Converted PhasedLoop over to monotonic_clock.
Change-Id: Ic8857c4412abb7c19dd3df4aaa5f6c8aa74e9dc6
diff --git a/aos/common/util/phased_loop_test.cc b/aos/common/util/phased_loop_test.cc
index 1641a92..b013c2e 100644
--- a/aos/common/util/phased_loop_test.cc
+++ b/aos/common/util/phased_loop_test.cc
@@ -8,111 +8,115 @@
namespace time {
namespace testing {
+using ::std::chrono::milliseconds;
+
class PhasedLoopTest : public ::testing::Test {
protected:
- PhasedLoopTest() {
- ::aos::testing::EnableTestLogging();
- }
+ PhasedLoopTest() { ::aos::testing::EnableTestLogging(); }
};
typedef PhasedLoopTest PhasedLoopDeathTest;
+monotonic_clock::time_point InMs(int ms) {
+ return monotonic_clock::time_point(::std::chrono::milliseconds(ms));
+}
+
TEST_F(PhasedLoopTest, Reset) {
{
- PhasedLoop loop(Time::InMS(100), Time::kZero);
+ PhasedLoop loop(milliseconds(100), milliseconds(0));
- loop.Reset(Time::kZero);
- EXPECT_EQ(Time::InMS(0), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(100), loop.sleep_time());
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(InMs(0), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(100), loop.sleep_time());
- loop.Reset(Time::InMS(99));
- EXPECT_EQ(Time::InMS(0), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(99)));
- EXPECT_EQ(Time::InMS(100), loop.sleep_time());
+ loop.Reset(InMs(99));
+ EXPECT_EQ(InMs(0), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(99)));
+ EXPECT_EQ(InMs(100), loop.sleep_time());
- loop.Reset(Time::InMS(100));
- EXPECT_EQ(Time::InMS(100), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(199)));
- EXPECT_EQ(Time::InMS(200), loop.sleep_time());
+ loop.Reset(InMs(100));
+ EXPECT_EQ(InMs(100), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(199)));
+ EXPECT_EQ(InMs(200), loop.sleep_time());
- loop.Reset(Time::InMS(101));
- EXPECT_EQ(Time::InMS(100), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(101)));
- EXPECT_EQ(Time::InMS(200), loop.sleep_time());
+ loop.Reset(InMs(101));
+ EXPECT_EQ(InMs(100), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(101)));
+ EXPECT_EQ(InMs(200), loop.sleep_time());
}
{
- PhasedLoop loop(Time::InMS(100), Time::InMS(1));
- loop.Reset(Time::kZero);
- EXPECT_EQ(Time::InMS(-99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
+ PhasedLoop loop(milliseconds(100), milliseconds(1));
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(InMs(-99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
}
{
- PhasedLoop loop(Time::InMS(100), Time::InMS(99));
+ PhasedLoop loop(milliseconds(100), milliseconds(99));
- loop.Reset(Time::kZero);
- EXPECT_EQ(Time::InMS(-1), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(InMs(-1), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
- loop.Reset(Time::InMS(98));
- EXPECT_EQ(Time::InMS(-1), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(98)));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
+ loop.Reset(InMs(98));
+ EXPECT_EQ(InMs(-1), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(98)));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
- loop.Reset(Time::InMS(99));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(99)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
+ loop.Reset(InMs(99));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(99)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
- loop.Reset(Time::InMS(100));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
+ loop.Reset(InMs(100));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
}
}
TEST_F(PhasedLoopTest, Iterate) {
{
- PhasedLoop loop(Time::InMS(100), Time::InMS(99));
- loop.Reset(Time::kZero);
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(101)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(198)));
- EXPECT_EQ(Time::InMS(199), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(199)));
- EXPECT_EQ(Time::InMS(299), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(300)));
- EXPECT_EQ(Time::InMS(399), loop.sleep_time());
- EXPECT_EQ(3, loop.Iterate(Time::InMS(600)));
- EXPECT_EQ(Time::InMS(699), loop.sleep_time());
+ PhasedLoop loop(milliseconds(100), milliseconds(99));
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(101)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(198)));
+ EXPECT_EQ(InMs(199), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(199)));
+ EXPECT_EQ(InMs(299), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(300)));
+ EXPECT_EQ(InMs(399), loop.sleep_time());
+ EXPECT_EQ(3, loop.Iterate(InMs(600)));
+ EXPECT_EQ(InMs(699), loop.sleep_time());
}
{
- PhasedLoop loop(Time::InMS(100), Time::InMS(1));
- loop.Reset(Time::kZero);
- EXPECT_EQ(1, loop.Iterate(Time::kZero));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(101), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(100)));
- EXPECT_EQ(Time::InMS(101), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(103)));
- EXPECT_EQ(Time::InMS(201), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(198)));
- EXPECT_EQ(Time::InMS(201), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(200)));
- EXPECT_EQ(Time::InMS(201), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(201)));
- EXPECT_EQ(Time::InMS(301), loop.sleep_time());
- EXPECT_EQ(3, loop.Iterate(Time::InMS(600)));
- EXPECT_EQ(Time::InMS(601), loop.sleep_time());
+ PhasedLoop loop(milliseconds(100), milliseconds(1));
+ loop.Reset(monotonic_clock::epoch());
+ EXPECT_EQ(1, loop.Iterate(monotonic_clock::epoch()));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(101), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(100)));
+ EXPECT_EQ(InMs(101), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(103)));
+ EXPECT_EQ(InMs(201), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(198)));
+ EXPECT_EQ(InMs(201), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(200)));
+ EXPECT_EQ(InMs(201), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(201)));
+ EXPECT_EQ(InMs(301), loop.sleep_time());
+ EXPECT_EQ(3, loop.Iterate(InMs(600)));
+ EXPECT_EQ(InMs(601), loop.sleep_time());
}
}
@@ -120,40 +124,42 @@
// This seems like a rare case at first, but starting from zero needs to
// work, which means negatives should too.
TEST_F(PhasedLoopTest, CrossingZero) {
- PhasedLoop loop(Time::InMS(100), Time::InMS(1));
- loop.Reset(Time::InMS(-1000));
- EXPECT_EQ(Time::InMS(-1099), loop.sleep_time());
- EXPECT_EQ(9, loop.Iterate(Time::InMS(-250)));
- EXPECT_EQ(Time::InMS(-199), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(-199)));
- EXPECT_EQ(Time::InMS(-99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(-90)));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(0)));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(1)));
- EXPECT_EQ(Time::InMS(101), loop.sleep_time());
+ PhasedLoop loop(milliseconds(100), milliseconds(1));
+ loop.Reset(InMs(-1000));
+ EXPECT_EQ(InMs(-1099), loop.sleep_time());
+ EXPECT_EQ(9, loop.Iterate(InMs(-250)));
+ EXPECT_EQ(InMs(-199), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(-199)));
+ EXPECT_EQ(InMs(-99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(-90)));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(0)));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(1)));
+ EXPECT_EQ(InMs(101), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(2)));
- EXPECT_EQ(Time::InMS(101), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(2)));
+ EXPECT_EQ(InMs(101), loop.sleep_time());
- EXPECT_EQ(-2, loop.Iterate(Time::InMS(-101)));
- EXPECT_EQ(Time::InMS(-99), loop.sleep_time());
- EXPECT_EQ(1, loop.Iterate(Time::InMS(-99)));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
+ EXPECT_EQ(-2, loop.Iterate(InMs(-101)));
+ EXPECT_EQ(InMs(-99), loop.sleep_time());
+ EXPECT_EQ(1, loop.Iterate(InMs(-99)));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
- EXPECT_EQ(0, loop.Iterate(Time::InMS(-99)));
- EXPECT_EQ(Time::InMS(1), loop.sleep_time());
+ EXPECT_EQ(0, loop.Iterate(InMs(-99)));
+ EXPECT_EQ(InMs(1), loop.sleep_time());
}
// Tests that passing invalid values to the constructor dies correctly.
TEST_F(PhasedLoopDeathTest, InvalidValues) {
- EXPECT_DEATH(PhasedLoop(Time::InMS(1), Time::InMS(2)), ".*offset<interval.*");
- EXPECT_DEATH(PhasedLoop(Time::InMS(1), Time::InMS(1)), ".*offset<interval.*");
- EXPECT_DEATH(PhasedLoop(Time::InMS(1), Time::InMS(-1)),
- ".*offset>=Time::kZero.*");
- EXPECT_DEATH(PhasedLoop(Time::InMS(0), Time::InMS(0)),
- ".*interval>Time::kZero.*");
+ EXPECT_DEATH(PhasedLoop(milliseconds(1), milliseconds(2)),
+ ".*offset<interval.*");
+ EXPECT_DEATH(PhasedLoop(milliseconds(1), milliseconds(1)),
+ ".*offset<interval.*");
+ EXPECT_DEATH(PhasedLoop(milliseconds(1), milliseconds(-1)),
+ ".*offset>=monotonic_clock::duration\\(0\\).*");
+ EXPECT_DEATH(PhasedLoop(milliseconds(0), milliseconds(0)),
+ ".*interval>monotonic_clock::duration\\(0\\).*");
}
} // namespace testing