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initialize the global context to avoid runtime_error upon destruction #128

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merged 2 commits into from
Nov 13, 2023
Merged

initialize the global context to avoid runtime_error upon destruction #128

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e1a8720
initialize the global context to avoid runtime_error upon destruction
saikishor Nov 7, 2023
4e7e574
scope the RealtimeClock to have a valid rclcpp global context upon de…
saikishor Nov 7, 2023
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25 changes: 15 additions & 10 deletions test/realtime_clock_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,19 +38,24 @@ using realtime_tools::RealtimeClock;

TEST(RealtimeClock, get_system_time)
{
// initialize the global context
rclcpp::init(0, nullptr);
const int ATTEMPTS = 10;
const std::chrono::milliseconds DELAY(1);

rclcpp::Clock::SharedPtr clock(new rclcpp::Clock());
RealtimeClock rt_clock(clock);
// Wait for time to be available
rclcpp::Time last_rt_time;
for (int i = 0; i < ATTEMPTS && rclcpp::Time() == last_rt_time; ++i) {
std::this_thread::sleep_for(DELAY);
last_rt_time = rt_clock.now(rclcpp::Time());
}
ASSERT_NE(rclcpp::Time(), last_rt_time);
{
RealtimeClock rt_clock(clock);
// Wait for time to be available
rclcpp::Time last_rt_time;
for (int i = 0; i < ATTEMPTS && rclcpp::Time() == last_rt_time; ++i) {
std::this_thread::sleep_for(DELAY);
last_rt_time = rt_clock.now(rclcpp::Time());
}
ASSERT_NE(rclcpp::Time(), last_rt_time);

// This test assumes system time will not jump backwards during it
EXPECT_GT(rt_clock.now(last_rt_time), last_rt_time);
// This test assumes system time will not jump backwards during it
EXPECT_GT(rt_clock.now(last_rt_time), last_rt_time);
}
rclcpp::shutdown();
}
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