realtime_clock_tests.cpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation, Inc.
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#include <gmock/gmock.h>
#include <realtime_tools/realtime_clock.h>
#include <chrono>
#include <thread>

using realtime_tools::RealtimeClock;

TEST(RealtimeClock, get_system_time)
{
  const int ATTEMPTS = 10;
  const std::chrono::milliseconds DELAY(1);

  RealtimeClock rt_clock;
  // Wait for time to be available
  ros::Time last_rt_time;
  for (int i = 0; i < ATTEMPTS && ros::Time() == last_rt_time; ++i)
  {
    std::this_thread::sleep_for(DELAY);
    last_rt_time = rt_clock.getSystemTime(ros::Time());
  }
  ASSERT_NE(ros::Time(), last_rt_time);

  // This test assumes system time will not jump backwards during it
  EXPECT_GT(rt_clock.getSystemTime(last_rt_time), last_rt_time);
}

int main(int argc, char ** argv) {
  ::testing::InitGoogleTest(&argc, argv);
  ros::Time::init();
  return RUN_ALL_TESTS();
}