50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
// Copyright 2017 Open Source Robotics Foundation, Inc.
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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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#include <gtest/gtest.h>
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#include <string>
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#include "rcl/error_handling.h"
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#include "rcl/time.h"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp/time.hpp"
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class TestTime : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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};
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TEST(TestTime, rate_basics) {
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using builtin_interfaces::msg::Time;
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// TODO(Karsten1987): Fix this test once ROS_TIME is implemented
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EXPECT_ANY_THROW(rclcpp::Time::now<RCL_ROS_TIME>());
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Time system_now = rclcpp::Time::now<RCL_SYSTEM_TIME>();
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EXPECT_NE(0, system_now.sec);
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EXPECT_NE(0u, system_now.nanosec);
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Time steady_now = rclcpp::Time::now<RCL_STEADY_TIME>();
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EXPECT_NE(0, steady_now.sec);
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EXPECT_NE(0u, steady_now.nanosec);
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// default
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Time default_now = rclcpp::Time::now();
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EXPECT_NE(0, default_now.sec);
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EXPECT_NE(0u, default_now.nanosec);
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}
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