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adding coverage and an epsilon

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This commit is contained in:
Tully Foote 2015-12-17 19:39:04 -08:00
parent ebdf394dfa
commit fac550cc82
1 changed files with 25 additions and 9 deletions
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34
rclcpp/test/test_rate.cpp
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@ -24,61 +24,77 @@
TEST(TestRate, rate_basics) { TEST(TestRate, rate_basics) {
auto period = std::chrono::milliseconds(100); auto period = std::chrono::milliseconds(100);
auto offset = std::chrono::milliseconds(50); auto offset = std::chrono::milliseconds(50);
auto epsilon = std::chrono::milliseconds(1);
double overrun_ratio = 1.5; double overrun_ratio = 1.5;
auto start = std::chrono::system_clock::now(); auto start = std::chrono::system_clock::now();
rclcpp::rate::Rate r(period); rclcpp::rate::Rate r(period);
ASSERT_FALSE(r.is_steady()); ASSERT_FALSE(r.is_steady());
r.sleep(); ASSERT_TRUE(r.sleep());
auto one = std::chrono::system_clock::now(); auto one = std::chrono::system_clock::now();
auto delta = one - start; auto delta = one - start;
ASSERT_TRUE(period < delta); ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta); ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset); rclcpp::utilities::sleep_for(offset);
r.sleep(); ASSERT_TRUE(r.sleep());
auto two = std::chrono::system_clock::now(); auto two = std::chrono::system_clock::now();
delta = two - one; delta = two - one;
ASSERT_TRUE(period < delta); ASSERT_TRUE(period < delta + epsilon);
ASSERT_TRUE(period * overrun_ratio > delta); ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset); rclcpp::utilities::sleep_for(offset);
auto two_offset = std::chrono::system_clock::now(); auto two_offset = std::chrono::system_clock::now();
r.reset(); r.reset();
r.sleep(); ASSERT_TRUE(r.sleep());
auto three = std::chrono::system_clock::now(); auto three = std::chrono::system_clock::now();
delta = three - two_offset; delta = three - two_offset;
ASSERT_TRUE(period < delta); ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > 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, wallrate_basics) { TEST(TestRate, wall_rate_basics) {
auto period = std::chrono::milliseconds(100); auto period = std::chrono::milliseconds(100);
auto offset = std::chrono::milliseconds(50); auto offset = std::chrono::milliseconds(50);
auto epsilon = std::chrono::milliseconds(1);
double overrun_ratio = 1.5; double overrun_ratio = 1.5;
auto start = std::chrono::system_clock::now(); auto start = std::chrono::system_clock::now();
rclcpp::rate::WallRate r(period); rclcpp::rate::WallRate r(period);
ASSERT_TRUE(r.is_steady()); ASSERT_TRUE(r.is_steady());
r.sleep(); ASSERT_TRUE(r.sleep());
auto one = std::chrono::system_clock::now(); auto one = std::chrono::system_clock::now();
auto delta = one - start; auto delta = one - start;
ASSERT_TRUE(period < delta); ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta); ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset); rclcpp::utilities::sleep_for(offset);
r.sleep(); ASSERT_TRUE(r.sleep());
auto two = std::chrono::system_clock::now(); auto two = std::chrono::system_clock::now();
delta = two - one; delta = two - one;
ASSERT_TRUE(period < delta); ASSERT_TRUE(period < delta + epsilon);
ASSERT_TRUE(period * overrun_ratio > delta); ASSERT_TRUE(period * overrun_ratio > delta);
rclcpp::utilities::sleep_for(offset); rclcpp::utilities::sleep_for(offset);
auto two_offset = std::chrono::system_clock::now(); auto two_offset = std::chrono::system_clock::now();
r.reset(); r.reset();
r.sleep(); ASSERT_TRUE(r.sleep());
auto three = std::chrono::system_clock::now(); auto three = std::chrono::system_clock::now();
delta = three - two_offset; delta = three - two_offset;
ASSERT_TRUE(period < delta); ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > 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);
} }