timeconversiontest.cpp
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32 
34 #include <ros/time.h>
35 #include <gtest/gtest.h>
36 
37 TEST(TimeConversion, BytesToTimestamp)
38 {
40  ros::Time ros_stamp = ros::Time::now();
41 
42  // get the seconds past the hour and multiply by 1million to convert to microseconds
43  // divide nanoseconds by 1000 to convert to microseconds
44  uint32_t since_the_hour = ((ros_stamp.sec % 3600) * 1000000) + ros_stamp.nsec / 1000;
45 
46  uint8_t native_format[4];
47  native_format[0] = 0xFF & since_the_hour;
48  native_format[1] = 0xFF & (((uint32_t)since_the_hour) >> 8);
49  native_format[2] = 0xFF & (((uint32_t)since_the_hour) >> 16);
50  native_format[3] = 0xFF & (((uint32_t)since_the_hour) >> 24);
51 
52  ros::Time ros_stamp_converted = rosTimeFromGpsTimestamp(native_format);
53 
54  ASSERT_EQ(ros_stamp_converted.sec, ros_stamp.sec);
55  ASSERT_NEAR(ros_stamp_converted.nsec, ros_stamp.nsec, 1000);
56 }
57 
58 int main(int argc, char **argv)
59 {
60  ::testing::InitGoogleTest(&argc, argv);
61  int ret = RUN_ALL_TESTS();
62  return ret;
63 }
TEST(TimeConversion, BytesToTimestamp)
static void init()
static Time now()
ros::Time rosTimeFromGpsTimestamp(const uint8_t *const data)
int main(int argc, char **argv)


velodyne_driver
Author(s): Jack O'Quin, Patrick Beeson, Michael Quinlan, Yaxin Liu
autogenerated on Thu Jul 4 2019 19:09:28