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Superrefactoring - all time values were replaced with new safer classes from uavcan/time.hpp; generated types were moved away from anonymous namespaces because this makes it impossible to use a type from different compilation units. Some less vital fixes are to follow - see the next few commits

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This commit is contained in:
Pavel Kirienko
2014-03-11 14:41:48 +04:00
parent 633fa9d8bd
commit 65a4dcc2cf
48 changed files with 654 additions and 565 deletions
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libuavcan/test/internal/node/scheduler.cpp
+16 -16
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@@ -47,35 +47,35 @@ TEST(Scheduler, Timers)
ASSERT_EQ(0, sch.getMonotonicDeadlineScheduler().getNumHandlers());
const uint64_t start_ts = clock_driver.getMonotonicMicroseconds();
const uavcan::MonotonicTime start_ts = clock_driver.getMonotonic();
a.startOneShotWithDeadline(start_ts + 100000);
b.startPeriodic(1000);
a.startOneShotWithDeadline(start_ts + durMono(100000));
b.startPeriodic(durMono(1000));
ASSERT_EQ(2, sch.getMonotonicDeadlineScheduler().getNumHandlers());
/*
* Spinning
*/
ASSERT_EQ(0, sch.spin(start_ts + 1000000));
ASSERT_EQ(0, sch.spin(start_ts + durMono(1000000)));
ASSERT_EQ(1, tcc.events_a.size());
ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].scheduled_monotonic_deadline, start_ts + 100000));
ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].monotonic_timestamp,
tcc.events_a[0].scheduled_monotonic_deadline));
ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].scheduled_deadline, start_ts + durMono(100000)));
ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].current_timestamp,
tcc.events_a[0].scheduled_deadline));
ASSERT_EQ(&a, tcc.events_a[0].timer);
ASSERT_LT(900, tcc.events_b.size());
ASSERT_GT(1100, tcc.events_b.size());
{
uint64_t next_expected_deadline = start_ts + 1000;
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_monotonic_deadline, next_expected_deadline));
ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].monotonic_timestamp,
tcc.events_b[i].scheduled_monotonic_deadline));
ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].scheduled_deadline, next_expected_deadline));
ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].current_timestamp,
tcc.events_b[i].scheduled_deadline));
ASSERT_EQ(&b, tcc.events_b[i].timer);
next_expected_deadline += 1000;
next_expected_deadline += durMono(1000);
}
}
@@ -85,12 +85,12 @@ TEST(Scheduler, Timers)
ASSERT_EQ(1, sch.getMonotonicDeadlineScheduler().getNumHandlers());
ASSERT_FALSE(a.isRunning());
ASSERT_EQ(uavcan::Timer::InfinitePeriod, a.getPeriod());
ASSERT_EQ(uavcan::MonotonicDuration::getInfinite(), a.getPeriod());
ASSERT_TRUE(b.isRunning());
ASSERT_EQ(1000, b.getPeriod());
ASSERT_EQ(1000, b.getPeriod().toUSec());
}
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
ASSERT_EQ(0, sch.getMonotonicDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
ASSERT_EQ(0, sch.spin(clock_driver.getMonotonic() + durMono(1000))); // Spin some more without timers
}