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tests for rcl_wait (#45)

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* Add tests for rcl_wait and fix for timers
This commit is contained in:
Jackie Kay 2016-04-18 18:03:51 -07:00
parent 5a2d6cca73
commit b3db5ee364
2 changed files with 155 additions and 17 deletions
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11
rcl/src/rcl/wait.c
View file

@ -521,17 +521,16 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
temporary_timeout_storage.sec = 0;
temporary_timeout_storage.nsec = 0;
timeout_argument = &temporary_timeout_storage;
} else if (timeout > 0) {
int64_t min_timeout = INT64_MAX;
} else if (timeout > 0 || wait_set->size_of_timers > 0) {
int64_t min_timeout = timeout > 0 ? timeout : INT64_MAX;
// Compare the timeout to the time until next callback for each timer.
min_timeout = timeout;
// Take the lowest and use that for the wait timeout.
uint64_t i = 0;
for (i = 0; i < wait_set->size_of_timers; ++i) {
if (!wait_set->timers[i]) {
continue; // Skip NULL timers.
}
int64_t timer_timeout;
int64_t timer_timeout = INT64_MAX;
rcl_ret_t ret = rcl_timer_get_time_until_next_call(wait_set->timers[i], &timer_timeout);
if (ret != RCL_RET_OK) {
return ret; // The rcl error state should already be set.
@ -540,9 +539,6 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
min_timeout = timer_timeout;
}
}
if (min_timeout == INT64_MAX) {
timeout_argument = NULL;
} else {
// If min_timeout was negative, we need to wake up immediately.
if (min_timeout < 0) {
min_timeout = 0;
@ -551,7 +547,6 @@ rcl_wait(rcl_wait_set_t * wait_set, int64_t timeout)
temporary_timeout_storage.nsec = min_timeout % 1000000000;
timeout_argument = &temporary_timeout_storage;
}
}
// Wait.
rmw_ret_t ret = rmw_wait(

149
rcl/test/rcl/test_wait.cpp
View file

@ -12,9 +12,13 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <chrono>
#include <future>
#include <thread>
#include <gtest/gtest.h>
#include "gtest/gtest.h"
#include "../scope_exit.hpp"
#include "rcl/rcl.h"
#include "rcl/error_handling.h"
#include "rcl/wait.h"
@ -27,17 +31,156 @@
#endif
#define TOLERANCE RCL_MS_TO_NS(6)
TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), test_resize_to_zero) {
// Initialize a waitset with a subscription and then resize it to zero.
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_resize_subscriptions(&wait_set, 0);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
EXPECT_EQ(wait_set.size_of_subscriptions, 0);
ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
// Test rcl_wait with a positive finite timeout value (1ms)
TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), finite_timeout) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
int64_t timeout = RCL_MS_TO_NS(10); // nanoseconds
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();
// Check time
int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
EXPECT_LE(diff, timeout + TOLERANCE);
ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
// Check that a timer overrides a negative timeout value (blocking forever)
TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), negative_timeout) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// Add a dummy guard condition to avoid an error
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();
rcl_timer_t timer = rcl_get_zero_initialized_timer();
ret = rcl_timer_init(&timer, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_wait_set_add_timer(&wait_set, &timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
auto scope_exit = make_scope_exit([&guard_cond, &wait_set, &timer]() {
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();
ret = rcl_timer_fini(&timer);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
});
int64_t timeout = -1;
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 expect a timeout here (timer value reached)
ASSERT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string_safe();
// Check time
int64_t diff = std::chrono::duration_cast<std::chrono::nanoseconds>(after_sc - before_sc).count();
EXPECT_LE(diff, RCL_MS_TO_NS(10) + TOLERANCE);
}
// Test rcl_wait with a timeout value of 0 (non-blocking)
TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), zero_timeout) {
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret = rcl_wait_set_init(&wait_set, 0, 1, 1, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
// Add a dummy guard condition to avoid an error
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();
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 expect a timeout here (timer value reached)
ASSERT_EQ(RCL_RET_TIMEOUT, 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 the interaction of a guard condition and a negative timeout by
// triggering a guard condition in a separate thread
TEST(CLASSNAME(WaitSetTestFixture, RMW_IMPLEMENTATION), 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();
auto scope_exit = make_scope_exit([&wait_set, &guard_cond]() {
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_guard_condition_fini(&guard_cond);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
);
std::promise<rcl_ret_t> p;
int64_t timeout = -1;
std::chrono::nanoseconds trigger_diff;
std::thread trigger_thread([&p, &guard_cond, &trigger_diff]() {
std::chrono::steady_clock::time_point before_trigger = std::chrono::steady_clock::now();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
rcl_ret_t ret = rcl_trigger_guard_condition(&guard_cond);
std::chrono::steady_clock::time_point after_trigger = std::chrono::steady_clock::now();
trigger_diff = std::chrono::duration_cast<std::chrono::nanoseconds>(
after_trigger - before_trigger);
p.set_value(ret);
}
);
auto f = p.get_future();
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();
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();
trigger_thread.join();
EXPECT_EQ(RCL_RET_OK, f.get());
EXPECT_LE(std::abs(diff - trigger_diff.count()), TOLERANCE);
}