00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 /* Author: Tony Pratkanis */ 00036 00037 /* 00038 * Subscribe to a topic multiple times 00039 */ 00040 00041 #include <string> 00042 #include <gtest/gtest.h> 00043 #include <time.h> 00044 #include <stdlib.h> 00045 #include "ros/ros.h" 00046 #include <rosgraph_msgs/Clock.h> 00047 00048 int g_argc; 00049 char** g_argv; 00050 00051 00052 class RosTimeTest : public testing::Test 00053 { 00054 public: 00055 void setTime(ros::Time t) 00056 { 00057 rosgraph_msgs::Clock message; 00058 message.clock = t; 00059 pub_.publish(message); 00060 } 00061 00062 protected: 00063 RosTimeTest() 00064 { 00065 pub_ = nh_.advertise<rosgraph_msgs::Clock>("/clock", 1); 00066 } 00067 00068 ros::NodeHandle nh_; 00069 ros::Publisher pub_; 00070 00071 }; 00072 00073 TEST_F(RosTimeTest, RealTimeTest) 00074 { 00075 //Get the start time. 00076 ros::Time start = ros::Time::now(); 00077 00078 //Checks to see if the time is larger than a thousand seconds 00079 //this is a good indication that we are getting the system time. 00080 ASSERT_TRUE(start.toSec() > 1000.0); 00081 00082 //Wait a second 00083 ros::Duration wait(1, 0); wait.sleep(); 00084 ros::Time end = ros::Time::now(); 00085 ros::Duration d = end - start; 00086 00087 //After waiting one second, see if we really waited on second. 00088 ASSERT_LT(d.toSec(), 1.1); 00089 ASSERT_GT(d.toSec(), 0.9); 00090 00091 //Publish a rostime of 42. 00092 setTime(ros::Time(42, 0)); 00093 00094 //Wait half a second to make sure we get the message. 00095 ros::WallDuration(0.5).sleep(); 00096 ros::spinOnce(); 00097 00098 //Make sure that it has not been set 00099 ASSERT_NE(ros::Time::now().toSec(), 42.0); 00100 00101 00102 SUCCEED(); 00103 } 00104 00105 00106 int main(int argc, char** argv) 00107 { 00108 testing::InitGoogleTest(&argc, argv); 00109 ros::init(argc, argv, "real_time_test"); 00110 g_argc = argc; 00111 g_argv = argv; 00112 return RUN_ALL_TESTS(); 00113 } 00114