test_clock.cpp

00001 /*
00002  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #include <iostream>
00006 #include <cerrno>
00007 #include <chrono>
00008 #include <uavcan_linux/uavcan_linux.hpp>
00009 
00010 static std::string systime2str(const std::chrono::system_clock::time_point& tp)
00011 {
00012     const auto tt = std::chrono::system_clock::to_time_t(tp);
00013     return std::ctime(&tt);
00014 }
00015 
00016 int main()
00017 {
00018     uavcan_linux::SystemClock clock;
00019 
00020     /*
00021      * Auto-detected clock adjustment mode
00022      */
00023     std::cout << "Clock adjustment mode: ";
00024     switch (clock.getAdjustmentMode())
00025     {
00026     case uavcan_linux::ClockAdjustmentMode::SystemWide:
00027     {
00028         std::cout << "SystemWide";
00029         break;
00030     }
00031     case uavcan_linux::ClockAdjustmentMode::PerDriverPrivate:
00032     {
00033         std::cout << "PerDriverPrivate";
00034         break;
00035     }
00036     default:
00037     {
00038         std::abort();
00039         break;
00040     }
00041     }
00042     std::cout << std::endl;
00043 
00044     /*
00045      * Test adjustment
00046      */
00047     double sec = 0;
00048     std::cout << "Enter system time adjustment in seconds (fractions allowed): " << std::endl;
00049     std::cin >> sec;
00050 
00051     const auto before = std::chrono::system_clock::now();
00052     try
00053     {
00054         clock.adjustUtc(uavcan::UtcDuration::fromUSec(sec * 1e6));
00055     }
00056     catch (const uavcan_linux::Exception& ex)
00057     {
00058         std::cout << ex.what() << std::endl;
00059         std::cout << strerror(ex.getErrno()) << std::endl;
00060         return 1;
00061     }
00062     const auto after = std::chrono::system_clock::now();
00063 
00064     std::cout << "Time before: " << systime2str(before) << "\n"
00065               << "Time after:  " << systime2str(after) << "\n"
00066               << "Millisecond diff (after - before): "
00067               << std::chrono::duration_cast<std::chrono::milliseconds>(after - before).count() << std::endl;
00068 
00069     return 0;
00070 }