From 31c611634584492374b7202bf69ec7a6946db24c Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Sat, 4 Jul 2015 12:02:06 +0300 Subject: [PATCH] DynamicNodeIDClient test fix --- libuavcan/test/protocol/dynamic_node_id_client.cpp | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/libuavcan/test/protocol/dynamic_node_id_client.cpp b/libuavcan/test/protocol/dynamic_node_id_client.cpp index 8a2b672737..b521577f29 100644 --- a/libuavcan/test/protocol/dynamic_node_id_client.cpp +++ b/libuavcan/test/protocol/dynamic_node_id_client.cpp @@ -47,9 +47,9 @@ TEST(DynamicNodeIDClient, Basic) dynid_sub.subscriber.allowAnonymousTransfers(); /* - * Monitoring requests at 1Hz + * Monitoring requests */ - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1100)); + nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1500)); ASSERT_TRUE(dynid_sub.collector.msg.get()); std::cout << "First-stage request:\n" << *dynid_sub.collector.msg << std::endl; ASSERT_EQ(PreferredNodeID.get(), dynid_sub.collector.msg->node_id); @@ -59,12 +59,8 @@ TEST(DynamicNodeIDClient, Basic) hwver.unique_id.begin())); dynid_sub.collector.msg.reset(); - // Rate validation - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(500)); - ASSERT_FALSE(dynid_sub.collector.msg.get()); - - // Second - rate is 1 Hz - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(500)); + // Second - rate is no lower than 0.5 Hz + nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1500)); ASSERT_TRUE(dynid_sub.collector.msg.get()); dynid_sub.collector.msg.reset(); @@ -153,7 +149,7 @@ TEST(DynamicNodeIDClient, Basic) ASSERT_FALSE(dynid_sub.collector.msg.get()); ASSERT_LE(0, dynid_pub.broadcast(msg)); - nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(1100)); + nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000)); ASSERT_FALSE(dynid_sub.collector.msg.get()); }