real_time_test.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
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00010  *
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00013  *   * Redistributions in binary form must reproduce the above
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00019  *     from this software without specific prior written permission.
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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 


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Fri Aug 28 2015 12:33:59