From 6bc2557336c08fc8445fbbdb1cd624c559209eea Mon Sep 17 00:00:00 2001 From: Michel Hidalgo Date: Fri, 12 Jun 2020 10:14:22 -0300 Subject: [PATCH] Improve rcl timer test coverage. Signed-off-by: Michel Hidalgo --- rcl/test/CMakeLists.txt | 20 ++++--- rcl/test/rcl/test_timer.cpp | 108 ++++++++++++++++++++++++++++++++++++ 2 files changed, 121 insertions(+), 7 deletions(-) diff --git a/rcl/test/CMakeLists.txt b/rcl/test/CMakeLists.txt index 1c1a92ec6..771ae26df 100644 --- a/rcl/test/CMakeLists.txt +++ b/rcl/test/CMakeLists.txt @@ -50,6 +50,19 @@ function(test_target_function) AMENT_DEPENDENCIES ${rmw_implementation} ) + set(timer_test_timeout 60) + if(rmw_implementation STREQUAL "rmw_connext_cpp") + set(timer_test_timeout 90) # Bump timeout for RTI Connext + endif() + rcl_add_custom_gtest(test_timer${target_suffix} + SRCS rcl/test_timer.cpp + ENV ${rmw_implementation_env_var} + TIMEOUT ${timer_test_timeout} + APPEND_LIBRARY_DIRS ${extra_lib_dirs} + LIBRARIES ${PROJECT_NAME} osrf_testing_tools_cpp::memory_tools + AMENT_DEPENDENCIES ${rmw_implementation} + ) + rcl_add_custom_gtest(test_context${target_suffix} SRCS rcl/test_context.cpp ENV ${rmw_implementation_env_var} ${memory_tools_ld_preload_env_var} @@ -350,13 +363,6 @@ rcl_add_custom_gtest(test_expand_topic_name LIBRARIES ${PROJECT_NAME} ) -rcl_add_custom_gtest(test_timer${target_suffix} - SRCS rcl/test_timer.cpp - APPEND_LIBRARY_DIRS ${extra_lib_dirs} - LIBRARIES ${PROJECT_NAME} - AMENT_DEPENDENCIES "osrf_testing_tools_cpp" -) - rcl_add_custom_gtest(test_security SRCS rcl/test_security.cpp APPEND_LIBRARY_DIRS ${extra_lib_dirs} diff --git a/rcl/test/rcl/test_timer.cpp b/rcl/test/rcl/test_timer.cpp index 4801e24da..b19f7fd76 100644 --- a/rcl/test/rcl/test_timer.cpp +++ b/rcl/test/rcl/test_timer.cpp @@ -274,6 +274,104 @@ TEST_F(TestTimerFixture, test_timer_not_ready) { EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; } +TEST_F(TestTimerFixture, test_timer_overrun) { + rcl_clock_t clock; + rcl_allocator_t allocator = rcl_get_default_allocator(); + rcl_ret_t ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + rcl_ret_t ret = rcl_clock_fini(&clock); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + rcl_reset_error(); + }); + + rcl_timer_t timer = rcl_get_zero_initialized_timer(); + ret = rcl_timer_init( + &timer, &clock, this->context_ptr, RCL_MS_TO_NS(100), nullptr, rcl_get_default_allocator()); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + rcl_ret_t ret = rcl_timer_fini(&timer); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + rcl_reset_error(); + }); + + rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set(); + ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, 0, context_ptr, rcl_get_default_allocator()); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + rcl_ret_t ret = rcl_wait_set_fini(&wait_set); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + rcl_reset_error(); + }); + + // Force multiple timer timeouts. + ret = rcl_wait(&wait_set, RCL_MS_TO_NS(500)); + EXPECT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str; + rcl_reset_error(); + + bool is_ready = false; + ret = rcl_timer_is_ready(&timer, &is_ready); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + EXPECT_TRUE(is_ready); + rcl_reset_error(); + + EXPECT_EQ(RCL_RET_OK, rcl_timer_call(&timer)) << rcl_get_error_string().str; + rcl_reset_error(); + + ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + rcl_reset_error(); + + // Ensure period is re-aligned. + ret = rcl_wait(&wait_set, RCL_MS_TO_NS(50)); + EXPECT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str; + rcl_reset_error(); + + ret = rcl_timer_is_ready(&timer, &is_ready); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + EXPECT_FALSE(is_ready); + rcl_reset_error(); +} + +TEST_F(TestTimerFixture, test_timer_with_zero_period) { + rcl_clock_t clock; + rcl_allocator_t allocator = rcl_get_default_allocator(); + rcl_ret_t ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + rcl_ret_t ret = rcl_clock_fini(&clock); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + }); + + rcl_timer_t timer = rcl_get_zero_initialized_timer(); + ret = rcl_timer_init( + &timer, &clock, this->context_ptr, 0, nullptr, rcl_get_default_allocator()); + ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( + { + rcl_ret_t ret = rcl_timer_fini(&timer); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + }); + + bool is_ready = false; + ret = rcl_timer_is_ready(&timer, &is_ready); + EXPECT_TRUE(is_ready) << rcl_get_error_string().str; + rcl_reset_error(); + + int64_t time_until_next_call = 0; + ret = rcl_timer_get_time_until_next_call(&timer, &time_until_next_call); + EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; + EXPECT_LE(time_until_next_call, 0); + rcl_reset_error(); + + EXPECT_EQ(RCL_RET_OK, rcl_timer_call(&timer)) << rcl_get_error_string().str; + rcl_reset_error(); +} + TEST_F(TestTimerFixture, test_canceled_timer) { rcl_ret_t ret; @@ -567,6 +665,7 @@ TEST_F(TestPreInitTimer, test_timer_get_allocator) { EXPECT_TRUE(rcutils_allocator_is_valid(allocator_returned)); EXPECT_EQ(NULL, rcl_timer_get_allocator(nullptr)); + rcl_reset_error(); } TEST_F(TestPreInitTimer, test_timer_clock) { @@ -601,6 +700,7 @@ TEST_F(TestPreInitTimer, test_timer_call) { EXPECT_EQ(RCL_RET_OK, rcl_timer_cancel(&timer)) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_TIMER_CANCELED, rcl_timer_call(&timer)); + rcl_reset_error(); EXPECT_EQ(times_called, 4); } @@ -650,17 +750,21 @@ TEST_F(TestPreInitTimer, test_invalid_init_fini) { rcl_allocator_t bad_allocator = get_failing_allocator(); rcl_timer_t timer_fail = rcl_get_zero_initialized_timer(); + rcl_reset_error(); EXPECT_EQ( RCL_RET_ALREADY_INIT, rcl_timer_init( &timer, &clock, this->context_ptr, 500, nullptr, rcl_get_default_allocator())) << rcl_get_error_string().str; + rcl_reset_error(); ASSERT_EQ( RCL_RET_BAD_ALLOC, rcl_timer_init( &timer_fail, &clock, this->context_ptr, RCL_S_TO_NS(1), timer_callback_test, bad_allocator)) << rcl_get_error_string().str; + rcl_reset_error(); EXPECT_EQ(RCL_RET_OK, rcl_timer_fini(nullptr)); + rcl_reset_error(); } TEST_F(TestPreInitTimer, test_timer_get_period) { @@ -669,7 +773,9 @@ TEST_F(TestPreInitTimer, test_timer_get_period) { EXPECT_EQ(RCL_S_TO_NS(1), period); EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_timer_get_period(nullptr, &period)); + rcl_reset_error(); EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_timer_get_period(&timer, nullptr)); + rcl_reset_error(); } TEST_F(TestPreInitTimer, test_time_since_last_call) { @@ -677,6 +783,8 @@ TEST_F(TestPreInitTimer, test_time_since_last_call) { rcl_time_point_value_t time_sice_next_call_end = 0u; ASSERT_EQ(RCL_RET_OK, rcl_timer_get_time_since_last_call(&timer, &time_sice_next_call_start)); + // Cope with coarse system time resolution. + std::this_thread::sleep_for(std::chrono::milliseconds(1)); ASSERT_EQ(RCL_RET_OK, rcl_timer_get_time_since_last_call(&timer, &time_sice_next_call_end)); EXPECT_GT(time_sice_next_call_end, time_sice_next_call_start); }