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Make test multi threaded executor more reliable (#1105)

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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
This commit is contained in:
Ivan Santiago Paunovic 2020-05-14 14:32:23 -03:00 • committed by GitHub
parent 9f04391fbb
commit 0dd14baa32
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 5 additions and 5 deletions
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1
rclcpp/CMakeLists.txt
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@ -604,7 +604,6 @@ if(BUILD_TESTING)
ament_target_dependencies(test_multi_threaded_executor
"rcl")
target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
ament_add_test_label(test_multi_threaded_executor xfail)
endif()
ament_add_gtest(test_guard_condition test/test_guard_condition.cpp

9
rclcpp/test/executors/test_multi_threaded_executor.cpp
View file

@ -34,6 +34,10 @@ protected:
}
};
constexpr std::chrono::milliseconds PERIOD_MS = 1000ms;
constexpr double PERIOD = PERIOD_MS.count() / 1000.0;
constexpr double TOLERANCE = PERIOD / 4.0;
/*
Test that timers are not taken multiple times when using reentrant callback groups.
*/
@ -70,9 +74,6 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
// While this tolerance is a little wide, if the bug occurs, the next step will
// happen almost instantly. The purpose of this test is not to measure the jitter
// in timers, just assert that a reasonable amount of time has passed.
const double PERIOD = 0.1f;
const double TOLERANCE = 0.025f;
rclcpp::Time now = system_clock.now();
timer_count++;
@ -92,7 +93,7 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
}
};
auto timer = node->create_wall_timer(100ms, timer_callback, cbg);
auto timer = node->create_wall_timer(PERIOD_MS, timer_callback, cbg);
executor.add_node(node);
executor.spin();
}