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fix test of steady clock

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This commit is contained in:
William Woodall 2015-12-16 14:41:31 -08:00
parent 898f389019
commit 09a2aad44f
1 changed files with 16 additions and 5 deletions
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21
rcl/test/rcl/test_time.cpp
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@ -14,7 +14,10 @@
#include <gtest/gtest.h>
#include <inttypes.h>
#include <chrono>
#include <thread>
#include "rcl/error_handling.h"
#include "rcl/time.h"
@ -48,7 +51,7 @@ public:
*/
TEST_F(TestTimeFixture, test_rcl_system_time_point_now) {
assert_no_realloc_begin();
rcl_ret_t ret = RCL_RET_OK;
rcl_ret_t ret;
// Check for invalid argument error condition (allowed to alloc).
ret = rcl_system_time_point_now(nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string_safe();
@ -72,7 +75,8 @@ TEST_F(TestTimeFixture, test_rcl_system_time_point_now) {
auto now_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now_sc.time_since_epoch());
int64_t now_ns_int = now_ns.count();
int64_t now_diff = now.nanoseconds - now_ns_int;
EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(1000)) << "system_clock differs";
const int k_tolerance_ms = 1000;
EXPECT_LE(llabs(now_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "system_clock differs";
}
}
@ -80,7 +84,7 @@ TEST_F(TestTimeFixture, test_rcl_system_time_point_now) {
*/
TEST_F(TestTimeFixture, test_rcl_steady_time_point_now) {
assert_no_realloc_begin();
rcl_ret_t ret = RCL_RET_OK;
rcl_ret_t ret;
// Check for invalid argument error condition (allowed to alloc).
ret = rcl_steady_time_point_now(nullptr);
EXPECT_EQ(ret, RCL_RET_INVALID_ARGUMENT) << rcl_get_error_string_safe();
@ -100,10 +104,17 @@ TEST_F(TestTimeFixture, test_rcl_steady_time_point_now) {
now = {0};
ret = rcl_steady_time_point_now(&now);
std::chrono::steady_clock::time_point now_sc = std::chrono::steady_clock::now();
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
// Wait for a little while.
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// Then take a new timestamp with each and compare.
rcl_steady_time_point_t later;
ret = rcl_steady_time_point_now(&later);
std::chrono::steady_clock::time_point later_sc = std::chrono::steady_clock::now();
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string_safe();
int64_t steady_diff = later.nanoseconds - now.nanoseconds;
int64_t sc_diff = (now_sc - later_sc).count();
EXPECT_LE(llabs(steady_diff - sc_diff), RCL_MS_TO_NS(1000)) << "steady_clock differs";
int64_t sc_diff =
std::chrono::duration_cast<std::chrono::nanoseconds>(later_sc - now_sc).count();
const int k_tolerance_ms = 1;
EXPECT_LE(llabs(steady_diff - sc_diff), RCL_MS_TO_NS(k_tolerance_ms)) << "steady_clock differs";
}