Merge pull request #182 from ros2/rate_tests

Add unit tests for rclcpp Rate objects
This commit is contained in:
Tully Foote 2015-12-18 10:21:59 -08:00
commit 4d47ef30ae
3 changed files with 115 additions and 3 deletions

View file

@ -102,6 +102,17 @@ if(AMENT_ENABLE_TESTING)
${rosidl_generator_cpp_INCLUDE_DIRS}
)
endif()
ament_add_gtest(test_rate test/test_rate.cpp)
if(TARGET test_rate)
target_include_directories(test_rate PUBLIC
${rcl_interfaces_INCLUDE_DIRS}
${rmw_INCLUDE_DIRS}
${rosidl_generator_cpp_INCLUDE_DIRS}
)
target_link_libraries(test_rate
${PROJECT_NAME}${target_suffix}
)
endif()
endif()
ament_package(

View file

@ -34,7 +34,7 @@ public:
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(RateBase);
virtual bool sleep() = 0;
virtual bool is_steady() = 0;
virtual bool is_steady() const = 0;
virtual void reset() = 0;
};
@ -89,7 +89,7 @@ public:
}
virtual bool
is_steady()
is_steady() const
{
return Clock::is_steady;
}
@ -109,7 +109,8 @@ private:
RCLCPP_DISABLE_COPY(GenericRate);
std::chrono::nanoseconds period_;
std::chrono::time_point<Clock> last_interval_;
using ClockDurationNano = std::chrono::duration<typename Clock::rep, std::nano>;
std::chrono::time_point<Clock, ClockDurationNano> last_interval_;
};
using Rate = GenericRate<std::chrono::system_clock>;

100
rclcpp/test/test_rate.cpp Normal file
View file

@ -0,0 +1,100 @@
// Copyright 2015 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.
#include <gtest/gtest.h>
#include <string>
#include "rclcpp/rate.hpp"
/*
Basic tests for the Rate and WallRate clases.
*/
TEST(TestRate, rate_basics) {
auto period = std::chrono::milliseconds(100);
auto offset = std::chrono::milliseconds(50);
auto epsilon = std::chrono::milliseconds(1);
double overrun_ratio = 1.5;
auto start = std::chrono::system_clock::now();
rclcpp::rate::Rate r(period);
ASSERT_FALSE(r.is_steady());
ASSERT_TRUE(r.sleep());
auto one = std::chrono::system_clock::now();
auto delta = one - start;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset);
ASSERT_TRUE(r.sleep());
auto two = std::chrono::system_clock::now();
delta = two - one;
ASSERT_TRUE(period < delta + epsilon);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset);
auto two_offset = std::chrono::system_clock::now();
r.reset();
ASSERT_TRUE(r.sleep());
auto three = std::chrono::system_clock::now();
delta = three - two_offset;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset + period);
auto four = std::chrono::system_clock::now();
ASSERT_FALSE(r.sleep());
auto five = std::chrono::system_clock::now();
delta = five - four;
ASSERT_TRUE(epsilon > delta);
}
TEST(TestRate, wall_rate_basics) {
auto period = std::chrono::milliseconds(100);
auto offset = std::chrono::milliseconds(50);
auto epsilon = std::chrono::milliseconds(1);
double overrun_ratio = 1.5;
auto start = std::chrono::system_clock::now();
rclcpp::rate::WallRate r(period);
ASSERT_TRUE(r.is_steady());
ASSERT_TRUE(r.sleep());
auto one = std::chrono::system_clock::now();
auto delta = one - start;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset);
ASSERT_TRUE(r.sleep());
auto two = std::chrono::system_clock::now();
delta = two - one;
ASSERT_TRUE(period < delta + epsilon);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset);
auto two_offset = std::chrono::system_clock::now();
r.reset();
ASSERT_TRUE(r.sleep());
auto three = std::chrono::system_clock::now();
delta = three - two_offset;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset + period);
auto four = std::chrono::system_clock::now();
ASSERT_FALSE(r.sleep());
auto five = std::chrono::system_clock::now();
delta = five - four;
ASSERT_TRUE(epsilon > delta);
}