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Tests: fixed spin() for InterlinkedTestNodes

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This commit is contained in:
Pavel Kirienko 2014-03-19 14:27:01 +04:00
parent 8828b79c4e
commit 5cc74bf872
1 changed files with 14 additions and 5 deletions
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19
libuavcan/test/node/test_node.hpp
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@ -130,10 +130,19 @@ struct InterlinkedTestNodes
int spinBoth(uavcan::MonotonicDuration duration)
{
const uavcan::MonotonicDuration duration_per_node = duration * 0.5;
const int ret = a.spin(duration_per_node);
if (ret < 0)
return ret;
return b.spin(duration_per_node);
assert(duration.isPositive());
unsigned int nspins2 = duration.toMSec() / 2 + 1;
assert(nspins2 > 0);
while (nspins2 --> 0)
{
int ret = -1;
ret = a.spin(uavcan::MonotonicDuration::fromMSec(1));
if (ret < 0)
return ret;
ret = b.spin(uavcan::MonotonicDuration::fromMSec(1));
if (ret < 0)
return ret;
}
return 0;
}
};