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Fixed timings for tests in order to reduce probability of test failure on a non-realtime system

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This commit is contained in:
Pavel Kirienko
2014-03-28 02:04:22 +04:00
parent 86269c32ff
commit c769626eef
9 changed files with 32 additions and 32 deletions
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libuavcan/test/protocol/global_time_sync_slave.cpp
+8 -8
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@@ -213,18 +213,18 @@ TEST(GlobalTimeSyncSlave, Validation)
*/
broadcastSyncMsg(slave_can.ifaces.at(0), 0, 8, 0); // Locked on this
broadcastSyncMsg(slave_can.ifaces.at(1), 2000, 8, 0); // Ignored
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(1)));
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
broadcastSyncMsg(slave_can.ifaces.at(0), 1000, 8, 1); // Adjust 1000 ahead
broadcastSyncMsg(slave_can.ifaces.at(1), 2000, 8, 1); // Ignored
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(1)));
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_TRUE(gtss.isActive());
ASSERT_EQ(8, gtss.getMasterNodeID().get());
ASSERT_EQ(1000, slave_clock.utc);
broadcastSyncMsg(slave_can.ifaces.at(0), 2000, 8, 2); // Update
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(1)));
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_EQ(1000, slave_clock.utc);
std::cout << slave_clock.monotonic << std::endl;
@@ -233,7 +233,7 @@ TEST(GlobalTimeSyncSlave, Validation)
* TID jump simulates a frame loss
*/
broadcastSyncMsg(slave_can.ifaces.at(0), 3000, 8, 4); // Adjustment skipped - expected TID 3, update instead
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(1)));
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_TRUE(gtss.isActive());
ASSERT_EQ(8, gtss.getMasterNodeID().get());
@@ -245,7 +245,7 @@ TEST(GlobalTimeSyncSlave, Validation)
*/
broadcastSyncMsg(slave_can.ifaces.at(0), 3000, 8, 5); // Slave UTC was 1000, master reports 3000 --> shift ahead
broadcastSyncMsg(slave_can.ifaces.at(1), 2000, 8, 5);
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(1)));
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_TRUE(gtss.isActive());
ASSERT_EQ(8, gtss.getMasterNodeID().get());
@@ -257,17 +257,17 @@ TEST(GlobalTimeSyncSlave, Validation)
*/
broadcastSyncMsg(slave_can.ifaces.at(0), 2000, 8, 6); // Valid update, slave UTC is 3000
broadcastSyncMsg(slave_can.ifaces.at(1), 2000, 8, 6);
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(1)));
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
slave_clock.monotonic += 5000000;
broadcastSyncMsg(slave_can.ifaces.at(0), 5000, 8, 7); // Adjustment skipped
broadcastSyncMsg(slave_can.ifaces.at(1), 2000, 8, 7);
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(1)));
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
broadcastSyncMsg(slave_can.ifaces.at(0), 5000, 8, 0); // Valid adjustment now
broadcastSyncMsg(slave_can.ifaces.at(1), 2000, 8, 0);
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(1)));
ASSERT_LE(0, node.spin(uavcan::MonotonicDuration::fromMSec(10)));
ASSERT_TRUE(gtss.isActive());
ASSERT_EQ(8, gtss.getMasterNodeID().get());