removing tests
This commit is contained in:
Tully Foote
parent
38a2b86e63
commit
238cf61a0e
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@ -36,10 +36,3 @@ rosbuild_link_boost(roslib thread)
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if (NOT APPLE)
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target_link_libraries(roslib rt)
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endif (NOT APPLE)
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rosbuild_add_gtest(test_time test/time.cpp)
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target_link_libraries(test_time roslib)
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rosbuild_add_gtest(test_package test/package.cpp)
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target_link_libraries(test_package roslib)
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@ -1,64 +0,0 @@
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/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <vector>
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#include <gtest/gtest.h>
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#include <ros/package.h>
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#include <sys/time.h>
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using namespace ros;
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TEST(Package, getPath)
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{
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std::string path = package::getPath("roslib");
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printf("Path: %s\n", path.c_str());
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ASSERT_FALSE(path.empty());
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}
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TEST(Package, getAll)
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{
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using package::V_string;
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V_string packages;
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ASSERT_TRUE(package::getAll(packages));
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ASSERT_FALSE(packages.empty());
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V_string::iterator it = packages.begin();
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V_string::iterator end = packages.end();
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for (; it != end; ++it)
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{
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printf("Package: %s\n", it->c_str());
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}
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}
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int main(int argc, char **argv){
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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@ -1,390 +0,0 @@
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/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <vector>
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#include <gtest/gtest.h>
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#include <ros/time.h>
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#include <sys/time.h>
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using namespace ros;
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/// \todo All the tests in here that use randomized values are not unit tests, replace them
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double epsilon = 1e-9;
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void seed_rand()
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{
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//Seed random number generator with current microseond count
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timeval temp_time_struct;
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gettimeofday(&temp_time_struct,NULL);
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srand(temp_time_struct.tv_usec);
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};
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void generate_rand_times(uint32_t range, uint64_t runs, std::vector<ros::Time>& values1, std::vector<ros::Time>& values2)
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{
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seed_rand();
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values1.clear();
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values2.clear();
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values1.reserve(runs);
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values2.reserve(runs);
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for ( uint32_t i = 0; i < runs ; i++ )
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{
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values1.push_back(ros::Time( (rand() * range / RAND_MAX), (rand() * 1000000000ULL/RAND_MAX)));
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values2.push_back(ros::Time( (rand() * range / RAND_MAX), (rand() * 1000000000ULL/RAND_MAX)));
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}
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}
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void generate_rand_durations(uint32_t range, uint64_t runs, std::vector<ros::Duration>& values1, std::vector<ros::Duration>& values2)
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{
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seed_rand();
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values1.clear();
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values2.clear();
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values1.reserve(runs);
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values2.reserve(runs);
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for ( uint32_t i = 0; i < runs ; i++ )
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{
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values1.push_back(ros::Duration( (rand() * range / RAND_MAX), (rand() * 1000000000ULL/RAND_MAX)));
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values2.push_back(ros::Duration( (rand() * range / RAND_MAX), (rand() * 1000000000ULL/RAND_MAX)));
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}
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}
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TEST(Time, size)
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{
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ASSERT_EQ(sizeof(Time), 8);
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ASSERT_EQ(sizeof(Duration), 8);
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}
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TEST(Time, Comparitors)
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{
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std::vector<ros::Time> v1;
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std::vector<ros::Time> v2;
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generate_rand_times(100, 1000, v1,v2);
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for (uint32_t i = 0; i < v1.size(); i++)
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{
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if (v1[i].sec * 1000000000ULL + v1[i].nsec < v2[i].sec * 1000000000ULL + v2[i].nsec)
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{
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EXPECT_LT(v1[i], v2[i]);
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// printf("%f %d ", v1[i].toSec(), v1[i].sec * 1000000000ULL + v1[i].nsec);
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//printf("vs %f %d\n", v2[i].toSec(), v2[i].sec * 1000000000ULL + v2[i].nsec);
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EXPECT_LE(v1[i], v2[i]);
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EXPECT_NE(v1[i], v2[i]);
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}
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else if (v1[i].sec * 1000000000ULL + v1[i].nsec > v2[i].sec * 1000000000ULL + v2[i].nsec)
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{
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EXPECT_GT(v1[i], v2[i]);
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EXPECT_GE(v1[i], v2[i]);
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EXPECT_NE(v1[i], v2[i]);
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}
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else
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{
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EXPECT_EQ(v1[i], v2[i]);
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EXPECT_LE(v1[i], v2[i]);
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EXPECT_GE(v1[i], v2[i]);
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}
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}
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}
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TEST(Time, ToFromDouble)
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{
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std::vector<ros::Time> v1;
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std::vector<ros::Time> v2;
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generate_rand_times(100, 1000, v1,v2);
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for (uint32_t i = 0; i < v1.size(); i++)
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{
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EXPECT_EQ(v1[i].toSec(), v1[i].fromSec(v1[i].toSec()).toSec());
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}
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}
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TEST(Time, OperatorPlus)
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{
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Time t(100, 0);
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Duration d(100, 0);
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Time r = t + d;
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EXPECT_EQ(r.sec, 200UL);
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EXPECT_EQ(r.nsec, 0UL);
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t = Time(0, 100000UL);
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d = Duration(0, 100UL);
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r = t + d;
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EXPECT_EQ(r.sec, 0UL);
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EXPECT_EQ(r.nsec, 100100UL);
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t = Time(0, 0);
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d = Duration(10, 2000003000UL);
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r = t + d;
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EXPECT_EQ(r.sec, 12UL);
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EXPECT_EQ(r.nsec, 3000UL);
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}
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TEST(Time, OperatorMinus)
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{
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Time t(100, 0);
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Duration d(100, 0);
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Time r = t - d;
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EXPECT_EQ(r.sec, 0UL);
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EXPECT_EQ(r.nsec, 0UL);
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t = Time(0, 100000UL);
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d = Duration(0, 100UL);
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r = t - d;
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EXPECT_EQ(r.sec, 0UL);
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EXPECT_EQ(r.nsec, 99900UL);
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t = Time(30, 0);
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d = Duration(10, 2000003000UL);
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r = t - d;
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EXPECT_EQ(r.sec, 17UL);
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EXPECT_EQ(r.nsec, 999997000ULL);
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}
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TEST(Time, OperatorPlusEquals)
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{
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Time t(100, 0);
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Duration d(100, 0);
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t += d;
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EXPECT_EQ(t.sec, 200UL);
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EXPECT_EQ(t.nsec, 0UL);
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t = Time(0, 100000UL);
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d = Duration(0, 100UL);
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t += d;
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EXPECT_EQ(t.sec, 0UL);
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EXPECT_EQ(t.nsec, 100100UL);
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t = Time(0, 0);
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d = Duration(10, 2000003000UL);
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t += d;
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EXPECT_EQ(t.sec, 12UL);
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EXPECT_EQ(t.nsec, 3000UL);
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}
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TEST(Time, OperatorMinusEquals)
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{
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Time t(100, 0);
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Duration d(100, 0);
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t -= d;
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EXPECT_EQ(t.sec, 0UL);
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EXPECT_EQ(t.nsec, 0UL);
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t = Time(0, 100000UL);
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d = Duration(0, 100UL);
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t -= d;
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EXPECT_EQ(t.sec, 0UL);
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EXPECT_EQ(t.nsec, 99900UL);
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t = Time(30, 0);
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d = Duration(10, 2000003000UL);
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t -= d;
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EXPECT_EQ(t.sec, 17UL);
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EXPECT_EQ(t.nsec, 999997000ULL);
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}
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TEST(Time, SecNSecConstructor)
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{
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Time t(100, 2000003000UL);
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EXPECT_EQ(t.sec, 102UL);
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EXPECT_EQ(t.nsec, 3000UL);
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}
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/************************************* Duration Tests *****************/
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TEST(Duration, Comparitors)
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{
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std::vector<ros::Duration> v1;
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std::vector<ros::Duration> v2;
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generate_rand_durations(100, 1000, v1,v2);
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for (uint32_t i = 0; i < v1.size(); i++)
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{
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if (v1[i].sec * 1000000000ULL + v1[i].nsec < v2[i].sec * 1000000000ULL + v2[i].nsec)
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{
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EXPECT_LT(v1[i], v2[i]);
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// printf("%f %d ", v1[i].toSec(), v1[i].sec * 1000000000ULL + v1[i].nsec);
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//printf("vs %f %d\n", v2[i].toSec(), v2[i].sec * 1000000000ULL + v2[i].nsec);
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EXPECT_LE(v1[i], v2[i]);
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EXPECT_NE(v1[i], v2[i]);
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}
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else if (v1[i].sec * 1000000000ULL + v1[i].nsec > v2[i].sec * 1000000000ULL + v2[i].nsec)
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{
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EXPECT_GT(v1[i], v2[i]);
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EXPECT_GE(v1[i], v2[i]);
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EXPECT_NE(v1[i], v2[i]);
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}
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else
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{
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EXPECT_EQ(v1[i], v2[i]);
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EXPECT_LE(v1[i], v2[i]);
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EXPECT_GE(v1[i], v2[i]);
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}
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}
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}
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TEST(Duration, ToFromSec)
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{
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std::vector<ros::Duration> v1;
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std::vector<ros::Duration> v2;
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generate_rand_durations(100, 1000, v1,v2);
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for (uint32_t i = 0; i < v1.size(); i++)
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{
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EXPECT_EQ(v1[i].toSec(), v1[i].fromSec(v1[i].toSec()).toSec());
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}
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}
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TEST(Duration, OperatorPlus)
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{
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std::vector<ros::Duration> v1;
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std::vector<ros::Duration> v2;
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generate_rand_durations(100, 1000, v1,v2);
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for (uint32_t i = 0; i < v1.size(); i++)
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{
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EXPECT_NEAR(v1[i].toSec() + v2[i].toSec(), (v1[i] + v2[i]).toSec(), epsilon);
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ros::Duration temp = v1[i];
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EXPECT_NEAR(v1[i].toSec() + v2[i].toSec(), (temp += v2[i]).toSec(), epsilon);
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}
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}
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TEST(Duration, OperatorMinus)
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{
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std::vector<ros::Duration> v1;
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std::vector<ros::Duration> v2;
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generate_rand_durations(100, 1000, v1,v2);
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for (uint32_t i = 0; i < v1.size(); i++)
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{
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EXPECT_NEAR(v1[i].toSec() - v2[i].toSec(), (v1[i] - v2[i]).toSec(), epsilon);
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ros::Duration temp = v1[i];
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EXPECT_NEAR(v1[i].toSec() - v2[i].toSec(), (temp -= v2[i]).toSec(), epsilon);
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EXPECT_NEAR(- v2[i].toSec(), (-v2[i]).toSec(), epsilon);
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}
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}
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TEST(Duration, OperatorTimes)
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{
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std::vector<ros::Duration> v1;
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std::vector<ros::Duration> v2;
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generate_rand_durations(100, 1000, v1,v2);
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for (uint32_t i = 0; i < v1.size(); i++)
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{
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EXPECT_NEAR(v1[i].toSec() * v2[i].toSec(), (v1[i] * v2[i].toSec()).toSec(), epsilon);
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ros::Duration temp = v1[i];
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EXPECT_NEAR(v1[i].toSec() * v2[i].toSec(), (temp *= v2[i].toSec()).toSec(), epsilon);
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}
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}
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TEST(Duration, OperatorPlusEquals)
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{
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Duration t(100, 0);
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Duration d(100, 0);
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t += d;
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EXPECT_EQ(t.sec, 200L);
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EXPECT_EQ(t.nsec, 0L);
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t = Duration(0, 100000L);
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d = Duration(0, 100L);
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t += d;
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EXPECT_EQ(t.sec, 0L);
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EXPECT_EQ(t.nsec, 100100L);
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t = Duration(0, 0);
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d = Duration(10, 2000003000L);
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t += d;
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EXPECT_EQ(t.sec, 12L);
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EXPECT_EQ(t.nsec, 3000L);
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}
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TEST(Duration, OperatorMinusEquals)
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{
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Duration t(100, 0);
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Duration d(100, 0);
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t -= d;
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EXPECT_EQ(t.sec, 0L);
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EXPECT_EQ(t.nsec, 0L);
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t = Duration(0, 100000L);
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d = Duration(0, 100L);
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t -= d;
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EXPECT_EQ(t.sec, 0L);
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EXPECT_EQ(t.nsec, 99900L);
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t = Duration(30, 0);
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d = Duration(10, 2000003000L);
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t -= d;
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EXPECT_EQ(t.sec, 17L);
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EXPECT_EQ(t.nsec, 999997000L);
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}
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void alarmHandler(int sig)
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{
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}
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TEST(Duration, sleepWithSignal)
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{
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signal(SIGALRM, alarmHandler);
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alarm(1);
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Time start = Time::now();
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Duration d(2.0);
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d.sleep();
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Time end = Time::now();
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ASSERT_GT(end - start, d);
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}
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///////////////////////////////////////////////////////////////////////////////////
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// WallTime/WallDuration
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///////////////////////////////////////////////////////////////////////////////////
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int main(int argc, char **argv){
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testing::InitGoogleTest(&argc, argv);
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ros::Time::init();
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return RUN_ALL_TESTS();
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}
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