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C++11 Timer API

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This commit is contained in:
Pavel Kirienko
2014-03-27 13:52:41 +04:00
parent c4e0404d02
commit 5157f9182e
3 changed files with 87 additions and 4 deletions
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libuavcan/test/node/scheduler.cpp
+31 -2
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@@ -9,6 +9,10 @@
#include "../transport/can/can.hpp"
#include "test_node.hpp"
#if !defined(UAVCAN_CPP11) || !defined(UAVCAN_CPP_VERSION)
# error UAVCAN_CPP_VERSION
#endif
struct TimerCallCounter
{
std::vector<uavcan::TimerEvent> events_a;
@@ -82,6 +86,31 @@ TEST(Scheduler, Timers)
ASSERT_EQ(1000, b.getPeriod().toUSec());
}
ASSERT_EQ(0, node.getScheduler().getDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
ASSERT_EQ(0, node.spin(durMono(1000))); // Spin some more without timers
ASSERT_EQ(0, node.getScheduler().getDeadlineScheduler().getNumHandlers()); // Both timers were destroyed by now
ASSERT_EQ(0, node.spin(durMono(1000))); // Spin some more without timers
}
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
TEST(Scheduler, TimerCpp11)
{
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
TestNode node(can_driver, clock_driver, 1);
int count = 0;
uavcan::Timer tm(node, [&count](const uavcan::TimerEvent&) { count++; });
ASSERT_EQ(0, node.getScheduler().getDeadlineScheduler().getNumHandlers());
tm.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_EQ(1, node.getScheduler().getDeadlineScheduler().getNumHandlers());
ASSERT_EQ(0, node.spin(uavcan::MonotonicDuration::fromMSec(100)));
std::cout << count << std::endl;
ASSERT_LE(5, count);
ASSERT_GE(15, count);
}
#endif