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Make test_executor.spin_some_max_duration more reliable #430

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Merged
merged 4 commits into from
May 6, 2020
Merged

Make test_executor.spin_some_max_duration more reliable #430

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bd4e975
Make test_executor.spin_some_max_duration more reliable
ivanpauno May 1, 2020
2d0e91c
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ivanpauno May 1, 2020
2184dbc
Use bigger tolerance
ivanpauno May 5, 2020
7d5cdaf
Use bigger time tolerance
ivanpauno May 6, 2020
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6 changes: 3 additions & 3 deletions test_rclcpp/test/test_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
rclcpp::executors::SingleThreadedExecutor executor;
auto node = rclcpp::Node::make_shared("spin_some_max_duration");
auto lambda = []() {
std::this_thread::sleep_for(1ms);
std::this_thread::sleep_for(100ms);
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@clalancette clalancette May 1, 2020

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This is a good change, and keeps the current semantics of the test; basically, that 20 threads of N ms sleep take < 20*N ms to complete. However, those semantics are a bit hard to discern here. Would you mind adding a comment explaining that?

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@ivanpauno ivanpauno May 1, 2020

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There was already a comment, but I forgot to update it.
See 2d0e91c.

};
std::vector<std::shared_ptr<rclcpp::WallTimer<decltype(lambda)>>> timers;
// creating 20 timers which will try to do 1 ms of work each
Expand All @@ -72,12 +72,12 @@ TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), spin_some_max_duration) {
}
executor.add_node(node);

const auto max_duration = 10ms;
const auto max_duration = 1s;
const auto start = std::chrono::steady_clock::now();
executor.spin_some(max_duration);
const auto end = std::chrono::steady_clock::now();
ASSERT_LT(max_duration, end - start);
ASSERT_GT(max_duration + 5ms, end - start);
ASSERT_GT(max_duration + 100ms, end - start);
}

TEST(CLASSNAME(test_executor, RMW_IMPLEMENTATION), multithreaded_spin_call) {
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