Add SetRuntimeRealtimePriority
This lets us move the concept of priority into the event loop rather
than trying to manage it elsewhere. Also add tests to confirm I got
them all.
Change-Id: Iba2651778e8d1eb88dedf71d0efdf05dfc999f2d
diff --git a/aos/events/event-loop_param_test.cc b/aos/events/event-loop_param_test.cc
index 371cb78..5276aec 100644
--- a/aos/events/event-loop_param_test.cc
+++ b/aos/events/event-loop_param_test.cc
@@ -310,6 +310,42 @@
EXPECT_THAT(values, ::testing::ElementsAreArray({201, 202, 204}));
}
+
+// Tests that FetchNext behaves correctly when we get two messages in the queue
+// but don't consume the first until after the second has been sent.
+TEST_P(AbstractEventLoopTest, FetchNextTest) {
+
+ auto send_loop = Make();
+ auto fetch_loop = Make();
+ auto sender = send_loop->MakeSender<TestMessage>("/test");
+ Fetcher<TestMessage> fetcher = fetch_loop->MakeFetcher<TestMessage>("/test");
+
+ {
+ auto msg = sender.MakeMessage();
+ msg->msg_value = 100;
+ ASSERT_TRUE(msg.Send());
+ }
+
+ {
+ auto msg = sender.MakeMessage();
+ msg->msg_value = 200;
+ ASSERT_TRUE(msg.Send());
+ }
+
+ ASSERT_TRUE(fetcher.FetchNext());
+ ASSERT_NE(nullptr, fetcher.get());
+ EXPECT_EQ(100, fetcher->msg_value);
+
+ ASSERT_TRUE(fetcher.FetchNext());
+ ASSERT_NE(nullptr, fetcher.get());
+ EXPECT_EQ(200, fetcher->msg_value);
+
+ // When we run off the end of the queue, expect to still have the old message:
+ ASSERT_FALSE(fetcher.FetchNext());
+ ASSERT_NE(nullptr, fetcher.get());
+ EXPECT_EQ(200, fetcher->msg_value);
+}
+
// Verify that making a fetcher and watcher for "/test" succeeds.
TEST_P(AbstractEventLoopTest, FetcherAndWatcher) {
auto loop = Make();
@@ -332,6 +368,17 @@
"/test");
}
+// Verify that SetRuntimeRealtimePriority fails while running.
+TEST_P(AbstractEventLoopTest, SetRuntimeRealtimePriority) {
+ auto loop = MakePrimary();
+ // Confirm that runtime priority calls work when not realtime.
+ loop->SetRuntimeRealtimePriority(5);
+
+ loop->OnRun([&]() { loop->SetRuntimeRealtimePriority(5); });
+
+ EXPECT_DEATH(Run(), "realtime");
+}
+
// Verify that registering a watcher and a sender for "/test" fails.
TEST_P(AbstractEventLoopTest, WatcherAndSender) {
auto loop = Make();