Merge pull request #3098 from traversaro/addnetworkclocktest

Add test for NetworkClock

src/libYARP_os/tests/CMakeLists.txt

@@ -19,6 +19,7 @@ target_sources(harness_os PRIVATE
   LogTest.cpp
   MessageStackTest.cpp
   NetTypeTest.cpp
+  NetworkClockTest.cpp
   NetworkTest.cpp
   NodeTest.cpp
   PeriodicThreadTest.cpp

src/libYARP_os/tests/NetworkClockTest.cpp

@@ -0,0 +1,67 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/os/Bottle.h>
+#include <yarp/os/BufferedPort.h>
+#include <yarp/os/Network.h>
+#include <yarp/os/NetworkClock.h>
+#include <yarp/os/SystemClock.h>
+
+#include <cstdlib>
+#include <cstring>
+
+#include <catch2/catch_amalgamated.hpp>
+#include <harness.h>
+
+using namespace yarp::os;
+
+TEST_CASE("os::NetworkClockTest", "[yarp::os]")
+{
+    NetworkBase::setLocalMode(true);
+
+    SECTION("checking network clock reads correctly")
+    {
+        std::string nameOfClockPortUsedForTest = "/nameOfClockPortUsedForTest";
+
+        // Open port in which we publish the clock
+        BufferedPort<Bottle> clockPort;
+        CHECK(clockPort.open(nameOfClockPortUsedForTest));
+
+        // Publish 24.0 seconds to the clock
+        Bottle& b = clockPort.prepare();
+        b.clear();
+        b.addInt32(24);
+        b.addInt32(0);
+        clockPort.write();
+
+        // Open network clock
+        yarp::os::NetworkClock netClock;
+        CHECK(netClock.open(nameOfClockPortUsedForTest));
+
+        // Check that the network clock returns timePublished, at least after some attempts
+        bool clockNowReturnedExpecteValue = false;
+        for(size_t i=0; i < 1000; i++)
+        {
+            // Publish the time timePublished
+            b = clockPort.prepare();
+            b.clear();
+            int32_t timePublished = 42;
+            b.addInt32(timePublished);
+            b.addInt32(0);
+            clockPort.write();
+
+            // Check if it has been received
+            if (netClock.now() == static_cast<double>(timePublished))
+            {
+                clockNowReturnedExpecteValue = true;
+                break;
+            }
+            yarp::os::SystemClock::delaySystem(0.01);
+        }
+
+        CHECK(clockNowReturnedExpecteValue);
+    }
+
+}