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93 lines
3.2 KiB
C++
93 lines
3.2 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <gtest/gtest.h>
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#include <uavcan/node/timer.hpp>
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#include <uavcan/util/method_binder.hpp>
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#include "../clock.hpp"
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#include "../transport/can/can.hpp"
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struct TimerCallCounter
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{
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std::vector<uavcan::TimerEvent> events_a;
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std::vector<uavcan::TimerEvent> events_b;
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void callA(const uavcan::TimerEvent& ev) { events_a.push_back(ev); }
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void callB(const uavcan::TimerEvent& ev) { events_b.push_back(ev); }
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typedef uavcan::MethodBinder<TimerCallCounter*, void(TimerCallCounter::*)(const uavcan::TimerEvent&)> Binder;
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};
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/*
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* This test can fail on a non real time system. That's kinda sad but okay.
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*/
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TEST(Scheduler, Timers)
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{
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uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
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uavcan::PoolManager<1> poolmgr;
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poolmgr.addPool(&pool);
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SystemClockDriver clock_driver;
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CanDriverMock can_driver(2, clock_driver);
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uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
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uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg, uavcan::NodeID(1));
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/*
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* Registration
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*/
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{
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TimerCallCounter tcc;
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uavcan::TimerEventForwarder<TimerCallCounter::Binder>
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a(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callA));
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uavcan::TimerEventForwarder<TimerCallCounter::Binder>
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b(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callB));
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ASSERT_EQ(0, sch.getDeadlineScheduler().getNumHandlers());
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const uavcan::MonotonicTime start_ts = clock_driver.getMonotonic();
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a.startOneShotWithDeadline(start_ts + durMono(100000));
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b.startPeriodic(durMono(1000));
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ASSERT_EQ(2, sch.getDeadlineScheduler().getNumHandlers());
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/*
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* Spinning
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*/
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ASSERT_EQ(0, sch.spin(start_ts + durMono(1000000)));
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ASSERT_EQ(1, tcc.events_a.size());
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ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].scheduled_time, start_ts + durMono(100000)));
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ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].scheduled_time, tcc.events_a[0].real_time));
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ASSERT_LT(900, tcc.events_b.size());
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ASSERT_GT(1100, tcc.events_b.size());
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{
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uavcan::MonotonicTime next_expected_deadline = start_ts + durMono(1000);
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for (unsigned int i = 0; i < tcc.events_b.size(); i++)
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{
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ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].scheduled_time, next_expected_deadline));
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ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].scheduled_time, tcc.events_b[i].real_time));
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next_expected_deadline += durMono(1000);
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}
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}
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/*
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* Deinitialization
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*/
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ASSERT_EQ(1, sch.getDeadlineScheduler().getNumHandlers());
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ASSERT_FALSE(a.isRunning());
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ASSERT_EQ(uavcan::MonotonicDuration::getInfinite(), a.getPeriod());
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ASSERT_TRUE(b.isRunning());
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ASSERT_EQ(1000, b.getPeriod().toUSec());
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}
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ASSERT_EQ(0, sch.getDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
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ASSERT_EQ(0, sch.spin(clock_driver.getMonotonic() + durMono(1000))); // Spin some more without timers
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}
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