robot_time/test/walltime_standalone_test.cpp

/*********************************************************************
 * Standalone WallTime Library Test
 * 
 * Test file for the header-only WallTime library
 *********************************************************************/

#include <robot/walltime.h>
#include <iostream>
#include <cassert>
#include <cmath>

void test_walltime_basic()
{
    std::cout << "Testing basic WallTime operations..." << std::endl;
    
    // Test default constructor
    robot::WallTime t1;
    assert(t1.sec == 0);
    assert(t1.nsec == 0);
    assert(t1.isZero());
    
    // Test constructor with values
    robot::WallTime t2(1234567890, 123456789);
    assert(t2.sec == 1234567890);
    assert(t2.nsec == 123456789);
    
    // Test constructor from double
    robot::WallTime t3(1234567890.123456789);
    assert(std::abs(t3.toSec() - 1234567890.123456789) < 1e-6);
    
    std::cout << "  ✓ Basic operations passed" << std::endl;
}

void test_walltime_now()
{
    std::cout << "Testing WallTime::now()..." << std::endl;
    
    robot::WallTime t1 = robot::WallTime::now();
    robot::WallTime t2 = robot::WallTime::now();
    
    // t2 should be >= t1
    assert(t2 >= t1);
    
    // Should be system time
    assert(robot::WallTime::isSystemTime());
    
    std::cout << "  ✓ WallTime::now() passed" << std::endl;
}

void test_wallduration_basic()
{
    std::cout << "Testing basic WallDuration operations..." << std::endl;
    
    // Test default constructor
    robot::WallDuration d1;
    assert(d1.sec == 0);
    assert(d1.nsec == 0);
    assert(d1.isZero());
    
    // Test constructor with values
    robot::WallDuration d2(5, 123456789);
    assert(d2.sec == 5);
    assert(d2.nsec == 123456789);
    
    // Test constructor from double
    robot::WallDuration d3(5.123456789);
    assert(std::abs(d3.toSec() - 5.123456789) < 1e-6);
    
    std::cout << "  ✓ Basic operations passed" << std::endl;
}

void test_wallduration_normalize()
{
    std::cout << "Testing WallDuration normalization..." << std::endl;
    
    // Test overflow nanoseconds
    robot::WallDuration d1(0, 2000000000);
    assert(d1.sec == 2);
    assert(d1.nsec == 0);
    
    // Test negative nanoseconds
    robot::WallDuration d2(5, -500000000);
    assert(d2.sec == 4);
    assert(d2.nsec == 500000000);
    
    std::cout << "  ✓ Normalization passed" << std::endl;
}

void test_arithmetic()
{
    std::cout << "Testing arithmetic operations..." << std::endl;
    
    robot::WallTime t1(1000, 0);
    robot::WallDuration d1(5, 0);
    
    // Test addition
    robot::WallTime t2 = t1 + d1;
    assert(t2.sec == 1005);
    assert(t2.nsec == 0);
    
    // Test subtraction
    robot::WallTime t3 = t2 - d1;
    assert(t3.sec == 1000);
    assert(t3.nsec == 0);
    
    // Test duration subtraction
    robot::WallDuration d2 = t2 - t1;
    assert(d2.sec == 5);
    assert(d2.nsec == 0);
    
    // Test compound assignment
    robot::WallTime t4 = t1;
    t4 += d1;
    assert(t4.sec == 1005);
    
    t4 -= d1;
    assert(t4.sec == 1000);
    
    std::cout << "  ✓ Arithmetic operations passed" << std::endl;
}

void test_comparison()
{
    std::cout << "Testing comparison operations..." << std::endl;
    
    robot::WallTime t1(1000, 0);
    robot::WallTime t2(1000, 500000000);
    robot::WallTime t3(2000, 0);
    
    // Test equality
    assert(t1 == t1);
    assert(t1 != t2);
    
    // Test less than
    assert(t1 < t2);
    assert(t1 < t3);
    
    // Test greater than
    assert(t2 > t1);
    assert(t3 > t1);
    
    // Test less than or equal
    assert(t1 <= t1);
    assert(t1 <= t2);
    
    // Test greater than or equal
    assert(t2 >= t1);
    assert(t2 >= t2);
    
    std::cout << "  ✓ Comparison operations passed" << std::endl;
}

void test_conversion()
{
    std::cout << "Testing conversion operations..." << std::endl;
    
    robot::WallTime t(1234567890, 123456789);
    
    // Test toSec
    double seconds = t.toSec();
    assert(std::abs(seconds - 1234567890.123456789) < 1e-6);
    
    // Test toNSec
    uint64_t nanoseconds = t.toNSec();
    assert(nanoseconds == 1234567890123456789ULL);
    
    // Test fromSec
    robot::WallTime t2;
    t2.fromSec(1234567890.123456789);
    assert(std::abs(t2.toSec() - 1234567890.123456789) < 1e-6);
    
    // Test fromNSec
    robot::WallTime t3;
    t3.fromNSec(1234567890123456789ULL);
    assert(t3.sec == 1234567890);
    assert(t3.nsec == 123456789);
    
    std::cout << "  ✓ Conversion operations passed" << std::endl;
}

void test_sleep()
{
    std::cout << "Testing sleep operations..." << std::endl;
    
    robot::WallTime start = robot::WallTime::now();
    
    // Test WallDuration::sleep()
    robot::WallDuration sleep_duration(0.1);  // 100ms
    bool sleep_result = sleep_duration.sleep();
    assert(sleep_result);
    
    robot::WallTime end = robot::WallTime::now();
    robot::WallDuration elapsed = end - start;
    
    // Should have slept at least 100ms
    assert(elapsed.toSec() >= 0.09);  // Allow some tolerance
    
    // Test WallTime::sleepUntil()
    robot::WallTime target = robot::WallTime::now() + robot::WallDuration(0.1);
    bool sleep_until_result = robot::WallTime::sleepUntil(target);
    assert(sleep_until_result);
    
    robot::WallTime after = robot::WallTime::now();
    assert(after >= target);
    
    std::cout << "  ✓ Sleep operations passed" << std::endl;
}

void test_measurement()
{
    std::cout << "Testing time measurement..." << std::endl;
    
    robot::WallTime start = robot::WallTime::now();
    
    // Simulate some work
    double sum = 0.0;
    for (int i = 0; i < 100000; ++i)
    {
        sum += i;
    }
    
    robot::WallTime end = robot::WallTime::now();
    robot::WallDuration elapsed = end - start;
    
    // Should have taken some time
    assert(elapsed.toSec() >= 0.0);
    assert(elapsed.toSec() < 1.0);  // Should be fast
    
    std::cout << "  ✓ Time measurement passed (elapsed: " << elapsed.toSec() << "s)" << std::endl;
}

void test_constants()
{
    std::cout << "Testing constants..." << std::endl;
    
    // Test WallTime constants
    assert(robot::WallTime::ZERO.isZero());
    assert(robot::WallTime::MAX > robot::WallTime::ZERO);
    assert(robot::WallTime::MIN < robot::WallTime::MAX);
    
    // Test WallDuration constants
    assert(robot::WallDuration::ZERO.isZero());
    assert(robot::WallDuration::MAX > robot::WallDuration::ZERO);
    assert(robot::WallDuration::MIN < robot::WallDuration::ZERO);
    
    std::cout << "  ✓ Constants passed" << std::endl;
}

int main()
{
    std::cout << "========================================" << std::endl;
    std::cout << "WallTime Standalone Library Tests" << std::endl;
    std::cout << "========================================" << std::endl;
    
    try
    {
        test_walltime_basic();
        test_walltime_now();
        test_wallduration_basic();
        test_wallduration_normalize();
        test_arithmetic();
        test_comparison();
        test_conversion();
        test_sleep();
        test_measurement();
        test_constants();
        
        std::cout << "\n========================================" << std::endl;
        std::cout << "All tests passed!" << std::endl;
        std::cout << "========================================" << std::endl;
        
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "Test failed with exception: " << e.what() << std::endl;
        return 1;
    }
}