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Make test_rate more reliable on Windows and improve error output when it fails #1146

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merged 2 commits into from
Jun 1, 2020
Merged

Make test_rate more reliable on Windows and improve error output when it fails #1146

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bdd0955
Avoid using ASSERT_TRUE to make numeric comparisions in test_rate
ivanpauno May 29, 2020
c1017e1
Make test_rate more reliable
ivanpauno May 29, 2020
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32 changes: 16 additions & 16 deletions rclcpp/test/test_rate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,9 +22,9 @@
Basic tests for the Rate and WallRate classes.
*/
TEST(TestRate, rate_basics) {
auto period = std::chrono::milliseconds(100);
auto offset = std::chrono::milliseconds(50);
auto epsilon = std::chrono::milliseconds(1);
auto period = std::chrono::milliseconds(1000);
auto offset = std::chrono::milliseconds(500);
auto epsilon = std::chrono::milliseconds(100);
double overrun_ratio = 1.5;

auto start = std::chrono::system_clock::now();
Expand All @@ -33,24 +33,24 @@ TEST(TestRate, rate_basics) {
ASSERT_TRUE(r.sleep());
auto one = std::chrono::system_clock::now();
auto delta = one - start;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
EXPECT_LT(period, delta + epsilon);
EXPECT_GT(period * overrun_ratio, delta);

rclcpp::sleep_for(offset);
ASSERT_TRUE(r.sleep());
auto two = std::chrono::system_clock::now();
delta = two - start;
ASSERT_TRUE(2 * period < delta);
ASSERT_TRUE(2 * period * overrun_ratio > delta);
EXPECT_LT(2 * period, delta);
EXPECT_GT(2 * period * overrun_ratio, delta);

rclcpp::sleep_for(offset);
auto two_offset = std::chrono::system_clock::now();
r.reset();
ASSERT_TRUE(r.sleep());
auto three = std::chrono::system_clock::now();
delta = three - two_offset;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
EXPECT_LT(period, delta + epsilon);
EXPECT_GT(period * overrun_ratio, delta);

rclcpp::sleep_for(offset + period);
auto four = std::chrono::system_clock::now();
Expand All @@ -72,29 +72,29 @@ TEST(TestRate, wall_rate_basics) {
ASSERT_TRUE(r.sleep());
auto one = std::chrono::steady_clock::now();
auto delta = one - start;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
EXPECT_LT(period, delta);
EXPECT_GT(period * overrun_ratio, delta);

rclcpp::sleep_for(offset);
ASSERT_TRUE(r.sleep());
auto two = std::chrono::steady_clock::now();
delta = two - start;
ASSERT_TRUE(2 * period < delta + epsilon);
ASSERT_TRUE(2 * period * overrun_ratio > delta);
EXPECT_LT(2 * period, delta + epsilon);
EXPECT_GT(2 * period * overrun_ratio, delta);

rclcpp::sleep_for(offset);
auto two_offset = std::chrono::steady_clock::now();
r.reset();
ASSERT_TRUE(r.sleep());
auto three = std::chrono::steady_clock::now();
delta = three - two_offset;
ASSERT_TRUE(period < delta);
ASSERT_TRUE(period * overrun_ratio > delta);
EXPECT_LT(period, delta);
EXPECT_GT(period * overrun_ratio, delta);

rclcpp::sleep_for(offset + period);
auto four = std::chrono::steady_clock::now();
ASSERT_FALSE(r.sleep());
auto five = std::chrono::steady_clock::now();
delta = five - four;
ASSERT_TRUE(epsilon > delta);
EXPECT_GT(epsilon, delta);
}