109 lines
3.3 KiB
C++
109 lines
3.3 KiB
C++
/*
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include "gazebo/common/Timer.hh"
|
|
#include "test/util.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
class TimerTest : public gazebo::testing::AutoLogFixture
|
|
{
|
|
};
|
|
|
|
/////////////////////////////////////////////////
|
|
TEST_F(TimerTest, Timer)
|
|
{
|
|
common::Timer timer;
|
|
// Expect the timer to be paused on initialization and at 0 time
|
|
EXPECT_EQ(timer.GetElapsed().sec, 0);
|
|
EXPECT_EQ(timer.GetElapsed().nsec, 0);
|
|
EXPECT_FALSE(timer.GetRunning());
|
|
|
|
timer.Start();
|
|
common::Time::MSleep(200);
|
|
EXPECT_TRUE(timer.GetRunning());
|
|
common::Time elapsed = timer.GetElapsed();
|
|
EXPECT_GE(elapsed.nsec, 200000000);
|
|
EXPECT_LE(elapsed.nsec, 200200000);
|
|
EXPECT_EQ(elapsed.sec, 0);
|
|
|
|
// Check that the time after stopping and sleeping matches the time right
|
|
// before pausing
|
|
timer.Stop();
|
|
common::Time::MSleep(100);
|
|
EXPECT_GE(elapsed.nsec, timer.GetElapsed().nsec - 100000);
|
|
EXPECT_LE(elapsed.nsec, timer.GetElapsed().nsec + 100000);
|
|
EXPECT_EQ(elapsed.sec, timer.GetElapsed().sec);
|
|
EXPECT_FALSE(timer.GetRunning());
|
|
|
|
// Expect that we start from where we left off
|
|
timer.Start();
|
|
common::Time::MSleep(100);
|
|
EXPECT_GE(timer.GetElapsed().nsec, 300000000);
|
|
EXPECT_LE(timer.GetElapsed().nsec, 301000000);
|
|
EXPECT_EQ(timer.GetElapsed().sec, 0);
|
|
|
|
// Expect reset to reset the current time and stop the timer
|
|
timer.Reset();
|
|
EXPECT_EQ(timer.GetElapsed().sec, 0);
|
|
EXPECT_EQ(timer.GetElapsed().nsec, 0);
|
|
EXPECT_FALSE(timer.GetRunning());
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
TEST_F(TimerTest, CountdownTimer)
|
|
{
|
|
// Count down from 1 second
|
|
common::Time maxTime(1);
|
|
common::Timer timer(maxTime, true);
|
|
EXPECT_EQ(timer.GetElapsed().sec, 1);
|
|
EXPECT_EQ(timer.GetElapsed().nsec, 0);
|
|
EXPECT_FALSE(timer.GetRunning());
|
|
|
|
timer.Start();
|
|
common::Time::MSleep(200);
|
|
EXPECT_TRUE(timer.GetRunning());
|
|
common::Time elapsed = timer.GetElapsed();
|
|
EXPECT_GE(elapsed.nsec, 799800000);
|
|
EXPECT_LE(elapsed.nsec, 800100000);
|
|
EXPECT_EQ(elapsed.sec, 0);
|
|
|
|
// Check that the time after stopping and sleeping matches the time right
|
|
// before pausing
|
|
timer.Stop();
|
|
common::Time::MSleep(100);
|
|
EXPECT_GE(elapsed.nsec, timer.GetElapsed().nsec - 100000);
|
|
EXPECT_LE(elapsed.nsec, timer.GetElapsed().nsec + 100000);
|
|
EXPECT_EQ(elapsed.sec, timer.GetElapsed().sec);
|
|
EXPECT_FALSE(timer.GetRunning());
|
|
|
|
// Expect that we start from where we left off
|
|
timer.Start();
|
|
common::Time::MSleep(100);
|
|
EXPECT_GE(timer.GetElapsed().nsec, 699000000);
|
|
EXPECT_LE(timer.GetElapsed().nsec, 701000000);
|
|
EXPECT_EQ(timer.GetElapsed().sec, 0);
|
|
|
|
// Expect reset to reset the current time and stop the timer
|
|
timer.Reset();
|
|
EXPECT_EQ(timer.GetElapsed().sec, 1);
|
|
EXPECT_EQ(timer.GetElapsed().nsec, 0);
|
|
EXPECT_FALSE(timer.GetRunning());
|
|
}
|