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Project: engagement_recognition License: BSD Dependencies:
Used by:
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engagement_recognition/test/lib/engagement_macros_test.cppGo to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Worcester Polytechnic Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Worcester Polytechnic Institute. nor the names 00018 * of its contributors may be used to endorse or promote products 00019 * derived from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 #include <gtest/gtest.h> 00035 00036 #include <ros/ros.h> 00037 #include "../src/recognition/lib/engagement_params.h" 00038 #include "../src/recognition/lib/engagement_macros.h" 00039 00043 TEST(EngagementMacrosTestSuite, testCurrentTime) 00044 { 00045 int threshold = 7; 00046 long start = CURRENT_TIME; 00047 int duration = 5; 00048 00049 bool run_test = true; 00050 00051 // Grab the conf node handle 00052 ros::NodeHandle *conf = EngagementParams::getConfHandle(); 00053 00054 // Attempt to grab the param from the server 00055 if (conf) 00056 conf->param("run_sleep_tests", run_test, true); 00057 00058 // Do not run the below tests if the param is false 00059 if (!run_test) 00060 return; 00061 00062 printf("Sleeping for %d seconds.\n", duration); 00063 sleep(duration); 00064 00065 long now = CURRENT_TIME; 00066 00067 EXPECT_TRUE(DURATION_PASSED(start, duration * 1000)); 00068 EXPECT_TRUE(DURATION_PASSED(start, (duration - 1) * 1000)); 00069 EXPECT_FALSE(DURATION_PASSED(start, (duration + 1) * 1000)); 00070 00071 EXPECT_TRUE(duration_passed(start, duration * 1000)); 00072 EXPECT_TRUE(duration_passed(start, (duration - 1) * 1000)); 00073 EXPECT_FALSE(duration_passed(start, (duration + 1) * 1000)); 00074 00075 EXPECT_TRUE(abs(now - start) <= (duration * 1000) + threshold); 00076 00077 start = current_milliseconds(); 00078 duration = 3; 00079 00080 printf("Sleeping for %d seconds.\n", duration); 00081 sleep(duration); 00082 00083 now = CURRENT_TIME; 00084 00085 EXPECT_TRUE(DURATION_PASSED(start, duration * 1000)); 00086 EXPECT_TRUE(DURATION_PASSED(start, (duration - 1) * 1000)); 00087 EXPECT_FALSE(DURATION_PASSED(start, (duration + 1) * 1000)); 00088 00089 EXPECT_TRUE(duration_passed(start, duration * 1000)); 00090 EXPECT_TRUE(duration_passed(start, (duration - 1) * 1000)); 00091 EXPECT_FALSE(duration_passed(start, (duration + 1) * 1000)); 00092 00093 EXPECT_TRUE(abs(now - start) <= (duration * 1000) + threshold); 00094 } |