From 3df6f958f7faa7936a447f6a57af5e3e122b1c4b Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 30 Mar 2014 18:58:30 +0400
Subject: [PATCH] Added clock test, superheader uavcan_linux.hpp

---
 libuavcan_drivers/linux/CMakeLists.txt        |  6 +--
 .../include/uavcan_linux/uavcan_linux.hpp     | 10 +++++
 .../linux/test/log_subscriber.cpp             | 30 -------------
 libuavcan_drivers/linux/test/test_clock.cpp   | 43 +++++++++++++++++++
 4 files changed, 56 insertions(+), 33 deletions(-)
 create mode 100644 libuavcan_drivers/linux/include/uavcan_linux/uavcan_linux.hpp
 delete mode 100644 libuavcan_drivers/linux/test/log_subscriber.cpp
 create mode 100644 libuavcan_drivers/linux/test/test_clock.cpp

diff --git a/libuavcan_drivers/linux/CMakeLists.txt b/libuavcan_drivers/linux/CMakeLists.txt
index bd6a95280e..d4b9c4e567 100644
--- a/libuavcan_drivers/linux/CMakeLists.txt
+++ b/libuavcan_drivers/linux/CMakeLists.txt
@@ -18,6 +18,6 @@ find_library(UAVCAN_LIB uavcan REQUIRED)
 include_directories(include)
 set(CMAKE_CXX_FLAGS "-Wall -Wextra -Werror -pedantic -std=c++0x -g3 -O1")  # GCC or Clang
 
-add_executable(log_subscriber test/log_subscriber.cpp)
-target_link_libraries(log_subscriber ${UAVCAN_LIB})
-target_link_libraries(log_subscriber rt)
+add_executable(test_clock test/test_clock.cpp)
+target_link_libraries(test_clock ${UAVCAN_LIB})
+target_link_libraries(test_clock rt)
diff --git a/libuavcan_drivers/linux/include/uavcan_linux/uavcan_linux.hpp b/libuavcan_drivers/linux/include/uavcan_linux/uavcan_linux.hpp
new file mode 100644
index 0000000000..32428411f2
--- /dev/null
+++ b/libuavcan_drivers/linux/include/uavcan_linux/uavcan_linux.hpp
@@ -0,0 +1,10 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+
+#include <uavcan_linux/clock.hpp>
+#include <uavcan_linux/socketcan.hpp>
diff --git a/libuavcan_drivers/linux/test/log_subscriber.cpp b/libuavcan_drivers/linux/test/log_subscriber.cpp
deleted file mode 100644
index 2408265577..0000000000
--- a/libuavcan_drivers/linux/test/log_subscriber.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
-#include <iostream>
-#include <cerrno>
-#include <uavcan/uavcan.hpp>
-#include <uavcan_linux/socketcan.hpp>
-#include <uavcan_linux/clock.hpp>
-
-int main()
-{
-    double sec = 0;
-    std::cout << "Enter system time adjustment in seconds: " << std::endl;
-    std::cin >> sec;
-
-    uavcan_linux::SystemClockDriver clock;
-
-    try
-    {
-        clock.adjustUtc(uavcan::UtcDuration::fromUSec(sec * 1e6));
-    }
-    catch (const uavcan_linux::Exception& ex)
-    {
-        std::cout << ex.what() << std::endl;
-        std::cout << strerror(ex.getErrno()) << std::endl;
-    }
-
-    return 0;
-}
diff --git a/libuavcan_drivers/linux/test/test_clock.cpp b/libuavcan_drivers/linux/test/test_clock.cpp
new file mode 100644
index 0000000000..b2eca22eae
--- /dev/null
+++ b/libuavcan_drivers/linux/test/test_clock.cpp
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <iostream>
+#include <cerrno>
+#include <chrono>
+#include <uavcan_linux/uavcan_linux.hpp>
+
+static std::string systime2str(const std::chrono::system_clock::time_point& tp)
+{
+    const auto tt = std::chrono::system_clock::to_time_t(tp);
+    return std::ctime(&tt);
+}
+
+int main()
+{
+    double sec = 0;
+    std::cout << "Enter system time adjustment in seconds (fractions allowed): " << std::endl;
+    std::cin >> sec;
+
+    uavcan_linux::SystemClockDriver clock;
+
+    const auto before = std::chrono::system_clock::now();
+    try
+    {
+        clock.adjustUtc(uavcan::UtcDuration::fromUSec(sec * 1e6));
+    }
+    catch (const uavcan_linux::Exception& ex)
+    {
+        std::cout << ex.what() << std::endl;
+        std::cout << strerror(ex.getErrno()) << std::endl;
+        return 1;
+    }
+    const auto after = std::chrono::system_clock::now();
+
+    std::cout << "Time before: " << systime2str(before) << "\n"
+              << "Time after:  " << systime2str(after) << "\n"
+              << "Millisecond diff (after - before): "
+              << std::chrono::duration_cast<std::chrono::milliseconds>(after - before).count() << std::endl;
+
+    return 0;
+}