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Improve steady timer tests #1132

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merged 2 commits into from
Aug 11, 2017
Merged

Improve steady timer tests #1132

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a371c9f
improve SteadyTimer tests
flixr Aug 3, 2017
5bb3d66
more tolerant and unified timer tests
kmactavish Aug 11, 2017
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61 changes: 11 additions & 50 deletions test/test_roscpp/test/src/timer_callbacks.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,18 +74,16 @@ class SteadyTimerHelper
void callback(const SteadyTimerEvent& e)
{
bool first = last_call_.isZero();
SteadyTime last_call = last_call_;
last_call_ = SteadyTime::now();
SteadyTime start = last_call_;
last_call_ = e.current_real;

if (!first)
{
double time_error = start.toSec() - expected_next_call_.toSec();
double time_error = e.current_real.toSec() - e.current_expected.toSec();
// Strict check if called early, loose check if called late.
// The timed wait could be delayed due to scheduling/resources.
if (time_error > 1.0 || time_error < -0.01)
// Yes, this is very loose, but must pass in high-load, containerized/virtualized, contentious environments.
if (time_error > 5.0 || time_error < -0.01)
{
ROS_ERROR("Call came at wrong time (%f vs. %f)", expected_next_call_.toSec(), start.toSec());
ROS_ERROR("Call came at wrong time (expected: %f, actual %f)", e.current_expected.toSec(), e.current_real.toSec());
failed_ = true;
}
}
Expand Down Expand Up @@ -125,30 +123,12 @@ class SteadyTimerHelper
setPeriod(p, true);
}
}
else
{
// If this call was very delayed (beyond the next period), the timer will be
// scheduled to call back immediately (next expected is set to the current time)
expected_next_call_ = std::max(e.current_expected + expected_period_, start);
}

SteadyTime end = SteadyTime::now();
last_duration_ = end - start;

++total_calls_;
}

void setPeriod(const WallDuration p, bool reset=false)
{
if(reset)
{
expected_next_call_ = SteadyTime::now() + p;
}
else
{
expected_next_call_ = last_call_ + p;
}

timer_.setPeriod(p, reset);
expected_period_ = p;
}
Expand All @@ -161,9 +141,7 @@ class SteadyTimerHelper
}

SteadyTime last_call_;
SteadyTime expected_next_call_;
WallDuration expected_period_;
WallDuration last_duration_;

bool failed_;

Expand Down Expand Up @@ -389,15 +367,16 @@ class WallTimerHelper
void callback(const WallTimerEvent& e)
{
bool first = last_call_.isZero();
WallTime last_call = last_call_;
last_call_ = WallTime::now();
WallTime start = last_call_;
last_call_ = e.current_real;

if (!first)
{
if (fabsf(expected_next_call_.toSec() - start.toSec()) > 0.1f)
double time_error = e.current_real.toSec() - e.current_expected.toSec();
// Strict check if called early, loose check if called late.
// Yes, this is very loose, but must pass in high-load, containerized/virtualized, contentious environments.
if (time_error > 5.0 || time_error < -0.01)
{
ROS_ERROR("Call came at wrong time (%f vs. %f)", expected_next_call_.toSec(), start.toSec());
ROS_ERROR("Call came at wrong time (expected: %f, actual %f)", e.current_expected.toSec(), e.current_real.toSec());
failed_ = true;
}
}
Expand Down Expand Up @@ -437,28 +416,12 @@ class WallTimerHelper
setPeriod(p, true);
}
}
else
{
expected_next_call_ = e.current_expected + expected_period_;
}

WallTime end = WallTime::now();
last_duration_ = end - start;

++total_calls_;
}

void setPeriod(const WallDuration p, bool reset=false)
{
if(reset)
{
expected_next_call_ = WallTime::now() + p;
}
else
{
expected_next_call_ = last_call_ + p;
}

timer_.setPeriod(p, reset);
expected_period_ = p;
}
Expand All @@ -471,9 +434,7 @@ class WallTimerHelper
}

WallTime last_call_;
WallTime expected_next_call_;
WallDuration expected_period_;
WallDuration last_duration_;

bool failed_;

Expand Down