Improve rcl timer test coverage.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · Jun 12, 2020 · 0f8424b · 0f8424b
1 parent 7723308
commit 0f8424b
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Showing 2 changed files with 113 additions and 7 deletions.
diff --git 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
@@ -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(10), 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(100));
+  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(5));
+  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;
 
@@ -677,6 +775,8 @@ 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);
 }