Reorganized directory structure - directory 'internal' pulled up one level. No logical changes.

2026-10-17 13:33:34 +08:00 · 2014-03-14 15:01:20 +04:00
parent ab34c94ba2
commit 15cbf96378
90 changed files with 165 additions and 166 deletions
@@ -0,0 +1,92 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/node/timer.hpp>
+#include <uavcan/util/method_binder.hpp>
+#include "../clock.hpp"
+#include "../transport/can/can.hpp"
+
+struct TimerCallCounter
+{
+    std::vector<uavcan::TimerEvent> events_a;
+    std::vector<uavcan::TimerEvent> events_b;
+
+    void callA(const uavcan::TimerEvent& ev) { events_a.push_back(ev); }
+    void callB(const uavcan::TimerEvent& ev) { events_b.push_back(ev); }
+
+    typedef uavcan::MethodBinder<TimerCallCounter*, void(TimerCallCounter::*)(const uavcan::TimerEvent&)> Binder;
+};
+
+/*
+ * This test can fail on a non real time system. That's kinda sad but okay.
+ */
+TEST(Scheduler, Timers)
+{
+    uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
+    uavcan::PoolManager<1> poolmgr;
+    poolmgr.addPool(&pool);
+
+    SystemClockDriver clock_driver;
+    CanDriverMock can_driver(2, clock_driver);
+
+    uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
+
+    uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
+
+    /*
+     * Registration
+     */
+    {
+        TimerCallCounter tcc;
+        uavcan::TimerEventForwarder<TimerCallCounter::Binder>
+            a(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callA));
+        uavcan::TimerEventForwarder<TimerCallCounter::Binder>
+            b(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callB));
+
+        ASSERT_EQ(0, sch.getDeadlineScheduler().getNumHandlers());
+
+        const uavcan::MonotonicTime start_ts = clock_driver.getMonotonic();
+
+        a.startOneShotWithDeadline(start_ts + durMono(100000));
+        b.startPeriodic(durMono(1000));
+
+        ASSERT_EQ(2, sch.getDeadlineScheduler().getNumHandlers());
+
+        /*
+         * Spinning
+         */
+        ASSERT_EQ(0, sch.spin(start_ts + durMono(1000000)));
+
+        ASSERT_EQ(1, tcc.events_a.size());
+        ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].scheduled_time, start_ts + durMono(100000)));
+        ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].scheduled_time, tcc.events_a[0].real_time));
+
+        ASSERT_LT(900, tcc.events_b.size());
+        ASSERT_GT(1100, tcc.events_b.size());
+        {
+            uavcan::MonotonicTime next_expected_deadline = start_ts + durMono(1000);
+            for (unsigned int i = 0; i < tcc.events_b.size(); i++)
+            {
+                ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].scheduled_time, next_expected_deadline));
+                ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].scheduled_time, tcc.events_b[i].real_time));
+                next_expected_deadline += durMono(1000);
+            }
+        }
+
+        /*
+         * Deinitialization
+         */
+        ASSERT_EQ(1, sch.getDeadlineScheduler().getNumHandlers());
+
+        ASSERT_FALSE(a.isRunning());
+        ASSERT_EQ(uavcan::MonotonicDuration::getInfinite(), a.getPeriod());
+
+        ASSERT_TRUE(b.isRunning());
+        ASSERT_EQ(1000, b.getPeriod().toUSec());
+    }
+
+    ASSERT_EQ(0, sch.getDeadlineScheduler().getNumHandlers());   // Both timers were destroyed now
+    ASSERT_EQ(0, sch.spin(clock_driver.getMonotonic() + durMono(1000)));  // Spin some more without timers
+}