rclpy_time_typecaster.hpp

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/* Author: Shobin Vinod */
 
#include <pybind11/pybind11.h>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/duration.hpp>
 
namespace py = pybind11;
 
namespace pybind11
{
namespace detail
{
template <>
struct type_caster<rclcpp::Time>
{
  PYBIND11_TYPE_CASTER(rclcpp::Time, _("rclcpp::Time"));
 
  // convert from rclpy::Time to rclcpp::Time
  bool load(py::handle src, bool)
  {
    if (src.is_none())
      return false;
 
    // check to validate if the object is a rclcpp::Time object
    if (!py::hasattr(src, "nanoseconds") || !py::hasattr(src, "clock_type"))
    {
      return false;
    }
 
    // Extract the value for constructing the rclcpp::Time object
    int64_t nanoseconds = src.attr("nanoseconds").cast<int64_t>();
    int clock_type = src.attr("clock_type").cast<int>();
 
    // Construct the rclcpp::Time object
    value = rclcpp::Time(nanoseconds, static_cast<rcl_clock_type_t>(clock_type));
    return true;
  }
 
  // convert from rclcpp::Time to rclpy::Time
  static py::handle cast(const rclcpp::Time& src, return_value_policy /* policy */, py::handle /* parent */)
  {
    py::module rclpy_time = py::module::import("rclpy.time");
    py::object Time = rclpy_time.attr("Time");
 
    int64_t nanoseconds = src.nanoseconds();
    int clock_type = static_cast<int>(src.get_clock_type());
 
    return Time(py::arg("nanoseconds") = nanoseconds,
                py::arg("clock_type") = clock_type)
        .release();  // release the ownership of the object
  }
};
}  // namespace detail
}  // namespace pybind11