mirror of https://github.com/ArduPilot/ardupilot
73 lines
1.5 KiB
C++
73 lines
1.5 KiB
C++
#include <AP_gtest.h>
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#include <AP_HAL/HAL.h>
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#include <AP_HAL/Util.h>
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#include <AP_Math/AP_Math.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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template <typename T>
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static void timeout_test(T timenow, T trigger)
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{
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T ticks = 2000U;
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T time_past = timenow;
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bool timeout_triggered = false;
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while (ticks-- != 0) {
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timenow++;
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if (AP_HAL::timeout_expired(time_past, timenow, 1000U)) {
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if (!timeout_triggered) {
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ASSERT_EQ(timenow, trigger);
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timeout_triggered = true;
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}
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}
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}
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ASSERT_TRUE(timeout_triggered);
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}
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TEST(timeout_wrap_Test, Basic)
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{
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timeout_test(0xFFFFFFFFU - 499U, 500U);
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}
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TEST(timeout_Test, Basic)
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{
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timeout_test(500U, 1500U);
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}
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template <typename T>
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static void timeout_remaining(T timenow, T incr)
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{
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T ticks = 2000U;
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T time_past = timenow;
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T last_remaining = 1000;
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while (ticks-- != 0) {
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timenow+=incr;
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const uint32_t new_remaining = AP_HAL::timeout_remaining(time_past, timenow, 1000U);
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ASSERT_LT(new_remaining, MAX(last_remaining, 1U)); // time remaining must be going down
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last_remaining = new_remaining;
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ASSERT_LT(new_remaining, 1001U);
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}
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ASSERT_EQ(AP_HAL::timeout_remaining(time_past, timenow, 1000U), 0U);
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}
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TEST(timeout_remaining_wrap_Test, Basic)
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{
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timeout_remaining(0xFFFFFFFFU - 500U, 1U);
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}
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TEST(timeout_remaining_Test, Basic)
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{
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timeout_remaining(500U, 1U);
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}
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TEST(timeout_remaining_wrap_Test_5us, Basic)
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{
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timeout_remaining(0xFFFFFFFF - 500U, 5U);
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}
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AP_GTEST_MAIN()
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