dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mavsdk_tests: use microseconds to avoid sleep(0)

This commit is contained in:
Julian Oes 2021-02-12 11:41:02 +01:00 committed by Lorenz Meier
parent b6b9ce5f11
commit 0ebb8c6981
2 changed files with 27 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
test/mavsdk_tests/autopilot_tester.cpp
View File

@ -603,28 +603,3 @@ void AutopilotTester::wait_for_mission_finished(std::chrono::seconds timeout)
REQUIRE(fut.wait_for(timeout) == std::future_status::ready);
}
std::chrono::milliseconds AutopilotTester::adjust_to_lockstep_speed(std::chrono::milliseconds duration_ms)
{
if (_info == nullptr) {
return duration_ms;
}
auto speed_factor = _info->get_speed_factor();
if (speed_factor.first == Info::Result::Success) {
// FIXME: Remove this again:
// Sanitize speed factor to avoid test failures.
if (speed_factor.second > 20.0f) {
speed_factor.second = 20.0f;
}
return static_cast<std::chrono::milliseconds>(
static_cast<unsigned long>(
std::round(
static_cast<double>(duration_ms.count()) / speed_factor.second)));
} else {
return duration_ms;
}
}

29
test/mavsdk_tests/autopilot_tester.h
View File

@ -131,8 +131,6 @@ private:
void wait_for_landed_state(Telemetry::LandedState landed_state, std::chrono::seconds timeout);
void wait_for_mission_finished(std::chrono::seconds timeout);
std::chrono::milliseconds adjust_to_lockstep_speed(std::chrono::milliseconds duration_ms);
template<typename Rep, typename Period>
bool poll_condition_with_timeout(
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
@ -184,6 +182,33 @@ private:
return true;
}
template<typename Rep, typename Period>
std::chrono::microseconds adjust_to_lockstep_speed(std::chrono::duration<Rep, Period> duration)
{
const std::chrono::microseconds duration_us(duration);
if (_info == nullptr) {
return duration_us;
}
auto speed_factor = _info->get_speed_factor();
if (speed_factor.first != Info::Result::Success) {
return duration_us;
}
// FIXME: Remove this again:
// Sanitize speed factor to avoid test failures.
if (speed_factor.second > 50.0f) {
speed_factor.second = 50.0f;
}
const auto new_duration_us = static_cast<std::chrono::microseconds>(duration_us.count() / static_cast<int>
(speed_factor.second));
return new_duration_us;
}
mavsdk::Mavsdk _mavsdk{};
std::unique_ptr<mavsdk::Action> _action{};
std::unique_ptr<mavsdk::Failure> _failure{};