// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include
#include
#include "rclcpp/rate.hpp"
/*
Basic tests for the Rate and WallRate classes.
*/
TEST(TestRate, rate_basics) {
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();
rclcpp::Rate r(period);
EXPECT_EQ(period, r.period());
ASSERT_FALSE(r.is_steady());
ASSERT_TRUE(r.sleep());
auto one = std::chrono::system_clock::now();
auto delta = one - start;
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;
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;
EXPECT_LT(period, delta + epsilon);
EXPECT_GT(period * overrun_ratio, delta);
rclcpp::sleep_for(offset + period);
auto four = std::chrono::system_clock::now();
ASSERT_FALSE(r.sleep());
auto five = std::chrono::system_clock::now();
delta = five - four;
ASSERT_TRUE(epsilon > delta);
}
TEST(TestRate, wall_rate_basics) {
auto period = std::chrono::milliseconds(100);
auto offset = std::chrono::milliseconds(50);
auto epsilon = std::chrono::milliseconds(1);
double overrun_ratio = 1.5;
auto start = std::chrono::steady_clock::now();
rclcpp::WallRate r(period);
EXPECT_EQ(period, r.period());
ASSERT_TRUE(r.is_steady());
ASSERT_TRUE(r.sleep());
auto one = std::chrono::steady_clock::now();
auto delta = one - start;
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;
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;
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;
EXPECT_GT(epsilon, delta);
}
TEST(TestRate, from_double) {
{
rclcpp::WallRate rate(1.0);
EXPECT_EQ(std::chrono::seconds(1), rate.period());
}
{
rclcpp::WallRate rate(2.0);
EXPECT_EQ(std::chrono::milliseconds(500), rate.period());
}
{
rclcpp::WallRate rate(0.5);
EXPECT_EQ(std::chrono::seconds(2), rate.period());
}
{
rclcpp::WallRate rate(4.0);
EXPECT_EQ(std::chrono::milliseconds(250), rate.period());
}
}