# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import unittest

from rclpy.constants import S_TO_NS
import rclpy.utilities


class TestUtilities(unittest.TestCase):

    def test_timeout_sec_to_nsec(self):
        self.assertGreater(0, rclpy.utilities.timeout_sec_to_nsec(None))
        self.assertGreater(0, rclpy.utilities.timeout_sec_to_nsec(-1))
        self.assertEqual(0, rclpy.utilities.timeout_sec_to_nsec(0))
        self.assertEqual(0, rclpy.utilities.timeout_sec_to_nsec(0.5 / S_TO_NS))
        self.assertEqual(int(1.5 * S_TO_NS), rclpy.utilities.timeout_sec_to_nsec(1.5))


if __name__ == '__main__':
    unittest.main()
