commit bbc86789c5f94e0bb23b1704b2330d8bb0a44512
author Brian Silverman <brians> Tue Aug 19 12:13:05 2014 -0400
committer Brian Silverman <brians> Tue Aug 19 12:59:38 2014 -0400
tree 37e949a6d173438fa9a07aef62a2d2fccfaa8987
parent b1f23a0e7c3f4e597f2457f8644be8591787f772

fix control loop tests running at 50Hz

aos/common/controls/control_loop_test.cc

diff --git a/aos/common/controls/control_loop_test.cc b/aos/common/controls/control_loop_test.cc
index 6f4e784..ab47477 100644
--- a/aos/common/controls/control_loop_test.cc
+++ b/aos/common/controls/control_loop_test.cc
@@ -3,7 +3,6 @@
 #include "aos/common/messages/robot_state.q.h"
 #include "aos/common/controls/sensor_generation.q.h"
 #include "aos/common/controls/output_check.q.h"
-#include "aos/common/time.h"
 
 namespace aos {
 namespace testing {
@@ -17,7 +16,7 @@
       .reader_pid(254)
       .cape_resets(5)
       .Send();
-  ::aos::time::Time::EnableMockTime(::aos::time::Time::InSeconds(0.0));
+  ::aos::time::Time::EnableMockTime(current_time_);
 
   SimulateTimestep(false);
 }
@@ -50,7 +49,8 @@
         .pulse_length(0)
         .Send();
   }
-  ::aos::time::Time::IncrementMockTime(::aos::time::Time::InMS(10.0));
+  ::aos::time::Time::SetMockTime(current_time_ +=
+                                 ::aos::time::Time::InMS(10.0));
 }
 
 }  // namespace testing

aos/common/controls/control_loop_test.h

diff --git a/aos/common/controls/control_loop_test.h b/aos/common/controls/control_loop_test.h
index 14be01c..de048ba 100644
--- a/aos/common/controls/control_loop_test.h
+++ b/aos/common/controls/control_loop_test.h
@@ -4,6 +4,7 @@
 #include "gtest/gtest.h"
 
 #include "aos/common/queue_testutils.h"
+#include "aos/common/time.h"
 
 namespace aos {
 namespace testing {
@@ -24,6 +25,7 @@
 
  private:
   bool sent_robot_state_last_time_ = false;
+  ::aos::time::Time current_time_ = ::aos::time::Time::InSeconds(0);
 
   ::aos::common::testing::GlobalCoreInstance my_core;
 };

aos/common/controls/controls.gyp

diff --git a/aos/common/controls/controls.gyp b/aos/common/controls/controls.gyp
index 15be23c..ad05376 100644
--- a/aos/common/controls/controls.gyp
+++ b/aos/common/controls/controls.gyp
@@ -16,6 +16,7 @@
       ],
       'export_dependent_settings': [
         '<(EXTERNALS):gtest',
+        '<(AOS)/common/common.gyp:time',
         '<(AOS)/common/common.gyp:queue_testutils',
       ],
     },