real_time_test.cpp

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/* Author: Tony Pratkanis */
 
/*
 * Subscribe to a topic multiple times
 */
 
#include <string>
#include <gtest/gtest.h>
#include <time.h>
#include <stdlib.h>
#include "ros/ros.h"
#include <rosgraph_msgs/Clock.h>
 
int g_argc;
char** g_argv;
 
 
class RosTimeTest : public testing::Test
{
public:
  void setTime(ros::Time t)
  {
    rosgraph_msgs::Clock message;
    message.clock = t;
    pub_.publish(message);
  }
 
protected:
  RosTimeTest()
  {
    pub_ = nh_.advertise<rosgraph_msgs::Clock>("/clock", 1);
  }
 
  ros::NodeHandle nh_;
  ros::Publisher pub_;
 
};
 
TEST_F(RosTimeTest, RealTimeTest)
{
  //Get the start time.
  ros::Time start = ros::Time::now();
 
  //Checks to see if the time is larger than a thousand seconds
  //this is a good indication that we are getting the system time.
  ASSERT_TRUE(start.toSec() > 1000.0);
 
  //Wait a second
  ros::Duration wait(1, 0); wait.sleep();
  ros::Time end = ros::Time::now();
  ros::Duration d = end - start;
 
  //After waiting one second, see if we really waited on second.
  ASSERT_LT(d.toSec(), 1.1);
  ASSERT_GT(d.toSec(), 0.9);
 
  //Publish a rostime of 42.
  setTime(ros::Time(42, 0));
 
  //Wait half a second to make sure we get the message.
  ros::WallDuration(0.5).sleep();
  ros::spinOnce();
 
  //Make sure that it has not been set
  ASSERT_NE(ros::Time::now().toSec(), 42.0);
 
 
  SUCCEED();
}
 
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "real_time_test");
  g_argc = argc;
  g_argv = argv;
  return RUN_ALL_TESTS();
}