rhs) -> bool

Tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &Rhs) -> bool

Tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &Rhs) -> bool

Tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &Rhs) -> bool

Tests greater than or equal to (for self and other) and is used by the >= operator.

impl Serialize for Time

fn serialize(&self, writer: &mut CdrWriter<'_>) -> Result<(), SerError>

Serialize this value to the CDR writer

impl StructuralPartialEq for Time

impl Sub for Time

type Output = Duration

The resulting type after applying the - operator.

fn sub(self, rhs: Time) -> <Time as Sub>::Output

Performs the - operation.

impl Sub<Duration> for Time

type Output = Time

The resulting type after applying the - operator.

fn sub(self, rhs: Duration) -> <Time as Sub<Duration>>::Output

Performs the - operation.