first commit 1437_31102025

test/duration.cpp

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+/*
+ * Copyright (c) 2016, Open Source Robotics Foundation, Inc..
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <limits>
+
+#include <gtest/gtest.h>
+#include <robot/duration.h>
+#include <robot/time.h>
+
+using namespace robot;
+
+TEST(Duration, sleepWithSimTime)
+{
+  robot::Time::init();
+
+  Time start = Time::now();
+  start -= Duration(2.0);
+  Time::setNow(start);
+
+  Time::shutdown();
+
+  Duration d(1.0);
+  bool rc = d.sleep();
+  ASSERT_FALSE(rc);
+}
+
+TEST(Duration, castFromDoubleExceptions)
+{
+  robot::Time::init();
+
+  Duration d1, d2, d3, d4, d5, d6, d7, d8, d9;
+  // Valid values to cast, must not throw exceptions
+  EXPECT_NO_THROW(d1.fromSec(-2147483648.0));
+  EXPECT_NO_THROW(d2.fromSec(-2147483647.999999));
+  EXPECT_NO_THROW(d3.fromSec(2147483647.0));
+  EXPECT_NO_THROW(d4.fromSec(2147483647.999999));
+
+  // The next casts all incorrect.
+  EXPECT_THROW(d1.fromSec(2147483648.0), std::runtime_error);
+  EXPECT_THROW(d2.fromSec(6442450943.0), std::runtime_error);  // It's 2^31 - 1 + 2^32, and it could pass the test.
+  EXPECT_THROW(d3.fromSec(-2147483648.001), std::runtime_error);
+  EXPECT_THROW(d4.fromSec(-6442450943.0), std::runtime_error);
+  EXPECT_THROW(d5.fromSec(std::numeric_limits<double>::infinity()), std::runtime_error);
+  EXPECT_THROW(d6.fromSec(-std::numeric_limits<double>::infinity()), std::runtime_error);
+  EXPECT_THROW(d7.fromSec(std::numeric_limits<double>::quiet_NaN()), std::runtime_error);
+  // max int64 value is 9223372036854775807
+  EXPECT_THROW(d8.fromSec(9223372036854775808.0), std::runtime_error); 
+  EXPECT_THROW(d9.fromSec(-9223372036854775809.0), std::runtime_error);
+}
+
+TEST(Duration, castFromInt64Exceptions)
+{
+  robot::Time::init();
+
+  Duration d1, d2, d3, d4;
+  // Valid values to cast, must not throw exceptions
+  EXPECT_NO_THROW(d1.fromNSec(-2147483648000000000));
+  EXPECT_NO_THROW(d2.fromNSec(-2147483647999999999));
+  EXPECT_NO_THROW(d3.fromNSec(2147483647000000000));
+  EXPECT_NO_THROW(d4.fromNSec(2147483647999999999));
+
+  // The next casts all incorrect.
+  EXPECT_THROW(d1.fromSec(2147483648000000000), std::runtime_error);
+  EXPECT_THROW(d2.fromSec(4294967296000000000), std::runtime_error);
+  EXPECT_THROW(d3.fromSec(-2147483648000000001), std::runtime_error);
+  EXPECT_THROW(d4.fromSec(-6442450943000000000), std::runtime_error);
+}
+
+TEST(Duration, arithmeticExceptions)
+{
+  robot::Time::init();
+
+  Duration d1(2147483647, 0);
+  Duration d2(2147483647, 999999999);
+  EXPECT_THROW(d1 + d2, std::runtime_error);
+
+  Duration d3(-2147483648, 0);
+  Duration d4(2147483647, 0);
+  EXPECT_THROW(d3 - d4, std::runtime_error);
+  EXPECT_THROW(d4 - d3, std::runtime_error);
+
+  Duration d5(-2147483647, 1);
+  Duration d6(-2, 999999999);
+  Duration d7;
+  EXPECT_NO_THROW(d7 = d5 + d6);
+  EXPECT_EQ(-2147483648000000000, d7.toNSec());
+}
+
+TEST(Duration, negativeSignExceptions)
+{
+  robot::Time::init();
+
+  Duration d1(2147483647, 0);
+  Duration d2(2147483647, 999999999);
+  Duration d3;
+  EXPECT_NO_THROW(d3 = -d1);
+  EXPECT_EQ(-2147483647000000000, d3.toNSec());
+  EXPECT_NO_THROW(d3 = -d2);
+  EXPECT_EQ(-2147483647999999999, d3.toNSec());
+
+  Duration d4(-2147483647, 0);
+  Duration d5(-2147483648, 999999999);
+  Duration d6(-2147483648, 2);
+  Duration d7;
+  EXPECT_NO_THROW(d7 = -d4);
+  EXPECT_EQ(2147483647000000000, d7.toNSec());
+  EXPECT_NO_THROW(d7 = -d5);
+  EXPECT_EQ(2147483647000000001, d7.toNSec());
+  EXPECT_NO_THROW(d7 = -d6);
+  EXPECT_EQ(2147483647999999998, d7.toNSec());
+}
+
+TEST(Duration, rounding)
+{
+  robot::Time::init();
+
+  Duration d1(49.0000000004);
+  EXPECT_EQ(49, d1.sec);
+  EXPECT_EQ(0, d1.nsec);
+  Duration d2(-49.0000000004);
+  EXPECT_EQ(-49, d2.sec);
+  EXPECT_EQ(0, d2.nsec);
+
+  Duration d3(49.0000000006);
+  EXPECT_EQ(49, d3.sec);
+  EXPECT_EQ(1, d3.nsec);
+  Duration d4(-49.0000000006);
+  EXPECT_EQ(-50, d4.sec);
+  EXPECT_EQ(999999999, d4.nsec);
+
+  Duration d5(49.9999999994);
+  EXPECT_EQ(49, d5.sec);
+  EXPECT_EQ(999999999, d5.nsec);
+  Duration d6(-49.9999999994);
+  EXPECT_EQ(-50, d6.sec);
+  EXPECT_EQ(1, d6.nsec);
+
+  Duration d7(49.9999999996);
+  EXPECT_EQ(50, d7.sec);
+  EXPECT_EQ(0, d7.nsec);
+  Duration d8(-49.9999999996);
+  EXPECT_EQ(-50, d8.sec);
+  EXPECT_EQ(0, d8.nsec);
+}
+
+int main(int argc, char **argv){
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}