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Refactored scheduler

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This commit is contained in:
Pavel Kirienko
2014-03-08 13:03:04 +04:00
parent aef70367d9
commit 2fa3f2c7c7
5 changed files with 190 additions and 154 deletions
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libuavcan/test/scheduler.cpp
+11 -15
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@@ -3,7 +3,7 @@
*/
#include <gtest/gtest.h>
#include <uavcan/scheduler.hpp>
#include <uavcan/timer.hpp>
#include "common.hpp"
#include "transport/can/iface_mock.hpp"
@@ -46,21 +46,19 @@ TEST(Scheduler, Timers)
*/
{
TimerCallCounter tcc;
uavcan::Timer<TimerCallCounter::Binder> a(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callA));
uavcan::Timer<TimerCallCounter::Binder> b(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callB));
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.getNumOneShotTimers());
ASSERT_FALSE(sch.isOneShotTimerRegistered(&a));
ASSERT_FALSE(sch.isOneShotTimerRegistered(&b));
ASSERT_EQ(0, sch.getMonotonicDeadlineScheduler().getNumHandlers());
const uint64_t start_ts = clock_driver.getMonotonicMicroseconds();
a.startOneShotDeadline(start_ts + 100000);
a.startOneShotWithDeadline(start_ts + 100000);
b.startPeriodic(1000);
ASSERT_EQ(2, sch.getNumOneShotTimers());
ASSERT_TRUE(sch.isOneShotTimerRegistered(&a));
ASSERT_TRUE(sch.isOneShotTimerRegistered(&b));
ASSERT_EQ(2, sch.getMonotonicDeadlineScheduler().getNumHandlers());
/*
* Spinning
@@ -89,17 +87,15 @@ TEST(Scheduler, Timers)
/*
* Deinitialization
*/
ASSERT_EQ(1, sch.getNumOneShotTimers());
ASSERT_EQ(1, sch.getMonotonicDeadlineScheduler().getNumHandlers());
ASSERT_FALSE(sch.isOneShotTimerRegistered(&a));
ASSERT_FALSE(a.isRunning());
ASSERT_EQ(uavcan::TimerBase::InfinitePeriod, a.getPeriod());
ASSERT_EQ(uavcan::Timer::InfinitePeriod, a.getPeriod());
ASSERT_TRUE(sch.isOneShotTimerRegistered(&b));
ASSERT_TRUE(b.isRunning());
ASSERT_EQ(1000, b.getPeriod());
}
ASSERT_EQ(0, sch.getNumOneShotTimers()); // Both timers were destroyed now
ASSERT_EQ(0, sch.getMonotonicDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
ASSERT_EQ(0, sch.spin(clock_driver.getMonotonicMicroseconds() + 1000)); // Spin some more without timers
}