257 lines
8.6 KiB
C++
257 lines
8.6 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <sys/time.h>
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#include <gtest/gtest.h>
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#include "gazebo/common/Time.hh"
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#include "test/util.hh"
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using namespace gazebo;
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class TimeTest : public gazebo::testing::AutoLogFixture { };
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/////////////////////////////////////////////////
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TEST_F(TimeTest, Time)
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{
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struct timeval tv;
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gettimeofday(&tv, NULL);
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common::Time time(tv);
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EXPECT_EQ(time.sec, tv.tv_sec);
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EXPECT_EQ(time.nsec, tv.tv_usec * 1000);
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time.SetToWallTime();
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EXPECT_TRUE(common::Time::GetWallTime() - time < common::Time(0, 1000000));
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time = common::Time(1, 1000)
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+ common::Time(1.5)
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+ common::Time(0, 1e9);
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EXPECT_EQ(time, common::Time(3, 5e8 + 1000));
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time.Set(1, 1000);
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time += common::Time(1.5);
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time += common::Time(0, 1e9);
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EXPECT_EQ(time, common::Time(3, 5e8 + 1000));
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time.Set(1, 1000);
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time -= common::Time(1, 1000);
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EXPECT_TRUE(time == common::Time(0, 0));
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time.Set(1, 1000);
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time *= common::Time(2, 2);
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EXPECT_TRUE(time == common::Time(2, 2002));
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time.Set(2, 4000);
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time /= common::Time(2, 2);
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EXPECT_TRUE(time == common::Time(1, 1999));
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EXPECT_FALSE(time != common::Time(1, 1999));
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time += common::Time(0, 1);
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tv.tv_sec = 1;
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tv.tv_usec = 2;
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EXPECT_TRUE(time == tv);
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EXPECT_FALSE(time != tv);
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tv.tv_sec = 2;
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EXPECT_TRUE(time < tv);
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tv.tv_sec = 0;
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EXPECT_TRUE(time > tv);
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EXPECT_TRUE(time >= tv);
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EXPECT_TRUE(time == 1.0 + 2000*1e-9);
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EXPECT_FALSE(time != 1.0 + 2000*1e-9);
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EXPECT_TRUE(time < 2.0);
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EXPECT_TRUE(time > 0.1);
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EXPECT_TRUE(time >= 0.1);
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tv.tv_sec = 2;
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tv.tv_usec = 1000000;
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time = common::Time(1, 1000) + tv;
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EXPECT_TRUE(time == common::Time(4.0, 1000));
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time.Set(1, 1000);
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time += tv;
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EXPECT_TRUE(time == common::Time(4, 1000));
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time = common::Time(1, 1000) - tv;
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EXPECT_TRUE(time == common::Time(-2, 1000));
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time.Set(1, 1000);
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time -= tv;
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EXPECT_TRUE(time == common::Time(-2, 1000));
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tv.tv_sec = 2;
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tv.tv_usec = 1000;
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time = common::Time(1, 1000) * tv;
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EXPECT_TRUE(time == common::Time(2, 1002001));
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time.Set(1, 1000);
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time *= tv;
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EXPECT_TRUE(time == common::Time(2, 1002001));
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time.Set(1, 1000);
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time = common::Time(1, 1000) * common::Time(2, 2);
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EXPECT_TRUE(time == common::Time(2, 2002));
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time = common::Time(1, 2000000) / tv;
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EXPECT_TRUE(time == common::Time(0, 500749625));
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time.Set(1, 2000000);
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time /= tv;
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EXPECT_TRUE(time == common::Time(0, 500749625));
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time.Set(1, 1000);
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time = common::Time(1, 1000) / common::Time(2, 2);
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EXPECT_TRUE(time == common::Time(0, 500000499));
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double sec = 1.0 + 1e-9;
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double msec = sec * 1e3;
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double usec = sec * 1e6;
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double nsec = sec * 1e9;
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EXPECT_DOUBLE_EQ(nsec, common::Time::SecToNano(sec));
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EXPECT_DOUBLE_EQ(nsec, common::Time::MilToNano(msec));
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EXPECT_DOUBLE_EQ(nsec, common::Time::MicToNano(usec));
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}
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/////////////////////////////////////////////////
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TEST_F(TimeTest, String)
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{
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common::Time time(0);
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// Several combinations
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EXPECT_EQ(time.FormattedString(), "00 00:00:00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::HOURS),
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"00:00:00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::MINUTES),
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"00:00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::SECONDS),
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"00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::MILLISECONDS),
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"000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::DAYS,
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common::Time::FormatOption::MILLISECONDS),
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"00 00:00:00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::DAYS,
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common::Time::FormatOption::SECONDS),
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"00 00:00:00");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::DAYS,
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common::Time::FormatOption::MINUTES),
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"00 00:00");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::DAYS,
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common::Time::FormatOption::HOURS),
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"00 00");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::DAYS,
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common::Time::FormatOption::DAYS),
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"00");
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// start > end: start pushes end
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::MILLISECONDS,
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common::Time::FormatOption::MINUTES),
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"000");
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// 1 second
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time = common::Time(0, 1000000000);
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EXPECT_EQ(time.FormattedString(), "00 00:00:01.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::MILLISECONDS,
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common::Time::FormatOption::MILLISECONDS),
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"1000");
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// 30.5 seconds
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time = common::Time(30, 500000000);
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EXPECT_EQ(time.FormattedString(), "00 00:00:30.500");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::SECONDS,
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common::Time::FormatOption::SECONDS),
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"30");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::MILLISECONDS,
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common::Time::FormatOption::MILLISECONDS),
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"30500");
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// 1 min
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time = common::Time(60);
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EXPECT_EQ(time.FormattedString(), "00 00:01:00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::SECONDS,
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common::Time::FormatOption::SECONDS),
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"60");
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// 2.5 hours
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time = common::Time(9000);
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EXPECT_EQ(time.FormattedString(), "00 02:30:00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::HOURS,
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common::Time::FormatOption::MINUTES),
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"02:30");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::SECONDS,
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common::Time::FormatOption::SECONDS),
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"9000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::MINUTES,
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common::Time::FormatOption::MINUTES),
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"150");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::HOURS,
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common::Time::FormatOption::HOURS),
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"02");
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// 3 days
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time = common::Time(259200);
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EXPECT_EQ(time.FormattedString(), "03 00:00:00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::DAYS,
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common::Time::FormatOption::DAYS),
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"03");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::HOURS),
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"72:00:00.000");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::HOURS,
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common::Time::FormatOption::HOURS),
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"72");
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EXPECT_EQ(time.FormattedString(common::Time::FormatOption::MINUTES,
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common::Time::FormatOption::MINUTES),
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"4320");
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// Large time
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time = common::Time(1234567890, 123456789);
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EXPECT_EQ(time.FormattedString(), "14288 23:31:30.123");
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}
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/////////////////////////////////////////////////
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TEST_F(TimeTest, Maximum)
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{
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const common::Time maximum = common::Time::Maximum();
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const common::Time zeroTime = common::Time(0, 0);
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EXPECT_LT(zeroTime, maximum);
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EXPECT_GT(maximum, zeroTime);
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EXPECT_NE(zeroTime, maximum);
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// This time is very large, but it is still not technically the maximum that
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// we are able to represent.
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const common::Time veryLargeTime =
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common::Time(std::numeric_limits<int32_t>::max(), 0);
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EXPECT_LT(veryLargeTime, maximum);
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EXPECT_GT(maximum, veryLargeTime);
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EXPECT_NE(veryLargeTime, maximum);
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EXPECT_EQ(common::Time::Maximum(), maximum);
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}
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/////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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