forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathtest_duration.cpp
More file actions
323 lines (264 loc) · 11.6 KB
/
test_duration.cpp
File metadata and controls
323 lines (264 loc) · 11.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// 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 <algorithm>
#include <chrono>
#include <limits>
#include <string>
#include "rcl/error_handling.h"
#include "rcl/time.h"
#include "rclcpp/clock.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/duration.hpp"
#include "../utils/rclcpp_gtest_macros.hpp"
using namespace std::chrono_literals;
class TestDuration : public ::testing::Test
{
};
TEST_F(TestDuration, operators) {
rclcpp::Duration old(1, 0);
rclcpp::Duration young(2, 0);
EXPECT_TRUE(old < young);
EXPECT_TRUE(young > old);
EXPECT_TRUE(old <= young);
EXPECT_TRUE(young >= old);
EXPECT_FALSE(young == old);
EXPECT_TRUE(young != old);
rclcpp::Duration add = old + young;
EXPECT_EQ(add.nanoseconds(), old.nanoseconds() + young.nanoseconds());
EXPECT_EQ(add, old + young);
rclcpp::Duration sub = young - old;
EXPECT_EQ(sub.nanoseconds(), young.nanoseconds() - old.nanoseconds());
EXPECT_EQ(sub, young - old);
rclcpp::Duration scale = old * 3;
EXPECT_EQ(scale.nanoseconds(), old.nanoseconds() * 3);
rclcpp::Duration time = rclcpp::Duration(0, 0);
rclcpp::Duration copy_constructor_duration(time);
rclcpp::Duration assignment_op_duration = rclcpp::Duration(1, 0);
(void)assignment_op_duration;
assignment_op_duration = time;
EXPECT_TRUE(time == copy_constructor_duration);
EXPECT_TRUE(time == assignment_op_duration);
}
TEST_F(TestDuration, chrono_overloads) {
int64_t ns = 123456789l;
auto chrono_ns = std::chrono::nanoseconds(ns);
auto d1 = rclcpp::Duration::from_nanoseconds(ns);
auto d2 = rclcpp::Duration(chrono_ns);
auto d3 = rclcpp::Duration(123456789ns);
EXPECT_EQ(d1, d2);
EXPECT_EQ(d1, d3);
EXPECT_EQ(d2, d3);
// check non-nanosecond durations
std::chrono::milliseconds chrono_ms(100);
auto d4 = rclcpp::Duration(chrono_ms);
EXPECT_EQ(chrono_ms, d4.to_chrono<std::chrono::nanoseconds>());
std::chrono::duration<double, std::chrono::seconds::period> chrono_float_seconds(3.14);
auto d5 = rclcpp::Duration(chrono_float_seconds);
EXPECT_EQ(chrono_float_seconds, d5.to_chrono<decltype(chrono_float_seconds)>());
}
TEST_F(TestDuration, overflows) {
auto max = rclcpp::Duration::from_nanoseconds(std::numeric_limits<rcl_duration_value_t>::max());
auto min = rclcpp::Duration::from_nanoseconds(std::numeric_limits<rcl_duration_value_t>::min());
rclcpp::Duration one(1ns);
rclcpp::Duration negative_one(-1ns);
EXPECT_THROW(max + one, std::overflow_error);
EXPECT_THROW(min - one, std::underflow_error);
EXPECT_THROW(negative_one + min, std::underflow_error);
EXPECT_THROW(negative_one - max, std::underflow_error);
rclcpp::Duration base_d = max * 0.3;
EXPECT_THROW(base_d * 4, std::overflow_error);
EXPECT_THROW(base_d * (-4), std::underflow_error);
rclcpp::Duration base_d_neg = max * (-0.3);
EXPECT_THROW(base_d_neg * (-4), std::overflow_error);
EXPECT_THROW(base_d_neg * 4, std::underflow_error);
}
TEST_F(TestDuration, negative_duration) {
rclcpp::Duration assignable_duration = rclcpp::Duration(0ns) - rclcpp::Duration(5, 0);
{
// avoid windows converting a literal number less than -INT_MAX to unsigned int C4146
int64_t expected_value = -5000;
expected_value *= 1000 * 1000;
EXPECT_EQ(expected_value, assignable_duration.nanoseconds());
}
{
builtin_interfaces::msg::Duration duration_msg;
duration_msg.sec = -4;
duration_msg.nanosec = 250000000;
assignable_duration = duration_msg;
// avoid windows converting a literal number less than -INT_MAX to unsigned int C4146
int64_t expected_value = -3750;
expected_value *= 1000 * 1000;
EXPECT_EQ(expected_value, assignable_duration.nanoseconds());
}
}
TEST_F(TestDuration, maximum_duration) {
rclcpp::Duration max_duration = rclcpp::Duration::max();
rclcpp::Duration max(std::numeric_limits<int32_t>::max(), 999999999);
EXPECT_EQ(max_duration, max);
}
static const int64_t HALF_SEC_IN_NS = 500 * 1000 * 1000;
static const int64_t ONE_SEC_IN_NS = 1000 * 1000 * 1000;
static const int64_t ONE_AND_HALF_SEC_IN_NS = 3 * HALF_SEC_IN_NS;
static const int64_t MAX_NANOSECONDS = std::numeric_limits<int64_t>::max();
TEST_F(TestDuration, from_seconds) {
EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration::from_seconds(0.0));
EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration::from_seconds(0));
EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration::from_seconds(1.5));
EXPECT_EQ(
rclcpp::Duration::from_nanoseconds(-ONE_AND_HALF_SEC_IN_NS),
rclcpp::Duration::from_seconds(-1.5));
}
TEST_F(TestDuration, from_rmw_time) {
constexpr auto max_rcl_duration = std::numeric_limits<rcl_duration_value_t>::max();
{
rmw_time_t rmw_duration{};
rmw_duration.sec = RCL_NS_TO_S(max_rcl_duration) + 1uLL;
EXPECT_EQ(rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds(), max_rcl_duration);
}
{
rmw_time_t rmw_duration{};
rmw_duration.nsec = max_rcl_duration + 1uLL;
EXPECT_EQ(rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds(), max_rcl_duration);
}
{
rmw_time_t rmw_duration{};
rmw_duration.nsec = max_rcl_duration;
rmw_duration.sec = RCL_NS_TO_S(max_rcl_duration);
EXPECT_EQ(rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds(), max_rcl_duration);
}
{
rmw_time_t rmw_duration{};
rmw_duration.sec = 1u;
rmw_duration.nsec = 1000u;
EXPECT_EQ(
rclcpp::Duration::from_rmw_time(rmw_duration).nanoseconds(),
static_cast<rcl_duration_value_t>(RCL_S_TO_NS(rmw_duration.sec) + rmw_duration.nsec));
}
}
TEST_F(TestDuration, std_chrono_constructors) {
EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration(0.0s));
EXPECT_EQ(rclcpp::Duration(0ns), rclcpp::Duration(0s));
EXPECT_EQ(rclcpp::Duration(1, HALF_SEC_IN_NS), rclcpp::Duration(1.5s));
EXPECT_EQ(rclcpp::Duration(-1, 0), rclcpp::Duration(-1s));
}
TEST_F(TestDuration, conversions) {
{
auto duration = rclcpp::Duration::from_nanoseconds(HALF_SEC_IN_NS);
const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, 0);
EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), HALF_SEC_IN_NS);
const auto rmw_time = duration.to_rmw_time();
EXPECT_EQ(rmw_time.sec, 0u);
EXPECT_EQ(rmw_time.nsec, static_cast<uint64_t>(HALF_SEC_IN_NS));
const auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
EXPECT_EQ(chrono_duration.count(), HALF_SEC_IN_NS);
}
{
auto duration = rclcpp::Duration::from_nanoseconds(ONE_SEC_IN_NS);
const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, 1);
EXPECT_EQ(duration_msg.nanosec, 0u);
EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), ONE_SEC_IN_NS);
const auto rmw_time = duration.to_rmw_time();
EXPECT_EQ(rmw_time.sec, 1u);
EXPECT_EQ(rmw_time.nsec, 0u);
const auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
EXPECT_EQ(chrono_duration.count(), ONE_SEC_IN_NS);
}
{
auto duration = rclcpp::Duration::from_nanoseconds(ONE_AND_HALF_SEC_IN_NS);
auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, 1);
EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
auto rmw_time = duration.to_rmw_time();
EXPECT_EQ(rmw_time.sec, 1u);
EXPECT_EQ(rmw_time.nsec, static_cast<uint64_t>(HALF_SEC_IN_NS));
auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
EXPECT_EQ(chrono_duration.count(), ONE_AND_HALF_SEC_IN_NS);
}
{
auto duration = rclcpp::Duration::from_nanoseconds(-HALF_SEC_IN_NS);
auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, -1);
EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -HALF_SEC_IN_NS);
EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
EXPECT_EQ(chrono_duration.count(), -HALF_SEC_IN_NS);
}
{
auto duration = rclcpp::Duration::from_nanoseconds(-ONE_SEC_IN_NS);
auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, -1);
EXPECT_EQ(duration_msg.nanosec, 0u);
EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -ONE_SEC_IN_NS);
EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
EXPECT_EQ(chrono_duration.count(), -ONE_SEC_IN_NS);
}
{
auto duration = rclcpp::Duration::from_nanoseconds(-ONE_AND_HALF_SEC_IN_NS);
auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, -2);
EXPECT_EQ(duration_msg.nanosec, HALF_SEC_IN_NS);
EXPECT_EQ(rclcpp::Duration(duration_msg).nanoseconds(), -ONE_AND_HALF_SEC_IN_NS);
EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
EXPECT_EQ(chrono_duration.count(), -ONE_AND_HALF_SEC_IN_NS);
}
{
auto duration = rclcpp::Duration::from_nanoseconds(MAX_NANOSECONDS);
const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, std::numeric_limits<int32_t>::max());
EXPECT_EQ(duration_msg.nanosec, std::numeric_limits<uint32_t>::max());
auto rmw_time = duration.to_rmw_time();
EXPECT_EQ(rmw_time.sec, 9223372036u);
EXPECT_EQ(rmw_time.nsec, 854775807u);
auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
EXPECT_EQ(chrono_duration.count(), MAX_NANOSECONDS);
}
{
auto duration = rclcpp::Duration::from_nanoseconds(-MAX_NANOSECONDS);
const auto duration_msg = static_cast<builtin_interfaces::msg::Duration>(duration);
EXPECT_EQ(duration_msg.sec, std::numeric_limits<int32_t>::min());
EXPECT_EQ(duration_msg.nanosec, 0u);
EXPECT_THROW(duration.to_rmw_time(), std::runtime_error);
auto chrono_duration = duration.to_chrono<std::chrono::nanoseconds>();
EXPECT_EQ(chrono_duration.count(), -MAX_NANOSECONDS);
}
}
TEST_F(TestDuration, test_some_constructors) {
builtin_interfaces::msg::Duration duration_msg;
duration_msg.sec = 1;
duration_msg.nanosec = 1000;
rclcpp::Duration duration_from_msg(duration_msg);
EXPECT_EQ(RCL_S_TO_NS(1) + 1000, duration_from_msg.nanoseconds());
rcl_duration_t duration_struct;
duration_struct.nanoseconds = 4000;
rclcpp::Duration duration_from_struct(duration_struct);
EXPECT_EQ(4000, duration_from_struct.nanoseconds());
}
TEST_F(TestDuration, test_some_exceptions) {
rclcpp::Duration test_duration(0ns);
RCLCPP_EXPECT_THROW_EQ(
test_duration =
rclcpp::Duration::from_nanoseconds(INT64_MAX) - rclcpp::Duration(-1ns),
std::overflow_error("duration subtraction leads to int64_t overflow"));
RCLCPP_EXPECT_THROW_EQ(
test_duration = test_duration * (std::numeric_limits<double>::infinity()),
std::runtime_error("abnormal scale in rclcpp::Duration"));
}