Handle offset change in PhasedLoop and PhasedLoopHandler
When the PhasedLoop offset_ is changed, the last_time_ must be adjusted
to have an even interval. Additionally, in the PhaseLoopHandler Call
method, schedule has to be called after fn_ because if fn_ changes
the offset then it will not be updated on the next callback since
schedule has already scheduled the next time.
Change-Id: I12110134f00ee948f986e0df9f8304fbc2b08c31
Signed-off-by: milind <milind.upadhyay@gmail.com>
diff --git a/aos/util/phased_loop.cc b/aos/util/phased_loop.cc
index 1e520b1..53f6f4d 100644
--- a/aos/util/phased_loop.cc
+++ b/aos/util/phased_loop.cc
@@ -18,6 +18,9 @@
void PhasedLoop::set_interval_and_offset(
const monotonic_clock::duration interval,
const monotonic_clock::duration offset) {
+ // Update last_time_ to the new offset so that we have an even interval
+ last_time_ += offset - offset_;
+
interval_ = interval;
offset_ = offset;
CHECK(offset_ >= monotonic_clock::duration(0));
@@ -55,6 +58,7 @@
next_time += offset_;
const monotonic_clock::duration difference = next_time - last_time_;
+
const int result = difference / interval_;
CHECK_EQ(
0, (next_time - offset_).time_since_epoch().count() % interval_.count());
@@ -64,5 +68,5 @@
return result;
}
-} // namespace timing
+} // namespace time
} // namespace aos
diff --git a/aos/util/phased_loop_test.cc b/aos/util/phased_loop_test.cc
index 1c766c4..96eeb5c 100644
--- a/aos/util/phased_loop_test.cc
+++ b/aos/util/phased_loop_test.cc
@@ -217,6 +217,39 @@
}
}
+// Tests that the phased loop is correctly adjusting when the offset is
+// decremented multiple times.
+TEST_F(PhasedLoopTest, DecrementingOffset) {
+ constexpr int kCount = 5;
+ constexpr int kIterations = 10;
+ const auto kOffset = milliseconds(400);
+ const auto kInterval = milliseconds(1000);
+ const auto kAllIterationsInterval = kInterval * kIterations;
+
+ PhasedLoop loop(kInterval, monotonic_clock::epoch(), kOffset);
+ auto last_time = monotonic_clock::epoch() + kOffset + (kInterval * 3);
+ ASSERT_EQ(5, loop.Iterate(last_time));
+ for (int i = 1; i < kCount; i++) {
+ const auto offset = kOffset - milliseconds(i);
+ loop.set_interval_and_offset(kInterval, offset);
+ const auto next_time = last_time - milliseconds(1) + kAllIterationsInterval;
+ EXPECT_EQ(kIterations, loop.Iterate(next_time));
+ last_time = next_time;
+ }
+}
+
+// Tests that the phased loop is correctly adjusting when the offset is
+// changed to 0.
+TEST_F(PhasedLoopTest, ChangingOffset) {
+ const auto kOffset = milliseconds(900);
+ const auto kInterval = milliseconds(1000);
+ PhasedLoop loop(kInterval, monotonic_clock::epoch(), kOffset);
+ const auto last_time = monotonic_clock::epoch() + kOffset + (kInterval * 3);
+ ASSERT_EQ(5, loop.Iterate(last_time));
+ loop.set_interval_and_offset(kInterval, milliseconds(0));
+ EXPECT_EQ(4, loop.Iterate((last_time - kOffset) + (kInterval * 4)));
+}
+
} // namespace testing
} // namespace time
} // namespace aos