64 lines
2.7 KiB
C++
64 lines
2.7 KiB
C++
// Copyright (C) 2019 Matthew Pitropov, Joshua Whitley
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// All rights reserved.
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//
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// Software License Agreement (BSD License 2.0)
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following
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// disclaimer in the documentation and/or other materials provided
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// with the distribution.
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// * Neither the name of {copyright_holder} nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include "velodyne_driver/time_conversion.hpp"
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#include <ros/time.h>
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#include <gtest/gtest.h>
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TEST(TimeConversion, BytesToTimestamp)
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{
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ros::Time::init();
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ros::Time ros_stamp = ros::Time::now();
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// get the seconds past the hour and multiply by 1million to convert to microseconds
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// divide nanoseconds by 1000 to convert to microseconds
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uint32_t since_the_hour = ((ros_stamp.sec % 3600) * 1000000) + ros_stamp.nsec / 1000;
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uint8_t native_format[4];
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native_format[0] = 0xFF & since_the_hour;
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native_format[1] = 0xFF & (((uint32_t)since_the_hour) >> 8);
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native_format[2] = 0xFF & (((uint32_t)since_the_hour) >> 16);
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native_format[3] = 0xFF & (((uint32_t)since_the_hour) >> 24);
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ros::Time ros_stamp_converted = rosTimeFromGpsTimestamp(native_format);
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ASSERT_EQ(ros_stamp_converted.sec, ros_stamp.sec);
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ASSERT_NEAR(ros_stamp_converted.nsec, ros_stamp.nsec, 1000);
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}
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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int ret = RUN_ALL_TESTS();
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return ret;
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}
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