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hidmichidmic
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Address peer review comments.
Signed-off-by: Michel Hidalgo <[email protected]>
1 parent dc69a75 commit b19b6f0

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‎rcl/test/rcl/test_timer.cpp‎

Lines changed: 87 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -114,6 +114,86 @@ class TestPreInitTimer : public TestTimerFixture
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}
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};
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TEST_F(TestTimerFixture, test_timer_init_with_invalid_arguments) {
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rcl_clock_t clock;
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_ret_t ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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rcl_timer_t timer = rcl_get_zero_initialized_timer();
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ret = rcl_timer_init(
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nullptr, &clock, this->context_ptr, RCL_MS_TO_NS(50), nullptr, allocator);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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rcl_reset_error();
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ret = rcl_timer_init(
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&timer, nullptr, this->context_ptr, RCL_MS_TO_NS(50), nullptr, allocator);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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rcl_reset_error();
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ret = rcl_timer_init(
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&timer, &clock, nullptr, RCL_MS_TO_NS(50), nullptr, allocator);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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rcl_reset_error();
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ret = rcl_timer_init(
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&timer, &clock, this->context_ptr, -1, nullptr, allocator);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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rcl_reset_error();
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rcl_allocator_t invalid_allocator = rcutils_get_zero_initialized_allocator();
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ret = rcl_timer_init(
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&timer, &clock, this->context_ptr, RCL_MS_TO_NS(50), nullptr, invalid_allocator);
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EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
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rcl_reset_error();
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}
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TEST_F(TestTimerFixture, test_timer_with_invalid_clock) {
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rcl_clock_t clock;
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_ret_t ret = rcl_clock_init(RCL_STEADY_TIME, &clock, &allocator);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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rcl_ret_t ret = rcl_clock_fini(&clock);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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});
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rcl_timer_t timer = rcl_get_zero_initialized_timer();
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ret = rcl_timer_init(
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&timer, &clock, this->context_ptr, 0, nullptr, allocator);
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ASSERT_EQ(RCL_RET_OK, ret);
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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rcl_ret_t ret = rcl_timer_fini(&timer);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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rcl_reset_error();
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});
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rcl_clock_t * timer_clock;
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ret = rcl_timer_clock(&timer, &timer_clock);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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timer_clock->get_now = nullptr;
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ret = rcl_timer_call(&timer);
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EXPECT_EQ(RCL_RET_ERROR, ret);
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rcl_reset_error();
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int64_t time_until_next_call;
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ret = rcl_timer_get_time_until_next_call(&timer, &time_until_next_call);
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EXPECT_EQ(RCL_RET_ERROR, ret);
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rcl_reset_error();
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bool ready;
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ret = rcl_timer_is_ready(&timer, &ready);
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EXPECT_EQ(RCL_RET_ERROR, ret);
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rcl_reset_error();
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rcl_time_point_value_t time_since_last_call;
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ret = rcl_timer_get_time_since_last_call(&timer, &time_since_last_call);
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EXPECT_EQ(RCL_RET_ERROR, ret);
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rcl_reset_error();
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}
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TEST_F(TestTimerFixture, test_two_timers) {
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rcl_ret_t ret;
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@@ -182,6 +262,7 @@ TEST_F(TestTimerFixture, test_two_timers_ready_before_timeout) {
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rcl_timer_t timer = rcl_get_zero_initialized_timer();
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rcl_timer_t timer2 = rcl_get_zero_initialized_timer();
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// Keep the first timer period low enough so that rcl_wait() doesn't timeout too early.
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ret = rcl_timer_init(
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&timer, &clock, this->context_ptr, RCL_MS_TO_NS(10), nullptr, rcl_get_default_allocator());
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -698,6 +779,12 @@ TEST_F(TestPreInitTimer, test_timer_call) {
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EXPECT_EQ(RCL_RET_OK, rcl_timer_get_time_until_next_call(&timer, &next_call_end));
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EXPECT_GT(next_call_start, next_call_end);
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EXPECT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(&this->clock)) << rcl_get_error_string().str;
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EXPECT_EQ(RCL_RET_OK, rcl_set_ros_time_override(&this->clock, -1)) << rcl_get_error_string().str;
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EXPECT_EQ(RCL_RET_ERROR, rcl_timer_call(&timer));
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rcl_reset_error();
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EXPECT_EQ(times_called, 4);
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EXPECT_EQ(RCL_RET_OK, rcl_timer_cancel(&timer)) << rcl_get_error_string().str;
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EXPECT_EQ(RCL_RET_TIMER_CANCELED, rcl_timer_call(&timer));
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rcl_reset_error();

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