mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-28 01:52:06 +08:00
Dean Lee
97631ec362
* c++ RateKeeper * add to files_common * use util::random_int * improve monotor_time * remove ~ratekeeper old-commit-hash: 3eef63af9b4f4a25bc4c3a0d6ad450bba9f62205
18 lines
523 B
C++
18 lines
523 B
C++
#define CATCH_CONFIG_MAIN
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#include "catch2/catch.hpp"
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#include "common/ratekeeper.h"
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#include "common/timing.h"
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#include "common/util.h"
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TEST_CASE("RateKeeper") {
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float freq = GENERATE(10, 50, 100);
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RateKeeper rk("Test RateKeeper", freq);
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for (int i = 0; i < freq; ++i) {
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double begin = seconds_since_boot();
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util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
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bool lagged = rk.keepTime();
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REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
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REQUIRE(lagged == false);
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}
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}
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