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87 lines
1.9 KiB
C++
87 lines
1.9 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <gtest/gtest.h>
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#include <uavcan/time.hpp>
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TEST(Time, Monotonic)
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{
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using uavcan::MonotonicDuration;
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using uavcan::MonotonicTime;
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MonotonicTime m1;
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MonotonicTime m2 = MonotonicTime::fromMSec(1);
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MonotonicDuration md1 = m2 - m1; // 1000
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MonotonicDuration md2 = m1 - m2; // -1000
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ASSERT_EQ(0, m1.toUSec());
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ASSERT_EQ(1000, m2.toUSec());
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ASSERT_EQ(1000, md1.toUSec());
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ASSERT_EQ(-1000, md2.toUSec());
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ASSERT_LT(m1, m2);
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ASSERT_LE(m1, m2);
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ASSERT_NE(m1, m2);
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ASSERT_TRUE(m1.isZero());
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ASSERT_FALSE(m2.isZero());
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ASSERT_GT(md1, md2);
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ASSERT_GE(md1, md2);
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ASSERT_NE(md1, md2);
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ASSERT_FALSE(md1.isZero());
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ASSERT_TRUE(md1.isPositive());
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ASSERT_TRUE(md2.isNegative());
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ASSERT_EQ(0, (md1 + md2).toUSec());
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ASSERT_EQ(2000, (md1 - md2).toUSec());
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md1 *= 2; // 2000
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ASSERT_EQ(2000, md1.toUSec());
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md2 += md1; // md2 = -1000 + 2000
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ASSERT_EQ(1000, md2.toUSec());
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ASSERT_EQ(-1000, (-md2).toUSec());
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/*
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* To string
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*/
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ASSERT_EQ("0.000000", m1.toString());
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ASSERT_EQ("0.001000", m2.toString());
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ASSERT_EQ("0.002000", md1.toString());
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ASSERT_EQ("-0.001000", (-md2).toString());
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ASSERT_EQ("1001.000001", MonotonicTime::fromUSec(1001000001).toString());
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ASSERT_EQ("-1001.000001", MonotonicDuration::fromUSec(-1001000001).toString());
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}
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TEST(Time, Utc)
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{
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using uavcan::UtcDuration;
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using uavcan::UtcTime;
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using uavcan::Timestamp;
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Timestamp ts;
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ts.husec = 90;
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UtcTime u1(ts);
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ASSERT_EQ(9000, u1.toUSec());
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ts.husec *= 2;
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u1 = ts;
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ASSERT_EQ(18000, u1.toUSec());
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ts = UtcTime::fromUSec(12345678900);
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ASSERT_EQ(123456789, ts.husec);
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/*
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* To string
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*/
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ASSERT_EQ("0.018000", u1.toString());
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ASSERT_EQ("12345.678900", UtcTime(ts).toString());
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}
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