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Add test for 0ns wait on triggered guard condition (#169)

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dhood 2017-10-18 14:48:32 -07:00 • committed by GitHub
parent c6fe84ea54
commit 38d3725262
1 changed files with 33 additions and 0 deletions
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33
rcl/test/rcl/test_wait.cpp
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@ -162,6 +162,39 @@ TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
EXPECT_LE(diff, TOLERANCE); EXPECT_LE(diff, TOLERANCE);
} }
// Test rcl_wait with a timeout value of 0 (non-blocking) and an already triggered guard condition
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout_triggered_guard_condition) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 0, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
rcl_guard_condition_t guard_cond = rcl_get_zero_initialized_guard_condition();
ret = rcl_guard_condition_init(&guard_cond, rcl_guard_condition_get_default_options());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_add_guard_condition(&wait_set, &guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_trigger_guard_condition(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto scope_exit = make_scope_exit(
[&guard_cond, &wait_set]() {
rcl_ret_t ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
// Time spent during wait should be negligible.
int64_t timeout = 0;
std::chrono::steady_clock::time_point before_sc = std::chrono::steady_clock::now();
ret = rcl_wait(&wait_set, timeout);
std::chrono::steady_clock::time_point after_sc = std::chrono::steady_clock::now();
// We don't expect a timeout here (since the guard condition had already been triggered)
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
EXPECT_LE(diff, TOLERANCE);
}
// Check that a canceled timer doesn't wake up rcl_wait // Check that a canceled timer doesn't wake up rcl_wait
TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) { TEST_F(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), canceled_timer) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();