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Cleanup flaky timers_manager tests. #2299

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merged 3 commits into from
Sep 7, 2023
Merged

Cleanup flaky timers_manager tests. #2299

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f110062
Cleanup flaky timers_manager tests.
clalancette Sep 6, 2023
f9de6eb
Fixes from review.
clalancette Sep 6, 2023
37edae0
Fixes from review.
clalancette Sep 7, 2023
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/experimental/timers_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -527,7 +527,7 @@ class TimersManager
void execute_ready_timers_unsafe();

// Callback to be called when timer is ready
std::function<void(const rclcpp::TimerBase *)> on_ready_callback_ = nullptr;
std::function<void(const rclcpp::TimerBase *)> on_ready_callback_;

// Thread used to run the timers execution task
std::thread timers_thread_;
Expand Down
4 changes: 2 additions & 2 deletions rclcpp/src/rclcpp/experimental/timers_manager.cpp
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Expand Up @@ -28,9 +28,9 @@ using rclcpp::experimental::TimersManager;
TimersManager::TimersManager(
std::shared_ptr<rclcpp::Context> context,
std::function<void(const rclcpp::TimerBase *)> on_ready_callback)
: on_ready_callback_(on_ready_callback),
context_(context)
{
context_ = context;
on_ready_callback_ = on_ready_callback;
}

TimersManager::~TimersManager()
Expand Down
80 changes: 11 additions & 69 deletions rclcpp/test/rclcpp/test_timers_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <gtest/gtest.h>

#include <chrono>
#include <cmath>
#include <memory>
#include <utility>

Expand Down Expand Up @@ -65,8 +66,10 @@ TEST_F(TestTimersManager, empty_manager)
TEST_F(TestTimersManager, add_run_remove_timer)
{
size_t t_runs = 0;
std::chrono::milliseconds timer_period(10);

auto t = TimerT::make_shared(
10ms,
timer_period,
[&t_runs]() {
t_runs++;
},
Expand All @@ -79,7 +82,7 @@ TEST_F(TestTimersManager, add_run_remove_timer)
timers_manager->add_timer(t);

// Sleep for more 3 times the timer period
std::this_thread::sleep_for(30ms);
std::this_thread::sleep_for(3 * timer_period);

// The timer is executed only once, even if we slept 3 times the period
execute_all_ready_timers(timers_manager);
Expand Down Expand Up @@ -191,67 +194,6 @@ TEST_F(TestTimersManager, head_not_ready)
EXPECT_EQ(0u, t_runs);
}

TEST_F(TestTimersManager, timers_order)
{
auto timers_manager = std::make_shared<TimersManager>(
rclcpp::contexts::get_global_default_context());

size_t t1_runs = 0;
auto t1 = TimerT::make_shared(
10ms,
[&t1_runs]() {
t1_runs++;
},
rclcpp::contexts::get_global_default_context());

size_t t2_runs = 0;
auto t2 = TimerT::make_shared(
30ms,
[&t2_runs]() {
t2_runs++;
},
rclcpp::contexts::get_global_default_context());

size_t t3_runs = 0;
auto t3 = TimerT::make_shared(
100ms,
[&t3_runs]() {
t3_runs++;
},
rclcpp::contexts::get_global_default_context());

// Add timers in a random order
timers_manager->add_timer(t2);
timers_manager->add_timer(t3);
timers_manager->add_timer(t1);

std::this_thread::sleep_for(10ms);
execute_all_ready_timers(timers_manager);
EXPECT_EQ(1u, t1_runs);
EXPECT_EQ(0u, t2_runs);
EXPECT_EQ(0u, t3_runs);

std::this_thread::sleep_for(30ms);
execute_all_ready_timers(timers_manager);
EXPECT_EQ(2u, t1_runs);
EXPECT_EQ(1u, t2_runs);
EXPECT_EQ(0u, t3_runs);

std::this_thread::sleep_for(100ms);
execute_all_ready_timers(timers_manager);
EXPECT_EQ(3u, t1_runs);
EXPECT_EQ(2u, t2_runs);
EXPECT_EQ(1u, t3_runs);

timers_manager->remove_timer(t1);

std::this_thread::sleep_for(30ms);
execute_all_ready_timers(timers_manager);
EXPECT_EQ(3u, t1_runs);
EXPECT_EQ(3u, t2_runs);
EXPECT_EQ(1u, t3_runs);
}

TEST_F(TestTimersManager, start_stop_timers_thread)
{
auto timers_manager = std::make_shared<TimersManager>(
Expand All @@ -274,15 +216,15 @@ TEST_F(TestTimersManager, timers_thread)
auto timers_manager = std::make_shared<TimersManager>(
rclcpp::contexts::get_global_default_context());

size_t t1_runs = 0;
int t1_runs = 0;
auto t1 = TimerT::make_shared(
1ms,
[&t1_runs]() {
t1_runs++;
},
rclcpp::contexts::get_global_default_context());

size_t t2_runs = 0;
int t2_runs = 0;
auto t2 = TimerT::make_shared(
1ms,
[&t2_runs]() {
Expand All @@ -296,12 +238,12 @@ TEST_F(TestTimersManager, timers_thread)

// Run timers thread for a while
timers_manager->start();
std::this_thread::sleep_for(5ms);
std::this_thread::sleep_for(50ms);
timers_manager->stop();

EXPECT_LT(1u, t1_runs);
EXPECT_LT(1u, t2_runs);
EXPECT_EQ(t1_runs, t2_runs);
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EXPECT_LE(std::abs(t1_runs - t2_runs), 1);
}

TEST_F(TestTimersManager, destructor)
Expand Down Expand Up @@ -365,13 +307,13 @@ TEST_F(TestTimersManager, add_remove_while_thread_running)
timers_manager->start();

// After a while remove t1 and add t2
std::this_thread::sleep_for(5ms);
std::this_thread::sleep_for(50ms);
timers_manager->remove_timer(t1);
size_t tmp_t1 = t1_runs;
timers_manager->add_timer(t2);

// Wait some more time and then stop
std::this_thread::sleep_for(5ms);
std::this_thread::sleep_for(50ms);
timers_manager->stop();

// t1 has stopped running
Expand Down