niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

updating tests to be less vulnerable to load

Browse source
This commit is contained in:
Tully Foote 2015-12-17 18:00:57 -08:00
parent aa818076f8
commit ebdf394dfa
1 changed files with 28 additions and 20 deletions
Download patch file Download diff file Expand all files Collapse all files

48
rclcpp/test/test_rate.cpp
View file

@ -23,54 +23,62 @@
*/
TEST(TestRate, rate_basics) {
auto period = std::chrono::milliseconds(100);
auto delta = std::chrono::milliseconds(10);
auto offset = std::chrono::milliseconds(50);
double overrun_ratio = 1.5;
auto start = std::chrono::system_clock::now();
rclcpp::rate::Rate r(period);
ASSERT_FALSE(r.is_steady());
r.sleep();
auto one = std::chrono::system_clock::now();
ASSERT_TRUE(period - delta < one - start);
ASSERT_TRUE(period + delta > one - start);
auto delta = one - start;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(delta * 4);
rclcpp::utilities::sleep_for(offset);
r.sleep();
auto two = std::chrono::system_clock::now();
delta = two - one;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
ASSERT_TRUE(period - delta < two - one);
ASSERT_TRUE(period + delta > two - one);
rclcpp::utilities::sleep_for(delta * 4);
rclcpp::utilities::sleep_for(offset);
auto two_offset = std::chrono::system_clock::now();
r.reset();
r.sleep();
auto three = std::chrono::system_clock::now();
ASSERT_TRUE(period + 3 * delta < three - two);
ASSERT_TRUE(period + 7 * delta > three - two);
delta = three - two_offset;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
}
TEST(TestRate, wallrate_basics) {
auto period = std::chrono::milliseconds(100);
auto delta = std::chrono::milliseconds(10);
auto offset = std::chrono::milliseconds(50);
double overrun_ratio = 1.5;
auto start = std::chrono::system_clock::now();
rclcpp::rate::WallRate r(period);
ASSERT_TRUE(r.is_steady());
r.sleep();
auto one = std::chrono::system_clock::now();
ASSERT_TRUE(period - delta < one - start);
ASSERT_TRUE(period + delta > one - start);
auto delta = one - start;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(delta * 4);
rclcpp::utilities::sleep_for(offset);
r.sleep();
auto two = std::chrono::system_clock::now();
delta = two - one;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
ASSERT_TRUE(period - delta < two - one);
ASSERT_TRUE(period + delta > two - one);
rclcpp::utilities::sleep_for(delta * 4);
rclcpp::utilities::sleep_for(offset);
auto two_offset = std::chrono::system_clock::now();
r.reset();
r.sleep();
auto three = std::chrono::system_clock::now();
ASSERT_TRUE(period + 3 * delta < three - two);
ASSERT_TRUE(period + 7 * delta > three - two);
delta = three - two_offset;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
}