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extending tests for timers to cover all clock types #358

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extending tests for timers to cover all clock types #358

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229 changes: 119 additions & 110 deletions rcl/test/rcl/test_timer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,152 +121,161 @@ TEST_F(TestTimerFixture, test_two_timers) {
}

TEST_F(TestTimerFixture, test_two_timers_ready_before_timeout) {
rcl_ret_t ret;
auto clock_types = {RCL_STEADY_TIME, RCL_SYSTEM_TIME, RCL_ROS_TIME};
for (auto clock_type : clock_types) {
rcl_ret_t ret;

rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(clock_type, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer2 = rcl_get_zero_initialized_timer();
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer2 = rcl_get_zero_initialized_timer();

ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(5), nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(5), nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_timer_init(
&timer2, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_init(
&timer2, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 2, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 2, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer2, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_timer_fini(&timer);
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_fini(&timer2);
ret = rcl_wait_set_add_timer(&wait_set, &timer2, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
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;
ret = rcl_timer_fini(&timer2);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(20));
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(20));
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
uint8_t nonnull_timers = 0;
for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
if (wait_set.timers[i] != NULL) {
nonnull_timers++;
uint8_t nonnull_timers = 0;
for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
if (wait_set.timers[i] != NULL) {
nonnull_timers++;
}
}
}
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);
ret = rcl_timer_is_ready(&timer2, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_FALSE(is_ready);
ASSERT_EQ(1, nonnull_timers);
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);
ret = rcl_timer_is_ready(&timer2, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_FALSE(is_ready);
ASSERT_EQ(1, nonnull_timers);

ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
}

TEST_F(TestTimerFixture, test_timer_not_ready) {
rcl_ret_t ret;
auto clock_types = {RCL_STEADY_TIME, RCL_SYSTEM_TIME, RCL_ROS_TIME};
for (auto clock_type : clock_types) {
rcl_ret_t ret;

rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(clock_type, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer = rcl_get_zero_initialized_timer();

ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(5), nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, RCL_MS_TO_NS(5), nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_timer_fini(&timer);
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;
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(1));
EXPECT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
uint8_t nonnull_timers = 0;
for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
if (wait_set.timers[i] != NULL) {
nonnull_timers++;
}
}
bool is_ready = false;
ret = rcl_timer_is_ready(&timer, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
EXPECT_FALSE(is_ready);
ASSERT_EQ(0, nonnull_timers);

ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(1));
EXPECT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
uint8_t nonnull_timers = 0;
for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
if (wait_set.timers[i] != NULL) {
nonnull_timers++;
}
}
bool is_ready = false;
ret = rcl_timer_is_ready(&timer, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_FALSE(is_ready);
ASSERT_EQ(0, nonnull_timers);

ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

TEST_F(TestTimerFixture, test_canceled_timer) {
rcl_ret_t ret;
auto clock_types = {RCL_STEADY_TIME, RCL_SYSTEM_TIME, RCL_ROS_TIME};
for (auto clock_type : clock_types) {
rcl_ret_t ret;

rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_clock_t clock;
rcl_allocator_t allocator = rcl_get_default_allocator();
ret = rcl_clock_init(clock_type, &clock, &allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer = rcl_get_zero_initialized_timer();

ret = rcl_timer_init(
&timer, &clock, this->context_ptr, 500, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_init(
&timer, &clock, this->context_ptr, 500, nullptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_timer_cancel(&timer);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_timer_cancel(&timer);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
ret = rcl_wait_set_init(&wait_set, 0, 0, 1, 0, 0, rcl_get_default_allocator());
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_timer(&wait_set, &timer, NULL);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_timer_fini(&timer);
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;
ret = rcl_wait_set_fini(&wait_set);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(1));
EXPECT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
uint8_t nonnull_timers = 0;
for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
if (wait_set.timers[i] != NULL) {
nonnull_timers++;
}
}
bool is_ready = false;
ret = rcl_timer_is_ready(&timer, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_fini(&wait_set);
EXPECT_FALSE(is_ready);
ASSERT_EQ(0, nonnull_timers);

ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(1));
EXPECT_EQ(RCL_RET_TIMEOUT, ret) << rcl_get_error_string().str;
uint8_t nonnull_timers = 0;
for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
if (wait_set.timers[i] != NULL) {
nonnull_timers++;
}
}
bool is_ready = false;
ret = rcl_timer_is_ready(&timer, &is_ready);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_FALSE(is_ready);
ASSERT_EQ(0, nonnull_timers);

ret = rcl_clock_fini(&clock);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}

TEST_F(TestTimerFixture, test_rostime_time_until_next_call) {
Expand Down