Print 'Infinite' for infinite durations in topic endpoint info

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

Author: Emerson Knapp

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 == Duration.Infinite():
+            return 'Infinite'
+        return f'{self.nanoseconds} nanoseconds'
+
     def __eq__(self, other):
         if isinstance(other, Duration):
             return self.nanoseconds == other.nanoseconds
@@ -77,5 +82,9 @@ def from_msg(cls, msg):
             raise TypeError('Must pass a builtin_interfaces.msg.Duration object')
         return cls(seconds=msg.sec, nanoseconds=msg.nanosec)
 
+    @classmethod
+    def Infinite(cls):
+        return cls(nanoseconds=_rclpy.rclpy_RMW_DURATION_INFINITE)
+
     def get_c_duration(self):
         return self._duration_handle

rclpy/rclpy/topic_endpoint_info.py

@@ -166,9 +166,9 @@ def __str__(self):
         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 += '  Lifespan: %s\n' % str(self.qos_profile.lifespan)
+        result += '  Deadline: %s\n' % str(self.qos_profile.deadline)
         result += '  Liveliness: %s\n' % self.qos_profile.liveliness.name
-        result += '  Liveliness lease duration: %d nanoseconds' % \
-            self.qos_profile.liveliness_lease_duration.nanoseconds
+        result += '  Liveliness lease duration: %s' % \
+            str(self.qos_profile.liveliness_lease_duration)
         return result

rclpy/src/rclpy/_rclpy_pybind11.cpp

@@ -69,6 +69,8 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
   .value("RCL_PUBLISHER_LIVELINESS_LOST", RCL_PUBLISHER_LIVELINESS_LOST)
   .value("RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS", RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
 
+  m.attr("rclpy_RMW_DURATION_INFINITE") = py::int_(rmw_time_total_nsec(RMW_DURATION_INFINITE));
+
   py::register_exception<rclpy::RCUtilsError>(m, "RCUtilsError", PyExc_RuntimeError);
   py::register_exception<rclpy::RMWError>(m, "RMWError", PyExc_RuntimeError);
   auto rclerror = py::register_exception<rclpy::RCLError>(m, "RCLError", PyExc_RuntimeError);

rclpy/test/test_time.py

@@ -228,3 +228,7 @@ 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 = Duration.Infinite()
+        assert str(duration) == 'Infinite'