yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

MAVSDK tests: Use full system timeout off

Browse Source 
Depending on loop iterations for timeouts is not accurate, as usleep behavior depends on the system load and asking for a 0 ms sleep can potentially return immediately.
This commit is contained in:
Lorenz Meier
2020-12-29 11:00:03 +01:00
parent e27d80abc4
commit 3cc53f551d
1 changed files with 9 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
test/mavsdk_tests/autopilot_tester.h
View File

@@ -128,24 +128,27 @@ private:
uint32_t start_time = _info->get_flight_information().second.time_boot_ms; uint32_t start_time = _info->get_flight_information().second.time_boot_ms;
while (!fun()) { while (!fun()) {
std::this_thread::sleep_for(duration_ms / 1000); std::this_thread::sleep_for(duration_ms / 100);
// This might potentially loop forever and the test needs to be killed by a watchdog outside. // This might potentially loop forever and the test needs to be killed by a watchdog outside.
// The reason not to include an absolute timeout here is that it can happen if the host is // 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. // busy and PX4 doesn't run fast enough.
if (_info->get_flight_information().second.time_boot_ms - start_time > duration_ms.count()) { const int64_t elapsed_time_ms = _info->get_flight_information().second.time_boot_ms - start_time;
if (elapsed_time_ms > duration_ms.count()) {
std::cout << "Timeout, connected to vehicle but waiting for test for " << elapsed_time_ms / 1000.0 << " seconds" << std::endl;
return false; return false;
} }
} }
} else { } else {
// Nothing is connected yet. Use the host time. // Nothing is connected yet. Use the host time.
unsigned iteration = 0; const auto start_time = std::chrono::steady_clock::now();
while (!fun()) { while (!fun()) {
std::this_thread::sleep_for(duration_ms / 1000); std::this_thread::sleep_for(duration_ms / 100);
const int64_t elapsed_time_us = std::chrono::duration<double, std::micro>(std::chrono::steady_clock::now() - start_time).count();
if (iteration++ >= 1000) { if (elapsed_time_us > duration_ms.count() * 1000) {
std::cout << "Timeout, waiting for the vehicle for " << elapsed_time_us / 1000000.0 << " seconds" << std::endl;
return false; return false;
} }
} }