Fix warning message to show precise jump back in time duration

src/systems/ackermann_steering/AckermannSteering.cc

@@ -505,12 +505,14 @@ void AckermannSteering::PreUpdate(const UpdateInfo &_info,
   GZ_PROFILE("AckermannSteering::PreUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   // If the joints haven't been identified yet, look for them
   static std::set<std::string> warnedModels;

src/systems/advanced_lift_drag/AdvancedLiftDrag.cc

@@ -799,12 +799,14 @@ void AdvancedLiftDrag::PreUpdate(const UpdateInfo &_info,
   GZ_PROFILE("AdvancedLiftDrag::PreUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   if (!this->dataPtr->initialized)
   {

src/systems/air_pressure/AirPressure.cc

@@ -129,12 +129,14 @@ void AirPressure::PostUpdate(const UpdateInfo &_info,
   GZ_PROFILE("AirPressure::PostUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   this->dataPtr->CreateSensors(_ecm);
 

src/systems/air_speed/AirSpeed.cc

@@ -131,12 +131,14 @@ void AirSpeed::PostUpdate(const UpdateInfo &_info,
   GZ_PROFILE("AirSpeed::PostUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   this->dataPtr->CreateSensors(_ecm);
 

src/systems/altimeter/Altimeter.cc

@@ -129,12 +129,14 @@ void Altimeter::PostUpdate(const UpdateInfo &_info,
   GZ_PROFILE("Altimeter::PostUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   this->dataPtr->CreateSensors(_ecm);
 

src/systems/apply_joint_force/ApplyJointForce.cc

@@ -131,12 +131,14 @@ void ApplyJointForce::PreUpdate(const UpdateInfo &_info,
   GZ_PROFILE("ApplyJointForce::PreUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   // If the joint hasn't been identified yet, look for it
   //! [findJoint]

src/systems/battery_plugin/LinearBatteryPlugin.cc

@@ -547,12 +547,14 @@ void LinearBatteryPlugin::Update(const UpdateInfo &_info,
   GZ_PROFILE("LinearBatteryPlugin::Update");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   if (_info.paused)
     return;

src/systems/contact/Contact.cc

@@ -273,12 +273,14 @@ void Contact::PostUpdate(const UpdateInfo &_info,
   GZ_PROFILE("Contact::PostUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   if (!_info.paused)
   {

src/systems/diff_drive/DiffDrive.cc

@@ -393,12 +393,14 @@ void DiffDrive::PreUpdate(const UpdateInfo &_info,
   GZ_PROFILE("DiffDrive::PreUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   // If the joints haven't been identified yet, look for them
   static std::set<std::string> warnedModels;

src/systems/force_torque/ForceTorque.cc

@@ -163,12 +163,14 @@ void ForceTorque::PostUpdate(const UpdateInfo &_info,
   GZ_PROFILE("ForceTorque::PostUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   this->dataPtr->CreateSensors(_ecm);
 

src/systems/imu/Imu.cc

@@ -133,12 +133,14 @@ void Imu::PostUpdate(const UpdateInfo &_info,
   GZ_PROFILE("Imu::PostUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   this->dataPtr->CreateSensors(_ecm);
 

src/systems/joint_controller/JointController.cc

@@ -262,12 +262,14 @@ void JointController::PreUpdate(const UpdateInfo &_info,
   GZ_PROFILE("JointController::PreUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   // If the joints haven't been identified yet, look for them
   if (this->dataPtr->jointEntities.empty())

src/systems/joint_position_controller/JointPositionController.cc

@@ -336,12 +336,14 @@ void JointPositionController::PreUpdate(
   }
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   // If the joints haven't been identified yet, look for them
   if (this->dataPtr->jointEntities.empty())

src/systems/lift_drag/LiftDrag.cc

@@ -547,12 +547,14 @@ void LiftDrag::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm)
   GZ_PROFILE("LiftDrag::PreUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   if (!this->dataPtr->initialized)
   {

src/systems/log/LogRecord.cc

@@ -666,12 +666,14 @@ void LogRecord::PostUpdate(const UpdateInfo &_info,
     return;
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   // Publish only once
   if (!this->dataPtr->sdfPublished)

src/systems/logical_camera/LogicalCamera.cc

@@ -131,12 +131,14 @@ void LogicalCamera::PostUpdate(const UpdateInfo &_info,
   GZ_PROFILE("LogicalCamera::PostUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   this->dataPtr->CreateSensors(_ecm);
 

src/systems/magnetometer/Magnetometer.cc

@@ -271,12 +271,14 @@ void Magnetometer::PostUpdate(const UpdateInfo &_info,
   GZ_PROFILE("Magnetometer::PostUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   this->dataPtr->CreateSensors(_ecm);
 

src/systems/mecanum_drive/MecanumDrive.cc

@@ -330,12 +330,14 @@ void MecanumDrive::PreUpdate(const gz::sim::UpdateInfo &_info,
   GZ_PROFILE("MecanumDrive::PreUpdate");
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   // If the joints haven't been identified yet, look for them
   static std::set<std::string> warnedModels;

src/systems/multicopter_control/MulticopterVelocityControl.cc

@@ -346,12 +346,14 @@ void MulticopterVelocityControl::PreUpdate(
   }
 
   // \TODO(anyone) Support rewind
-  if (_info.dt < std::chrono::steady_clock::duration::zero())
-  {
-    gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
-  }
+
+if (_info.dt < std::chrono::steady_clock::duration::zero())
+{
+  gzwarn << "Detected jump back in time ["
+         << std::chrono::duration<double>(_info.dt).count()
+         << "s]. System may not work properly." << std::endl;
+}
+
 
   // Nothing left to do if paused.
   if (_info.paused)