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mavsdk_tests: use PX4 time for timeouts 

This way we are less dependent on CPU load of the host.
This commit is contained in:
Julian Oes 2020-08-04 16:25:09 +02:00 committed by Daniel Agar
parent ca0f26a003
commit 3135b94980
1 changed files with 23 additions and 7 deletions
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30
test/mavsdk_tests/autopilot_tester.h
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@ -121,17 +121,33 @@ private:
bool poll_condition_with_timeout( bool poll_condition_with_timeout(
std::function<bool()> fun, std::chrono::duration<Rep, Period> duration) std::function<bool()> fun, std::chrono::duration<Rep, Period> duration)
{ {
// We need millisecond resolution for sleeping.
const std::chrono::milliseconds duration_ms(duration); const std::chrono::milliseconds duration_ms(duration);
const auto duration_ms_adjusted = adjust_to_lockstep_speed(duration_ms);
unsigned iteration = 0; if (_info && _info->get_flight_information().first == mavsdk::Info::Result::Success) {
// A system is connected. We can base the timeouts on the autopilot time.
uint32_t start_time = _info->get_flight_information().second.time_boot_ms;
while (!fun()) { while (!fun()) {
std::this_thread::sleep_for(duration_ms_adjusted / 100); std::this_thread::sleep_for(duration_ms / 1000);
if (iteration++ >= 100) { // This might potentially loop forever and the test needs to be killed by a watchdog outside.
return false; // The reason not to include an absolute timeout here is that it can happen if the host is
// busy and PX4 doesn't run fast enough.
if (_info->get_flight_information().second.time_boot_ms - start_time > duration_ms.count()) {
return false;
}
}
} else {
// Nothing is connected yet. Use the host time.
unsigned iteration = 0;
while (!fun()) {
std::this_thread::sleep_for(duration_ms / 1000);
if (iteration++ >= 1000) {
return false;
}
} }
} }